Science.gov

Sample records for ground vehicle operators

  1. Ground Operations

    NASA Technical Reports Server (NTRS)

    Eastman, Randy

    2000-01-01

    The contents include: 1) Integrated Space Transportation; 2) Fourth Generation Reusable Launch Vehicle (RLV) Research; 3) Ground Operations; 4) Ground Operations Technologies; 5) Sensors; and 6) Umbilicals. This paper is presented in viewgraph form.

  2. NASA's Ares I and Ares V Launch Vehicles--Effective Space Operations Through Efficient Ground Operations

    NASA Technical Reports Server (NTRS)

    Singer, Christopher E.; Dumbacher, Daniel L.; Lyles, Gary M.; Onken, Jay F.

    2008-01-01

    The United States (U.S.) is charting a renewed course for lunar exploration, with the fielding of a new human-rated space transportation system to replace the venerable Space Shuttle, which will be retired after it completes its missions of building the International Space Station (ISS) and servicing the Hubble Space Telescope. Powering the future of space-based scientific exploration will be the Ares I Crew Launch Vehicle, which will transport the Orion Crew Exploration Vehicle to orbit where it will rendezvous with the Altair Lunar Lander, which will be delivered by the Ares V Cargo Launch Vehicle (fig. 1). This configuration will empower rekindled investigation of Earth's natural satellite in the not too distant future. This new exploration infrastructure, developed by the National Aeronautics and Space Administration (NASA), will allow astronauts to leave low-Earth orbit (LEO) for extended lunar missions and preparation for the first long-distance journeys to Mars. All space-based operations - to LEO and beyond - are controlled from Earth. NASA's philosophy is to deliver safe, reliable, and cost-effective architecture solutions to sustain this multi-billion-dollar program across several decades. Leveraging SO years of lessons learned, NASA is partnering with private industry and academia, while building on proven hardware experience. This paper outlines a few ways that the Engineering Directorate at NASA's Marshall Space Flight Center is working with the Constellation Program and its project offices to streamline ground operations concepts by designing for operability, which reduces lifecycle costs and promotes sustainable space exploration.

  3. Modified Universal Design Survey: Enhancing Operability of Launch Vehicle Ground Crew Worksites

    NASA Technical Reports Server (NTRS)

    Blume, Jennifer L.

    2010-01-01

    Operability is a driving requirement for next generation space launch vehicles. Launch site ground operations include numerous operator tasks to prepare the vehicle for launch or to perform preflight maintenance. Ensuring that components requiring operator interaction at the launch site are designed for optimal human use is a high priority for operability. To promote operability, a Design Quality Evaluation Survey based on Universal Design framework was developed to support Human Factors Engineering (HFE) evaluation for NASA s launch vehicles. Universal Design per se is not a priority for launch vehicle processing however; applying principles of Universal Design will increase the probability of an error free and efficient design which promotes operability. The Design Quality Evaluation Survey incorporates and tailors the seven Universal Design Principles and adds new measures for Safety and Efficiency. Adapting an approach proven to measure Universal Design Performance in Product, each principle is associated with multiple performance measures which are rated with the degree to which the statement is true. The Design Quality Evaluation Survey was employed for several launch vehicle ground processing worksite analyses. The tool was found to be most useful for comparative judgments as opposed to an assessment of a single design option. It provided a useful piece of additional data when assessing possible operator interfaces or worksites for operability.

  4. NASA's Ares I and Ares V Launch Vehicles -- Effective Space Operations Through Efficient Ground Operations

    NASA Technical Reports Server (NTRS)

    Dumbacher, Daniel L.; Singer, Christopher E.; Onken, Jay F.

    2008-01-01

    The United States (U.S.) plans to return to the Moon by 2020, with the development of a new human-rated space transportation system to replace the Space Shuttle, which is due for retirement in 2010 after it completes its missions of building the International Space Station and servicing the Hubble Space Telescope. Powering the future of space-based scientific exploration will be the Ares I Crew Launch Vehicle, which will transport the Orion Crew Exploration Vehicle to orbit where it will rendezvous with the Lunar Lander. which will be delivered by the Ares V Cargo Launch Vehicle. This new transportation infrastructure, developed by the National Aeronautics and Space Administration (NASA), will allow astronauts to leave low-Earth orbit for extended lunar exploration and preparation for the first footprint on Mars. All space-based operations begin and are controlled from Earth. NASA's philosophy is to deliver safe, reliable, and cost-effective solutions to sustain a multi-billion-dollar program across several decades. Leveraging 50 years of lessons learned, NASA is partnering with private industry, while building on proven hardware experience. This paper will discuss how the Engineering Directorate at NASA's Marshall Space Flight Center is working with the Ares Projects Office to streamline ground operations concepts and reduce costs. Currently, NASA's budget is around $17 billion, which is less than 1 percent of the U.S. Federal budget. Of this amount, NASA invests approximately $4.5 billion each year in Space Shuttle operations, regardless of whether the spacecraft is flying or not. The affordability requirement is for the Ares I to reduce this expense by 50 percent, in order to allow NASA to invest more in space-based scientific operations. Focusing on this metric, the Engineering Directorate provides several solutions-oriented approaches, including Lean/Six Sigma practices and streamlined hardware testing and integration, such as assembling major hardware

  5. Characteristics of a maritime interdiction operations unmanned ground vehicle

    NASA Astrophysics Data System (ADS)

    Nguyen, Hoa G.; Baker, Mendel

    2012-06-01

    The U.S. Navy conducts thousands of Maritime Interdiction Operations (MIOs) every year around the globe. Navy Visit, Board, Search, and Seizure (VBSS) teams regularly board suspect ships and perform search operations, often in hostile environments. There is a need for a small tactical robot that can be deployed ahead of the team to provide enhanced situational awareness in these boarding, breaching, and clearing operations. Space and Naval Warfare Systems Center Pacific (SSC Pacific) performed a market survey, identified and obtained a number of throwable robots that may be useful in these situations, and conducted user evaluations with Navy VBSS team members, taking each of these robots through all applicable steps of the VBSS operation in realistic training environments. From these tests, we verified the requirements and defined the key performance parameters for an MIO robot. This paper describes the tests conducted and the identified characteristics of this robot.

  6. Ground and Range Operations for a Heavy-Lift Vehicle: Preliminary Thoughts

    NASA Technical Reports Server (NTRS)

    Rabelo, Luis; Zhu, Yanshen; Compton, Jeppie; Bardina, Jorge

    2011-01-01

    This paper discusses the ground and range operations for a Shuttle derived Heavy-Lift Vehicle being launched from the Kennedy Space Center on the Eastern range. Comparisons will be made between the Shuttle and a heavy lift configuration (SLS-ETF MPCV April 2011) by contrasting their subsystems. The analysis will also describe a simulation configuration with the potential to be utilized for heavy lift vehicle processing/range simulation modeling and the development of decision-making systems utilized by the range. In addition, a simple simulation model is used to provide the required critical thinking foundations for this preliminary analysis.

  7. NASA Planning for Orion Multi-Purpose Crew Vehicle Ground Operations

    NASA Technical Reports Server (NTRS)

    Letchworth, Gary; Schlierf, Roland

    2011-01-01

    The NASA Orion Ground Processing Team was originally formed by the Kennedy Space Center (KSC) Constellation (Cx) Project Office's Orion Division to define, refine and mature pre-launch and post-landing ground operations for the Orion human spacecraft. The multidisciplined KSC Orion team consisted of KSC civil servant, SAIC, Productivity Apex, Inc. and Boeing-CAPPS engineers, project managers and safety engineers, as well as engineers from Constellation's Orion Project and Lockheed Martin Orion Prime contractor. The team evaluated the Orion design configurations as the spacecraft concept matured between Systems Design Review (SDR), Systems Requirement Review (SRR) and Preliminary Design Review (PDR). The team functionally decomposed prelaunch and post-landing steps at three levels' of detail, or tiers, beginning with functional flow block diagrams (FFBDs). The third tier FFBDs were used to build logic networks and nominal timelines. Orion ground support equipment (GSE) was identified and mapped to each step. This information was subsequently used in developing lower level operations steps in a Ground Operations Planning Document PDR product. Subject matter experts for each spacecraft and GSE subsystem were used to define 5th - 95th percentile processing times for each FFBD step, using the Delphi Method. Discrete event simulations used this information and the logic network to provide processing timeline confidence intervals for launch rate assessments. The team also used the capabilities of the KSC Visualization Lab, the FFBDs and knowledge of the spacecraft, GSE and facilities to build visualizations of Orion pre-launch and postlanding processing at KSC. Visualizations were a powerful tool for communicating planned operations within the KSC community (i.e., Ground Systems design team), and externally to the Orion Project, Lockheed Martin spacecraft designers and other Constellation Program stakeholders during the SRR to PDR timeframe. Other operations planning

  8. Launch Vehicle Operations Simulator

    NASA Technical Reports Server (NTRS)

    Blackledge, J. W.

    1974-01-01

    The Saturn Launch Vehicle Operations Simulator (LVOS) was developed for NASA at Kennedy Space Center. LVOS simulates the Saturn launch vehicle and its ground support equipment. The simulator was intended primarily to be used as a launch crew trainer but it is also being used for test procedure and software validation. A NASA/contractor team of engineers and programmers implemented the simulator after the Apollo XI lunar landing during the low activity periods between launches.

  9. Visiting Vehicle Ground Trajectory Tool

    NASA Technical Reports Server (NTRS)

    Hamm, Dustin

    2013-01-01

    The International Space Station (ISS) Visiting Vehicle Group needed a targeting tool for vehicles that rendezvous with the ISS. The Visiting Vehicle Ground Trajectory targeting tool provides the ability to perform both realtime and planning operations for the Visiting Vehicle Group. This tool provides a highly reconfigurable base, which allows the Visiting Vehicle Group to perform their work. The application is composed of a telemetry processing function, a relative motion function, a targeting function, a vector view, and 2D/3D world map type graphics. The software tool provides the ability to plan a rendezvous trajectory for vehicles that visit the ISS. It models these relative trajectories using planned and realtime data from the vehicle. The tool monitors ongoing rendezvous trajectory relative motion, and ensures visiting vehicles stay within agreed corridors. The software provides the ability to update or re-plan a rendezvous to support contingency operations. Adding new parameters and incorporating them into the system was previously not available on-the-fly. If an unanticipated capability wasn't discovered until the vehicle was flying, there was no way to update things.

  10. 14 CFR 139.329 - Pedestrians and ground vehicles.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Pedestrians and ground vehicles. 139.329... OF AIRPORTS Operations § 139.329 Pedestrians and ground vehicles. In a manner authorized by the... pedestrians and ground vehicles necessary for airport operations; (b) Establish and implement procedures...

  11. 14 CFR 139.329 - Pedestrians and ground vehicles.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Pedestrians and ground vehicles. 139.329... OF AIRPORTS Operations § 139.329 Pedestrians and ground vehicles. In a manner authorized by the... pedestrians and ground vehicles necessary for airport operations; (b) Establish and implement procedures...

  12. 14 CFR 139.329 - Pedestrians and ground vehicles.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Pedestrians and ground vehicles. 139.329... OF AIRPORTS Operations § 139.329 Pedestrians and ground vehicles. In a manner authorized by the... pedestrians and ground vehicles necessary for airport operations; (b) Establish and implement procedures...

  13. 14 CFR 139.329 - Pedestrians and ground vehicles.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Pedestrians and ground vehicles. 139.329... OF AIRPORTS Operations § 139.329 Pedestrians and ground vehicles. In a manner authorized by the... pedestrians and ground vehicles necessary for airport operations; (b) Establish and implement procedures...

  14. 14 CFR 139.329 - Pedestrians and ground vehicles.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Pedestrians and ground vehicles. 139.329... OF AIRPORTS Operations § 139.329 Pedestrians and ground vehicles. In a manner authorized by the... pedestrians and ground vehicles necessary for airport operations; (b) Establish and implement procedures...

  15. Display integration for ground combat vehicles

    NASA Astrophysics Data System (ADS)

    Busse, David J.

    1998-09-01

    The United States Army's requirement to employ high resolution target acquisition sensors and information warfare to increase its dominance over enemy forces has led to the need to integrate advanced display devices into ground combat vehicle crew stations. The Army's force structure require the integration of advanced displays on both existing and emerging ground combat vehicle systems. The fielding of second generation target acquisition sensors, color digital terrain maps and high volume digital command and control information networks on these platforms define display performance requirements. The greatest challenge facing the system integrator is the development and integration of advanced displays that meet operational, vehicle and human computer interface performance requirements for the ground combat vehicle fleet. The subject of this paper is to address those challenges: operational and vehicle performance, non-soldier centric crew station configurations, display performance limitations related to human computer interfaces and vehicle physical environments, display technology limitations and the Department of Defense (DOD) acquisition reform initiatives. How the ground combat vehicle Program Manager and system integrator are addressing these challenges are discussed through the integration of displays on fielded, current and future close combat vehicle applications.

  16. Development and evaluation of the Stingray, an amphibious maritime interdiction operations unmanned ground vehicle

    NASA Astrophysics Data System (ADS)

    Nguyen, Hoa G.; Castelli, Robin

    2014-06-01

    The U.S. Navy and Marine Corps conduct thousands of Maritime Interdiction Operations (MIOs) every year around the globe. Navy Visit, Board, Search, and Seizure (VBSS) teams regularly board suspect ships and perform search operations, often in hostile environments. There is a need for a small tactical robot that can be deployed ahead of the team to provide enhanced situational awareness in these boarding, breaching, and clearing operations. In 2011, the Space and Naval Warfare Systems Center Pacific conducted user evaluations on a number of small throwable robots and sensors, verified the requirements, and developed the key performance parameters (KPPs) for an MIO robot. Macro USA Corporation was then tasked to design and develop two prototype systems, each consisting of one control/display unit and two small amphibious Stingray robots. Technical challenges included the combination paddle wheel/shock-absorbing wheel, the tradeoff between impact resistance, size, and buoyancy, and achieving adequate traction on wet surfaces. This paper describes the technical design of these robots and the results of subsequent user evaluations by VBSS teams.

  17. Surveillance of ground vehicles for airport security

    NASA Astrophysics Data System (ADS)

    Blasch, Erik; Wang, Zhonghai; Shen, Dan; Ling, Haibin; Chen, Genshe

    2014-06-01

    Future surveillance systems will work in complex and cluttered environments which require systems engineering solutions for such applications such as airport ground surface management. In this paper, we highlight the use of a L1 video tracker for monitoring activities at an airport. We present methods of information fusion, entity detection, and activity analysis using airport videos for runway detection and airport terminal events. For coordinated airport security, automated ground surveillance enhances efficient and safe maneuvers for aircraft, unmanned air vehicles (UAVs) and unmanned ground vehicles (UGVs) operating within airport environments.

  18. Ground Operations Aerospace Language (GOAL)

    NASA Technical Reports Server (NTRS)

    1973-01-01

    GOAL, is a test engineer oriented language designed to be used to standardize procedure terminology and as the test programming language to be used for ground checkout operations in a space vehicle launch environment. The material presented concerning GOAL includes: (1) a historical review, (2) development objectives and requirements, (3) language scope and format, and (4) language capabilities.

  19. Vision systems for manned and robotic ground vehicles

    NASA Astrophysics Data System (ADS)

    Sanders-Reed, John N.; Koon, Phillip L.

    2010-04-01

    A Distributed Aperture Vision System for ground vehicles is described. An overview of the hardware including sensor pod, processor, video compression, and displays is provided. This includes a discussion of the choice between an integrated sensor pod and individually mounted sensors, open architecture design, and latency issues as well as flat panel versus head mounted displays. This technology is applied to various ground vehicle scenarios, including closed-hatch operations (operator in the vehicle), remote operator tele-operation, and supervised autonomy for multi-vehicle unmanned convoys. In addition, remote vision for automatic perimeter surveillance using autonomous vehicles and automatic detection algorithms is demonstrated.

  20. Ground Processing Affordability for Space Vehicles

    NASA Technical Reports Server (NTRS)

    Ingalls, John; Scott, Russell

    2011-01-01

    Launch vehicles and most of their payloads spend the majority of their time on the ground. The cost of ground operations is very high. So, why so often is so little attention given to ground processing during development? The current global space industry and economic environment are driving more need for efficiencies to save time and money. Affordability and sustainability are more important now than ever. We can not continue to treat space vehicles as mere science projects. More RLV's (Reusable Launch Vehicles) are being developed for the gains of reusability which are not available for ELV's (Expendable Launch Vehicles). More human-rated vehicles are being developed, with the retirement of the Space Shuttles, and for a new global space race, yet these cost more than the many unmanned vehicles of today. We can learn many lessons on affordability from RLV's. DFO (Design for Operations) considers ground operations during design, development, and manufacturing-before the first flight. This is often minimized for space vehicles, but is very important. Vehicles are designed for launch and mission operations. You will not be able to do it again if it is too slow or costly to get there. Many times, technology changes faster than space products such that what is launched includes outdated features, thus reducing competitiveness. Ground operations must be considered for the full product Lifecycle, from concept to retirement. Once manufactured, launch vehicles along with their payloads and launch systems require a long path of processing before launch. Initial assembly and testing always discover problems to address. A solid integration program is essential to minimize these impacts, as was seen in the Constellation Ares I-X test rocket. For RLV's, landing/recovery and post-flight turnaround activities are performed. Multi-use vehicles require reconfiguration. MRO (Maintenance, Repair, and Overhaul) must be well-planned--- even for the unplanned problems. Defect limits and

  1. Streamlining shuttle ground operations

    NASA Technical Reports Server (NTRS)

    Heimbold, R. L.; Reichert, W. H.

    1986-01-01

    To meet NASA Space Transportation System goals the Shuttle Processing Contractors have to reduce Space Transportation System ground processing time and ground processing costs. These objectives must be met without compromising safety of flight or safety during assembly, test, and service operations. Ground processing requirements are analyzed to determine critical serial flow paths and costly labor-intensive tasks. Processing improvements are realized by improvements in processing methodology, by application of computer-aided technology, and by modernization of KSC facilities. Ongoing improvement efforts are outlined and progress-to-date is described.

  2. DARPA FCS unmanned ground vehicle research initiatives

    NASA Astrophysics Data System (ADS)

    Fish, Scott

    2002-07-01

    The Defense Advanced Research Projects Agency (DARPA) and the US Army (ASAALT) have jointly funded several FCS research initiatives in ground robotics. The Unmanned Ground Combat Vehicle (UGCV) and Perception for Off-Road Mobility (PerceptOR) programs are the major elements of this joint ground robotic effort. These programs were initiated in fiscal year 2001 and have progressed through their first phase. The UGCV program, now in Phase IB, has downselected from 11 concepts designs to 4. Phase IB focuses on detailed design of teams' concepts in anticipation of the prototype construction Phase II and initial vehicle roll-out near the end of the 2002 calendar year. This paper highlights program findings to date as a result of the initial phase, and illustrates plans for Phase II prototype testing. The PerceptOR program, currently in Phase II, has completed its Phase I which involved development of a perception system for operation on a commercial All Terrain Vehicle. This paper describes the effort of the first phase, and outlines the plans for vehicle testing in Phases II and III.

  3. Unmanned ground vehicles for integrated force protection

    NASA Astrophysics Data System (ADS)

    Carroll, Daniel M.; Mikell, Kenneth; Denewiler, Thomas

    2004-09-01

    The combination of Command and Control (C2) systems with Unmanned Ground Vehicles (UGVs) provides Integrated Force Protection from the Robotic Operation Command Center. Autonomous UGVs are directed as Force Projection units. UGV payloads and fixed sensors provide situational awareness while unattended munitions provide a less-than-lethal response capability. Remote resources serve as automated interfaces to legacy physical devices such as manned response vehicles, barrier gates, fence openings, garage doors, and remote power on/off capability for unmanned systems. The Robotic Operations Command Center executes the Multiple Resource Host Architecture (MRHA) to simultaneously control heterogeneous unmanned systems. The MRHA graphically displays video, map, and status for each resource using wireless digital communications for integrated data, video, and audio. Events are prioritized and the user is prompted with audio alerts and text instructions for alarms and warnings. A control hierarchy of missions and duty rosters support autonomous operations. This paper provides an overview of the key technology enablers for Integrated Force Protection with details on a force-on-force scenario to test and demonstrate concept of operations using Unmanned Ground Vehicles. Special attention is given to development and applications for the Remote Detection Challenge and Response (REDCAR) initiative for Integrated Base Defense.

  4. 22 CFR 121.4 - Ground vehicles.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 22 Foreign Relations 1 2014-04-01 2014-04-01 false Ground vehicles. 121.4 Section 121.4 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS THE UNITED STATES MUNITIONS LIST Enumeration of Articles § 121.4 Ground vehicles. (a) In USML Category VII, “ground vehicles” are those, whether manned or unmanned, that: (1)...

  5. Ground vehicle control at NIST: From teleoperation to autonomy

    NASA Technical Reports Server (NTRS)

    Murphy, Karl N.; Juberts, Maris; Legowik, Steven A.; Nashman, Marilyn; Schneiderman, Henry; Scott, Harry A.; Szabo, Sandor

    1994-01-01

    NIST is applying their Real-time Control System (RCS) methodology for control of ground vehicles for both the U.S. Army Researh Lab, as part of the DOD's Unmanned Ground Vehicles program, and for the Department of Transportation's Intelligent Vehicle/Highway Systems (IVHS) program. The actuated vehicle, a military HMMWV, has motors for steering, brake, throttle, etc. and sensors for the dashboard gauges. For military operations, the vehicle has two modes of operation: a teleoperation mode--where an operator remotely controls the vehicle over an RF communications network; and a semi-autonomous mode called retro-traverse--where the control system uses an inertial navigation system to steer the vehicle along a prerecorded path. For the IVHS work, intelligent vision processing elements replace the human teleoperator to achieve autonomous, visually guided road following.

  6. Flat panels in future ground combat vehicles

    NASA Astrophysics Data System (ADS)

    Gurd, Eric D.; Forest, Coryne A.

    1996-05-01

    The efforts of the design team for the Crewman's Associate Advanced Technology Demonstration (CA ATD) and its use of advanced display concepts is discussed. This team has the responsibility of identifying future technologies with the potential for maximizing human- machine interaction for incorporation into future crew station designs for ground combat vehicles. The design process utilizes extensive user involvement in all stages. This is critical to developing systems that have complex functions, yet are simple to maintain and operate. Described are the needs which have driven the U.S. Army towards the use of flat panels. Ultimately, the army is looking at smaller, lighter, more deployable ground combat vehicles. This goal is driving individual components to have characteristics such as low weight, low power usage, and reduced volume while maintaining ruggedness and functionality. The potential applications for flat panels in ground vehicles is also discussed. The army is looking at applications for out-the-window views (virtual periscopes), multi-functional displays, and head mounted displays to accomplish its goals of designing better crew interfaces. The army's requirements in regards to the technologies that must be developed and supported by flat panel displays are also discussed in this section. In conclusion, future projections of the use of flat panels for the Crewman's Associate ATD will be outlined. Projections will be made in terms of physical numbers and promising technologies that fulfill the goals of the CAATD and achieve the approval of the user community.

  7. The ground vehicle manager's associate

    NASA Technical Reports Server (NTRS)

    Edwards, Gary R.; Burnard, Robert H.; Bewley, William L.; Bullock, Bruce L.

    1994-01-01

    An overview of MAX, a software framework for manager's associate systems, is presented. MAX is used to develop and execute a problem-solving strategy for the task planning of semi-autonomous agents with the assistance of human performance. This paper describes the use of MAX in the supervisory management of robotic vehicles as they explore a planetary surface.

  8. Operator interface for vehicles

    DOEpatents

    Bissontz, Jay E

    2015-03-10

    A control interface for drivetrain braking provided by a regenerative brake and a non-regenerative brake is implemented using a combination of switches and graphic interface elements. The control interface comprises a control system for allocating drivetrain braking effort between the regenerative brake and the non-regenerative brake, a first operator actuated control for enabling operation of the drivetrain braking, and a second operator actuated control for selecting a target braking effort for drivetrain braking. A graphic display displays to an operator the selected target braking effort and can be used to further display actual braking effort achieved by drivetrain braking.

  9. Advanced protection technology for ground combat vehicles.

    PubMed

    Bosse, Timothy G

    2012-01-01

    Just as highway drivers use radar detectors to attempt to stay ahead of police armed with the latest radar technology, the Armed Forces are locked in a spiral to protect combat vehicles and their crews against the latest threats in both the contemporary operating environment and the anticipated operating environment (ie, beyond 2020). In response to bigger, heavier, or better-protected vehicles, adversaries build and deploy larger explosive devices or bombs. However, making improvements to combat vehicles is much more expensive than deploying larger explosives. In addition, demand is increasing for lighter-weight vehicles capable of rapid deployment. Together, these two facts give the threat a clear advantage in the future. To protect vehicles and crews, technologies focusing on detection and hit avoidance, denial of penetration, and crew survivability must be combined synergistically to provide the best chance of survival on the modern battlefield. PMID:22865132

  10. Integrated Vehicle Ground Vibration Testing in Support of Launch Vehicle Loads and Controls Analysis

    NASA Technical Reports Server (NTRS)

    Askins, Bruce R.; Davis, Susan R.; Salyer, Blaine H.; Tuma, Margaret L.

    2008-01-01

    All structural systems possess a basic set of physical characteristics unique to that system. These unique physical characteristics include items such as mass distribution and damping. When specified, they allow engineers to understand and predict how a structural system behaves under given loading conditions and different methods of control. These physical properties of launch vehicles may be predicted by analysis or measured by certain types of tests. Generally, these properties are predicted by analysis during the design phase of a launch vehicle and then verified by testing before the vehicle becomes operational. A ground vibration test (GVT) is intended to measure by test the fundamental dynamic characteristics of launch vehicles during various phases of flight. During the series of tests, properties such as natural frequencies, mode shapes, and transfer functions are measured directly. These data will then be used to calibrate loads and control systems analysis models for verifying analyses of the launch vehicle. NASA manned launch vehicles have undergone ground vibration testing leading to the development of successful launch vehicles. A GVT was not performed on the inaugural launch of the unmanned Delta III which was lost during launch. Subsequent analyses indicated had a GVT been performed, it would have identified instability issues avoiding loss of the vehicle. This discussion will address GVT planning, set-up, execution and analyses, for the Saturn and Shuttle programs, and will also focus on the current and on-going planning for the Ares I and V Integrated Vehicle Ground Vibration Test (IVGVT).

  11. Over-Water Aspects of Ground-Effect Vehicles

    NASA Technical Reports Server (NTRS)

    Kuhn, Richard E.; Carter, Arthur W.; Schade, Robert O.

    1960-01-01

    The large thrust augmentation obtainable with annular-jet configurations in ground proximity has led to the serious investigation of ground-effect machines. The basic theoretical work on these phenomena has been done by Chaplin and Boehler. Large thrust-augmentation factors, however, can be obtained only at very low heights, that is, of the order of a few percent of the diameter of the vehicle. To take advantage of this thrust augmentation therefore the vehicle must be either very large or must operate over very smooth terrain. Over-land uses of these vehicles then will probably be rather limited. The water, however, is inherently smooth and those irregularities that do exist, that is waves, are statistically known. It appears therefore that some practical application of ground-effect machines may be made in over-water application.

  12. Operational Guidelines for Grounds Management.

    ERIC Educational Resources Information Center

    APPA: Association of Higher Education Facilities Officers, Alexandria, VA.

    This book offers guidelines intended to help both new and experienced grounds managers create operational and staffing-level plans that can be the basis of discussion with all grounds management stakeholders. In its various chapters, the book: (1) explains the differences between zone and broadcast maintenance practices that are essential to plan…

  13. Ten-kilogram vehicle autonomous operations

    NASA Astrophysics Data System (ADS)

    Rogers, John R.; Korpela, Christopher; Quigley, Kevin

    2009-05-01

    A low-cost unmanned ground vehicle designed to benchmark high-speed performance is presented. The E-Maxx four-wheel-drive radio-controlled vehicle equipped with a Robostix controller is proposed as a low-cost, high-speed robotic platform useful for military operations. The vehicle weighs less than ten kilograms making it easily portable by one person. Keeping cost low is a major consideration in the design with the aim of providing a disposable military robot. The suitability of the platform was evaluated and results are presented. Commercial-Off-The-Shelf (COTS) upgrades to the basic vehicle are recommended for durability. A procedure was established for bird's-eye-view video recording to document vehicle dynamics. Driver/vehicle performance is quantified by entry velocity, exit velocity and total time through a 90° turn on low-friction terrain. A setup for measuring these values is presented. Expert drivers use controlled skidding to minimize time through turns and the long term goal of the project is to automate such expert behaviors. Results of vehicle performance under human control are presented and stand as a reference for future autonomy.

  14. Electric Vehicle Site Operator Program

    NASA Astrophysics Data System (ADS)

    1992-05-01

    Kansas State University, with funding support from federal, state, public, and private companies, is participating in the Department of Energy's Electric Vehicle Site Operator Program. Through participation is this program, Kansas State is demonstrating, testing, and evaluating electric or hybrid vehicle technology. This participation will provide organizations the opportunity to examine the latest EHV prototypes under actual operating conditions. KSU proposes to purchase one electric or hybrid van and four electric cars during the first two years of this five year program. KSU has purchased one G-Van built by Conceptor Industries, Toronto, Canada and has initiated a procurement order to purchase two Soleq 1992 Ford EVcort stationwagons.

  15. Electric Vehicle Site Operator Program

    SciTech Connect

    Not Available

    1992-01-01

    Kansas State University, with funding support from federal, state, public, and private companies, is participating in the Department of Energy's Electric Vehicle Site Operator Program. Through participation is this program, Kansas State is demonstrating, testing, and evaluating electric or hybrid vehicle technology. This participation will provide organizations the opportunity to examine the latest EHV prototypes under actual operating conditions. KSU proposes to purchase one (1) electric or hybrid van and four (4) electric cars during the first two years of this five year program. KSU has purchased one G-Van built by Conceptor Industries, Toronto, Canada and has initiated a procurement order to purchase two (2) Soleq 1992 Ford EVcort stationwagons.

  16. Crew station for ground combat vehicles

    NASA Astrophysics Data System (ADS)

    Mariani, Daniele

    1996-06-01

    Force XXI is the vision to synthesize the technology, doctrine, and organization of the U.S. Army so that it can fight and win the wars of the 21st Century. Digitization--taking advantage of the microprocessor revolution--is a key enabler of the Force XXI plan. In the Crewman's Associate Advanced Technology Demonstration, crew stations for ground combat vehicles are being developed that allow the soldier to use digitization to maximum weapon system performance.

  17. Mission aware energy saving strategies for Army ground vehicles

    NASA Astrophysics Data System (ADS)

    Dattathreya, Macam S.

    on, gear is on neutral position, the vehicle is stationary, and the alternator powers the systems. The proposed energy saving strategy for silent surveillance mission minimizes unnecessary battery discharges by controlling the power states of systems according to the mission needs and available battery capacity. Initial experiments show that the proposed approach saves 3% energy when compared with the baseline strategy for one scenario and 1.8% for the second scenario. The proposed energy saving strategy for normal surveillance mission operates the engine at fuel-efficient speeds to meet vehicle demand and to save fuel. The experiment and simulation uses a computerized vehicle model and a test bench to validate the approach. In comparison to vehicles with fixed high-idle engine speed increments, experiments show that the proposed strategy saves fuel energy in the range of 0-4.9% for the tested power demand range of 44-69 kW. It is hoped to implement the proposed strategies on a real Army ground vehicle to start realizing the energy savings.

  18. Aircraft and Ground Vehicle Winter Runway Friction Assessment

    NASA Technical Reports Server (NTRS)

    Yager, Thomas J.

    1999-01-01

    Some background information is given together with the scope and objectives of a 5-year, Joint Winter Runway Friction Measurement Program between the National Aeronautics & Space Administration (NASA), Transport Canada (TC), and the Federal Aviation Administration (FAA). Participants recently completed the fourth winter season of testing. The primary objective of this effort is to perform instrumented aircraft and ground vehicle tests aimed at identifying a common number that all the different ground vehicle devices would report. This number, denoted the International Runway Friction Index (IRFI) will be related to all types of aircraft stopping performance. The range of test equipment, the test sites, test results and accomplishments, the extent of the substantial friction database compiled, and future test plans will be described. Several related studies have also been implemented including the effects of contaminant type on aircraft impingement drag and the effectiveness of various runway and aircraft de-icing chemical types and application rates. New equipment and techniques to measure surface frictional properties are also described. The status of an international friction index calibration device for use in ensuring accuracy of ground vehicle friction measurements will also be discussed. NASA considers the success of this joint program critical in terms of ensuring adequate ground handling capability in adverse weather conditions for future aircraft being designed and developed as well as improving the safety of current aircraft ground operations.

  19. Space Operations for a New Era of Exploration Launch Vehicles

    NASA Technical Reports Server (NTRS)

    Davis, Daniel J.

    2010-01-01

    Since 2005, Ares has made substantial progress on designing, developing, and testing the Ares I crew launch vehicle and has continued its in-depth studies of the Ares V cargo launch vehicles. The combined Ares I/Ares V architecture was designed to reduce the complexity and labor intensity of ground operations for America s next journeys beyond low-Earth orbit (LEO). The Ares Projects goal is to instill operability as part of the vehicles requirements development, design, and operations. Since completing the Preliminary Design Review in 2008, work has continued to push the Ares I beyond the concept phase and into full vehicle development, while tackling fresh engineering challenges and performing pathfinding activities related to vehicle manufacturing and ground operations.

  20. X-43A Vehicle During Ground Testing

    NASA Technical Reports Server (NTRS)

    1999-01-01

    This photo shows a close-up, rear view of the X-43A Hypersonic Experimental Vehicle, or 'Hyper-X' undergoing ground testing at NASA's Dryden Flight Research Center, Edwards, California in December 1999. The X-43A was developed to research a dual-mode ramjet/scramjet propulsion system at speeds from Mach 7 up to Mach 10 (7 to 10 times the speed of sound, which varies with temperature and altitude). Hyper-X, the flight vehicle for which is designated as X-43A, is an experimental flight-research program seeking to demonstrate airframe-integrated, 'air-breathing' engine technologies that promise to increase payload capacity for future vehicles, including hypersonic aircraft (faster than Mach 5) and reusable space launchers. This multiyear program is currently underway at NASA Dryden Flight Research Center, Edwards, California. The Hyper-X schedule calls for its first flight later this year (2000). Hyper-X is a joint program, with Dryden sharing responsibility with NASA's Langley Research Center, Hampton, Virginia. Dryden's primary role is to fly three unpiloted X-43A research vehicles to validate engine technologies and hypersonic design tools as well as the hypersonic test facility at Langley. Langley manages the program and leads the technology development effort. The Hyper-X Program seeks to significantly expand the speed boundaries of air-breathing propulsion by being the first aircraft to demonstrate an airframe-integrated, scramjet-powered free flight. Scramjets (supersonic-combustion ramjets) are ramjet engines in which the airflow through the whole engine remains supersonic. Scramjet technology is challenging because only limited testing can be performed in ground facilities. Long duration, full-scale testing requires flight research. Scramjet engines are air-breathing, capturing their oxygen from the atmosphere. Current spacecraft, such as the Space Shuttle, are rocket powered, so they must carry both fuel and oxygen for propulsion. Scramjet technology

  1. X-43A Vehicle During Ground Testing

    NASA Technical Reports Server (NTRS)

    1999-01-01

    The X-43A Hypersonic Experimental Vehicle, or 'Hyper-X' is seen here undergoing ground testing at NASA's Dryden Flight Research Center, Edwards, California. The X-43A was developed to research a dual-mode ramjet/scramjet propulsion system at speeds from Mach 7 up to Mach 10 (7 to 10 times the speed of sound, which varies with temperature and altitude). Hyper-X, the flight vehicle for which is designated as X-43A, is an experimental flight-research program seeking to demonstrate airframe-integrated, 'air-breathing' engine technologies that promise to increase payload capacity for future vehicles, including hypersonic aircraft (faster than Mach 5) and reusable space launchers. This multiyear program is currently underway at NASA Dryden Flight Research Center, Edwards, California. The Hyper-X schedule calls for its first flight later this year (2000). Hyper-X is a joint program, with Dryden sharing responsibility with NASA's Langley Research Center, Hampton, Virginia. Dryden's primary role is to fly three unpiloted X-43A research vehicles to validate engine technologies and hypersonic design tools as well as the hypersonic test facility at Langley. Langley manages the program and leads the technology development effort. The Hyper-X Program seeks to significantly expand the speed boundaries of air-breathing propulsion by being the first aircraft to demonstrate an airframe-integrated, scramjet-powered free flight. Scramjets (supersonic-combustion ramjets) are ramjet engines in which the airflow through the whole engine remains supersonic. Scramjet technology is challenging because only limited testing can be performed in ground facilities. Long duration, full-scale testing requires flight research. Scramjet engines are air-breathing, capturing their oxygen from the atmosphere. Current spacecraft, such as the Space Shuttle, are rocket powered, so they must carry both fuel and oxygen for propulsion. Scramjet technology-based vehicles need to carry only fuel. By

  2. X-43A Vehicle During Ground Testing

    NASA Technical Reports Server (NTRS)

    1999-01-01

    The X-43A Hypersonic Experimental Vehicle, or 'Hyper-X' is seen here undergoing ground testing at NASA's Dryden Flight Research Center, Edwards, California in December 1999. The X-43A was developed to research a dual-mode ramjet/scramjet propulsion system at speeds from Mach 7 up to Mach 10 (7 to 10 times the speed of sound, which varies with temperature and altitude). Hyper-X, the flight vehicle for which is designated as X-43A, is an experimental flight-research program seeking to demonstrate airframe-integrated, 'air-breathing' engine technologies that promise to increase payload capacity for future vehicles, including hypersonic aircraft (faster than Mach 5) and reusable space launchers. This multiyear program is currently underway at NASA Dryden Flight Research Center, Edwards, California. The Hyper-X schedule calls for its first flight later this year (2000). Hyper-X is a joint program, with Dryden sharing responsibility with NASA's Langley Research Center, Hampton, Virginia. Dryden's primary role is to fly three unpiloted X-43A research vehicles to validate engine technologies and hypersonic design tools as well as the hypersonic test facility at Langley. Langley manages the program and leads the technology development effort. The Hyper-X Program seeks to significantly expand the speed boundaries of air-breathing propulsion by being the first aircraft to demonstrate an airframe-integrated, scramjet-powered free flight. Scramjets (supersonic-combustion ramjets) are ramjet engines in which the airflow through the whole engine remains supersonic. Scramjet technology is challenging because only limited testing can be performed in ground facilities. Long duration, full-scale testing requires flight research. Scramjet engines are air-breathing, capturing their oxygen from the atmosphere. Current spacecraft, such as the Space Shuttle, are rocket powered, so they must carry both fuel and oxygen for propulsion. Scramjet technology-based vehicles need to carry only

  3. Operator Informational Needs for Multiple Autonomous Small Vehicles

    NASA Technical Reports Server (NTRS)

    Trujillo, Anna C.; Fan, Henry; Cross, Charles D.; Hempley, Lucas E.; Cichella, Venanzio; Puig-Navarro, Javier; Mehdi, Syed Bilal

    2015-01-01

    With the anticipated explosion of small unmanned aerial vehicles, it is highly likely that operators will be controlling fleets of autonomous vehicles. To fulfill the promise of autonomy, vehicle operators will not be concerned with manual control of the vehicle; instead, they will deal with the overall mission. Furthermore, the one operator to many vehicles is becoming a constant meme with various industries including package delivery, search and rescue, and utility companies. In order for an operator to concurrently control several vehicles, his station must look and behave very differently than the current ground control station instantiations. Furthermore, the vehicle will have to be much more autonomous, especially during non-normal operations, in order to accommodate the knowledge deficit or the information overload of the operator in charge of several vehicles. The expected usage increase of small drones requires presenting the operational information generated by a fleet of heterogeneous autonomous agents to an operator. NASA Langley Research Center's Autonomy Incubator has brought together researchers in various disciplines including controls, trajectory planning, systems engineering, and human factors to develop an integrated system to study autonomy issues. The initial human factors effort is focusing on mission displays that would give an operator the overall status of all autonomous agents involved in the current mission. This paper will discuss the specifics of the mission displays for operators controlling several vehicles.

  4. Integrated Vehicle Ground Vibration Testing in Support of NASA Launch Vehicle Loads and Controls Analysis

    NASA Technical Reports Server (NTRS)

    Tuma, Margaret L.; Davis, Susan R.; Askins, Bruce R.; Salyer, Blaine H.

    2008-01-01

    The National Aeronautics and Space Administration (NASA) Ares Projects Office (APO) is continuing to make progress toward the final design of the Ares I crew launch vehicle and Ares V cargo launch vehicle. Ares I and V will form the space launch capabilities necessary to fulfill NASA's exploration strategy of sending human beings to the Moon, Mars, and beyond. As with all new space vehicles there will be a number of tests to ensure the design can be Human Rated. One of these is the Integrated Vehicle Ground Vibration Test (IVGVT) that will be measuring responses of the Ares I as a system. All structural systems possess a basic set of physical characteristics unique to that system. These unique characteristics include items such as mass distribution, frequency and damping. When specified, they allow engineers to understand and predict how a structural system like the Ares I launch vehicle behaves under given loading conditions. These physical properties of launch vehicles may be predicted by analysis or measured through certain types of tests. Generally, these properties are predicted by analysis during the design phase of a launch vehicle and then verified through testing before the vehicle is Human Rated. The IVGVT is intended to measure by test the fundamental dynamic characteristics of Ares I during various phases of operational/flight. This testing includes excitations of the vehicle in lateral, longitudinal, and torsional directions at vehicle configurations representing different trajectory points. During the series of tests, properties such as natural frequencies, mode shapes, and transfer functions are measured directly. These data will then be used to calibrate loads and Guidance, Navigation, and Controls (GN&C) analysis models for verifying analyses of Ares I. NASA launch vehicles from Saturn to Shuttle have undergone Ground Vibration Tests (GVTs) leading to successful launch vehicles. A GVT was not performed on the unmanned Delta III. This vehicle was

  5. Vehicle counting and classification algorithms for unattended ground sensors

    NASA Astrophysics Data System (ADS)

    Hohil, Myron E.; Heberley, Jeffrey R.; Chang, Jay; Rotolo, Anthony

    2003-09-01

    Unattended ground sensor technology used for battlefield awareness and other wide area surveillance applications requires state-of-the-art algorithms to address the unprecedented challenges faced in detecting, classifying and tracking military combat vehicles. The performance of traditional acoustic sensor systems often degrades unacceptably against the dynamic and highly mobile multiple target environments in which today's forces must operate. In the present work, a target counting algorithm has been developed to solve problems attributed to unstable tracking performance by resolving track loss deficiencies inherent to closely spaced target environments. The algorithm provides a way to discriminate between vehicles as they pass through an acoustic "trip-line" formed by a sensor in a predetermined field of view (FOV). The proposed approach is realized through an adaptive beamforming algorithm that achieves enhanced directivity in a principal look direction by significantly reducing the effects of interferers outside the precise bearing of the steering direction. The classification algorithm described herein facilitates a minimal representation for features extracted from harmonically related structures characteristic to acoustic emissions from ground vehicles found in battlefield environments. The reduced feature space representation exploits an ordering for the principal narrowband components found in a vehicle's engine noise and has proven effective in solving fundamental problems associated with discriminating between vehicles in variable SNR environments. The performance of the algorithms is demonstrated using signature data collected during various acoustic sensor field test experiments.

  6. Achieving integrated convoys: cargo unmanned ground vehicle development and experimentation

    NASA Astrophysics Data System (ADS)

    Zych, Noah; Silver, David; Stager, David; Green, Colin; Pilarski, Thomas; Fischer, Jacob

    2013-05-01

    The Cargo UGV project was initiated in 2010 with the aim of developing and experimenting with advanced autonomous vehicles capable of being integrated unobtrusively into manned logistics convoys. The intent was to validate two hypotheses in complex, operationally representative environments: first, that unmanned tactical wheeled vehicles provide a force protection advantage by creating standoff distance to warfighters during ambushes or improvised explosive device attacks; and second, that these UGVs serve as force multipliers by enabling a single operator to control multiple unmanned assets. To assess whether current state-of-the-art autonomous vehicle technology was sufficiently capable to permit resupply missions to be executed with decreased risk and reduced manpower, and to assess the effect of UGVs on customary convoy tactics, the Marine Corps Warfighting Laboratory and the Joint Ground Robotics Enterprise sponsored Oshkosh Defense and the National Robotics Engineering Center to equip two standard Marine Corps cargo trucks for autonomous operation. This paper details the system architecture, hardware implementation, and software modules developed to meet the vehicle control, perception, and planner requirements compelled by this application. Additionally, the design of a custom human machine interface and an accompanying training program are described, as is the creation of a realistic convoy simulation environment for rapid system development. Finally, results are conveyed from a warfighter experiment in which the effectiveness of the training program for novice operators was assessed, and the impact of the UGVs on convoy operations was observed in a variety of scenarios via direct comparison to a fully manned convoy.

  7. A survey of unmanned ground vehicles with applications to agricultural and environmental sensing

    NASA Astrophysics Data System (ADS)

    Bonadies, Stephanie; Lefcourt, Alan; Gadsden, S. Andrew

    2016-05-01

    Unmanned ground vehicles have been utilized in the last few decades in an effort to increase the efficiency of agriculture, in particular, by reducing labor needs. Unmanned vehicles have been used for a variety of purposes including: soil sampling, irrigation management, precision spraying, mechanical weeding, and crop harvesting. In this paper, unmanned ground vehicles, implemented by researchers or commercial operations, are characterized through a comparison to other vehicles used in agriculture, namely airplanes and UAVs. An overview of different trade-offs of configurations, control schemes, and data collection technologies is provided. Emphasis is given to the use of unmanned ground vehicles in food crops, and includes a discussion of environmental impacts and economics. Factors considered regarding the future trends and potential issues of unmanned ground vehicles include development, management and performance. Also included is a strategy to demonstrate to farmers the safety and profitability of implementing the technology.

  8. Launch and Landing Effects Ground Operations (LLEGO) Model

    NASA Technical Reports Server (NTRS)

    2008-01-01

    LLEGO is a model for understanding recurring launch and landing operations costs at Kennedy Space Center for human space flight. Launch and landing operations are often referred to as ground processing, or ground operations. Currently, this function is specific to the ground operations for the Space Shuttle Space Transportation System within the Space Shuttle Program. The Constellation system to follow the Space Shuttle consists of the crewed Orion spacecraft atop an Ares I launch vehicle and the uncrewed Ares V cargo launch vehicle. The Constellation flight and ground systems build upon many elements of the existing Shuttle flight and ground hardware, as well as upon existing organizations and processes. In turn, the LLEGO model builds upon past ground operations research, modeling, data, and experience in estimating for future programs. Rather than to simply provide estimates, the LLEGO model s main purpose is to improve expenses by relating complex relationships among functions (ground operations contractor, subcontractors, civil service technical, center management, operations, etc.) to tangible drivers. Drivers include flight system complexity and reliability, as well as operations and supply chain management processes and technology. Together these factors define the operability and potential improvements for any future system, from the most direct to the least direct expenses.

  9. Integrated Vehicle Ground Vibration Testing of Manned Spacecraft: Historical Precedent

    NASA Technical Reports Server (NTRS)

    Lemke, Paul R.; Tuma, Margaret L.; Askins, Bruce R.

    2008-01-01

    For the first time in nearly 30 years, NASA is developing a new manned space flight launch system. The Ares I will carry crew and cargo to not only the International Space Station, but onward for the future exploration of the Moon and Mars. The Ares I control system and structural designs use complex computer models for their development. An Integrated Vehicle Ground Vibration Test (IVGVT) will validate the efficacy of these computer models. The IVGVT will reduce the technical risk of unexpected conditions that could place the vehicle or crew in jeopardy. The Ares Project Office's Flight and Integrated Test Office commissioned a study to determine how historical programs, such as Saturn and Space Shuttle, validated the structural dynamics of an integrated flight vehicle. The study methodology was to examine the historical record and seek out members of the engineering community who recall the development of historic manned launch vehicles. These records and interviews provided insight into the best practices and lessons learned from these historic development programs. The information that was gathered allowed the creation of timelines of the historic development programs. The timelines trace the programs from the development of test articles through test preparation, test operations, and test data reduction efforts. These timelines also demonstrate how the historical tests fit within their overall vehicle development programs. Finally, the study was able to quantify approximate staffing levels during historic development programs. Using this study, the Flight and Integrated Test Office was able to evaluate the Ares I Integrated Vehicle Ground Vibration Test schedule and workforce budgets in light of the historical precedents to determine if the test had schedule or cost risks associated with it.

  10. The 13 th Annual Intelligent Ground Vehicle Competition: intelligent ground vehicles created by intelligent teams

    NASA Astrophysics Data System (ADS)

    Theisen, Bernard L.

    2005-10-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 13 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 50 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

  11. The 18th Annual Intelligent Ground Vehicle Competition: trends and influences for intelligent ground vehicle control

    NASA Astrophysics Data System (ADS)

    Theisen, Bernard L.; Frederick, Philip; Smuda, William

    2011-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 18 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 75 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  12. The 19th Annual Intelligent Ground Vehicle Competition: student built autonomous ground vehicles

    NASA Astrophysics Data System (ADS)

    Theisen, Bernard L.

    2012-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 19 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from almost 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  13. The Effect of Predicted Vehicle Displacement on Ground Crew Task Performance and Hardware Design

    NASA Technical Reports Server (NTRS)

    Atencio, Laura Ashley; Reynolds, David W.

    2011-01-01

    NASA continues to explore new launch vehicle concepts that will carry astronauts to low- Earth orbit to replace the soon-to-be retired Space Transportation System (STS) shuttle. A tall vertically stacked launch vehicle (> or =300 ft) is exposed to the natural environment while positioned on the launch pad. Varying directional winds and vortex shedding cause the vehicle to sway in an oscillating motion. Ground crews working high on the tower and inside the vehicle during launch preparations will be subjected to this motion while conducting critical closeout tasks such as mating fluid and electrical connectors and carrying heavy objects. NASA has not experienced performing these tasks in such environments since the Saturn V, which was serviced from a movable (but rigid) service structure; commercial launchers are likewise attended by a service structure that moves away from the vehicle for launch. There is concern that vehicle displacement may hinder ground crew operations, impact the ground system designs, and ultimately affect launch availability. The vehicle sway assessment objective is to replicate predicted frequencies and displacements of these tall vehicles, examine typical ground crew tasks, and provide insight into potential vehicle design considerations and ground crew performance guidelines. This paper outlines the methodology, configurations, and motion testing performed while conducting the vehicle displacement assessment that will be used as a Technical Memorandum for future vertically stacked vehicle designs.

  14. The application of microbolometers in 360° ground vehicle situational awareness

    NASA Astrophysics Data System (ADS)

    Breakfield, David K.; Plemons, Dan

    2009-05-01

    BAE Systems and the US Army have conducted a series of investigative studies and on-vehicle evaluations of 360°, indirect viewing and ground vehicle vision systems. The studies consider a range of system options for establishing a close-in, real-time, image-based situational awareness system for day and nighttime vehicle operation. Multi-spectral imaging assets were utilized in combination with image processing techniques to extend situational awareness and support the operation of armored vehicles during "closed-hatch" exercises. The study findings include the central role of uncooled IR Microbolometers as a foundational element of day/night vehicle indirect vision systems.

  15. Aircraft operability methods applied to space launch vehicles

    SciTech Connect

    Young, D.

    1997-01-01

    The commercial space launch market requirement for low vehicle operations costs necessitates the application of methods and technologies developed and proven for complex aircraft systems. The {open_quotes}building in{close_quotes} of reliability and maintainability, which is applied extensively in the aircraft industry, has yet to be applied to the maximum extent possible on launch vehicles. Use of vehicle system and structural health monitoring, automated ground systems and diagnostic design methods derived from aircraft applications support the goal of achieving low cost launch vehicle operations. Transforming these operability techniques to space applications where diagnostic effectiveness has significantly different metrics is critical to the success of future launch systems. These concepts will be discussed with reference to broad launch vehicle applicability. Lessons learned and techniques used in the adaptation of these methods will be outlined drawing from recent aircraft programs and implementation on phase 1 of the X-33/RLV technology development program. {copyright} {ital 1997 American Institute of Physics.}

  16. Aircraft operability methods applied to space launch vehicles

    NASA Astrophysics Data System (ADS)

    Young, Douglas

    1997-01-01

    The commercial space launch market requirement for low vehicle operations costs necessitates the application of methods and technologies developed and proven for complex aircraft systems. The ``building in'' of reliability and maintainability, which is applied extensively in the aircraft industry, has yet to be applied to the maximum extent possible on launch vehicles. Use of vehicle system and structural health monitoring, automated ground systems and diagnostic design methods derived from aircraft applications support the goal of achieving low cost launch vehicle operations. Transforming these operability techniques to space applications where diagnostic effectiveness has significantly different metrics is critical to the success of future launch systems. These concepts will be discussed with reference to broad launch vehicle applicability. Lessons learned and techniques used in the adaptation of these methods will be outlined drawing from recent aircraft programs and implementation on phase 1 of the X-33/RLV technology development program.

  17. Remote imagery for unmanned ground vehicles (RIUGV)

    NASA Astrophysics Data System (ADS)

    Frederick, Philip A.; Kania, Robert; Theisen, Bernard; Ward, Derek; Benz, Ursula; Baylot, Alex; Willis, John; Yamauchi, Harold

    2005-05-01

    The combination of high-resolution multi-spectral satellite imagery and advanced COTS object-oriented image processing software provides for an automated terrain feature extraction and classification capability. This information, along with elevation data, infrared imagery, a vehicle mobility model and various meta-data (local weather reports, Zobler Soil map, etc...), is fed into automated path planning software to provide a stand-alone ability to generate rapidly updateable dynamic mobility maps for Manned or Unmanned Ground Vehicles (MGVs or UGVs). These polygon based mobility maps can reside on an individual platform or a tactical network. When new information is available, change files are generated and ingested into existing mobility maps based on user selected criteria. Bandwidth concerns are mitigated by the use of shape files for the representation of the data (e.g. each object in the scene is represented by a shape file and thus can be transmitted individually). User input (desired level of stealth, required time of arrival, etc...) determines the priority in which objects are tagged for updates. This technology was tested at Fort Knox, Kentucky October 11th-15th 2004. Satellite imagery was acquired in a near-real-time fashion for the selected test site. Portions of the resulting geo-rectified image were compared with surveyed range locations to assess the accuracy of the approach. The derived UGV Path Plans were ingested into a Stryker UGV and the routes were autonomously traversed. This paper will detail the feasibility of this approach based of the results of this testing.

  18. Orbital transfer vehicle launch operations study. Processing flows. Volume 3

    NASA Technical Reports Server (NTRS)

    1986-01-01

    The Orbit Transfer Vehicle (OTV) processing flow and Resource Identification Sheets (RISs) for the ground based orbit transfer vehicle and for the space based orbit transfer vehicle are the primary source of information for the rest of the Kennedy Space Center (KSC) OTV Launch Operations Study. Work is presented which identifies KSC facility requirements for the OTV Program, simplifies or automates either flow though the application technology, revises test practices and identifies crew sizes or skills used. These flows were used as the primary point of departure from current operations and practices. Analyses results were documented by revising the appropriate RIS page.

  19. Application of parallelized software architecture to an autonomous ground vehicle

    NASA Astrophysics Data System (ADS)

    Shakya, Rahul; Wright, Adam; Shin, Young Ho; Momin, Orko; Petkovsek, Steven; Wortman, Paul; Gautam, Prasanna; Norton, Adam

    2011-01-01

    This paper presents improvements made to Q, an autonomous ground vehicle designed to participate in the Intelligent Ground Vehicle Competition (IGVC). For the 2010 IGVC, Q was upgraded with a new parallelized software architecture and a new vision processor. Improvements were made to the power system reducing the number of batteries required for operation from six to one. In previous years, a single state machine was used to execute the bulk of processing activities including sensor interfacing, data processing, path planning, navigation algorithms and motor control. This inefficient approach led to poor software performance and made it difficult to maintain or modify. For IGVC 2010, the team implemented a modular parallel architecture using the National Instruments (NI) LabVIEW programming language. The new architecture divides all the necessary tasks - motor control, navigation, sensor data collection, etc. into well-organized components that execute in parallel, providing considerable flexibility and facilitating efficient use of processing power. Computer vision is used to detect white lines on the ground and determine their location relative to the robot. With the new vision processor and some optimization of the image processing algorithm used last year, two frames can be acquired and processed in 70ms. With all these improvements, Q placed 2nd in the autonomous challenge.

  20. Virginia Emergency Vehicle Operator's Curriculum Guide.

    ERIC Educational Resources Information Center

    McDonald, R. Michael; And Others

    Developed in response to the need for training and materials related to emergency vehicle operations, this guide is designed to aid in the implementation of recruit, inservice, or specialized training for an emergency vehicle operator. Following the introduction, an overall discussion of material to be covered in the classroom is provided. After…

  1. Transportation vehicle energy intensities. A joint DOT/NASA reference paper. [energy consumption of air and ground vehicles

    NASA Technical Reports Server (NTRS)

    Mascy, A. C.; Paullin, R. L.

    1974-01-01

    A compilation of data on the energy consumption of air and ground vehicles is presented. The ratio BTU/ASM, British Thermal Units/Available Seat Mile, is used to express vehicle energy intensiveness, and related to the energy consumed directly in producing seat-mile or ton-mile productivity. Data is presented on passenger and freight vehicles which are in current use or which are about to enter service, and advanced vehicles which may be operational in the 1980's and beyond. For the advanced vehicles, an estimate is given of the date of initial operational service, and the performance characteristics. Other key considerations in interpreting energy intensiveness for a given mode are discussed, such as: load factors, operations, overhead energy consumption, and energy investments in new structure and equipment.

  2. Ground Vibration Testing Options for Space Launch Vehicles

    NASA Technical Reports Server (NTRS)

    Patterson, Alan; Smith, Robert K.; Goggin, David; Newsom, Jerry

    2011-01-01

    New NASA launch vehicles will require development of robust systems in a fiscally-constrained environment. NASA, Department of Defense (DoD), and commercial space companies routinely conduct ground vibration tests as an essential part of math model validation and launch vehicle certification. Although ground vibration testing must be a part of the integrated test planning process, more affordable approaches must also be considered. A study evaluated several ground vibration test options for the NASA Constellation Program flight test vehicles, Orion-1 and Orion-2, which concluded that more affordable ground vibration test options are available. The motivation for ground vibration testing is supported by historical examples from NASA and DoD. The approach used in the present study employed surveys of ground vibration test subject-matter experts that provided data to qualitatively rank six test options. Twenty-five experts from NASA, DoD, and industry provided scoring and comments for this study. The current study determined that both element-level modal tests and integrated vehicle modal tests have technical merits. Both have been successful in validating structural dynamic math models of launch vehicles. However, element-level testing has less overall cost and schedule risk as compared to integrated vehicle testing. Future NASA launch vehicle development programs should anticipate that some structural dynamics testing will be necessary. Analysis alone will be inadequate to certify a crew-capable launch vehicle. At a minimum, component and element structural dynamic tests are recommended for new vehicle elements. Three viable structural dynamic test options were identified. Modal testing of the new vehicle elements and an integrated vehicle test on the mobile launcher provided the optimal trade between technical, cost, and schedule.

  3. The technology of submersible remotely operated vehicles

    SciTech Connect

    Not Available

    1991-02-01

    Today`s offshore underwater service industry is dominated by unmanned vehicles that act in many ways as a surrogate diver. These vehicles are called Remotely Operated Vehicles or ROVs. They come in many shapes and sizes, and are designed for many purposes: structural inspection, maintenance and repair; cleaning; pipeline and cable trenching; bulldozing; bottom surveying; nodule mining and a host of other tasks catering to industrial, military, scientific and recreational interests. There is no Webster`s definition of a Remotely Operated Vehicle (ROV). Indeed, if there was, there would have to be several definitions since no single one would describe the entire vehicle spectrum. As a rule all ROVs have three features in common: (1) they are unmanned; (2) a video or TV camera provides real-time and/or slow-scan optical viewing and (3) all have some degree of maneuverability. One convenient method of categorizing ROVs is by their means of propulsion and whether or not they are cable-connected to the surface. Using these criteria six different types of ROVs can be identified: (1) Tethered, free-swimming vehicles; (2) towed vehicles; (3) bottom-reliant vehicles; (4) structurally-reliant vehicles and (5) untethered or autonomous vehicles.

  4. The technology of submersible remotely operated vehicles

    SciTech Connect

    Not Available

    1991-02-01

    Today's offshore underwater service industry is dominated by unmanned vehicles that act in many ways as a surrogate diver. These vehicles are called Remotely Operated Vehicles or ROVs. They come in many shapes and sizes, and are designed for many purposes: structural inspection, maintenance and repair; cleaning; pipeline and cable trenching; bulldozing; bottom surveying; nodule mining and a host of other tasks catering to industrial, military, scientific and recreational interests. There is no Webster's definition of a Remotely Operated Vehicle (ROV). Indeed, if there was, there would have to be several definitions since no single one would describe the entire vehicle spectrum. As a rule all ROVs have three features in common: (1) they are unmanned; (2) a video or TV camera provides real-time and/or slow-scan optical viewing and (3) all have some degree of maneuverability. One convenient method of categorizing ROVs is by their means of propulsion and whether or not they are cable-connected to the surface. Using these criteria six different types of ROVs can be identified: (1) Tethered, free-swimming vehicles; (2) towed vehicles; (3) bottom-reliant vehicles; (4) structurally-reliant vehicles and (5) untethered or autonomous vehicles.

  5. Calculation of ground vibration spectra from heavy military vehicles

    NASA Astrophysics Data System (ADS)

    Krylov, V. V.; Pickup, S.; McNuff, J.

    2010-07-01

    The demand for reliable autonomous systems capable to detect and identify heavy military vehicles becomes an important issue for UN peacekeeping forces in the current delicate political climate. A promising method of detection and identification is the one using the information extracted from ground vibration spectra generated by heavy military vehicles, often termed as their seismic signatures. This paper presents the results of the theoretical investigation of ground vibration spectra generated by heavy military vehicles, such as tanks and armed personnel carriers. A simple quarter car model is considered to identify the resulting dynamic forces applied from a vehicle to the ground. Then the obtained analytical expressions for vehicle dynamic forces are used for calculations of generated ground vibrations, predominantly Rayleigh surface waves, using Green's function method. A comparison of the obtained theoretical results with the published experimental data shows that analytical techniques based on the simplified quarter car vehicle model are capable of producing ground vibration spectra of heavy military vehicles that reproduce basic properties of experimental spectra.

  6. The IXV Ground Segment design, implementation and operations

    NASA Astrophysics Data System (ADS)

    Martucci di Scarfizzi, Giovanni; Bellomo, Alessandro; Musso, Ivano; Bussi, Diego; Rabaioli, Massimo; Santoro, Gianfranco; Billig, Gerhard; Gallego Sanz, José María

    2016-07-01

    The Intermediate eXperimental Vehicle (IXV) is an ESA re-entry demonstrator that performed, on the 11th February of 2015, a successful re-entry demonstration mission. The project objectives were the design, development, manufacturing and on ground and in flight verification of an autonomous European lifting and aerodynamically controlled re-entry system. For the IXV mission a dedicated Ground Segment was provided. The main subsystems of the IXV Ground Segment were: IXV Mission Control Center (MCC), from where monitoring of the vehicle was performed, as well as support during pre-launch and recovery phases; IXV Ground Stations, used to cover IXV mission by receiving spacecraft telemetry and forwarding it toward the MCC; the IXV Communication Network, deployed to support the operations of the IXV mission by interconnecting all remote sites with MCC, supporting data, voice and video exchange. This paper describes the concept, architecture, development, implementation and operations of the ESA Intermediate Experimental Vehicle (IXV) Ground Segment and outlines the main operations and lessons learned during the preparation and successful execution of the IXV Mission.

  7. NASA Mission Operations Directorate Preparations for the COTS Visiting Vehicles

    NASA Technical Reports Server (NTRS)

    Shull, Sarah A.; Peek, Kenneth E.

    2011-01-01

    With the retirement of the Space Shuttle looming, a series of new spacecraft is under development to assist in providing for the growing logistical needs of the International Space Station (ISS). Two of these vehicles are being built under a NASA initiative known as the Commercial Orbital Transportation Services (COTS) program. These visiting vehicles ; Space X s Dragon and Orbital Science Corporation s Cygnus , are to be domestically produced in the United States and designed to add to the capabilities of the Russian Progress and Soyuz workhorses, the European Automated Transfer Vehicle (ATV) and the Japanese H-2 Transfer Vehicle (HTV). Most of what is known about the COTS program has focused on the work of Orbital and SpaceX in designing, building, and testing their respective launch and cargo vehicles. However, there is also a team within the Mission Operations Directorate (MOD) at NASA s Johnson Space Center working with their operational counterparts in these companies to provide operational safety oversight and mission assurance via the development of operational scenarios and products needed for these missions. Ensuring that the operational aspect is addressed for the initial demonstration flights of these vehicles is the topic of this paper. Integrating Dragon and Cygnus into the ISS operational environment has posed a unique challenge to NASA and their partner companies. This is due in part to the short time span of the COTS program, as measured from initial contract award until first launch, as well as other factors that will be explored in the text. Operational scenarios and products developed for each COTS vehicle will be discussed based on the following categories: timelines, on-orbit checkout, ground documentation, crew procedures, software updates and training materials. Also addressed is an outline of the commonalities associated with the operations for each vehicle. It is the intent of the authors to provide their audience with a better

  8. New vision system and navigation algorithm for an autonomous ground vehicle

    NASA Astrophysics Data System (ADS)

    Tann, Hokchhay; Shakya, Bicky; Merchen, Alex C.; Williams, Benjamin C.; Khanal, Abhishek; Zhao, Jiajia; Ahlgren, David J.

    2013-12-01

    Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 Intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.

  9. Launch Vehicle Production and Operations Cost Metrics

    NASA Technical Reports Server (NTRS)

    Watson, Michael D.; Neeley, James R.; Blackburn, Ruby F.

    2014-01-01

    Traditionally, launch vehicle cost has been evaluated based on $/Kg to orbit. This metric is calculated based on assumptions not typically met by a specific mission. These assumptions include the specified orbit whether Low Earth Orbit (LEO), Geostationary Earth Orbit (GEO), or both. The metric also assumes the payload utilizes the full lift mass of the launch vehicle, which is rarely true even with secondary payloads.1,2,3 Other approaches for cost metrics have been evaluated including unit cost of the launch vehicle and an approach to consider the full program production and operations costs.4 Unit cost considers the variable cost of the vehicle and the definition of variable costs are discussed. The full program production and operation costs include both the variable costs and the manufacturing base. This metric also distinguishes operations costs from production costs, including pre-flight operational testing. Operations costs also consider the costs of flight operations, including control center operation and maintenance. Each of these 3 cost metrics show different sensitivities to various aspects of launch vehicle cost drivers. The comparison of these metrics provides the strengths and weaknesses of each yielding an assessment useful for cost metric selection for launch vehicle programs.

  10. Intelligence algorithms for autonomous navigation in a ground vehicle

    NASA Astrophysics Data System (ADS)

    Petkovsek, Steve; Shakya, Rahul; Shin, Young Ho; Gautam, Prasanna; Norton, Adam; Ahlgren, David J.

    2012-01-01

    This paper will discuss the approach to autonomous navigation used by "Q," an unmanned ground vehicle designed by the Trinity College Robot Study Team to participate in the Intelligent Ground Vehicle Competition (IGVC). For the 2011 competition, Q's intelligence was upgraded in several different areas, resulting in a more robust decision-making process and a more reliable system. In 2010-2011, the software of Q was modified to operate in a modular parallel manner, with all subtasks (including motor control, data acquisition from sensors, image processing, and intelligence) running simultaneously in separate software processes using the National Instruments (NI) LabVIEW programming language. This eliminated processor bottlenecks and increased flexibility in the software architecture. Though overall throughput was increased, the long runtime of the image processing process (150 ms) reduced the precision of Q's realtime decisions. Q had slow reaction times to obstacles detected only by its cameras, such as white lines, and was limited to slow speeds on the course. To address this issue, the image processing software was simplified and also pipelined to increase the image processing throughput and minimize the robot's reaction times. The vision software was also modified to detect differences in the texture of the ground, so that specific surfaces (such as ramps and sand pits) could be identified. While previous iterations of Q failed to detect white lines that were not on a grassy surface, this new software allowed Q to dynamically alter its image processing state so that appropriate thresholds could be applied to detect white lines in changing conditions. In order to maintain an acceptable target heading, a path history algorithm was used to deal with local obstacle fields and GPS waypoints were added to provide a global target heading. These modifications resulted in Q placing 5th in the autonomous challenge and 4th in the navigation challenge at IGVC.

  11. Infrared stereo calibration for unmanned ground vehicle navigation

    NASA Astrophysics Data System (ADS)

    Harguess, Josh; Strange, Shawn

    2014-06-01

    The problem of calibrating two color cameras as a stereo pair has been heavily researched and many off-the-shelf software packages, such as Robot Operating System and OpenCV, include calibration routines that work in most cases. However, the problem of calibrating two infrared (IR) cameras for the purposes of sensor fusion and point could generation is relatively new and many challenges exist. We present a comparison of color camera and IR camera stereo calibration using data from an unmanned ground vehicle. There are two main challenges in IR stereo calibration; the calibration board (material, design, etc.) and the accuracy of calibration pattern detection. We present our analysis of these challenges along with our IR stereo calibration methodology. Finally, we present our results both visually and analytically with computed reprojection errors.

  12. Sensor fusion for intelligent behavior on small unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Kogut, G.; Ahuja, G.; Sights, B.; Pacis, E. B.; Everett, H. R.

    2007-04-01

    Sensors commonly mounted on small unmanned ground vehicles (UGVs) include visible light and thermal cameras, scanning LIDAR, and ranging sonar. Sensor data from these sensors is vital to emerging autonomous robotic behaviors. However, sensor data from any given sensor can become noisy or erroneous under a range of conditions, reducing the reliability of autonomous operations. We seek to increase this reliability through data fusion. Data fusion includes characterizing the strengths and weaknesses of each sensor modality and combining their data in a way such that the result of the data fusion provides more accurate data than any single sensor. We describe data fusion efforts applied to two autonomous behaviors: leader-follower and human presence detection. The behaviors are implemented and tested in a variety of realistic conditions.

  13. Operational considerations for reusable launch vehicles

    SciTech Connect

    Adelgren, R.G.; Ray, D.; Lashinski, P.

    1997-01-01

    The reusable launch vehicle single stage to orbit concept is a long term goal of the space program. With the reusable concept, government and industry hope to reduce the cost of spacelift and provide fast reliable access to space. For a viable reusable concept, certain operational areas should be well thought out and considered. For instance, {open_quotes}aircraft like{close_quotes} operations should be a goal of the reusable launch vehicle concept. This paper outlines some initial operational considerations for a reusable launch vehicle. The operational areas considered are viewed from the standpoint of operationally testing the system in the areas of effectiveness and suitability. This paper represents thoughts and ideas of the authors and does not represent official Air Force or Air Force Operational Test and Evaluation Center policies, positions, or direction. {copyright} {ital 1997 American Institute of Physics.}

  14. Enabler operator station. [lunar surface vehicle

    NASA Technical Reports Server (NTRS)

    Bailey, Andrea; Keitzman, John; King, Shirlyn; Stover, Rae; Wegner, Torsten

    1992-01-01

    The objective of this project was to design an onboard operator station for the conceptual Lunar Work Vehicle (LWV). This LWV would be used in the colonization of a lunar outpost. The details that follow, however, are for an earth-bound model. Several recommendations are made in the appendix as to the changes needed in material selection for the lunar environment. The operator station is designed dimensionally correct for an astronaut wearing the current space shuttle EVA suit (which includes life support). The proposed operator station will support and restrain an astronaut as well as provide protection from the hazards of vehicle rollover. The threat of suit puncture is eliminated by rounding all corners and edges. A step-plate, located at the front of the vehicle, provides excellent ease of entry and exit. The operator station weight requirements are met by making efficient use of grid members, semi-rigid members and woven fabrics.

  15. Lunar NTR vehicle design and operations study

    NASA Technical Reports Server (NTRS)

    Hodge, John

    1993-01-01

    The results of a lunar nuclear thermal rocket (NTR) vehicle design and operations study are presented in text and graphic form. The objectives of the study were to evaluate the potential applications of a specific NTR design to past and current (First Lunar Outpost) mission profiles for piloted and cargo lunar missions, and to assess the applicability of utilizing lunar vehicle design concepts for Mars missions.

  16. Path planning strategies for autonomous ground vehicles

    NASA Astrophysics Data System (ADS)

    Gifford, Kevin Kent

    Several key issues involved with the planning and executing of optimally generated paths for autonomous vehicles are addressed. Two new path planning algorithms are developed, and examined, which effectively minimize replanning as unmapped hazards are encountered. The individual algorithms are compared via extensive simulation. The search strategy results are implemented and tested using the University of Colorado's autonomous vehicle test-bed, RoboCar, and results show the advantages of solving the single-destination all-paths problem for autonomous vehicle path planning. Both path planners implement a graph search methodology incorporating dynamic programming that solves the single-destination shortest-paths problem. Algorithm 1, termed DP for dynamic programming, searches a state space where each state represents a potential vehicle location in a breadth-first fashion expanding from the goal to all potential start locations in the state space. Algorithm 2, termed DP*, couples the heuristic search power of the well-known A* search procedure (Nilsson-80) with the dynamic programming principle applied to graph searching to efficiently make use of overlapping subproblems. DP* is the primary research contribution of the work contained within this thesis. The advantage of solving the single-destination shortest-paths problem is that the entire terrain map is solved in terms of reaching a specified goal. Therefore, if the robot is diverted from the pre-planned path, an alternative path is already computed. The search algorithms are extended to include a probabilistic approach using empirical loss functions to incorporate terrain map uncertainties into the path considering terrain planning process. The results show the importance of considering terrain uncertainty. If the map representation ignores uncertainty by marking any area with less than perfect confidence as unpassable or assigns it the worst case rating, then the paths are longer than intuitively necessary. A

  17. Intelligent resources for satellite ground control operations

    NASA Technical Reports Server (NTRS)

    Jones, Patricia M.

    1994-01-01

    This paper describes a cooperative approach to the design of intelligent automation and describes the Mission Operations Cooperative Assistant for NASA Goddard flight operations. The cooperative problem solving approach is being explored currently in the context of providing support for human operator teams and also in the definition of future advanced automation in ground control systems.

  18. Collaborative tactical behaviors for autonomous ground and air vehicles

    NASA Astrophysics Data System (ADS)

    Albus, James; Barbera, Anthony; Scott, Harry; Balakirsky, Stephen

    2005-05-01

    Tactical behaviors for autonomous ground and air vehicles are an area of high interest to the Army. They are critical for the inclusion of robots in the Future Combat System (FCS). Tactical behaviors can be defined at multiple levels: at the Company, Platoon, Section, and Vehicle echelons. They are currently being defined by the Army for the FCS Unit of Action. At all of these echelons, unmanned ground vehicles, unmanned air vehicles, and unattended ground sensors must collaborate with each other and with manned systems. Research being conducted at the National Institute of Standards and Technology (NIST) and sponsored by the Army Research Lab is focused on defining the Four Dimensional Real-time Controls System (4D/RCS) reference model architecture for intelligent systems and developing a software engineering methodology for system design, integration, test and evaluation. This methodology generates detailed design requirements for perception, knowledge representation, decision making, and behavior generation processes that enable complex military tactics to be planned and executed by unmanned ground and air vehicles working in collaboration with manned systems.

  19. Analysis of Vehicle-Based Security Operations

    SciTech Connect

    Carter, Jason M; Paul, Nate R

    2015-01-01

    Vehicle-to-vehicle (V2V) communications promises to increase roadway safety by providing each vehicle with 360 degree situational awareness of other vehicles in proximity, and by complementing onboard sensors such as radar or camera in detecting imminent crash scenarios. In the United States, approximately three hundred million automobiles could participate in a fully deployed V2V system if Dedicated Short-Range Communication (DSRC) device use becomes mandatory. The system s reliance on continuous communication, however, provides a potential means for unscrupulous persons to transmit false data in an attempt to cause crashes, create traffic congestion, or simply render the system useless. V2V communications must be highly scalable while retaining robust security and privacy preserving features to meet the intra-vehicle and vehicle-to-infrastructure communication requirements for a growing vehicle population. Oakridge National Research Laboratory is investigating a Vehicle-Based Security System (VBSS) to provide security and privacy for a fully deployed V2V and V2I system. In the VBSS an On-board Unit (OBU) generates short-term certificates and signs Basic Safety Messages (BSM) to preserve privacy and enhance security. This work outlines a potential VBSS structure and its operational concepts; it examines how a vehicle-based system might feasibly provide security and privacy, highlights remaining challenges, and explores potential mitigations to address those challenges. Certificate management alternatives that attempt to meet V2V security and privacy requirements have been examined previously by the research community including privacy-preserving group certificates, shared certificates, and functional encryption. Due to real-world operational constraints, adopting one of these approaches for VBSS V2V communication is difficult. Timely misbehavior detection and revocation are still open problems for any V2V system. We explore the alternative approaches that may be

  20. Requirement for a standard language for test and ground operations

    NASA Technical Reports Server (NTRS)

    Medlock, J. R.

    1971-01-01

    The basic requirements for a standard test and checkout language applicable to all phases of the space shuttle test and ground operations are determined. The general characteristics outlined here represent the integration of selected ideas and concepts from operational elements within Kennedy Space Center (KSC) that represent diverse disciplines associated with space vehicle testing and launching operations. Special reference is made to two studies conducted in this area for KSC as authorized by the Advanced Development Element of the Office of Manned Space Flight (MSF). Information contained in reports from these studies have contributed significantly to the final selection of language features depicted in this technical report.

  1. Autonomy for SOHO Ground Operations

    NASA Technical Reports Server (NTRS)

    Truszkowski, Walt; Netreba, Nick; Ginn, Don; Mandutianu, Sanda; Obenschain, Arthur F. (Technical Monitor)

    2001-01-01

    The SOLAR and HELIOSPHERIC OBSERVATORY (SOHO) project [SOHO Web Page] is being carried out by the European Space Agency (ESA) and the US National Aeronautics and Space Administration (NASA) as a cooperative effort between the two agencies in the framework of the Solar Terrestrial Science Program (STSP) comprising SOHO and other missions. SOHO was launched on December 2, 1995. The SOHO spacecraft was built in Europe by an industry team led by Matra, and instruments were provided by European and American scientists. There are nine European Principal Investigators (PI's) and three American ones. Large engineering teams and more than 200 co-investigators from many institutions support the PI's in the development of the instruments and in the preparation of their operations and data analysis. NASA is responsible for the launch and mission operations. Large radio dishes around the world, which form NASA's Deep Space Network (DSN), are used to track the spacecraft beyond the Earths orbit. Mission control is based at Goddard Space Flight Center in Maryland. The agent group at the NASA Goddard Space Flight Center, in collaboration with JPL, is currently involved with the design and development of an agent-based system to provide intelligent interactions with the control center personnel for SOHO. The basic approach that is being taken is to develop a sub-community of agents for each major subsystem of SOHO and to integrate these sub-communities into an overall SOHO community. Agents in all sub-communities will be capable of advanced understanding (deep reasoning) of the associated spacecraft subsystem.

  2. Atmospheric statistics for aerospace vehicle operations

    NASA Technical Reports Server (NTRS)

    Smith, O. E.; Batts, G. W.

    1993-01-01

    Statistical analysis of atmospheric variables was performed for the Shuttle Transportation System (STS) design trade studies and the establishment of launch commit criteria. Atmospheric constraint statistics have been developed for the NASP test flight, the Advanced Launch System, and the National Launch System. The concepts and analysis techniques discussed in the paper are applicable to the design and operations of any future aerospace vehicle.

  3. Modeling ground vehicle acoustic signatures for analysis and synthesis

    SciTech Connect

    Haschke, G.; Stanfield, R.

    1995-07-01

    Security and weapon systems use acoustic sensor signals to classify and identify moving ground vehicles. Developing robust signal processing algorithms for this is expensive, particularly in presence of acoustic clutter or countermeasures. This paper proposes a parametric ground vehicle acoustic signature model to aid the system designer in understanding which signature features are important, developing corresponding feature extraction algorithms and generating low-cost, high-fidelity synthetic signatures for testing. The authors have proposed computer-generated acoustic signatures of armored, tracked ground vehicles to deceive acoustic-sensored smart munitions. They have developed quantitative measures of how accurately a synthetic acoustic signature matches those produced by actual vehicles. This paper describes parameters of the model used to generate these synthetic signatures and suggests methods for extracting these parameters from signatures of valid vehicle encounters. The model incorporates wide-bandwidth and narrow- bandwidth components that are modulated in a pseudo-random fashion to mimic the time dynamics of valid vehicle signatures. Narrow- bandwidth feature extraction techniques estimate frequency, amplitude and phase information contained in a single set of narrow frequency- band harmonics. Wide-bandwidth feature extraction techniques estimate parameters of a correlated-noise-floor model. Finally, the authors propose a method of modeling the time dynamics of the harmonic amplitudes as a means adding necessary time-varying features to the narrow-bandwidth signal components. The authors present results of applying this modeling technique to acoustic signatures recorded during encounters with one armored, tracked vehicle. Similar modeling techniques can be applied to security systems.

  4. Mobility and dynamics modeling for unmanned ground vehicle motion planning

    NASA Astrophysics Data System (ADS)

    Witus, Gary

    1999-07-01

    This paper presents an approach to modeling unmanned ground vehicle (UGV) mobility performance and vehicle dynamics for evaluating the feasibility and cost of alternative motion plans. Feasibility constraints include power, traction, and roll stability limits. Sensor stabilization performance is considered in a system-level constraint requiring that the obstacle detection distance exceed the stopping distance. Mission time and power requirements are inputs to a multi- attribute cost function for planning under uncertainty. The modeling approach combines a theoretical first-principles mathematical model with an empirical knowledge-based model. The first-principles model predicts performance in an idealized deterministic environment. On-board vehicle dynamics control, for dynamic load balancing and traction management, legitimize some of the simplifying assumptions. The knowledge- based model uses historical relationships to predict the mean and variance of total system performance accounting for the contributions of unplanned reactive behaviors, local terrain variations, and vehicle response transients.

  5. 32 CFR 935.139 - Motor vehicle operator qualifications.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 32 National Defense 6 2011-07-01 2011-07-01 false Motor vehicle operator qualifications. 935.139... AND INSULAR REGULATIONS WAKE ISLAND CODE Motor Vehicle Code § 935.139 Motor vehicle operator qualifications. (a) No person may operate a privately owned motor vehicle on Wake Island unless he has an...

  6. 32 CFR 935.139 - Motor vehicle operator qualifications.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 32 National Defense 6 2010-07-01 2010-07-01 false Motor vehicle operator qualifications. 935.139... AND INSULAR REGULATIONS WAKE ISLAND CODE Motor Vehicle Code § 935.139 Motor vehicle operator qualifications. (a) No person may operate a privately owned motor vehicle on Wake Island unless he has an...

  7. 32 CFR 935.139 - Motor vehicle operator qualifications.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 32 National Defense 6 2013-07-01 2013-07-01 false Motor vehicle operator qualifications. 935.139... AND INSULAR REGULATIONS WAKE ISLAND CODE Motor Vehicle Code § 935.139 Motor vehicle operator qualifications. (a) No person may operate a privately owned motor vehicle on Wake Island unless he has an...

  8. 32 CFR 935.139 - Motor vehicle operator qualifications.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 32 National Defense 6 2014-07-01 2014-07-01 false Motor vehicle operator qualifications. 935.139... AND INSULAR REGULATIONS WAKE ISLAND CODE Motor Vehicle Code § 935.139 Motor vehicle operator qualifications. (a) No person may operate a privately owned motor vehicle on Wake Island unless he has an...

  9. 32 CFR 935.139 - Motor vehicle operator qualifications.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 32 National Defense 6 2012-07-01 2012-07-01 false Motor vehicle operator qualifications. 935.139... AND INSULAR REGULATIONS WAKE ISLAND CODE Motor Vehicle Code § 935.139 Motor vehicle operator qualifications. (a) No person may operate a privately owned motor vehicle on Wake Island unless he has an...

  10. Wavelet-based ground vehicle recognition using acoustic signals

    NASA Astrophysics Data System (ADS)

    Choe, Howard C.; Karlsen, Robert E.; Gerhart, Grant R.; Meitzler, Thomas J.

    1996-03-01

    We present, in this paper, a wavelet-based acoustic signal analysis to remotely recognize military vehicles using their sound intercepted by acoustic sensors. Since expedited signal recognition is imperative in many military and industrial situations, we developed an algorithm that provides an automated, fast signal recognition once implemented in a real-time hardware system. This algorithm consists of wavelet preprocessing, feature extraction and compact signal representation, and a simple but effective statistical pattern matching. The current status of the algorithm does not require any training. The training is replaced by human selection of reference signals (e.g., squeak or engine exhaust sound) distinctive to each individual vehicle based on human perception. This allows a fast archiving of any new vehicle type in the database once the signal is collected. The wavelet preprocessing provides time-frequency multiresolution analysis using discrete wavelet transform (DWT). Within each resolution level, feature vectors are generated from statistical parameters and energy content of the wavelet coefficients. After applying our algorithm on the intercepted acoustic signals, the resultant feature vectors are compared with the reference vehicle feature vectors in the database using statistical pattern matching to determine the type of vehicle from where the signal originated. Certainly, statistical pattern matching can be replaced by an artificial neural network (ANN); however, the ANN would require training data sets and time to train the net. Unfortunately, this is not always possible for many real world situations, especially collecting data sets from unfriendly ground vehicles to train the ANN. Our methodology using wavelet preprocessing and statistical pattern matching provides robust acoustic signal recognition. We also present an example of vehicle recognition using acoustic signals collected from two different military ground vehicles. In this paper, we will

  11. Vehicle design for low cost operations

    NASA Astrophysics Data System (ADS)

    Bangsund, E.; Caluori, V.

    1986-10-01

    Based on considerations derived from a study examining transportation systems for drivers of operational costs, a near term expendable launch vehicle (ELV) is proposed. The largest single factor projected to decrease cost for the STS is an increase in the degree of reusability and a reduction in the maintenance and refurbishment of that reusable hardware. The proposed candidate ELV system has an assessed reliability value of 0.985, and it offers dual redundant avionics. The conservative design approach incorporates existing qualified Saturn V and Shuttle technology for Stages 1 and 2, and Leasat and multimission bus integral propulsion technology for the transfer vehicle, an all liquid engine using storable propellants.

  12. Lessons learned for improving spacecraft ground operations

    NASA Astrophysics Data System (ADS)

    Bell, Michael; Stambolian, Damon; Henderson, Gena

    NASA has a unique history in processing the Space Shuttle fleet for launches. Some of this experience has been captured in the NASA Lessons Learned Information System (LLIS). This tool provides a convenient way for design engineers to review lessons from the past to prevent problems from reoccurring and incorporate positive lessons in new designs. At the Kennedy Space Center, the LLIS is being used to design ground support equipment for the next generation of launch and crewed vehicles. This paper describes the LLIS process and offers some examples.

  13. Lessons Learned for Improving Spacecraft Ground Operations

    NASA Technical Reports Server (NTRS)

    Bell, Michael A.; Stambolian, Damon B.; Henderson, Gena M.

    2012-01-01

    NASA has a unique history in processing the Space Shuttle fleet for launches. Some of this experience has been captured in the NASA Lessons Learned Information System (LLIS). This tool provides a convenient way for design engineers to review lessons from the past to prevent problems from reoccurring and incorporate positive lessons in new designs. At the Kennedy Space Center, the LLIS is being used to design ground support equipment for the next generation of launch and crewed vehicles. This paper describes the LLIS process and offers some examples.

  14. Space imaging infrared optical guidance for autonomous ground vehicle

    NASA Astrophysics Data System (ADS)

    Akiyama, Akira; Kobayashi, Nobuaki; Mutoh, Eiichiro; Kumagai, Hideo; Yamada, Hirofumi; Ishii, Hiromitsu

    2008-08-01

    We have developed the Space Imaging Infrared Optical Guidance for Autonomous Ground Vehicle based on the uncooled infrared camera and focusing technique to detect the objects to be evaded and to set the drive path. For this purpose we made servomotor drive system to control the focus function of the infrared camera lens. To determine the best focus position we use the auto focus image processing of Daubechies wavelet transform technique with 4 terms. From the determined best focus position we transformed it to the distance of the object. We made the aluminum frame ground vehicle to mount the auto focus infrared unit. Its size is 900mm long and 800mm wide. This vehicle mounted Ackerman front steering system and the rear motor drive system. To confirm the guidance ability of the Space Imaging Infrared Optical Guidance for Autonomous Ground Vehicle we had the experiments for the detection ability of the infrared auto focus unit to the actual car on the road and the roadside wall. As a result the auto focus image processing based on the Daubechies wavelet transform technique detects the best focus image clearly and give the depth of the object from the infrared camera unit.

  15. Designing for a new era of launch vehicle operational efficiency

    NASA Technical Reports Server (NTRS)

    Talay, T. A.; Morris, W. D.; Eide, D. G.; Rehder, J. J.

    1983-01-01

    It is pointed out that early recognition of operational requirements and assessment of their effects provides the best chance of designing an economically viable future space transportation system (FSTS). Operational factors which may influence configuration design include fleet size, operation mode, refurbishment, and the resource requirements. FTST has a simplified operational role compared to the Space Shuttle, which, in addition to transportation, must perform experiments, support payloads, and stay long on orbit. In the future a space station will perform many of these tasks. The FSTS comprises a two-stage fully reusable launch vehicle designed to carry 150,000 lb to a space station, off-load, and return. It would always be launched fully loaded, and its cargo would be processed and redistributed at the space station. Attention is given to ground servicing, flight operations, rendezvous-compatible orbits, launch windows, standard trajectories, entry windows, operational costs, the mission model, and resource requirements.

  16. Improved obstacle avoidance and navigation for an autonomous ground vehicle

    NASA Astrophysics Data System (ADS)

    Giri, Binod; Cho, Hyunsu; Williams, Benjamin C.; Tann, Hokchhay; Shakya, Bicky; Bharam, Vishal; Ahlgren, David J.

    2015-01-01

    This paper presents improvements made to the intelligence algorithms employed on Q, an autonomous ground vehicle, for the 2014 Intelligent Ground Vehicle Competition (IGVC). In 2012, the IGVC committee combined the formerly separate autonomous and navigation challenges into a single AUT-NAV challenge. In this new challenge, the vehicle is required to navigate through a grassy obstacle course and stay within the course boundaries (a lane of two white painted lines) that guide it toward a given GPS waypoint. Once the vehicle reaches this waypoint, it enters an open course where it is required to navigate to another GPS waypoint while avoiding obstacles. After reaching the final waypoint, the vehicle is required to traverse another obstacle course before completing the run. Q uses modular parallel software architecture in which image processing, navigation, and sensor control algorithms run concurrently. A tuned navigation algorithm allows Q to smoothly maneuver through obstacle fields. For the 2014 competition, most revisions occurred in the vision system, which detects white lines and informs the navigation component. Barrel obstacles of various colors presented a new challenge for image processing: the previous color plane extraction algorithm would not suffice. To overcome this difficulty, laser range sensor data were overlaid on visual data. Q also participates in the Joint Architecture for Unmanned Systems (JAUS) challenge at IGVC. For 2014, significant updates were implemented: the JAUS component accepted a greater variety of messages and showed better compliance to the JAUS technical standard. With these improvements, Q secured second place in the JAUS competition.

  17. Operational Considerations when Designing New Ground Systems

    NASA Technical Reports Server (NTRS)

    Walyus, Keith; Barbahenn, George; Crabb, William; Miebach, Manfred; Pataro, Peter

    2000-01-01

    The Hubble Space Telescope (HST) launched in April of 1991 with a nominal 15-year old mission. Since then, the HST mission life has been extended to 2010. As is true for all NASA missions, HST is being asked to decrease its operational costs for the remainder of its mission life. Various techniques are being incorporated for cost reductions, with one of the core means being the design of a new and more efficient ground system for HST operations. This new ground system, "Vision 2000", will reduce operational and maintenance costs and also provide the HST Project with added flexibility to react to future changes. Vision 2000 began supporting HST Operations in January of 1999 and will support the mission for the remainder of the mission life. Upgrading a satellite's ground system is a popular approach for reducing costs, but it is also inherently risky. Validating a new ground system can be a severe distraction to a flight team while operating a satellite. Mission data collection and health and safety requirements are rarely, if ever, relaxed during this validation period, forcing flight teams to undertake an additional task while operating the satellite. Additionally, flight teams must usually undergo extensive training to effectively utilize the new system. Once again, this training usually occurs as an additional task, in addition to the nominal satellite operations. While operating the spacecraft, the Flight Team typically assists in the design, validation, and verification of a new ground system. This is a distraction and strain on the Flight Team, but the benefit of using the Flight Team in all phases of ground system development far outweigh the negative aspects. Finally, above the cost of the new system, the integration into the facility with the current control center system are resources and costs not normally taken into account in the design phase of the new system. In addition to the standard issues faced by a Project when upgrading its ground system, the

  18. Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

    NASA Technical Reports Server (NTRS)

    Rankin, Arturo; Huertas, Andres; Matthies, Larry; Bajracharya, Max; Assad, Christopher; Brennan, Shane; Bellut, Paolo; Sherwin, Gary

    2011-01-01

    TIR cameras can be used for day/night Unmanned Ground Vehicle (UGV) autonomous navigation when stealth is required. The quality of uncooled TIR cameras has significantly improved over the last decade, making them a viable option at low speed Limiting factors for stereo ranging with uncooled LWIR cameras are image blur and low texture scenes TIR perception capabilities JPL has explored includes: (1) single and dual band TIR terrain classification (2) obstacle detection (pedestrian, vehicle, tree trunks, ditches, and water) (3) perception thru obscurants

  19. Development of a vision system for an intelligent ground vehicle

    NASA Astrophysics Data System (ADS)

    Nagel, Robert L.; Perry, Kenneth; Stone, Robert B.; McAdams, Daniel A.

    2009-01-01

    The development of a vision system for an autonomous ground vehicle designed and constructed for the Intelligent Ground Vehicle Competition (IGVC) is discussed. The requirements for the vision system of the autonomous vehicle are explored via functional analysis considering the flows (materials, energies and signals) into the vehicle and the changes required of each flow within the vehicle system. Functional analysis leads to a vision system based on a laser range finder (LIDAR) and a camera. Input from the vision system is processed via a ray-casting algorithm whereby the camera data and the LIDAR data are analyzed as a single array of points representing obstacle locations, which for the IGVC, consist of white lines on the horizontal plane and construction markers on the vertical plane. Functional analysis also leads to a multithreaded application where the ray-casting algorithm is a single thread of the vehicle's software, which consists of multiple threads controlling motion, providing feedback, and processing the data from the camera and LIDAR. LIDAR data is collected as distances and angles from the front of the vehicle to obstacles. Camera data is processed using an adaptive threshold algorithm to identify color changes within the collected image; the image is also corrected for camera angle distortion, adjusted to the global coordinate system, and processed using least-squares method to identify white boundary lines. Our IGVC robot, MAX, is utilized as the continuous example for all methods discussed in the paper. All testing and results provided are based on our IGVC robot, MAX, as well.

  20. FBM Ground Segment and Operations Concept

    NASA Astrophysics Data System (ADS)

    Cardoso, P.; Gonçalves, L.; Ambrósio, A.; Carvalho, H.

    The French-Brazilian Micro-satellite (FBM) Mission is a cooperative program between the French Space Agency ("Centre National d`Estudes Spatiales" - CNES - France) and the National Institute for Space Research (INPE - Brazil). This mission consists in developing, launching, and controlling a scientific/technologic micro-satellite as well as the payload data dissemination. Five Brazilian and four French technological and scientific experiments will fly onboard the FBM. The task division among INPE and CNES is as follows: INPE is responsible for the Satellite System, Power Supply, Structure and Thermal Control Subsystem, Ground Segment and Operations. CNES provides the AOCS, TT&C and OBDH Subsystems. This paper presents the Ground Segment architecture, and describes its development process, along with the Mission Operations Concept, adopted for the joint program. The Ground Segment is being developed under the directive of maximum re-use of existing systems in Brazil, and the constraints imposed by the Command &Control Interface Specifications; Ground to Board Interface Definition applicable to the subsystems provided by CNES. In addition, a maximum commonality between processes and elements of AIT and operations (Control Center/Ground Station) was sought for risk and costs reduction reasons. Mission Operations were conceived as a trade-off between operational autonomy of the satellite and ground segment, and a fast reaction under contingency situations foreseen for the scientific payload equipment. Scheduled to be launched by early 2004, FBM aims at being a valuable tool for both the French and Brazilian scientific and technological communities, and provides a rich framework of technical cooperation between both countries.

  1. Ensuring Safe Exploration: Ares Launch Vehicle Integrated Vehicle Ground Vibration Testing

    NASA Technical Reports Server (NTRS)

    Tuma, M. L.; Chenevert, D. J.

    2009-01-01

    Ground vibration testing has been an integral tool for developing new launch vehicles throughout the space age. Several launch vehicles have been lost due to problems that would have been detected by early vibration testing, including Ariane 5, Delta III, and Falcon 1. NASA will leverage experience and testing hardware developed during the Saturn and Shuttle programs to perform ground vibration testing (GVT) on the Ares I crew launch vehicle and Ares V cargo launch vehicle stacks. NASA performed dynamic vehicle testing (DVT) for Saturn and mated vehicle ground vibration testing (MVGVT) for Shuttle at the Dynamic Test Stand (Test Stand 4550) at Marshall Space Flight Center (MSFC) in Huntsville, Alabama, and is now modifying that facility to support Ares I integrated vehicle ground vibration testing (IVGVT) beginning in 2012. The Ares IVGVT schedule shows most of its work being completed between 2010 and 2014. Integrated 2nd Stage Ares IVGVT will begin in 2012 and IVGVT of the entire Ares launch stack will begin in 2013. The IVGVT data is needed for the human-rated Orion launch vehicle's Design Certification Review (DCR) in early 2015. During the Apollo program, GVT detected several serious design concerns, which NASA was able to address before Saturn V flew, eliminating costly failures and potential losses of mission or crew. During the late 1970s, Test Stand 4550 was modified to support the four-body structure of the Space Shuttle. Vibration testing confirmed that the vehicle's mode shapes and frequencies were better than analytical models suggested, however, the testing also identified challenges with the rate gyro assemblies, which could have created flight instability and possibly resulted in loss of the vehicle. Today, NASA has begun modifying Test Stand 4550 to accommodate Ares I, including removing platforms needed for Shuttle testing and upgrading the dynamic test facilities to characterize the mode shapes and resonant frequencies of the vehicle. The IVGVT

  2. On software implementation of reliability of unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Dixit, Arati M.; Saab, Kassem; Singh, Harpreet; Mustapha, Adam; Gerhart, Grant R.

    2009-05-01

    Critical role of unmanned intelligent ground vehicles is evident from variety of defense applications. Fuzzy Reliability predicts reliability of the convoy of unmanned vehicles represented as a communication network with nodes as vehicle station and branches as path between the stations. Fuzzy Reliability affirms the performance of the system. Fuzzy reliability of a convoy of vehicles is the result of Fuzzy and Boolean approaches. The node and branch reliability is calculated using the Fuzzy approach. The terminal reliability is calculated using Boolean algebra. Software implementation of the fuzzy reliability is successfully done. To improve the performance evaluation of the convoy, node failure i.e. failure of convoy station is also taken into consideration. Depending upon the reliability predicted a commander can take appropriate decision in the battlefield. Proposed algorithm determines all paths from source to destination and Boolean expressions are formed. A non-overlapping simplification is obtained and further transformed into mathematical expression, where reliability values are substituted. The results of design, implementation and simulation of the reliability of convoy of unmanned vehicles are given. It is hoped that the proposed algorithm and its implementation will be useful for sensor network in general and graph of unmanned vehicles in particular.

  3. Commonality of Ground Systems in Launch Operations

    NASA Technical Reports Server (NTRS)

    Quinn, Shawn M.

    2008-01-01

    NASA is examining the utility of requiring a certain degree of commonality in both flight and ground systems in the Constellation Program. While the benefits of commonality seem obvious in terms of minimizing upfront development and long-term operations and maintenance costs, success in real, large-scale engineering systems used to support launch operations is relatively unknown. A broad literature review conducted for this paper did not yield a single paper specifically addressing the application of commonality for ground systems at any launch site in the United States or abroad. This paper provides a broad overview of the ground systems, captures historical and current application of commonality at the launch site, and offers suggestions for additional research to further develop commonality approaches.

  4. Unmanned ground vehicles and EO-IR sensors for border patrol

    NASA Astrophysics Data System (ADS)

    Bell, Robert A.

    2007-04-01

    Unmanned ground vehicle technology with integrated EO-IR Sensors and payloads play a key role in border surveillance and security. In recent years, unmanned ground vehicle such as iRobot's PackBot have been a critical tool in providing situational awareness to combat terrorist operations around the world. There is increased recognition of the importance of unmanned ground vehicles with sensor suites as a force multiplication for the infantry and special forces units in future combat or reconnaissance missions and perimeter and border security and first responders. They function as the "eyes, ears, and hands" of the unit and can be remotely deployed without placing the observer's unit in harm's way in risky environments. Evolving unmanned ground vehicle technology produces significantly lighter, more maneuverable, greater endurance UGVs with improved EO, IR and other sensors for reconnaissance, surveillance and situational awareness. They dramatically reduce the risk for soldiers in MOUT operations, relay evidence of booby traps, hidden enemy, and other dangers in caves, tunnels, buildings, vehicles and other areas where the soldier(s) may be at risk. They have expanded mobility in debris fields, stairs, and rugged terrain with IR and visible video and audio links. New sensor technology enables new tactics to be developed and tethers allow secure operation. These UGVs are extremely rugged withstanding the harshest military use. They have high reliability as demonstrated in operations in Afghanistan and Iraq. They are easy to operate with a short set-up time and battery change out time of less than one minute.

  5. Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

    NASA Technical Reports Server (NTRS)

    Rankin, Arturo; Huertas, Andres; Matthies, Larry; Bajracharya, Max; Assad, Christopher; Brennan, Shane; Bellutta, Paolo; Sherwin, Gary W.

    2011-01-01

    The ability to perform off-road autonomous navigation at any time of day or night is a requirement for some unmanned ground vehicle (UGV) programs. Because there are times when it is desirable for military UGVs to operate without emitting strong, detectable electromagnetic signals, a passive only terrain perception mode of operation is also often a requirement. Thermal infrared (TIR) cameras can be used to provide day and night passive terrain perception. TIR cameras have a detector sensitive to either mid-wave infrared (MWIR) radiation (3-5?m) or long-wave infrared (LWIR) radiation (8-12?m). With the recent emergence of high-quality uncooled LWIR cameras, TIR cameras have become viable passive perception options for some UGV programs. The Jet Propulsion Laboratory (JPL) has used a stereo pair of TIR cameras under several UGV programs to perform stereo ranging, terrain mapping, tree-trunk detection, pedestrian detection, negative obstacle detection, and water detection based on object reflections. In addition, we have evaluated stereo range data at a variety of UGV speeds, evaluated dual-band TIR classification of soil, vegetation, and rock terrain types, analyzed 24 hour water and 12 hour mud TIR imagery, and analyzed TIR imagery for hazard detection through smoke. Since TIR cameras do not currently provide the resolution available from megapixel color cameras, a UGV's daytime safe speed is often reduced when using TIR instead of color cameras. In this paper, we summarize the UGV terrain perception work JPL has performed with TIR cameras over the last decade and describe a calibration target developed by General Dynamics Robotic Systems (GDRS) for TIR cameras and other sensors.

  6. Unmanned ground vehicle perception using thermal infrared cameras

    NASA Astrophysics Data System (ADS)

    Rankin, Arturo; Huertas, Andres; Matthies, Larry; Bajracharya, Max; Assad, Christopher; Brennan, Shane; Bellutta, Paolo; Sherwin, Gary W.

    2011-05-01

    The ability to perform off-road autonomous navigation at any time of day or night is a requirement for some unmanned ground vehicle (UGV) programs. Because there are times when it is desirable for military UGVs to operate without emitting strong, detectable electromagnetic signals, a passive only terrain perception mode of operation is also often a requirement. Thermal infrared (TIR) cameras can be used to provide day and night passive terrain perception. TIR cameras have a detector sensitive to either mid-wave infrared (MWIR) radiation (3-5μm) or long-wave infrared (LWIR) radiation (7-14μm). With the recent emergence of high-quality uncooled LWIR cameras, TIR cameras have become viable passive perception options for some UGV programs. The Jet Propulsion Laboratory (JPL) has used a stereo pair of TIR cameras under several UGV programs to perform stereo ranging, terrain mapping, tree-trunk detection, pedestrian detection, negative obstacle detection, and water detection based on object reflections. In addition, we have evaluated stereo range data at a variety of UGV speeds, evaluated dual-band TIR classification of soil, vegetation, and rock terrain types, analyzed 24 hour water and 12 hour mud TIR imagery, and analyzed TIR imagery for hazard detection through smoke. Since TIR cameras do not currently provide the resolution available from megapixel color cameras, a UGV's daytime safe speed is often reduced when using TIR instead of color cameras. In this paper, we summarize the UGV terrain perception work JPL has performed with TIR cameras over the last decade and describe a calibration target developed by General Dynamics Robotic Systems (GDRS) for TIR cameras and other sensors.

  7. Aircraft and Ground Vehicle Winter Runway Friction Assessment

    NASA Technical Reports Server (NTRS)

    Yager, Thomas J.

    1999-01-01

    Some background information is given together with the scope and objectives of a 5-year, Joint Winter Runway Friction Measurement Program between the National Aeronautics & Space Administration (NASA), Transport Canada (TC), and the Federal Aviation Administration (FAA). The primary objective of this effort is to perform instrumented aircraft and ground vehicle tests aimed at identifying a common number that all the different ground vehicle devices would report. This number, denoted the International Runway Friction Index (IRFI), will be related to all types of aircraft stopping performance. The range of test equipment, the test sites, test results and accomplishments, the extent of the substantial friction database compiled, and future test plans will be described. Several related studies have also been implemented including the effects of contaminant type on aircraft impingement drag, and the effectiveness of various runway and aircraft de-icing chemical types, and application rates.

  8. Ground Operations Aerospace Language (GOAL). Volume 3: Data bank

    NASA Technical Reports Server (NTRS)

    1973-01-01

    The GOAL (Ground Operations Aerospace Language) test programming language was developed for use in ground checkout operations in a space vehicle launch environment. To insure compatibility with a maximum number of applications, a systematic and error-free method of referencing command/response (analog and digital) hardware measurements is a principle feature of the language. Central to the concept of requiring the test language to be independent of launch complex equipment and terminology is that of addressing measurements via symbolic names that have meaning directly in the hardware units being tested. To form the link from test program through test system interfaces to the units being tested the concept of a data bank has been introduced. The data bank is actually a large cross-reference table that provides pertinent hardware data such as interface unit addresses, data bus routings, or any other system values required to locate and access measurements.

  9. Skid steer fuel cell powered unmanned ground vehicle (Burro)

    NASA Astrophysics Data System (ADS)

    Meldrum, Jay S.; Green, Christopher A.

    2008-04-01

    The use of alternative energy technology for vehicle propulsion and auxiliary power is becoming more important. Work is being performed at Michigan Technological University's Keweenaw Research Center on an Army Research Laboratory cooperative agreement to develop two unmanned ground vehicles for military applications. A wide range of alternative energy technologies were investigated. Hydrogen-powered proton exchange membrane fuel cells were identified as the most appropriate alternative energy source. This is due to some development and commercialization which makes the technology "drop-in plug-in" for immediate use. We have previously presented research work on a small unmanned ground vehicle demonstration platform where the fuel cell is the only power source. We now present research work on the integration of a fuel cell onto a larger skid steer platform. The dual-power capability of this vehicle can provide a modest level of propulsion in "engine-off mode" and may also be used to power directed energy devices which have applications in countermine and similar threat technologies.

  10. Operational benefits from the terminal configured vehicle

    NASA Technical Reports Server (NTRS)

    Reeder, J. P.; Schmitz, R. A.; Clark, L. V.

    1979-01-01

    The NASA Terminal Configured Vehicle is a flying laboratory used to conduct research and development on improved airborne systems (including avionics) and operational flight procedures, with particular emphasis on utilization in the terminal area environment. The objectives of this technology development activity, focused on conventional transport aircraft, are to develop and demonstrate improvements which can lead to increased airport and runway capacity, increased air traffic controller productivity, energy efficient terminal area operations, reduced weather minima with safety, and reduced community noise by use of appropriate procedures. This paper discusses some early results of this activity in addition to defining present efforts and future research plans.

  11. Kistler reusable vehicle facility design and operational approach

    NASA Astrophysics Data System (ADS)

    Fagan, D.; McInerney, F.; Johnston, C.; Tolson, B.

    Kistler Aerospace Corporation is designing and developing the K-1, the world's first fully reusable aerospace vehicle to deliver satellites into orbit. The K-1 vehicle test program will be conducted in Woomera, Australia, with commercial operations scheduled to begin shortly afterwards. Both stages of the K-1 will return to the launch site utilizing parachutes and airbags for a soft landing within 24 h after launch. The turnaround flow of the two stages will cycle from landing site to a maintenance/refurbishment facility and through the next launch in only 9 days. Payload processing will occur in a separate facility in parallel with recovery and refurbishment operations. The vehicle design and on-board checkout capability of the avionics system eliminates the need for an abundance of ground checkout equipment. Payload integration, vehicle assembly, and K-1 transport to the launch pad will be performed horizontally, simplifying processing and reducing infrastructure requirements. This simple, innovative, and cost-effective approach will allow Kistler to offer its customers flexible, low-cost, and on-demand launch services.

  12. Covert non-line-of-sight communication links for small unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Burgett, Sherrie J.; McMinn, James R.

    2001-09-01

    The U.S. Army Aviation and Missile Command (AMCOM), Research, Development and Engineering Center (AMRDEC), in support of the Unmanned Ground Vehicles/Systems Joint Project Office (UGV/S JPO), has developed, tested and demonstrated the feasibility of use of expendable, thin-buffered, fiber optic cable for tele-operation of unmanned ground systems. Complete Non-Line-of-Sight (NLOS), high bandwidth, expendable, fiber optic cable payout systems have been designed, leveraging other Army programs, and integrated on several ground vehicles. A number of tests have been conducted to prove the viability of fiber optics for UGV datalink applications. These successful tests led to the initiation of the development of miniature fiber optic dispensers for small UGVs. Based on the outcome of the Engineer Urban Robot Concept Experimentation Program (URBOT CEP) conducted at Ft. Leonard Wood, MO in 1999 that focused on the feasibility, capability, efficiencies and operational effectiveness of small robots for reconnaissance of bunkers, subterranean sewers and tunnels, and Military Operations in Urban Terrain (MOUT), a design concept was formulated for small robot tethered communications. Miniature fiber optic dispensers have now been fabricated and tested. This paper will present a brief history of the technology transfer and development associated with fiber optic datalinks for unmanned ground vehicles and will focus on the recent research and development of miniaturized deployment systems for small robot applications.

  13. External aerodynamics of heavy ground vehicles: Computations and wind tunnel testing

    NASA Astrophysics Data System (ADS)

    Bayraktar, Ilhan

    Aerodynamic characteristics of a ground vehicle affect vehicle operation in many ways. Aerodynamic drag, lift and side forces have influence on fuel efficiency, vehicle top speed and acceleration performance. In addition, engine cooling, air conditioning, wind noise, visibility, stability and crosswind sensitivity are some other tasks for vehicle aerodynamics. All of these areas benefit from drag reduction and changing the lift force in favor of the operating conditions. This can be achieved by optimization of external body geometry and flow modification devices. Considering the latter, a thorough understanding of the airflow is a prerequisite. The present study aims to simulate the external flow field around a ground vehicle using a computational method. The model and the method are selected to be three dimensional and time-dependent. The Reynolds-averaged Navier Stokes equations are solved using a finite volume method. The Renormalization Group (RNG) k-epsilon model was elected for closure of the turbulent quantities. Initially, the aerodynamics of a generic bluff body is studied computationally and experimentally to demonstrate a number of relevant issues including the validation of the computational method. Experimental study was conducted at the Langley Full Scale Wind Tunnel using pressure probes and force measurement equipment. Experiments and computations are conducted on several geometric configurations. Results are compared in an attempt to validate the computational model for ground vehicle aerodynamics. Then, the external aerodynamics of a heavy truck is simulated using the validated computational fluid dynamics method, and the external flow is presented using computer visualization. Finally, to help the estimation of the error due to two commonly practiced engineering simplifications, a parametric study on the tires and the moving ground effect are conducted on full-scale tractor-trailer configuration. Force and pressure coefficients and velocity

  14. A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data

    PubMed Central

    Liu, Zhao; Wang, Jinling; Liu, Daxue

    2013-01-01

    Curb detection is an important research topic in environment perception, which is an essential part of unmanned ground vehicle (UGV) operations. In this paper, a new curb detection method using a 2D laser range finder in a semi-structured environment is presented. In the proposed method, firstly, a local Digital Elevation Map (DEM) is built using 2D sequential laser rangefinder data and vehicle state data in a dynamic environment and a probabilistic moving object deletion approach is proposed to cope with the effect of moving objects. Secondly, the curb candidate points are extracted based on the moving direction of the vehicle in the local DEM. Finally, the straight and curved curbs are detected by the Hough transform and the multi-model RANSAC algorithm, respectively. The proposed method can detect the curbs robustly in both static and typical dynamic environments. The proposed method has been verified in real vehicle experiments. PMID:23325170

  15. Integration of a high degree of freedom robotic manipulator on a large unmanned ground vehicle

    NASA Astrophysics Data System (ADS)

    Giesbrecht, Jared; Fairbrother, Blaine; Collier, Jack; Beckman, Blake

    2010-04-01

    The Multi-Agent Tactical Sentry Unmanned Ground Vehicle, developed at Defence R&D Canada - Suffield, has been in service with the Canadian Forces for five years. This tele-operated wheeled vehicle provides a capability for point detection of chemical, biological, radiological, and nuclear agents. Based on user experience, it is obvious that a manipulator capability would greatly enhance the vehicle's utility and increase its mobility in urban terrain. This paper details technical components of this development, and describes a number of trials undertaken to perform tasks with a manipulator arm such as picking up objects, opening vehicle and building doors, recording video, and creating 3D models of the environment. The lessons learned from these trials will guide further development of the technology.

  16. A new curb detection method for unmanned ground vehicles using 2D sequential laser data.

    PubMed

    Liu, Zhao; Wang, Jinling; Liu, Daxue

    2013-01-01

    Curb detection is an important research topic in environment perception, which is an essential part of unmanned ground vehicle (UGV) operations. In this paper, a new curb detection method using a 2D laser range finder in a semi-structured environment is presented. In the proposed method, firstly, a local Digital Elevation Map (DEM) is built using 2D sequential laser rangefinder data and vehicle state data in a dynamic environment and a probabilistic moving object deletion approach is proposed to cope with the effect of moving objects. Secondly, the curb candidate points are extracted based on the moving direction of the vehicle in the local DEM. Finally, the straight and curved curbs are detected by the Hough transform and the multi-model RANSAC algorithm, respectively. The proposed method can detect the curbs robustly in both static and typical dynamic environments. The proposed method has been verified in real vehicle experiments. PMID:23325170

  17. Orbital transfer vehicle launch operations study. Volume 2: Detailed summary

    NASA Technical Reports Server (NTRS)

    1986-01-01

    A series of Operational Design Drivers were identified. Several of these could have significant impact(s) on program costs. These recommendations, for example, include such items as: complete factory assembly and checkout prior to shipment to the ground launch site to make significant reductions in time required at the launch site as well as overall manpower required to do this work; minimize use of nonstandard equipment when orbiter provided equipment is available; and require commonality (or interchangeability) of subsystem equipment elements that are common to the space station, Orbit Maneuvering Vehicles, and/or Orbit Transfer Vehicles. Several additional items were identified that will require a significant amount of management attention (and direction) to resolve. Key elements of the space based processing plans are discussed.

  18. Space Operations for a New Era of Exploration Launch Vehicles

    NASA Technical Reports Server (NTRS)

    Cook, Stephen A.; Vanhooser, Teresa

    2010-01-01

    NASA's Constellation Program is depending on the Ares Projects to deliver the crew and cargo launch capabilities needed to send human explorers to the Moon and beyond. Ares I and V will provide the core space launch capabilities needed to continue providing crew and cargo access to the International Space Station (ISS), and to build upon the U.S. history of human space exploration. Since 2005, Ares has made substantial progress on designing, developing, and testing the Ares I crew launch vehicle and has continued its in-depth studies of the Ares V cargo launch vehicles. The combined Ares I/Ares V architecture has been designed to reduce the complexity and labor intensity of ground operations for America's next journeys beyond low-Earth orbit (LEO). A deliberate effort is being made to ensure a high level of system operability to significantly increase safety and system availability as well as reduce recurring costs for this new launch vehicle. The Ares Projects goal is to instill operability as part of the vehicles requirements development, design, and operations. This simplicity will come from using simpler, proven engine designs, as in the case of the J-2X upper stage engine and RS-68 engine; improving existing hardware, as in the case of the Shuttle-heritage 5-segment solid rocket motor; and using common propulsion and instrument unit elements between Ares I and Ares V. Furthermore, lessons learned while developing Ares I will be applied directly to Ares V operations. In 2009, the Ares Projects plan to conduct the first flight test of Ares I, designated Ares I-X. Ares I-X preparations have already prompted changes to the vehicle stacking and launch infrastructure at Kennedy Space Center (KSC), including removing Shuttle-specific fixtures from the Vehicle Assembly Building (VAB) to accommodate Ares I-style stacking operations, new firing room computers and infrastructure in the VAB Launch Control Center, and new lightning protection system towers at Launch

  19. Distributed operating system for NASA ground stations

    NASA Technical Reports Server (NTRS)

    Doyle, John F.

    1987-01-01

    NASA ground stations are characterized by ever changing support requirements, so application software is developed and modified on a continuing basis. A distributed operating system was designed to optimize the generation and maintenance of those applications. Unusual features include automatic program generation from detailed design graphs, on-line software modification in the testing phase, and the incorporation of a relational database within a real-time, distributed system.

  20. Preliminary study of ground handling characteristics of Buoyant Quad Rotor (BQR) vehicles

    NASA Technical Reports Server (NTRS)

    Browning, R. G. E.

    1980-01-01

    A preliminary investigation of mooring concepts appropriate for heavy lift buoyant quad rotor (BQR) vehicles was performed. A review of the evolution of ground handling systems and procedures for all airship types is presented to ensure that appropriate consideration is given to past experiences. Two buoyant quad rotor designs are identified and described. An analysis of wind loads on a moored airship and the effects of these loads on vehicle design is provided. Four mooring concepts are assessed with respect to the airship design, wind loads and mooring site considerations. Basing requirements and applicability of expeditionary mooring at various operational scenarios are addressed.

  1. SimUGV: a simulator for analyzing energy dynamics and locomotion for unmanned ground vehicles (UGV)

    NASA Astrophysics Data System (ADS)

    Sinha, Aakash K.; Vashishtha, Jyoti

    2006-05-01

    In the area of research on unmanned ground vehicles (UGV), one major problem is limited operating duration of robotics vehicles due to energy losses. There is a need for systematic analysis of locomotion and energy dynamics, which would enable an efficient design of the vehicle. For this purpose, a multifunction simulator tool is required which can read several input variables that describe the vehicle and compute detailed analysis of its energy dynamics. This research presents a generic locomotion simulator for a UGV (SimUGV). SimUGV's goal is to help vehicle designers develop efficient vehicles by optimizing design variables to minimize the energy losses for the vehicle. SimUGV has a powerful GUI interface which allows users to compare multiple test runs and visualize the data in a variety of ways. To illustrate the capabilities of the simulator, we present a case study conducted on the energy dynamics of a skid steering robotic vehicle. Two major constituent components of energy losses/consumption for a skid steering vehicle are - losses in skid steer turning, and losses in rolling. Using SimUGV, we present a detailed energy loss analysis of the vehicle's different turning modes; elastic mode steering, half-slip steering, skid turns, low radius turns, and zero radius turns. Each of the energy loss components is modeled from physics in terms of the design variables. The effect of design variables on the total energy losses/consumption is then studied using simulated data for different types of surfaces i.e. hard surfaces and muddy surfaces. Finally, we make suggestions about efficient vehicle design choices in terms of the design variables.

  2. 40 CFR 1066.415 - Vehicle operation.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... VEHICLE-TESTING PROCEDURES Preparing Vehicles and Running an Exhaust Emission Test § 1066.415 Vehicle... causes the engine to start running. (2) Place the transmission in gear as described by the test cycle...

  3. Underwater work by remotely operated vehicles (ROV's)

    SciTech Connect

    Batten, C.J. )

    1988-01-01

    This paper describes experience with respect to underwater work carried out by Remotely Operated Vehicles (ROV's) on the North West Shelf Development Project, North Rankin A field located off the North West coast of Australia. Typical work includes detailed pipeline and platform inspections, underwater support for the installation of gravity anchors and associated guy wires, general construction support, underwater cutting, marine fouling removal, scour protection installation and pipeline stabilization. The paper describes special tooling procedures and systems developed to perform the work. Also presented are new information and statistics associated with bulk marine fouling removal by purpose designed/built remotely operated equipment. Specific data related to time/costs associated with performance of significant aspects of the work are presented.

  4. 10 CFR 490.306 - Vehicle operation requirements.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... Energy DEPARTMENT OF ENERGY ENERGY CONSERVATION ALTERNATIVE FUEL TRANSPORTATION PROGRAM Alternative Fuel Provider Vehicle Acquisition Mandate § 490.306 Vehicle operation requirements. The alternative fueled..., except when these vehicles are operating in an area where the appropriate alternative fuel is unavailable....

  5. 10 CFR 490.306 - Vehicle operation requirements.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... Energy DEPARTMENT OF ENERGY ENERGY CONSERVATION ALTERNATIVE FUEL TRANSPORTATION PROGRAM Alternative Fuel Provider Vehicle Acquisition Mandate § 490.306 Vehicle operation requirements. The alternative fueled..., except when these vehicles are operating in an area where the appropriate alternative fuel is unavailable....

  6. 10 CFR 490.306 - Vehicle operation requirements.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... Energy DEPARTMENT OF ENERGY ENERGY CONSERVATION ALTERNATIVE FUEL TRANSPORTATION PROGRAM Alternative Fuel Provider Vehicle Acquisition Mandate § 490.306 Vehicle operation requirements. The alternative fueled..., except when these vehicles are operating in an area where the appropriate alternative fuel is unavailable....

  7. 10 CFR 490.306 - Vehicle operation requirements.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... Energy DEPARTMENT OF ENERGY ENERGY CONSERVATION ALTERNATIVE FUEL TRANSPORTATION PROGRAM Alternative Fuel Provider Vehicle Acquisition Mandate § 490.306 Vehicle operation requirements. The alternative fueled..., except when these vehicles are operating in an area where the appropriate alternative fuel is unavailable....

  8. 10 CFR 490.306 - Vehicle operation requirements.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... Energy DEPARTMENT OF ENERGY ENERGY CONSERVATION ALTERNATIVE FUEL TRANSPORTATION PROGRAM Alternative Fuel Provider Vehicle Acquisition Mandate § 490.306 Vehicle operation requirements. The alternative fueled..., except when these vehicles are operating in an area where the appropriate alternative fuel is unavailable....

  9. Kennedy Space Center Orion Processing Team Planning for Ground Operations

    NASA Technical Reports Server (NTRS)

    Letchworth, Gary; Schlierf, Roland

    2011-01-01

    Topics in this presentation are: Constellation Ares I/Orion/Ground Ops Elements Orion Ground Operations Flow Orion Operations Planning Process and Toolset Overview, including: 1 Orion Concept of Operations by Phase 2 Ops Analysis Capabilities Overview 3 Operations Planning Evolution 4 Functional Flow Block Diagrams 5 Operations Timeline Development 6 Discrete Event Simulation (DES) Modeling 7 Ground Operations Planning Document Database (GOPDb) Using Operations Planning Tools for Operability Improvements includes: 1 Kaizen/Lean Events 2 Mockups 3 Human Factors Analysis

  10. The 15 TH annual intelligent ground vehicle competition: intelligent ground robots created by intelligent students

    NASA Astrophysics Data System (ADS)

    Theisen, Bernard L.

    2007-09-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 15 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 50 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  11. The 14 TH Annual Intelligent Ground Vehicle Competition: intelligent teams creating intelligent ground robots

    NASA Astrophysics Data System (ADS)

    Theisen, Bernard L.; Nguyen, Dmitri

    2006-10-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 14 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 50 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

  12. The 16th annual intelligent ground vehicle competition: intelligent students creating intelligent vehicles

    NASA Astrophysics Data System (ADS)

    Theisen, Bernard L.

    2009-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 16 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from nearly 70 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  13. The twelfth annual Intelligent Ground Vehicle Competition: team approaches to intelligent vehicles

    NASA Astrophysics Data System (ADS)

    Theisen, Bernard L.; Maslach, Daniel

    2004-10-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Both U.S. and international teams focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 12 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 43 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

  14. Man-vehicle systems research facility: Design and operating characteristics

    NASA Technical Reports Server (NTRS)

    1983-01-01

    The Man-Vehicle Systems Research Facility (MVSRF) provides the capability of simulating aircraft (two with full crews), en route and terminal air traffic control and aircrew interactions, and advanced cockpit (1995) display representative of future generations of aircraft, all within the full mission context. The characteristics of this facility derive from research, addressing critical human factors issues that pertain to: (1) information requirements for the utilization and integration of advanced electronic display systems, (2) the interaction and distribution of responsibilities between aircrews and ground controllers, and (3) the automation of aircrew functions. This research has emphasized the need for high fidelity in simulations and for the capability to conduct full mission simulations of relevant aircraft operations. This report briefly describes the MVSRF design and operating characteristics.

  15. Operations Assessment of Launch Vehicle Architectures using Activity Based Cost Models

    NASA Technical Reports Server (NTRS)

    Ruiz-Torres, Alex J.; McCleskey, Carey

    2000-01-01

    The growing emphasis on affordability for space transportation systems requires the assessment of new space vehicles for all life cycle activities, from design and development, through manufacturing and operations. This paper addresses the operational assessment of launch vehicles, focusing on modeling the ground support requirements of a vehicle architecture, and estimating the resulting costs and flight rate. This paper proposes the use of Activity Based Costing (ABC) modeling for this assessment. The model uses expert knowledge to determine the activities, the activity times and the activity costs based on vehicle design characteristics. The approach provides several advantages to current approaches to vehicle architecture assessment including easier validation and allowing vehicle designers to understand the cost and cycle time drivers.

  16. Control and learning for intelligent mobility of unmanned ground vehicles in complex terrains

    NASA Astrophysics Data System (ADS)

    Trentini, M.; Beckman, B.; Digney, B.

    2005-05-01

    The Autonomous Intelligent Systems program at Defence R&D Canada-Suffield envisions autonomous systems contributing to decisive operations in the urban battle space. Creating effective intelligence for these systems demands advances in perception, world representation, navigation, and learning. In the land environment, these scientific areas have garnered much attention, while largely ignoring the problem of locomotion in complex terrain. This is a gap in robotics research, where sophisticated algorithms are needed to coordinate and control robotic locomotion in unknown, highly complex environments. Unlike traditional control problems, intuitive and systematic control tools for robotic locomotion do not readily exist thus limiting their practical application. This paper addresses the mobility problem for unmanned ground vehicles, defined here as the autonomous maneuverability of unmanned ground vehicles in unknown, highly complex environments. It discusses the progress and future direction of intelligent mobility research at Defence R&D Canada-Suffield and presents the research tools, topics and plans to address this critical research gap.

  17. Air cushion vehicles for arctic operation

    NASA Astrophysics Data System (ADS)

    Koleser, J.; Lavis, D. R.

    1986-09-01

    Attention is given to the results of the NAVSEA FY85 Surface Ship Concept Formulation Design Study for an initial operational capability year-2000 air cushion vehicle (ACV) suitable for logistics and general search/rescue duties in the Arctic. Two designs were developed during the study; the first utilized an ACV design synthesis math model while the second evolved as a derivative of an existing U.S. production craft. Both are regarded as feasible from an engineering and naval architectural standpoint. Results of performance and cost trade-off studies suggest that, for an Arctic ACV, gas turbines are the preferred power plant choice and an aluminum alloy is the preferred hull structural material choice. The most appropriate skirt height is approximately 12 ft.

  18. Definition of technology development missions for early space stations orbit transfer vehicle serving. Phase 2, task 1: Space station support of operational OTV servicing

    NASA Technical Reports Server (NTRS)

    1983-01-01

    Representative space based orbital transfer vehicles (OTV), ground based vehicle turnaround assessment, functional operational requirements and facilities, mission turnaround operations, a comparison of ground based versus space based tasks, activation of servicing facilities prior to IOC, fleet operations requirements, maintenance facilities, OTV servicing facilities, space station support requirements, and packaging for delivery are discussed.

  19. Evaluation of Bare Ground on Rangelands using Unmanned Aerial Vehicles

    SciTech Connect

    Robert P. Breckenridge; Maxine Dakins

    2011-01-01

    Attention is currently being given to methods that assess the ecological condition of rangelands throughout the United States. There are a number of different indicators that assess ecological condition of rangelands. Bare Ground is being considered by a number of agencies and resource specialists as a lead indicator that can be evaluated over a broad area. Traditional methods of measuring bare ground rely on field technicians collecting data along a line transect or from a plot. Unmanned aerial vehicles (UAVs) provide an alternative to collecting field data, can monitor a large area in a relative short period of time, and in many cases can enhance safety and time required to collect data. In this study, both fixed wing and helicopter UAVs were used to measure bare ground in a sagebrush steppe ecosystem. The data were collected with digital imagery and read using the image analysis software SamplePoint. The approach was tested over seven different plots and compared against traditional field methods to evaluate accuracy for assessing bare ground. The field plots were located on the Idaho National Laboratory (INL) site west of Idaho Falls, Idaho in locations where there is very little disturbance by humans and the area is grazed only by wildlife. The comparison of fixed-wing and helicopter UAV technology against field estimates shows good agreement for the measurement of bare ground. This study shows that if a high degree of detail and data accuracy is desired, then a helicopter UAV may be a good platform. If the data collection objective is to assess broad-scale landscape level changes, then the collection of imagery with a fixed-wing system is probably more appropriate.

  20. Applications of triggered lightning to space vehicle operations

    NASA Technical Reports Server (NTRS)

    Jafferis, William; Sanicandro, Rocco; Rompalla, John; Wohlman, Richard

    1992-01-01

    Kennedy Space Center (KSC) and the USAF Eastern Space Missile Center (ESMC) covering an area of 25 x 40 km are frequently called America's Spaceport. This title is earned through the integration, by labor and management, of many skills in a wide variety of engineering fields to solve many technical problems that occur during the launch processing of space vehicles. Weather is one of these problems, and although less frequent in time and duration when compared to engineering type problems, has caused costly and life threatening situations. This sensitivity to weather, especially lightning, was recognized in the very early pioneer days of space operations. The need to protect the many v\\facilities, space flight hardware, and personnel from electrified clouds capable of producing lightning was a critical element in improving launch operations. A KSC lightning committee was formed and directed to improve lightning protection, detection, and measuring systems and required that all theoretical studies be confirmed by KSC field data. Over the years, there have been several lightning incidents involving flight vehicles during ground processing as well as launch. Subsequent investigations revealed the need to improve these systems as well as the knowledge of the electrical atmosphere and its effects on operations in regard to cost and safety. Presented here is how, KSC Atmospheric Science Field Laboratory (AFSL), in particular Rocket Triggered Lightning, is being used to solve these problems.

  1. Distributed pheromone-based swarming control of unmanned air and ground vehicles for RSTA

    NASA Astrophysics Data System (ADS)

    Sauter, John A.; Mathews, Robert S.; Yinger, Andrew; Robinson, Joshua S.; Moody, John; Riddle, Stephanie

    2008-04-01

    The use of unmanned vehicles in Reconnaissance, Surveillance, and Target Acquisition (RSTA) applications has received considerable attention recently. Cooperating land and air vehicles can support multiple sensor modalities providing pervasive and ubiquitous broad area sensor coverage. However coordination of multiple air and land vehicles serving different mission objectives in a dynamic and complex environment is a challenging problem. Swarm intelligence algorithms, inspired by the mechanisms used in natural systems to coordinate the activities of many entities provide a promising alternative to traditional command and control approaches. This paper describes recent advances in a fully distributed digital pheromone algorithm that has demonstrated its effectiveness in managing the complexity of swarming unmanned systems. The results of a recent demonstration at NASA's Wallops Island of multiple Aerosonde Unmanned Air Vehicles (UAVs) and Pioneer Unmanned Ground Vehicles (UGVs) cooperating in a coordinated RSTA application are discussed. The vehicles were autonomously controlled by the onboard digital pheromone responding to the needs of the automatic target recognition algorithms. UAVs and UGVs controlled by the same pheromone algorithm self-organized to perform total area surveillance, automatic target detection, sensor cueing, and automatic target recognition with no central processing or control and minimal operator input. Complete autonomy adds several safety and fault tolerance requirements which were integrated into the basic pheromone framework. The adaptive algorithms demonstrated the ability to handle some unplanned hardware failures during the demonstration without any human intervention. The paper describes lessons learned and the next steps for this promising technology.

  2. Design and realization of an intelligent ground vehicle with modular payloads

    NASA Astrophysics Data System (ADS)

    Akmanalp, Mehmet A.; Doherty, Ryan M.; Gorges, Jeffrey; Kalauskas, Peter; Peterson, Ellen; Polido, Felipe; Nestinger, Stephen S.; Padir, Taskin

    2012-01-01

    In June 2011, Worcester Polytechnic Institute's (WPI) unmanned ground vehicle Prometheus participated in the 8th Annual Robotic Lawnmower and 19th Annual Intelligent Ground Vehicle Competitions back-to-back. This paper details the two-year design and development cycle for WPI's intelligent ground vehicle, Prometheus. The on-board intelligence algorithms include lane detection, obstacle avoidance, path planning, world representation and waypoint navigation. The authors present experimental results and discuss practical implementations of the intelligence algorithms used on the robot.

  3. Shuttle Ground Operations Efficiencies/Technologies (SGOE/T) study. Volume 2: Ground Operations evaluation

    NASA Technical Reports Server (NTRS)

    Scholz, A. L.; Hart, M. T.; Lowry, D. J.

    1987-01-01

    The Ground Operations Evaluation describes the breath and depth of the various study elements selected as a result of an operational analysis conducted during the early part of the study. Analysis techniques used for the evaluation are described in detail. Elements selected for further evaluation are identified; the results of the analysis documented; and a follow-on course of action recommended. The background and rationale for developing recommendations for the current Shuttle or for future programs is presented.

  4. Optimizing sensor networks for autonomous unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Wang, Yun; Agrawal, Dharma P.

    2008-10-01

    Lattice wireless sensor network (WSN) resulting from deterministic deployment by using Autonomous Unmanned Ground Vehicle (UGV) can provide optimal network QoS. It also leads insight to random WSN design by providing upper bounds for performance evaluation. In this paper, we examine the features of lattice WSNs from different perspectives by investigating square, triangular, and hexagonal pattern-based WSNs. First, we examine their node deployment efficiency in terms of the number of required sensors for achieving application-specific QoS. Then, we compare their energy efficiency by exploring the ways on grouping adjacent sensors into clusters through k-clustering and balanced clustering techniques. At last, we introduce a collision-free TDMA-based node scheduling scheme for in-cluster data aggregation in each lattice WSN. This work can be regarded as a guideline to direct the design and deployment of lattice WSNs.

  5. Feasibility study of launch vehicle ground cloud neutralization

    NASA Technical Reports Server (NTRS)

    Vanderarend, P. C.; Stoy, S. T.; Kranyecz, T. E.

    1976-01-01

    The distribution of hydrogen chloride in the cloud was analyzed as a function of launch pad geometry and rate of rise of the vehicle during the first 24 sec of burn in order to define neutralization requirements. Delivery systems of various types were developed in order to bring the proposed chemical agents in close contact with the hydrogen chloride. Approximately one-third of the total neutralizing agent required can be delivered from a ground installed system at the launch pad; concentrated sodium carbonate solution is the preferred choice of agent for this launch pad system. Two-thirds of the neutralization requirement appears to need delivery by aircraft. Only one chemical agent (ammonia) may be reasonably considered for delivery by aircraft, because weight and bulk of all other agents are too large.

  6. Ensuring Safe Exploration: Ares Launch Vehicle Integrated Vehicle Ground Vibration Testing

    NASA Technical Reports Server (NTRS)

    Tuma, M. L.; Chenevert, D. J.

    2010-01-01

    Integrated vehicle ground vibration testing (IVGVT) will be a vital component for ensuring the safety of NASA's next generation of exploration vehicles to send human beings to the Moon and beyond. A ground vibration test (GVT) measures the fundamental dynamic characteristics of launch vehicles during various phases of flight. The Ares Flight & Integrated Test Office (FITO) will be leading the IVGVT for the Ares I crew launch vehicle at Marshall Space Flight Center (MSFC) from 2012 to 2014 using Test Stand (TS) 4550. MSFC conducted similar GVT for the Saturn V and Space Shuttle vehicles. FITO is responsible for performing the IVGVT on the Ares I crew launch vehicle, which will lift the Orion crew exploration vehicle to low Earth orbit, and the Ares V cargo launch vehicle, which can launch the lunar lander into orbit and send the combined Orionilander vehicles toward the Moon. Ares V consists of a six-engine core stage with two solid rocket boosters and an Earth departure stage (EDS). The same engine will power the EDS and the Ares I second stage. For the Ares IVGVT, the current plan is to test six configurations in three unique test positions inside TS 4550. Position 1 represents the entire launch stack at liftoff (using inert first stage segments). Position 2 consists of the entire launch stack at first stage burn-out (using empty first stage segments). Four Ares I second stage test configurations will be tested in Position 3, consisting of the Upper Stage and Orion crew module in four nominal conditions: J-2X engine ignition, post Launch Abort System (LAS) jettison, critical slosh mass, and J-2X burn-out. Because of long disuse, TS 4550 is being repaired and reactivated to conduct the Ares I IVGVT. The Shuttle-era platforms have been removed and are being replaced with mast climbers that provide ready access to the test articles and can be moved easily to support different positions within the test stand. The electrical power distribution system for TS 4550 was

  7. Ground cloud related weather modification effects. [heavy lift launch vehicles

    NASA Technical Reports Server (NTRS)

    Lee, J.

    1980-01-01

    The principal concerns about inadvertent weather modification by the solar power satellite system rocket effluents are discussed, namely the possibility that the ground cloud might temporarily modify local weather and the cumulative effects of nearly 500 launches per year. These issues are discussed through the consideration of (1) the possible alteration of the microphysical processes of clouds in the general area due to rocket effluents and debris and cooling water entrained during the launch and (2) the direct dynamical and thermodynamical responses to the inputs of thermal energy and moisture from the rocket exhaust for given ambient meteorological conditions. The huge amount of thermal energy contained in the exhaust of the proposed launch vehicle would in some situations induce a saturated, wet convective cloud or enhance an existing convective activity. Nevertheless, the effects would be limited to the general area of the launch site. The observed long lasting high concentrations of cloud condensation nuclei produced during and after a rocket launch may appreciably affect the frequency of occurrence and persistence of fogs and haze. In view of the high mission frequency proposed for the vehicle launches, a potential exists for a cumulative effect.

  8. A group tracking algorithm for ground vehicle convoys

    NASA Astrophysics Data System (ADS)

    Chin, Wei C.; Lee, Hian B.; Xiao, Xu H.; Ng, Gee W.; How, Khee Y.

    2005-03-01

    Tracking multiple ground targets under clutter and in real time poses several likely challenges: vehicles often get masked by foliage or line-of-sight (LOS) problems, manifesting in misdetections and false alarms. Further complications also arise when groups of vehicles merge or split. This paper presents an attempt to address these issues using a group tracking approach. Group tracking is a way to ameliorate, or at least soften the impact of such issues from the hope that at least partial information will be received from each target group even when the probability of detection, PD of each individual member is low. A Strongest Neighbour Association (SNA) method of measurement-to-track association based on space-time reasoning and track-measurement similarity measures has been derived. We combine the association strengths of the space-time dynamics, the degree-of-overlap and the historical affinity metrics to relate measurements and tracks. The state estimation is based on standard Kalman filter. Lastly, a Pairwise Historical Affinity Ratios (PHAR) is proposed for the detection of a split scenario. This method has been tested to work well on a simulated convoy-splitting scenario. Monte Carlo experiment runs of six different error rates with five different compositions of errors have been conducted to assess the performance of the tracker. Results indicated that the group tracker remains robust (>80% precision) even in the presence of high individual source track error rates of up to 30%.

  9. Ground Contact Modeling for the Morpheus Test Vehicle Simulation

    NASA Technical Reports Server (NTRS)

    Cordova, Luis

    2013-01-01

    The Morpheus vertical test vehicle is an autonomous robotic lander being developed at Johnson Space Center (JSC) to test hazard detection technology. Because the initial ground contact simulation model was not very realistic, it was decided to improve the model without making it too computationally expensive. The first development cycle added capability to define vehicle attachment points (AP) and to keep track of their states in the lander reference frame (LFRAME). These states are used with a spring damper model to compute an AP contact force. The lateral force is then overwritten, if necessary, by the Coulomb static or kinetic friction force. The second development cycle added capability to use the PolySurface class as the contact surface. The class can load CAD data in STL (Stereo Lithography) format, and use the data to compute line of sight (LOS) intercepts. A polygon frame (PFRAME) is computed from the facet intercept normal and used to convert the AP state to PFRAME. Three flat plane tests validate the transitions from kinetic to static, static to kinetic, and vertical impact. The hazardous terrain test will be used to test for visual reasonableness. The improved model is numerically inexpensive, robust, and produces results that are reasonable.

  10. Ground Contact Modeling for the Morpheus Test Vehicle Simulation

    NASA Technical Reports Server (NTRS)

    Cordova, Luis

    2014-01-01

    The Morpheus vertical test vehicle is an autonomous robotic lander being developed at Johnson Space Center (JSC) to test hazard detection technology. Because the initial ground contact simulation model was not very realistic, it was decided to improve the model without making it too computationally expensive. The first development cycle added capability to define vehicle attachment points (AP) and to keep track of their states in the lander reference frame (LFRAME). These states are used with a spring damper model to compute an AP contact force. The lateral force is then overwritten, if necessary, by the Coulomb static or kinetic friction force. The second development cycle added capability to use the PolySurface class as the contact surface. The class can load CAD data in STL (Stereo Lithography) format, and use the data to compute line of sight (LOS) intercepts. A polygon frame (PFRAME) is computed from the facet intercept normal and used to convert the AP state to PFRAME. Three flat plane tests validate the transitions from kinetic to static, static to kinetic, and vertical impact. The hazardous terrain test will be used to test for visual reasonableness. The improved model is numerically inexpensive, robust, and produces results that are reasonable.

  11. Spheres: from Ground Development to ISS Operations

    NASA Technical Reports Server (NTRS)

    Katterhagen, A.

    2016-01-01

    SPHERES (Synchronized Position Hold Engage and Reorient Experimental Satellites) is an internal International Space Station (ISS) Facility that supports multiple investigations for the development of multi-spacecraft and robotic control algorithms. The SPHERES National Lab Facility aboard ISS is managed and operated by NASA Ames Research Center (ARC) at Moffett Field California. The SPHERES Facility on ISS consists of three self-contained eight-inch diameter free-floating satellites which perform the various flight algorithms and serve as a platform to support the integration of experimental hardware. SPHERES has served to mature the adaptability of control algorithms of future formation flight missions in microgravity (6 DOF (Degrees of Freedom) / long duration microgravity), demonstrate key close-proximity formation flight and rendezvous and docking maneuvers, understand fault diagnosis and recovery, improve the field of human telerobotic operation and control, and lessons learned on ISS have significant impact on ground robotics, mapping, localization, and sensing in three-dimensions - among several other areas of study.

  12. Reduced bandwidth video for remote vehicle operations

    SciTech Connect

    Noell, T.E.; DePiero, F.W.

    1993-08-01

    Oak Ridge National Laboratory staff have developed a video compression system for low-bandwidth remote operations. The objective is to provide real-time video at data rates comparable to available tactical radio links, typically 16 to 64 thousand bits per second (kbps), while maintaining sufficient quality to achieve mission objectives. The system supports both continuous lossy transmission of black and white (gray scale) video for remote driving and progressive lossless transmission of black and white images for remote automatic target acquisition. The average data rate of the resulting bit stream is 64 kbps. This system has been demonstrated to provide video of sufficient quality to allow remote driving of a High-Mobility Multipurpose Wheeled Vehicle at speeds up to 15 mph (24.1 kph) on a moguled dirt track. The nominal driving configuration provides a frame rate of 4 Hz, a compression per frame of 125:1, and a resulting latency of {approximately}1s. This paper reviews the system approach and implementation, and further describes some of our experiences when using the system to support remote driving.

  13. Training Program for Operation of Emergency Vehicles. Trainee Study Guide.

    ERIC Educational Resources Information Center

    INNOVATRIX, Inc., Ingomar, PA.

    A two-part trainee study guide for use in the classroom phase of the Emergency Vehicle Operation (EVO) training program is provided. Part 1, to be taken by all trainees, contains seven units organized into various subunits and includes the following: (1) introduction to the course; (2) some legal aspects of emergency vehicle operation (state…

  14. Aerodynamic Drag Reduction Apparatus For Wheeled Vehicles In Ground Effect

    DOEpatents

    Ortega, Jason M.; Salari, Kambiz

    2005-12-13

    An apparatus for reducing the aerodynamic drag of a wheeled vehicle in a flowstream, the vehicle having a vehicle body and a wheel assembly supporting the vehicle body. The apparatus includes a baffle assembly adapted to be positioned upstream of the wheel assembly for deflecting airflow away from the wheel assembly so as to reduce the incident pressure on the wheel assembly.

  15. Operations analysis (study 2.6). Volume 4: Computer specification; logistics of orbiting vehicle servicing (LOVES)

    NASA Technical Reports Server (NTRS)

    1973-01-01

    The logistics of orbital vehicle servicing computer specifications was developed and a number of alternatives to improve utilization of the space shuttle and the tug were investigated. Preliminary results indicate that space servicing offers a potential for reducing future operational and program costs over ground refurbishment of satellites. A computer code which could be developed to simulate space servicing is presented.

  16. Mission specification and control for unmanned aerial and ground vehicles for indoor target discovery and tracking

    NASA Astrophysics Data System (ADS)

    Ulam, Patrick D.; Kira, Zsolt; Arkin, Ronald C.; Collins, Thomas R.

    2010-04-01

    This paper describes ongoing research by Georgia Tech into the challenges of tasking and controlling heterogonous teams of unmanned vehicles in mixed indoor/outdoor reconnaissance scenarios. We outline the tools and techniques necessary for an operator to specify, execute, and monitor such missions. The mission specification framework used for the purposes of intelligence gathering during mission execution are first demonstrated in simulations involving a team of a single autonomous rotorcraft and three ground-based robotic platforms. Preliminary results including robotic hardware in the loop are also provided.

  17. Anomaly Detection for Next-Generation Space Launch Ground Operations

    NASA Technical Reports Server (NTRS)

    Spirkovska, Lilly; Iverson, David L.; Hall, David R.; Taylor, William M.; Patterson-Hine, Ann; Brown, Barbara; Ferrell, Bob A.; Waterman, Robert D.

    2010-01-01

    NASA is developing new capabilities that will enable future human exploration missions while reducing mission risk and cost. The Fault Detection, Isolation, and Recovery (FDIR) project aims to demonstrate the utility of integrated vehicle health management (IVHM) tools in the domain of ground support equipment (GSE) to be used for the next generation launch vehicles. In addition to demonstrating the utility of IVHM tools for GSE, FDIR aims to mature promising tools for use on future missions and document the level of effort - and hence cost - required to implement an application with each selected tool. One of the FDIR capabilities is anomaly detection, i.e., detecting off-nominal behavior. The tool we selected for this task uses a data-driven approach. Unlike rule-based and model-based systems that require manual extraction of system knowledge, data-driven systems take a radically different approach to reasoning. At the basic level, they start with data that represent nominal functioning of the system and automatically learn expected system behavior. The behavior is encoded in a knowledge base that represents "in-family" system operations. During real-time system monitoring or during post-flight analysis, incoming data is compared to that nominal system operating behavior knowledge base; a distance representing deviation from nominal is computed, providing a measure of how far "out of family" current behavior is. We describe the selected tool for FDIR anomaly detection - Inductive Monitoring System (IMS), how it fits into the FDIR architecture, the operations concept for the GSE anomaly monitoring, and some preliminary results of applying IMS to a Space Shuttle GSE anomaly.

  18. System and method of vehicle operating condition management

    DOEpatents

    Sujan, Vivek A.; Vajapeyazula, Phani; Follen, Kenneth; Wu, An; Moffett, Barty L.

    2015-10-20

    A vehicle operating condition profile can be determined over a given route while also considering imposed constraints such as deviation from time targets, deviation from maximum governed speed limits, etc. Given current vehicle speed, engine state and transmission state, the present disclosure optimally manages the engine map and transmission to provide a recommended vehicle operating condition that optimizes fuel consumption in transitioning from one vehicle state to a target state. Exemplary embodiments provide for offline and online optimizations relative to fuel consumption. The benefit is increased freight efficiency in transporting cargo from source to destination by minimizing fuel consumption and maintaining drivability.

  19. Remotely operated vehicles as underwater inspection and maintenance tools: An operator's viewpoint

    SciTech Connect

    Simpson, J.

    1984-10-01

    Utilisation of remotely operated vehicles in the Northern North Sea is tending towards a science. Various vehicles compete in a razor-sharp market for jacket and pipeline inspections, drilling support and diver assist roles. This paper discusses Conoco's Northern Operations viewpoint and their vehicle utilisation experience.

  20. The influence of vehicle front-end design on pedestrian ground impact.

    PubMed

    Crocetta, Gianmarco; Piantini, Simone; Pierini, Marco; Simms, Ciaran

    2015-06-01

    Accident data have shown that in pedestrian accidents with high-fronted vehicles (SUVs and vans) the risk of pedestrian head injuries from the contact with the ground is higher than with low-fronted vehicles (passenger cars). However, the reasons for this remain poorly understood. This paper addresses this question using multibody modelling to investigate the influence of vehicle front height and shape in pedestrian accidents on the mechanism of impact with the ground and on head ground impact speed. To this end, a set of 648 pedestrian/vehicle crash simulations was carried out using the MADYMO multibody simulation software. Impacts were simulated with six vehicle types at three impact speeds (20, 30, 40km/h) and three pedestrian types (50th % male, 5th % female, and 6-year-old child) at six different initial stance configurations, stationary and walking at 1.4m/s. Six different ground impact mechanisms, distinguished from each other by the manner in which the pedestrian impacted the ground, were identified. These configurations have statistically distinct and considerably different distributions of head-ground impact speeds. Pedestrian initial stance configuration (gait and walking speed) introduced a high variability to the head-ground impact speed. Nonetheless, the head-ground impact speed varied significantly between the different ground impact mechanisms identified and the distribution of impact mechanisms was strongly associated with vehicle type. In general, impact mechanisms for adults resulting in a head-first contact with the ground were more severe with high fronted vehicles compared to low fronted vehicles, though there is a speed dependency to these findings. With high fronted vehicles (SUVs and vans) the pedestrian was mainly pushed forward and for children this resulted in high head ground contact speeds. PMID:25813760

  1. Magnetorheological impact seat suspensions for ground vehicle crash mitigation

    NASA Astrophysics Data System (ADS)

    Bai, Xian-Xu; Wereley, Norman M.

    2014-04-01

    Semi-active magnetorheological energy absorbers (MREAs) are one type of the most promising actuator for both the vibration and shock control. This paper investigates the frontal crash mitigation performance of semi-active MR impact seat suspensions for ground vehicles. The characteristics of two MREAs, a conventional MREA and an MREA with an internal bypass, with an identical volume, are theoretically evaluated and compared. To explore the control effectiveness of MREAs in the shock control systems, the mechanical model of a 4-degree-of-freedom (4DOF) sliding seat suspension system with MREAs is constructed. An optimal Bingham number control, which is to minimize the crash pulse loads transmitted to occupants by utilizing maximum stroke of the MREAs based on initial velocity of crash pulse, mass, and damping, is proposed and developed to improve the crash mitigation performance of the 4DOF MR sliding seat suspension control systems. The simulated control performances of the mitigation systems based on the MREAs with different functional structures are evaluated, compared, and analyzed. The research results indicate that (1) the constant stroking load velocity range of the MREAs is of significance to evaluate the controllability of the MREAs (i.e., the effectiveness of the semi-active shock control systems), and (2) suboptimal Bingham number control cannot realize "soft landing" (i.e., either an end-stop impact or incomplete utilization of the MREA stroke happens).

  2. Evaluating the Performance of Unmanned Ground Vehicle Water Detection

    NASA Technical Reports Server (NTRS)

    Rankin, Arturo; Ivanov, Tonislav; Brennan, Shane

    2010-01-01

    Water detection is a critical perception requirement for unmanned ground vehicle (UGV) autonomous navigation over cross-country terrain. During the Robotics Collaborative Technology Alliances (RCTA) program, the Jet Propulsion Laboratory (JPL) developed a set of water detection algorithms that are used to detect, localize, and avoid water bodies large enough to be a hazard to a UGV. The JPL water detection software performs the detection and localization stages using a forward-looking stereo pair of color cameras. The 3D coordinates of water body surface points are then output to a UGV's autonomous mobility system, which is responsible for planning and executing safe paths. There are three primary methods for evaluating the performance of the water detection software. Evaluations can be performed in image space on the intermediate detection product, in map space on the final localized product, or during autonomous navigation to characterize the avoidance of a variety of water bodies. This paper describes a methodology for performing the first two types of water detection performance evaluations.

  3. Path duplication using GPS carrier based relative position for automated ground vehicle convoys

    NASA Astrophysics Data System (ADS)

    Travis, William E., III

    use of this method is limited to short following distances, or line of sight operation, similar to vision based following approaches. The following vehicle turns about a smaller radius than the lead vehicle, and this effect intensifies as following distance increases. The second path duplication method allows for non line of sight operation by combining the vector odometry with the relative position to create a virtual leader to follow. The actual difference between the vehicles could be in excess of 100 meters, but the perceived distance is reduced to a predetermined value based on vehicle speed by re-generating the lead vehicle's position at a previous instance in time with the relative position and odometry information. Performance curves of path duplication accuracy versus following distance using different odometry techniques show that the partially integrated tactical unit provides the best performance, but the time differenced carrier approach offered very similar performance for a lower total system cost. Both following methods were implemented on an unmanned ground vehicle. Tests showed following accuracy for the line of sight method was within 50 centimeters on straight sections, though the reference accuracy was centimeter level. The non line of sight method predicted the virtual leader position to within 5 centimeters for following distances ranging from 10 to 120 meters.

  4. Development of a compact untethered remotely operated vehicle

    NASA Astrophysics Data System (ADS)

    Shimoo, Kosei; Ishimatsu, Takakazu M.; Kishima, Saturo; Taguchi, Nobuyoshi; Nagashima, Yutaka

    2007-12-01

    Recently, the scientific investigations of marine environment, marine products and algae fields often require the use of underwater vehicle to perform survey and monitoring tasks. This paper describes a compact unthethered remotely operated vehicle (UROV). The vehicle is compact and light in weight by employing a VARIVEC propeller. The UROV operator controls by the UROV monitor including the data of GPS, electronic compass, sonar, depth and range sensor. The sensor data are extracted smartly by the Programmable System on Chip (PSoC) microprocessor. The performance of UROV is examined about the operating characteristics, image transmission, and remotely monitoring system. The temperature, conductivity, and turbidity of the sea surface are collected with accuracy.

  5. A damper for ground wind-induced launch vehicle oscillations

    NASA Technical Reports Server (NTRS)

    Bodle, J. G.; Hackley, D. S.

    1975-01-01

    Prelaunch oscillatory bending deflections of the Atlas/Centaur launch vehicle are restrained by a damper mechanism mounted on the end of a horizontal boom supported from the umbilical tower. A single vertical pin on the vehicle engages the mechanism, and the damper is connected to the vehicle until liftoff. As the attach pin rises with the vehicle, a retractable arm mechanism provides initial clearance. An explosive release mechanism allows the boom to swing clear of the vehicle like a pendulum, while a snubber mechanism decelerates the free swinging boom and damper mechanism to a safe stop.

  6. Investigations into near-real-time surveying for geophysical data collection using an autonomous ground vehicle

    USGS Publications Warehouse

    Phelps, Geoffrey A.; Ippolito, C.; Lee, R.; Spritzer, R.; Yeh, Y.

    2014-01-01

    The U.S. Geological Survey and the National Aeronautics and Space Administration are cooperatively investigating the utility of unmanned vehicles for near-real-time autonomous surveys of geophysical data collection. Initially focused on unmanned ground vehicle collection of magnetic data, this cooperative effort has brought unmanned surveying, precision guidance, near-real-time communication, on-the-fly data processing, and near-real-time data interpretation into the realm of ground geophysical surveying, all of which offer advantages over current methods of manned collection of ground magnetic data. An unmanned ground vehicle mission has demonstrated that these vehicles can successfully complete missions to collect geophysical data, and add advantages in data collection, processing, and interpretation. We view the current experiment as an initial phase in further unmanned vehicle data-collection missions, including aerial surveying.

  7. Radar cross section statistics of ground vehicles at Ku-band

    NASA Astrophysics Data System (ADS)

    Raynal, Ann Marie; Bickel, Douglas L.; Denton, Michael M.; Bow, Wallace J.; Doerry, Armin W.

    2011-06-01

    Knowing the statistical characteristics of a target's radar cross-section (RCS) is crucial to the success of radar target detection algorithms. Open literature studies regarding the statistical nature of the RCS of ground vehicles focus primarily on simulations, scale model chamber measurements, or limited experimental data analysis of specific vehicles at certain frequencies. This paper seeks to expand the existing body of work on ground vehicle RCS statistics at Ku-band for ground moving target indication (GMTI) applications. We examine the RCS probability distributions of civilian and military vehicles, across aspect and elevation angle, for HH and VV polarizations, and at diverse resolutions, using experimental data collected at Ku-band. We further fit Swerling target models to the distributions and suggest appropriate detection thresholds for ground vehicles in this band.

  8. Unmanned Aerial Vehicles (UAVs): a new tool in counterterrorism operations?

    NASA Astrophysics Data System (ADS)

    Dörtbudak, Mehmet F.

    2015-05-01

    Terrorism is not a new phenomenon to the world, yet it remains difficult to define and counter. Countering terrorism requires several measures that must be taken simultaneously; however, counterterrorism strategies of many countries mostly depend on military measures. In the aftermath of the 2001 terrorist attack on the Twin Towers of the World Trade Center, the United States (U.S.) has started and led the campaign of Global War on Terrorism. They have invaded Afghanistan and Iraq and have encountered insurgencies run by terrorist organizations, such as al-Qaeda and its affiliates. The U.S. made the utilization of Air and Space Power very intensively during these operations. In order to implement operations; Intelligence, Surveillance, and Reconnaissance (ISR) assets were used to collect the necessary information. Before the successful insertion of a small number of U.S. Special Operation Force (SOF) teams into Afghanistan, the U.S. Air Force attacked al-Qaeda and Taliban's targets such as infrastructure, airfields, ground forces, command-control facilities etc. As soon as the U.S. troops got on the ground and started to marshal to Kabul, the Air Force supported them by attacking jointly determined targets. The Air Force continued to carry out the missions and played a significant role to achieve the objective of operation during all the time. This is not the only example of utilization of Air and Space Power in counterterrorism and counterinsurgency operations. All around the world, many countries have also made the utilization of Air Power in different missions ranging from ISR to attacking. Thinking that terrorism has a psychological dimension and losing a pilot during operations may result in decreasing the population support to operations, Unmanned Aerial Vehicles (UAVs) started to be used by practitioners and took priority over other assets. Although UAVs have been on the theatre for a long time used for ISR mission in conventional conflicts, with the advent

  9. Integrated Ground Operations Demonstration Units Testing Plans and Status

    NASA Technical Reports Server (NTRS)

    Johnson, Robert G.; Notardonato, William U.; Currin, Kelly M.; Orozco-Smith, Evelyn M.

    2012-01-01

    Cryogenic propellant loading operations with their associated flight and ground systems are some of the most complex, critical activities in launch operations. Consequently, these systems and operations account for a sizeable portion of the life cycle costs of any launch program. NASA operations for handling cryogens in ground support equipment have not changed substantially in 50 years, despite advances in cryogenics, system health management and command and control technologies. This project was developed to mature, integrate and demonstrate advancement in the current state of the art in these areas using two distinct integrated ground operations demonstration units (GODU): GODU Integrated Refrigeration and Storage (IRAS) and GODU Autonomous Control

  10. Limiting performance of ground transportation vehicles subject to transient loading

    NASA Technical Reports Server (NTRS)

    Pilkey, W. D.; Wang, B. P.

    1974-01-01

    A computational approach to determining the limiting performance of vehicles subject to transient disturbances based on response variable criteria is set forth. For the purposes of a limiting performance study, the transportation system dynamics are described using second- or first-order equations in which the sought for quantity is a vector of time-varying functions called control or isolator forces that have replaced portions of the physical system. Computations are performed as a linear programming problem. As an example of the limiting performance of vehicles in protecting passengers or cargo under crash conditions, the problem of lading damage of a rail vehicle that is struck by another vehicle is considered.

  11. Inexpensive semi-autonomous ground vehicles for defusing IEDs

    NASA Astrophysics Data System (ADS)

    Davenport, Chris; Lodmell, James; Womble, Phillip C.; Barzilov, Alexander; Paschal, Jon; Hernandez, Robert; Moss, Kyle T.; Hopper, Lindsay

    2008-04-01

    Improvised explosive devices (IEDs) are an important concern to coalition forces during the conflicts in the Middle East. These devices are responsible for many casualties to American armed forces in the Middle East. These explosives are particularly dangerous because they are improvised with materials readily available to the designer, and there is no systematic way of explosive ordinance disposal. IEDs can be made from things such as standard military ammunition and can be detonated with common electronic devices such as cell phones and garage door openers. There is a great need for a low cost solution to neutralize these IEDs. At the Applied Physics Institute we are building a single function disrupter robot whose sole purpose is to neutralize these IEDs. We are modifying a toy remote control car to control it either wirelessly using WI-FI (IEEE 802.11) or wired by tethering the vehicle with an Ethernet cable (IEEE 802.3). The robot will be equipped with a high velocity fuze disrupter to neutralize the IED as well as a video camera for inspection and aiming purposes. This robot utilizes commercial-off-the-shelf (COTS) components which keeps the cost relatively low. Currently, similar robot systems have been deployed in Iraq and elsewhere but their method of operation is such that it is impractical to use in non-combat situations. We will discuss our design and possible deployment scenarios.

  12. Drag reductions obtained by modifying a box-shaped ground vehicle

    NASA Technical Reports Server (NTRS)

    Saltzman, E. J.; Meyer, R. R., Jr.; Lux, D. P.

    1974-01-01

    A box-shaped ground vehicle was used to simulate the aerodynamic drag of high volume transports, that is, delivery vans, trucks, or motor homes. The coast-down technique was used to define the drag of the original vehicle, having all square corners, and several modifications of the vehicle. Test velocities ranged up to 65 miles per hour, which provided maximum Reynolds numbers of 1 times 10 to the 7th power based on vehicle length. One combination of modifications produced a reduction in aerodynamic drag of 61 percent as compared with the original square-cornered vehicle.

  13. Computer vision applied to vehicle operation

    SciTech Connect

    Metzler, H.G.

    1988-01-01

    Among many tasks of car development, safety, economy, environmental benefits and convenience, safety should have a high priority. One of the main goals is the reduction of the number of accidents. Environment and situation recognition by autonomous vehicle-electronic systems can contribute to the recognition of problems together with information to the driver or direct intervention in the car's behaviour. This paper describes some techniques for environment recognition, the status of a present project, and the goals of some PROMETHEUS (Program for a European Traffic with Highest Efficiency and Unprecedented Safety) projects.

  14. Monitoring fleets of electric vehicles: optimizing operational use and maintenance

    NASA Astrophysics Data System (ADS)

    Lenain, P.; Kechmire, M.; Smaha, J. P.

    Electric vehicles can make a substantial contribution to an improved urban environment. Reduced atmospheric pollution and noise emissions make the increased use of electric vehicles highly desirable and their suitability for dedicated fleets of vehicles is well recognized. As a result, a suitable system of supervision and management is necessary for fleet operators, to allow them to see the key parameters for the optimum use of the electric vehicle at all times. A computer-based data acquisition and analysis system will allow access to critical control parameters and display the operation of chargers and batteries in real time. Battery condition and charging can be followed. Information is stored in a database and can be readily analyzed and retrieved to manage extensive charging installations. In this paper, the operation of a battery/charger management system is described. The effective use of the system in electric utility vans is demonstrated.

  15. Electric and Hybrid Vehicle Program Site Operator Program

    NASA Astrophysics Data System (ADS)

    Kiser, D. M.; Warren, J. F.

    1994-08-01

    The Site Operator Program was initially established by the Department of Energy (DOE) to incorporate the electric vehicle activities dictated by the Electric and Hybrid Vehicle Research, Development and Demonstration Act of 1976. The Program currently includes thirteen sites located in diverse geographic, metrological,and metropolitan areas across the United States. Information is shared reciprocally with a fourteenth site, not under Program contract. The vehicles are operator-owned, except for two Griffon vans. The Mission Statement of the Site Operator Program includes three major activities: (1) Advancement of electric vehicle technologies. (2) Development of infrastructure elements necessary to support significant electric vehicle use; and (3) Increasing the awareness and acceptance of electric vehicles (EVs) by the public. The ultimate thrust of program activities varies among sites, reflecting not only the Operator's business interests but also geographic and climate-related operating conditions. These considerations are identified below for each Program Status entry. This second quarter report (FY-94) will include a summary of activities from the previous three quarters.

  16. Modeling operating weight and axle weight distributions for highway vehicles

    SciTech Connect

    Greene, D.L.; Liang, J.C.

    1988-07-01

    The estimation of highway cost responsibility requires detailed information on vehicle operating weights and axle weights by type of vehicle. Typically, 10--20 vehicle types must be cross-classified by 10--20 registered weight classes and again by 20 or more operating weight categories, resulting in 100--400 relative frequencies to be determined for each vehicle type. For each of these, gross operating weight must be distributed to each axle or axle unit. Given the rarity of many of the heaviest vehicle types, direct estimation of these frequencies and axle weights from traffic classification count statistics and truck weight data may exceed the reliability of even the largest (e.g., 250,000 record) data sources. An alternative is to estimate statistical models of operating weight distributions as functions of registered weight, and models of axle weight shares as functions of operating weight. This paper describes the estimation of such functions using the multinomial logit model (a log-linear model) and the implementation of the modeling framework as a PC-based FORTRAN program. Areas for further research include the addition of highway class and region as explanatory variables in operating weight distribution models, and the development of theory for including registration costs and costs of operating overweight in the modeling framework. 14 refs., 45 figs., 5 tabs.

  17. Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments

    PubMed Central

    Chu, Tianxing; Guo, Ningyan; Backén, Staffan; Akos, Dennis

    2012-01-01

    Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations. PMID:22736999

  18. Status report on next-generation LADAR for driving unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Juberts, Maris; Barbera, Anthony J.

    2004-12-01

    The U.S. Department of Defense has initiated plans for the deployment of autonomous robotic vehicles in various tactical military operations starting in about seven years. Most of these missions will require the vehicles to drive autonomously over open terrain and on roads which may contain traffic, obstacles, military personnel as well as pedestrians. Unmanned Ground Vehicles (UGVs) must therefore be able to detect, recognize and track objects and terrain features in very cluttered environments. Although several LADAR sensors exist today which have successfully been implemented and demonstrated to provide somewhat reliable obstacle detection and can be used for path planning and selection, they tend to be limited in performance, are effected by obscurants, and are quite large and expensive. In addition, even though considerable effort and funding has been provided by the DOD R&D community, nearly all of the development has been for target detection (ATR) and tracking from various flying platforms. Participation in the Army and DARPA sponsored UGV programs has helped NIST to identify requirement specifications for LADAR to be used for on and off-road autonomous driving. This paper describes the expected requirements for a next generation LADAR for driving UGVs and presents an overview of proposed LADAR design concepts and a status report on current developments in scannerless Focal Plane Array (FPA) LADAR and advanced scanning LADAR which may be able to achieve the stated requirements. Examples of real-time range images taken with existing LADAR prototypes will be presented.

  19. A Concept of Operations for an Integrated Vehicle Health Assurance System

    NASA Technical Reports Server (NTRS)

    Hunter, Gary W.; Ross, Richard W.; Berger, David E.; Lekki, John D.; Mah, Robert W.; Perey, Danie F.; Schuet, Stefan R.; Simon, Donald L.; Smith, Stephen W.

    2013-01-01

    This document describes a Concept of Operations (ConOps) for an Integrated Vehicle Health Assurance System (IVHAS). This ConOps is associated with the Maintain Vehicle Safety (MVS) between Major Inspections Technical Challenge in the Vehicle Systems Safety Technologies (VSST) Project within NASA s Aviation Safety Program. In particular, this document seeks to describe an integrated system concept for vehicle health assurance that integrates ground-based inspection and repair information with in-flight measurement data for airframe, propulsion, and avionics subsystems. The MVS Technical Challenge intends to maintain vehicle safety between major inspections by developing and demonstrating new integrated health management and failure prevention technologies to assure the integrity of vehicle systems between major inspection intervals and maintain vehicle state awareness during flight. The approach provided by this ConOps is intended to help optimize technology selection and development, as well as allow the initial integration and demonstration of these subsystem technologies over the 5 year span of the VSST program, and serve as a guideline for developing IVHAS technologies under the Aviation Safety Program within the next 5 to 15 years. A long-term vision of IVHAS is provided to describe a basic roadmap for more intelligent and autonomous vehicle systems.

  20. Infrared image guidance for ground vehicle based on fast wavelet image focusing and tracking

    NASA Astrophysics Data System (ADS)

    Akiyama, Akira; Kobayashi, Nobuaki; Mutoh, Eiichiro; Kumagai, Hideo; Yamada, Hirofumi; Ishii, Hiromitsu

    2009-08-01

    We studied the infrared image guidance for ground vehicle based on the fast wavelet image focusing and tracking. Here we uses the image of the uncooled infrared imager mounted on the two axis gimbal system and the developed new auto focusing algorithm on the Daubechies wavelet transform. The developed new focusing algorithm on the Daubechies wavelet transform processes the result of the high pass filter effect to meet the direct detection of the objects. This new focusing gives us the distance information of the outside world smoothly, and the information of the gimbal system gives us the direction of objects in the outside world to match the sense of the spherical coordinate system. We installed this system on the hand made electric ground vehicle platform powered by 24VDC battery. The electric vehicle equips the rotary encoder units and the inertia rate sensor units to make the correct navigation process. The image tracking also uses the developed newt wavelet focusing within several image processing. The size of the hand made electric ground vehicle platform is about 1m long, 0.75m wide, 1m high, and 50kg weight. We tested the infrared image guidance for ground vehicle based on the new wavelet image focusing and tracking using the electric vehicle indoor and outdoor. The test shows the good results by the developed infrared image guidance for ground vehicle based on the new wavelet image focusing and tracking.

  1. An SINS/GNSS Ground Vehicle Gravimetry Test Based on SGA-WZ02

    PubMed Central

    Yu, Ruihang; Cai, Shaokun; Wu, Meiping; Cao, Juliang; Zhang, Kaidong

    2015-01-01

    In March 2015, a ground vehicle gravimetry test was implemented in eastern Changsha to assess the repeatability and accuracy of ground vehicle SINS/GNSS gravimeter—SGA-WZ02. The gravity system developed by NUDT consisted of a Strapdown Inertial Navigation System (SINS), a Global Navigation Satellite System (GNSS) remote station on test vehicle, a GNSS static master station on the ground, and a data logging subsystem. A south-north profile of 35 km along the highway in eastern Changsha was chosen and four repeated available measure lines were obtained. The average speed of a vehicle is 40 km/h. To assess the external ground gravity disturbances, precise ground gravity data was built by CG-5 precise gravimeter as the reference. Under relative smooth conditions, internal accuracy among repeated lines shows an average agreement at the level of 1.86 mGal for half wavelengths about 1.1 km, and 1.22 mGal for 1.7 km. The root-mean-square (RMS) of difference between calculated gravity data and reference data is about 2.27 mGal/1.1 km, and 1.74 mGal/1.7 km. Not all of the noises caused by vehicle itself and experiments environments were eliminated in the primary results. By means of selecting reasonable filters and improving the GNSS observation conditions, further developments in ground vehicle gravimetry are promising. PMID:26389916

  2. An SINS/GNSS Ground Vehicle Gravimetry Test Based on SGA-WZ02.

    PubMed

    Yu, Ruihang; Cai, Shaokun; Wu, Meiping; Cao, Juliang; Zhang, Kaidong

    2015-01-01

    In March 2015, a ground vehicle gravimetry test was implemented in eastern Changsha to assess the repeatability and accuracy of ground vehicle SINS/GNSS gravimeter-SGA-WZ02. The gravity system developed by NUDT consisted of a Strapdown Inertial Navigation System (SINS), a Global Navigation Satellite System (GNSS) remote station on test vehicle, a GNSS static master station on the ground, and a data logging subsystem. A south-north profile of 35 km along the highway in eastern Changsha was chosen and four repeated available measure lines were obtained. The average speed of a vehicle is 40 km/h. To assess the external ground gravity disturbances, precise ground gravity data was built by CG-5 precise gravimeter as the reference. Under relative smooth conditions, internal accuracy among repeated lines shows an average agreement at the level of 1.86 mGal for half wavelengths about 1.1 km, and 1.22 mGal for 1.7 km. The root-mean-square (RMS) of difference between calculated gravity data and reference data is about 2.27 mGal/1.1 km, and 1.74 mGal/1.7 km. Not all of the noises caused by vehicle itself and experiments environments were eliminated in the primary results. By means of selecting reasonable filters and improving the GNSS observation conditions, further developments in ground vehicle gravimetry are promising. PMID:26389916

  3. Design and ground verification of proximity operations

    NASA Astrophysics Data System (ADS)

    Tobias, A.; Ankersen, F.; Fehse, W.; Pauvert, C.; Pairot, J.

    This paper describes the approach to guidance, navigation, and control (GNC) design and verification for proximity operations. The most critical part of the rendezvous mission is the proximity operations phase when the distance between chaser and target is below approximately 20 m. Safety is the overriding consideration in the design of the GNC system. Requirements on the GNC system also stem from the allocation of performance between proximity operations and the mating process, docking, or capture for berthing. Whereas the design process follows a top down approach, the verification process goes bottom up in a stepwise way according to the development stage.

  4. Remote Operations and Ground Control Centers

    NASA Technical Reports Server (NTRS)

    Bryant, Barry S.; Lankford, Kimberly; Pitts, R. Lee

    2004-01-01

    The Payload Operations Integration Center (POIC) at the Marshall Space Flight Center supports the International Space Station (ISS) through remote interfaces around the world. The POIC was originally designed as a gateway to space for remote facilities; ranging from an individual user to a full-scale multiuser environment. This achievement was accomplished while meeting program requirements and accommodating the injection of modern technology on an ongoing basis to ensure cost effective operations. This paper will discuss the open POIC architecture developed to support similar and dissimilar remote operations centers. It will include technologies, protocols, and compromises which on a day to day basis support ongoing operations. Additional areas covered include centralized management of shared resources and methods utilized to provide highly available and restricted resources to remote users. Finally, the effort of coordinating the actions of participants will be discussed.

  5. Apparatus and method for grounding compressed fuel fueling operator

    DOEpatents

    Cohen, Joseph Perry; Farese, David John; Xu, Jianguo

    2002-06-11

    A safety system for grounding an operator at a fueling station prior to removing a fuel fill nozzle from a fuel tank upon completion of a fuel filling operation is provided which includes a fuel tank port in communication with the fuel tank for receiving and retaining the nozzle during the fuel filling operation and a grounding device adjacent to the fuel tank port which includes a grounding switch having a contact member that receives physical contact by the operator and where physical contact of the contact member activates the grounding switch. A releasable interlock is included that provides a lock position wherein the nozzle is locked into the port upon insertion of the nozzle into the port and a release position wherein the nozzle is releasable from the port upon completion of the fuel filling operation and after physical contact of the contact member is accomplished.

  6. Intelligent vision system for autonomous vehicle operations

    NASA Technical Reports Server (NTRS)

    Scholl, Marija S.

    1991-01-01

    A complex optical system consisting of a 4f optical correlator with programmatic filters under the control of a digital on-board computer that operates at video rates for filter generation, storage, and management is described.

  7. Air vehicle displays in the operational environment

    NASA Astrophysics Data System (ADS)

    Desjardins, Daniel D.; Byrd, James C.

    2007-04-01

    Displays in the operational environment can be direct-view or virtual-view, and are analyzed in terms of a broad range of performance parameters. These parameters include image area, field of view, eye-relief, weight and power, luminance and contrast ratio, night vision goggle compatibility (type and class), resolution (pixels per inch or line pairs per milliradian), image intensification, viewing angle, grayscale (shades or levels), dimming range, video capability (frame rate, refresh), operating and storage altitude, operating and storage temperature range, shock and vibration limits, mean time between failure, color vs. monochrome, and display engine technology. This study further looks at design class: custom, versus rugged commercial, versus commercial off-the-shelf designs and issues such as whether the design meets requirements for the operational environment and modes of use, ease of handling, failure modes and soldier recommended upgrades.

  8. Electric and Hybrid Vehicle Program: Site Operator Program

    NASA Astrophysics Data System (ADS)

    Kiser, D. M.; Warren, J. F.

    1994-03-01

    The DOE Site Operator Program was initially established to meet the requirements of the Electric and Hybrid Vehicle Research, Development, and Demonstration Act of 1976. The Program has since evolved in response to new legislation and interests. Its mission now includes three major activity categories: (1) Advancement of Electric Vehicle (EV) technologies; (2) development of infrastructure elements needed to support significant EV use; (3) increasing public awareness and acceptance of EV's. The 14 Program participants, their geographic locations, and the principal thrusts of their efforts are identified. The EV inventories of each participant are summarized. The topics of this report include participants' experience with EV operation; an appraisal of the overall current status of EV's for transportation; program management; and a program experience overview, the result of analyzing Site Operator inputs, provides an insight into the variables that can affect electric vehicle performance and operating cost.

  9. New uses of remote vehicles for law enforcement operations

    SciTech Connect

    Henderson, L. )

    1992-01-01

    The use of teleoperated robotic devices for law enforcement operations has risen dramatically in recent years. The typical device is a portable, teleoperated vehicle with a manipulator. The availability of reliable, affordable equipment and emphasis on personnel safety are some of the primary driving forces. The primary use of these robots is for investigation and handling of explosive devices. The Kentucky State Police (KSP) have been using a remote vehicle since December 1988.

  10. iPhone in NASA Ground Operations

    NASA Technical Reports Server (NTRS)

    Benedict, Ashley; Byrd, Keena; Ignacio, Lalaine; Lagu, Amit; Palmer, Ralph Curtis, III; Savoy, April; Surabattula, Deepti; Vaitkunas, Samantha

    2007-01-01

    A comprehensive review of the literature and historical background of NASA established a need for an easy-to-implement technological improvement to displaying procedures which is cost effective and risk reducing. Previous unsuccessful attempts have led this team to explore the practicality of using a mobile handheld device. The major products, inputs, resources, constraints, planning and effort required for consideration of this type of solution were outlined. After analyzing the physical, environmental, life-cycle, functional, and socio-technical requirements, a Functional Analysis was performed to describe the top-level, second-level, and third-level functions of the system requirements. In addition, the risk/value proposition of conversion to a new technology was considered and gave a blueprint for transitioning along with the tasks necessary to implement the device into the Vehicle Assembly Building's (VAB) current infrastructure. A Work Breakdown Structure (WBS) described the elemental work items of the implementation. Once the viability of this system was confirmed, a device was selected through use of technical design comparison methods including the Pugh Matrix and House of Quality. Comparison and evaluation of the Apple iPhone, Motorola Q, Blackberry, PC Notebook, and PDA revealed that the iPhone is the most suitable device for this task. This paper outlines the device design/ architecture, as well as some of the required infrastructure.

  11. The IUE Science Operations Ground System

    NASA Technical Reports Server (NTRS)

    Pitts, Ronald E.; Arquilla, Richard

    1994-01-01

    The International Ultraviolet Explorer (IUE) Science Operations System provides full realtime operations capabilities and support to the operations staff and astronomer users. The components of this very diverse and extremely flexible hardware and software system have played a major role in maintaining the scientific efficiency and productivity of the IUE. The software provides the staff and user with all the tools necessary for pre-visit and real-time planning and operations analysis for any day of the year. Examples of such tools include the effects of spacecraft constraints on target availability, maneuver times between targets, availability of guide stars, target identification, coordinate transforms, e-mail transfer of Observatory forms and messages, and quick-look analysis of image data. Most of this extensive software package can also be accessed remotely by individual users for information, scheduling of shifts, pre-visit planning, and actual observing program execution. Astronomers, with a modest investment in hardware and software, may establish remote observing sites. We currently have over 20 such sites in our remote observers' network.

  12. Design requirements for operational earth resources ground data processing

    NASA Technical Reports Server (NTRS)

    Baldwin, C. J.; Bradford, L. H.; Burnett, E. S.; Hutson, D. E.; Kinsler, B. A.; Kugle, D. R.; Webber, D. S.

    1972-01-01

    Realistic tradeoff data and evaluation techniques were studied that permit conceptual design of operational earth resources ground processing systems. Methodology for determining user requirements that utilize the limited information available from users is presented along with definitions of sensor capabilities projected into the shuttle/station era. A tentative method is presented for synthesizing candidate ground processing concepts.

  13. Integrated Vehicle Ground Vibration Testing in Support of Launch Vehicle Loads and Controls Analysis

    NASA Technical Reports Server (NTRS)

    Tuma, Margaret L.; Chenevert, Donald J.

    2009-01-01

    NASA has conducted dynamic tests on each major launch vehicle during the past 45 years. Each test provided invaluable data to correlate and correct analytical models. GVTs result in hardware changes to Saturn and Space Shuttle, ensuring crew and vehicle safety. Ares I IVGT will provide test data such as natural frequencies, mode shapes, and damping to support successful Ares I flights. Testing will support controls analysis by providing data to reduce model uncertainty. Value of testing proven by past launch vehicle successes and failures. Performing dynamic testing on Ares vehicles will provide confidence that the launch vehicles will be safe and successful in their missions.

  14. Shuttle Ground Operations Efficiencies/Technologies (SGOE/T) study. Volume 1: Executive summary

    NASA Technical Reports Server (NTRS)

    Scholz, A. L.; Hart, M. T.; Lowry, D. J.

    1987-01-01

    Methods and technolgoy were defined to reduce the overall operations cost of a major space program. Space Shuttle processing at Kennedy Space Center (KSC) was designed as the working model that would be the source of the operational information. Methods of improving efficiency of ground operations were assessed and technology elements that could reduce cost identified. Emphasis is on: (1) specific technology items and (2) management approaches required to develop and support efficient ground operations. Prime study results are to be recommendations on how to achieve more efficient operations and identification of existing or new technology that would make vehicle processing in both the current program and future programs more efficient and, therefore, less costly.

  15. An intelligent ground operator support system

    NASA Technical Reports Server (NTRS)

    Goerlach, Thomas; Ohlendorf, Gerhard; Plassmeier, Frank; Bruege, Uwe

    1994-01-01

    This paper presents first results of the project 'Technologien fuer die intelligente Kontrolle von Raumfahrzeugen' (TIKON). The TIKON objective was the demonstration of feasibility and profit of the application of artificial intelligence in the space business. For that purpose a prototype system has been developed and implemented for the operation support of the Roentgen Satellite (ROSAT), a scientific spacecraft designed to perform the first all-sky survey with a high-resolution X-ray telescope and to investigate the emission of specific celestial sources. The prototype integrates a scheduler and a diagnosis tool both based on artificial intelligence techniques. The user interface is menu driven and provides synoptic displays for the visualization of the system status. The prototype has been used and tested in parallel to an already existing operational system.

  16. Advances in ground vehicle-based LADAR for standoff detection of road-side hazards

    NASA Astrophysics Data System (ADS)

    Hollinger, Jim; Vessey, Alyssa; Close, Ryan; Middleton, Seth; Williams, Kathryn; Rupp, Ronald; Nguyen, Son

    2016-05-01

    Commercial sensor technology has the potential to bring cost-effective sensors to a number of U.S. Army applications. By using sensors built for a widespread of commercial application, such as the automotive market, the Army can decrease costs of future systems while increasing overall capabilities. Additional sensors operating in alternate and orthogonal modalities can also be leveraged to gain a broader spectrum measurement of the environment. Leveraging multiple phenomenologies can reduce false alarms and make detection algorithms more robust to varied concealment materials. In this paper, this approach is applied to the detection of roadside hazards partially concealed by light-to-medium vegetation. This paper will present advances in detection algorithms using a ground vehicle-based commercial LADAR system. The benefits of augmenting a LADAR with millimeter-wave automotive radar and results from relevant data sets are also discussed.

  17. Method of Controlling Steering of a Ground Vehicle

    NASA Technical Reports Server (NTRS)

    Dawson, Andrew D. (Inventor); Bluethmann, William J. (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Guo, Raymond (Inventor); Atluri, Venkata Prasad (Inventor)

    2016-01-01

    A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.

  18. Ground operation of robotics on Space Station Freedom

    NASA Technical Reports Server (NTRS)

    Wojcik, Z. Alex; Hunter, David G.; Cantin, Marc R.

    1993-01-01

    This paper reflects work carried out on Ground Operated Telerobotics (GOT) in 1992 to refine further the ideas, procedures, and technologies needed to test the procedures in a high latency environment, and to integrate GOT into Space Station Freedom operations. Space Station Freedom (SSF) will be in operation for 30 years, and will depend on robots to carry out a significant part of the assembly, maintenance, and utilization workload. Current plans call for on-orbit robotics to be operated by on-board crew members. This approach implies that on-orbit robotics operations use up considerable crew time, and that these operations cannot be carried out when SSF is unmanned. GOT will allow robotic operations to be operated from the ground, with on-orbit crew interventions only when absolutely required. The paper reviews how GOT would be implemented, how GOT operations would be planned and supported, and reviews GOT issues, critical success factors, and benefits.

  19. Real-Time and High-Fidelity Simulation Environment for Autonomous Ground Vehicle Dynamics

    NASA Technical Reports Server (NTRS)

    Cameron, Jonathan; Myint, Steven; Kuo, Calvin; Jain, Abhi; Grip, Havard; Jayakumar, Paramsothy; Overholt, Jim

    2013-01-01

    This paper reports on a collaborative project between U.S. Army TARDEC and Jet Propulsion Laboratory (JPL) to develop a unmanned ground vehicle (UGV) simulation model using the ROAMS vehicle modeling framework. Besides modeling the physical suspension of the vehicle, the sensing and navigation of the HMMWV vehicle are simulated. Using models of urban and off-road environments, the HMMWV simulation was tested in several ways, including navigation in an urban environment with obstacle avoidance and the performance of a lane change maneuver.

  20. Shuttle Ground Operations Efficiencies/Technologies Study (SGOE/T). Volume 5: Technical Information Sheets (TIS)

    NASA Technical Reports Server (NTRS)

    Scholz, A. L.; Hart, M. T.; Lowry, D. J.

    1987-01-01

    The Technology Information Sheet was assembled in database format during Phase I. This document was designed to provide a repository for information pertaining to 144 Operations and Maintenance Instructions (OMI) controlled operations in the Orbiter Processing Facility (OPF), Vehicle Assembly Building (VAB), and PAD. It provides a way to accumulate information about required crew sizes, operations task time duration (serial and/or parallel), special Ground Support Equipment (GSE). required, and identification of a potential application of existing technology or the need for the development of a new technolgoy item.

  1. Operational considerations for a crewed nuclear powered space transportation vehicle

    NASA Astrophysics Data System (ADS)

    Borrer, Jerry L.; Hoffman, Stephen J.

    1993-01-01

    Applying nuclear propulsion technology to human space travel will require new approaches to conducting human operations in space. Due to the remoteness of these types of missions, the crew and their vehicle must be capable of operating independent from Earth-based support. This paper discusses current operational studies which address methods for performing these types of remote and autonomous missions. Methods of managing the hazards to humans who will operate these high-energy nuclear-powered transportation vehicles also is reviewed. Crew training for both normal and contingency operations is considered. Options are evaluated on how best to train crews to operate and maintain the systems associated with a nuclear engine. Methods of maintaining crew proficiency during the long months of space travel are discussed. Vehicle health maintenance also will be a primary concern during these long missions. A discussion is presented on how on-board vehicle health maintenance systems will monitor system trends, identified system weaknesses, and either isolate critical failures or provide the crew with adequate warning of impending problems.

  2. Kansas State University Electric Vehicle Site Operator Program

    SciTech Connect

    Hague, J.R.; Steinert, R.A.; Nissen-Pfrang, T.

    1991-01-01

    During the past fifteen years Kansas State's faculty has been involved in research of alternative fuel vehicles. From formulation of fuels and automotive fuel storage to development of electronic controls, K-State's faculty research has been ongoing. With the increased awareness of what is occurring to the world's environment, the catalyst -- to ensure applied results from faculty research will occur -- has been activated. The Department of Energy's Electric Vehicle Site Operator Program is the platform being used to demonstrate international efforts to bring a more acceptable daily mode of transportation to our highways. The first new electrical vehicle procured at K-State in the last ten years, a G-Van, is a technological dinosaur. It does not incorporate leading edge control or drive systems nor does it provide the type of vehicle frame and body to meet a majority of the daily commuter needs required by the American market. Yet, this vehicle represents initial efforts to bring a federally crash certified vehicle to the commercial automotive market. As such, it is an evolutionary step in the mass production of electric vehicle products.

  3. LANDSAT-D ground segment operations plan, revision A

    NASA Technical Reports Server (NTRS)

    Evans, B.

    1982-01-01

    The basic concept for the utilization of LANDSAT ground processing resources is described. Only the steady state activities that support normal ground processing are addressed. This ground segment operations plan covers all processing of the multispectral scanner and the processing of thematic mapper through data acquisition and payload correction data generation for the LANDSAT 4 mission. The capabilities embedded in the hardware and software elements are presented from an operations viewpoint. The personnel assignments associated with each functional process and the mechanisms available for controlling the overall data flow are identified.

  4. Lights Out Operations of a Space, Ground, Sensorweb

    NASA Technical Reports Server (NTRS)

    Chien, Steve; Tran, Daniel; Johnston, Mark; Davies, Ashley Gerard; Castano, Rebecca; Rabideau, Gregg; Cichy, Benjamin; Doubleday, Joshua; Pieri, David; Scharenbroich, Lucas; Kedar, Sharon; Chao, Yi; Mandl, Dan; Frye, Stuart; Song, WenZhan; Kyle, Philip; LaHusen, Rick; Cappelaere, Patrice

    2008-01-01

    We have been operating an autonomous, integrated sensorweb linking numerous space and ground sensors in 24/7 operations since 2004. This sensorweb includes elements of space data acquisition (MODIS, GOES, and EO-1), space asset retasking (EO-1), integration of data acquired from ground sensor networks with on-demand ground processing of data into science products. These assets are being integrated using web service standards from the Open Geospatial Consortium. Future plans include extension to fixed and mobile surface and subsurface sea assets as part of the NSF's ORION Program.

  5. Road-Following Formation Control of Autonomous Ground Vehicles

    NASA Technical Reports Server (NTRS)

    Ono, Masahiro; Droge, Greg; Grip, Havard; Toupet, Olivier; Scrapper, Chris; Rahmani, Amir

    2015-01-01

    This work presents a novel cooperative path planning for formation keeping robots traversing along a road with obstacles and possible narrow passages. A unique challenge in this problem is a requirement for spatial and temporal coordination between vehicles while ensuring collision and obstacle avoidance.

  6. Asynchronous vehicle pose correction using visual detection of ground features

    NASA Astrophysics Data System (ADS)

    Harnarinesingh, Randy E. S.; Syan, Chanan S.

    2014-07-01

    The inherent noise associated with odometry manifests itself as errors in localization for autonomous vehicles. Visual odometry has been previously used in order to supplement classical vehicle odometry. However, visual odometry is limited in its ability to reduce errors in localization for large travel distances that entail the cumulative summing of individual frame-to-frame image errors. In this paper, a novel machine vision approach for tiled surfaces is proposed to address this problem. Tile edges in a laboratory environment are used to define a travel trajectory for the Quansar Qbot (autonomous vehicle) built on the iRobot iRoomba platform with a forward facing camera. Tile intersections are used to enable asynchronous error recovery for vehicle position and orientation. The proposed approach employs real-time image classification and is feasible for error mitigation for large travel distances. The average position error for an 8m travel distance using classical odometry was measured to be 0.28m. However, implementation of the proposed approach resulted in an error of 0.028m. The proposed approach therefore significantly reduces pose estimation error and could be used to supplement existing modalities such as GPS and Laser-based range sensors.

  7. Airbreathing Hypersonic Vision-Operational-Vehicles Design Matrix

    NASA Technical Reports Server (NTRS)

    Hunt, James L.; Pegg, Robert J.; Petley, Dennis H.

    1999-01-01

    This paper presents the status of the airbreathing hypersonic airplane and space-access vision-operational-vehicle design matrix, with emphasis on horizontal takeoff and landing systems being, studied at Langley, it reflects the synergies and issues, and indicates the thrust of the effort to resolve the design matrix including Mach 5 to 10 airplanes with global-reach potential, pop-up and dual-role transatmospheric vehicles and airbreathing launch systems. The convergence of several critical systems/technologies across the vehicle matrix is indicated. This is particularly true for the low speed propulsion system for large unassisted horizontal takeoff vehicles which favor turbines and/or perhaps pulse detonation engines that do not require LOX which imposes loading concerns and mission Flexibility restraints.

  8. Airbreathing Hypersonic Vision-Operational-Vehicles Design Matrix

    NASA Technical Reports Server (NTRS)

    Hunt, James L.; Pegg, Robert J.; Petley, Dennis H.

    1999-01-01

    This paper presents the status of the airbreathing hypersonic airplane and space-access vision-operational-vehicle design matrix, with emphasis on horizontal takeoff and landing systems being studied at Langley; it reflects the synergies and issues, and indicates the thrust of the effort to resolve the design matrix including Mach 5 to 10 airplanes with global-reach potential, pop-up and dual-role transatmospheric vehicles and airbreathing launch systems. The convergence of several critical systems/technologies across the vehicle matrix is indicated. This is particularly true for the low speed propulsion system for large unassisted horizontal takeoff vehicles which favor turbines and/or perhaps pulse detonation engines that do not require LOX which imposes loading concerns and mission flexibility restraints.

  9. Electric and Hybrid Vehicle Program; Site Operator Program

    SciTech Connect

    Warren, J.F.

    1992-01-01

    Activities during the first quarter centered around integrating the new participants into the program. A meeting of the Site Operators, in conjunction with the first meeting of the Electric Vehicle Users Task Force, was held in October. A second meeting of the Task Force was held in December. During these meetings the new contractual requirements were explained to the participants. The Site Operator Data Base was distributed and explained. The Site Operators will begin using the data base in December 1991 and will supply the operating and maintenance data to the INEL on a monthly basis. The Operators requested that they be able to have access to the data of the other Operators and it was agreed that they would be provided this on floppy disk monthly from the INEL. Presentations were made to the DOE sponsored Automotive Technology Development-Contractors Coordination Meeting in October. An overview of the program was given by EG G. Representatives from Arizona Public Service, Texas A M University, and York Technical College provided details of their programs and the results and future goals. Work was begun on commercializing the Versatile Data Acquisition System (VDAS). A Scope of Work has been written for a Cooperative Research and Development Agreement (CRADA) to be submitted to the USABC. If implemented, the CRADA will provide funds for the development and commercialization of the VDAS. Participants in the Site Operator Program will test prototypes of the system within their fleets, making the data available to the USABC and other interested organizations. The USABC will provide recommendations on the data to be collected. Major activities by the majority of the Operators were involved with the continued operation and demonstration of existing vehicles. In addition, several of the operators were involved in identifying and locating vehicles to be added to their fleets. A list of the vehicles in each Site Operator fleet is included as Appendix A to this report.

  10. Electric and hybrid vehicle program, site operator program

    NASA Astrophysics Data System (ADS)

    Warren, J. F.

    1992-01-01

    Activities during the first quarter centered around integrating the new participants into the program. A meeting of the Site Operators, in conjunction with the first meeting of the Electric Vehicle Users Task Force, was held in October. A second meeting of the Task Force was held in December. During these meetings the new contractual requirements were explained to the participants. The Site Operator Data Base was distributed and explained. The Site Operators will begin using the data base in December 1991 and will supply the operating and maintenance data to the INEL on a monthly basis. The Operators requested that they be able to have access to the data of the other Operators and it was agreed that they would be provided this on floppy disk monthly from the INEL. Presentations were made to the DOE sponsored Automotive Technology Development-Contractors Coordination Meeting in October. An overview of the program was given by EG&G. Representatives from Arizona Public Service, Texas A&M University, and York Technical College provided details of their programs and the results and future goals. Work was begun on commercializing the Versatile Data Acquisition System (VDAS). A Scope of Work has been written for a Cooperative Research and Development Agreement (CRADA) to be submitted to the USABC. If implemented, the CRADA will provide funds for the development and commercialization of the VDAS. Participants in the Site Operator Program will test prototypes of the system within their fleets, making the data available to the USABC and other interested organizations. The USABC will provide recommendations on the data to be collected. Major activities by the majority of the Operators were involved with the continued operation and demonstration of existing vehicles. In addition, several of the operators were involved in identifying and locating vehicles to be added to their fleets. A list of the vehicles in each Site Operator fleet is included as Appendix A to this report.

  11. Advancing Autonomous Operations for Deep Space Vehicles

    NASA Technical Reports Server (NTRS)

    Haddock, Angie T.; Stetson, Howard K.

    2014-01-01

    Starting in Jan 2012, the Advanced Exploration Systems (AES) Autonomous Mission Operations (AMO) Project began to investigate the ability to create and execute "single button" crew initiated autonomous activities [1]. NASA Marshall Space Flight Center (MSFC) designed and built a fluid transfer hardware test-bed to use as a sub-system target for the investigations of intelligent procedures that would command and control a fluid transfer test-bed, would perform self-monitoring during fluid transfers, detect anomalies and faults, isolate the fault and recover the procedures function that was being executed, all without operator intervention. In addition to the development of intelligent procedures, the team is also exploring various methods for autonomous activity execution where a planned timeline of activities are executed autonomously and also the initial analysis of crew procedure development. This paper will detail the development of intelligent procedures for the NASA MSFC Autonomous Fluid Transfer System (AFTS) as well as the autonomous plan execution capabilities being investigated. Manned deep space missions, with extreme communication delays with Earth based assets, presents significant challenges for what the on-board procedure content will encompass as well as the planned execution of the procedures.

  12. Application of System Operational Effectiveness Methodology to Space Launch Vehicle Development and Operations

    NASA Technical Reports Server (NTRS)

    Watson, Michael D.; Kelley, Gary W.

    2012-01-01

    The Department of Defense (DoD) defined System Operational Effectiveness (SOE) model provides an exceptional framework for an affordable approach to the development and operation of space launch vehicles and their supporting infrastructure. The SOE model provides a focal point from which to direct and measure technical effectiveness and process efficiencies of space launch vehicles. The application of the SOE model to a space launch vehicle's development and operation effort leads to very specific approaches and measures that require consideration during the design phase. This paper provides a mapping of the SOE model to the development of space launch vehicles for human exploration by addressing the SOE model key points of measurement including System Performance, System Availability, Technical Effectiveness, Process Efficiency, System Effectiveness, Life Cycle Cost, and Affordable Operational Effectiveness. In addition, the application of the SOE model to the launch vehicle development process is defined providing the unique aspects of space launch vehicle production and operations in lieu of the traditional broader SOE context that examines large quantities of fielded systems. The tailoring and application of the SOE model to space launch vehicles provides some key insights into the operational design drivers, capability phasing, and operational support systems.

  13. Stereo-vision based 3D modeling for unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Se, Stephen; Jasiobedzki, Piotr

    2007-04-01

    Instant Scene Modeler (iSM) is a vision system for generating calibrated photo-realistic 3D models of unknown environments quickly using stereo image sequences. Equipped with iSM, Unmanned Ground Vehicles (UGVs) can capture stereo images and create 3D models to be sent back to the base station, while they explore unknown environments. Rapid access to 3D models will increase the operator situational awareness and allow better mission planning and execution, as the models can be visualized from different views and used for relative measurements. Current military operations of UGVs in urban warfare threats involve the operator hand-sketching the environment from live video feed. iSM eliminates the need for an additional operator as the 3D model is generated automatically. The photo-realism of the models enhances the situational awareness of the mission and the models can also be used for change detection. iSM has been tested on our autonomous vehicle to create photo-realistic 3D models while the rover traverses in unknown environments. Moreover, a proof-of-concept iSM payload has been mounted on an iRobot PackBot with Wayfarer technology, which is equipped with autonomous urban reconnaissance capabilities. The Wayfarer PackBot UGV uses wheel odometry for localization and builds 2D occupancy grid maps from a laser sensor. While the UGV is following walls and avoiding obstacles, iSM captures and processes images to create photo-realistic 3D models. Experimental results show that iSM can complement Wayfarer PackBot's autonomous navigation in two ways. The photo-realistic 3D models provide better situational awareness than 2D grid maps. Moreover, iSM also recovers the camera motion, also known as the visual odometry. As wheel odometry error grows over time, this can help improve the wheel odometry for better localization.

  14. Orion Pad Abort 1 Flight Test - Ground and Flight Operations

    NASA Technical Reports Server (NTRS)

    Hackenbergy, Davis L.; Hicks, Wayne

    2011-01-01

    This paper discusses the ground and flight operations aspects to the Pad Abort 1 launch. The paper details the processes used to plan all operations. The paper then discussions the difficulties of integration and testing, while detailing some of the lessons learned throughout the entire launch campaign. Flight operational aspects of the launc are covered in order to provide the listener with the full suite of operational issues encountered in preparation for the first flight test of the Orion Launch Abort System.

  15. TALON: a universal unmanned ground vehicle platform, enabling the mission to be the focus

    NASA Astrophysics Data System (ADS)

    Wells, Peter; Deguire, Dan

    2005-05-01

    Foster-Miller's unmanned ground vehicle, TALON, was originally developed under DARPA's Tactical Mobile Robotics (TMR) program. TALON has evolved over the years and has proven to be a robust, mobile, universal platform. As a result of the advances made in the evolution of TALON, new and far-reaching opportunities have been realized for unmanned ground vehicles. In recent conflicts such as in Afghanistan and Iraq, unmanned systems have played an important role and have extended the reach and capabilities of the War fighter. Technological advances have transformed unmanned vehicles in to useful tools and in some cases are used in lieu of sending in a soldier. Unmanned ground vehicles have seen recent and persistent success, as shown in theater, in the explosive ordinance disposal (EOD) and improvised ordinance disposal (IED) missions. Foster-Miller's TALON has experienced over ten thousand EOD and IED missions in Iraq alone. The success of the unmanned system has resulted in the doctrine "Send the robot in first". Foster-Miller has taken the role of the unmanned vehicle in yet another direction. Foster-Miller has transformed the TALON from a "practical" to "tactical" system. Through the combined efforts of Foster-Miller and the US Army, TALON has been involved in a weaponization program. To date, Foster-Miller has outfitted the TALON with 11 systems. As one can see, the unmanned ground vehicle is much more than a mobility platform.

  16. Vehicle conversion to hybrid gasoline/alternative fuel operation

    NASA Astrophysics Data System (ADS)

    Donakowski, T. D.

    1982-11-01

    The alternative fuels considered are compressed natural gas (CNG), liquefied natural gas (LNG), liquid petroleum gas (LPG), and methanol; vehicles were required to operate in a hybrid or dual-fuel gasoline/alternative fuel mode. Economic feasibility was determined by comparing the costs of continued use of gasoline fuel with the use of alternative fuel and retrofitted equipment. Differences in the amounts of future expenditures are adjusted by means of a total life-cycle costing. All fuels studied are technically feasible to allow a retrofit conversion to hybrid gasoline/alternative fuel operation except for methanol. Conversion to LPG is not recommended for vehicles with more than 100,000 km (60,000 miles) of prior use. Methanol conversion is not recommended for vehicles with more than 50,00 km (30,000 miles).

  17. Vehicle conversion to hybrid gasoline/alternative fuel operation

    NASA Technical Reports Server (NTRS)

    Donakowski, T. D.

    1982-01-01

    The alternative fuels considered are compressed natural gas (CNG), liquefied natural gas (LNG), liquid petroleum gas (LPG), and methanol; vehicles were required to operate in a hybrid or dual-fuel gasoline/alternative fuel mode. Economic feasibility was determined by comparing the costs of continued use of gasoline fuel with the use of alternative fuel and retrofitted equipment. Differences in the amounts of future expenditures are adjusted by means of a total life-cycle costing. All fuels studied are technically feasible to allow a retrofit conversion to hybrid gasoline/alternative fuel operation except for methanol. Conversion to LPG is not recommended for vehicles with more than 100,000 km (60,000 miles) of prior use. Methanol conversion is not recommended for vehicles with more than 50,00 km (30,000 miles).

  18. Wear characteristics of fleet vehicles operating on methyl alcohol

    SciTech Connect

    Baisley, W.H.; Edwards, C.F.

    1981-01-01

    Three 1978 Ford Pinto 2300 cc vehicles were retrofitted to operate on neat methanol and driven for an 18-month period. Modifications included carburetor rejetting, upgraded fuel filtration and electrical cold start assistance. Over 30,000 vehicle miles were accumulated in the test period. Wear metal samples were taken at 1000-mile intervals and analyzed for 16 metallic constituents using Direct Reading Emission Spectroscopy. Percentage fuel and water dilution were also measured. A deterioration in performance and increased oil consumption in all vehicles was noted after 10,000 to 12,000 miles of operation. Measurement of internal engine parts at the end of the test period revealed extreme upper cylinder and bearing wear. 25 refs.

  19. Passive sky angle mapping for unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Grabowski, Robert; Weatherly, Richard; Bolling, Robert; Ring, Keven

    2012-06-01

    We utilize a hemispherical camera to develop a passive mapping algorithm that exploits visibility to the sky. We use this visibility to derive a measure of occupancy to build a wide area volumetric map. This process produces a 3D representation of the environment derived solely from video. The resolution of this map is further refined by active motion of the vehicle. Because this method visually exploits the energy of the sky, its effective range is potentially much higher than an active energy sensor. That is, all the space between the sensor and the far horizon can be effectively cleared. Moreover, since this approach is completely passive (it does not emit energy) it is ideal for missions that require stealth. We present initial results from testing this concept on an autonomous vehicle circumnavigating a series of outdoor buildings.

  20. Economics in ground operations of the Space Shuttle

    NASA Technical Reports Server (NTRS)

    Gray, R. H.

    1973-01-01

    The physical configuration, task versatility, and typical mission profile of the Space Shuttle are illustrated and described, and a comparison of shuttle and expendable rocket costs is discussed, with special emphasis upon savings to be achieved in ground operations. A review of economies achieved by engineering design improvements covers the automated checkout by onboard shuttle systems, the automated launch processing system, the new maintenance concept, and the analogy of Space Shuttle and airline repetitive operations. The Space Shuttle is shown to represent a new level in space flight technology, particularly, the sophistication of the systems and procedures devised for its support and ground operations.

  1. What Influences Youth to Operate All-Terrain Vehicles Safely?

    ERIC Educational Resources Information Center

    Grummon, A. H.; Heaney, C. A.; Dellinger, W. A.; Wilkins, J. R., III

    2014-01-01

    The operation of all-terrain vehicles (ATVs) by youth has contributed to the incidence of serious and fatal injuries among children. This study explored factors related to the frequency with which youth wore a helmet and refrained from engaging in three risky driving behaviors (driving at risky speeds, on paved roads and on unfamiliar terrain)…

  2. Training Program for Operation of Emergency Vehicles. Course Guide.

    ERIC Educational Resources Information Center

    INNOVATRIX, Inc., Ingomar, PA.

    Guidelines for organizing and administering the three-part Emergency Vehicle Operation (EVO) Course are provided. The first section of the guide describes the course structure and lists the unit objectives (by unit module) for each of the courses's three parts. Part I contains seven units, organized into twenty-one modules, to be taken by all…

  3. 45 CFR 1310.15 - Operation of vehicles.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    .... As provided in 45 CFR 1310.2(a), this paragraph does not apply to transportation services to children... 45 Public Welfare 4 2014-10-01 2014-10-01 false Operation of vehicles. 1310.15 Section 1310.15 Public Welfare Regulations Relating to Public Welfare (Continued) OFFICE OF HUMAN DEVELOPMENT...

  4. 45 CFR 1310.15 - Operation of vehicles.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 45 Public Welfare 4 2013-10-01 2013-10-01 false Operation of vehicles. 1310.15 Section 1310.15 Public Welfare Regulations Relating to Public Welfare (Continued) OFFICE OF HUMAN DEVELOPMENT SERVICES, DEPARTMENT OF HEALTH AND HUMAN SERVICES THE ADMINISTRATION FOR CHILDREN, YOUTH AND FAMILIES, HEAD START PROGRAM HEAD START...

  5. 45 CFR 1310.15 - Operation of vehicles.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    .... As provided in 45 CFR 1310.2(a), this paragraph does not apply to transportation services to children... 45 Public Welfare 4 2012-10-01 2012-10-01 false Operation of vehicles. 1310.15 Section 1310.15 Public Welfare Regulations Relating to Public Welfare (Continued) OFFICE OF HUMAN DEVELOPMENT...

  6. 45 CFR 1310.15 - Operation of vehicles.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    .... As provided in 45 CFR 1310.2(a), this paragraph does not apply to transportation services to children... 45 Public Welfare 4 2010-10-01 2010-10-01 false Operation of vehicles. 1310.15 Section 1310.15 Public Welfare Regulations Relating to Public Welfare (Continued) OFFICE OF HUMAN DEVELOPMENT...

  7. 45 CFR 1310.15 - Operation of vehicles.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    .... As provided in 45 CFR 1310.2(a), this paragraph does not apply to transportation services to children... 45 Public Welfare 4 2011-10-01 2011-10-01 false Operation of vehicles. 1310.15 Section 1310.15 Public Welfare Regulations Relating to Public Welfare (Continued) OFFICE OF HUMAN DEVELOPMENT...

  8. Simulating the operations of the reusable shuttle space vehicle.

    NASA Technical Reports Server (NTRS)

    Schlagheck, R. A.; Byers, J. K.

    1971-01-01

    A stochastic simulation model has been developed using the General Purpose Simulation System (GPSS) II language to analyze the operations of a fleet of Shuttle space vehicles. This paper presents the approach used in developing the model, results obtained from some of the analyses performed to date, and an interpretation of the results as they were presented to management personnel.

  9. Training Program for Operation of Emergency Vehicles. Instructor Lesson Plans.

    ERIC Educational Resources Information Center

    INNOVATRIX, Inc., Ingomar, PA.

    Unit lesson plans for the three parts of the Emergency Vehicle (EV) Operator training program are provided. The units in parts 1 and 2 are designed for use in a classroom setting and contain the following components: description of the unit; trainees' knowledge objectives; instructor preparation activities; instructional content/presentation…

  10. 48 CFR 970.2307-1 - Motor vehicle fleet operations.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... of products with recycled content to be procured pursuant to the clause at 48 CFR 970.5223-2. Section... SUPPLEMENTARY REGULATIONS DOE MANAGEMENT AND OPERATING CONTRACTS Environment, Energy and Water Efficiency... that the Federal motor vehicle fleet will serve as an example and provide a leadership role in...

  11. Energy efficient path planning for skid-steered autonomous ground vehicles

    NASA Astrophysics Data System (ADS)

    Sharma, Aneesh; Gupta, Nikhil; Collins, Emmanuel G., Jr.

    2011-05-01

    It is important to minimize the energy consumption of autonomous ground vehicles (AGVs) deployed in real world missions. One of the ways that this can be accomplished is to choose the vehicle's motion to minimize the mechanical and electrical energy usage required by the vehicle's motion. This paper considers energy efficient motion planning for skid-steered AGVs, an important and large class of all-terrain vehicles. An experimentally verified power consumption model for skid-steered vehicles has been recently developed based on the "exponential friction model," which yields power consumption predictions that are far more accurate than those obtained using Coulomb's friction model. At a given velocity the power consumption is essentially a function of the vehicle turning radius. This paper demonstrates energy efficient motion planning using Sampling Based Model Predictive Optimization (SBMPO), a recently developed motion planning algorithm. In this research SBMPO uses a simple kinematic model of the vehicle to determine feasible vehicle paths and the skid-steered vehicle power model to compute the energy consumption (i.e., the cost) along a given trajectory. The results here are for a vehicle moving on a single surface at constant velocity. Energy optimal motion planning is compared with distance optimal motion planning and the results demonstrate the importance of considering energy consumption in the motion planning process.

  12. Simulation of Ground Winds Time Series for the NASA Crew Launch Vehicle (CLV)

    NASA Technical Reports Server (NTRS)

    Adelfang, Stanley I.

    2008-01-01

    Simulation of wind time series based on power spectrum density (PSD) and spectral coherence models for ground wind turbulence is described. The wind models, originally developed for the Shuttle program, are based on wind measurements at the NASA 150-m meteorological tower at Cape Canaveral, FL. The current application is for the design and/or protection of the CLV from wind effects during on-pad exposure during periods from as long as days prior to launch, to seconds or minutes just prior to launch and seconds after launch. The evaluation of vehicle response to wind will influence the design and operation of constraint systems for support of the on-pad vehicle. Longitudinal and lateral wind component time series are simulated at critical vehicle locations. The PSD model for wind turbulence is a function of mean wind speed, elevation and temporal frequency. Integration of the PSD equation over a selected frequency range yields the variance of the time series to be simulated. The square root of the PSD defines a low-pass filter that is applied to adjust the components of the Fast Fourier Transform (FFT) of Gaussian white noise. The first simulated time series near the top of the launch vehicle is the inverse transform of the adjusted FFT. Simulation of the wind component time series at the nearest adjacent location (and all other succeeding next nearest locations) is based on a model for the coherence between winds at two locations as a function of frequency and separation distance, where the adjacent locations are separated vertically and/or horizontally. The coherence function is used to calculate a coherence weighted FFT of the wind at the next nearest location, given the FFT of the simulated time series at the previous location and the essentially incoherent FFT of the wind at the selected location derived a priori from the PSD model. The simulated time series at each adjacent location is the inverse Fourier transform of the coherence weighted FFT. For a selected

  13. UAV-guided navigation for ground robot tele-operation in a military reconnaissance environment.

    PubMed

    Chen, Jessie Y C

    2010-08-01

    A military reconnaissance environment was simulated to examine the performance of ground robotics operators who were instructed to utilise streaming video from an unmanned aerial vehicle (UAV) to navigate his/her ground robot to the locations of the targets. The effects of participants' spatial ability on their performance and workload were also investigated. Results showed that participants' overall performance (speed and accuracy) was better when she/he had access to images from larger UAVs with fixed orientations, compared with other UAV conditions (baseline- no UAV, micro air vehicle and UAV with orbiting views). Participants experienced the highest workload when the UAV was orbiting. Those individuals with higher spatial ability performed significantly better and reported less workload than those with lower spatial ability. The results of the current study will further understanding of ground robot operators' target search performance based on streaming video from UAVs. The results will also facilitate the implementation of ground/air robots in military environments and will be useful to the future military system design and training community. PMID:20658388

  14. Field Operations Program Neighborhood Electric Vehicles - Fleet Survey

    SciTech Connect

    Francfort, James Edward; Carroll, M.

    2001-07-01

    This report summarizes a study of 15 automotive fleets that operate neighborhood electric vehicles(NEVs) in the United States. The information was obtained to help Field Operations Program personnel understand how NEVs are being used, how many miles they are being driven, and if they are being used to replace other types of fleet vehicles or as additions to fleets. (The Field Operations Program is a U.S. Department of Energy Program within the DOE Office of Energy Efficiency and Renewable Energy, Transportation Technologies). The NEVs contribution to petroleum avoidance and cleaner air can be estimated based on the miles driven and by assuming gasoline use and air emissions values for the vehicles being replaced. Gasoline and emissions data for a Honda Civic are used as the Civic has the best fuel use for a gasoline-powered vehicle and very clean emissions. Based on these conservation assumptions, the 348 NEVs are being driven a total of about 1.2 million miles per year. This equates to an average of 3,409 miles per NEV annually or 9 miles per day. It is estimated that 29,195 gallons of petroleum use is avoided annually by the 348 NEVs. This equates to 87 gallons of petroleum use avoided per NEV, per year. Using the 348 NEVs avoids the generation of at least 775 pounds of smog- forming emissions annually.

  15. Field Operations Program - Neighborhood Electric Vehicle Fleet Use

    SciTech Connect

    Francfort, J. E.; Carroll, M. R.

    2001-07-02

    This report summarizes a study of 15 automotive fleets that operate neighborhood electric vehicles (NEVs) in the United States. The information was obtained to help Field Operations Program personnel understand how NEVs are being used, how many miles they are being driven, and if they are being used to replace other types of fleet vehicles or as additions to fleets. (The Field Operations Program is a U.S. Department of Energy Program within the DOE Office of Energy Efficiency and Renewable Energy, Transportation Technologies). The NEVs contribution to petroleum avoidance and cleaner air can be estimated based on the miles driven and by assuming gasoline use and air emissions values for the vehicles being replaced. Gasoline and emissions data for a Honda Civic are used as the Civic has the best fuel use for a gasoline-powered vehicle and very clean emissions. Based on these conservation assumptions, the 348 NEVs are being driven a total of about 1.2 million miles per year. This equates to an average of 3,409 miles per NEV annually or 9 miles per day. It is estimated that 29,195 gallons of petroleum use is avoided annually by the 348 NEVs. This equates to 87 gallons of petroleum use avoided per NEV, per year. Using the 348 NEVs avoids the generation of at least 775 pounds of smog-forming emissions annually.

  16. Orbital transfer vehicle launch operations study. Volume 1: Executive summary

    NASA Technical Reports Server (NTRS)

    1986-01-01

    The purpose was to use the operational experience at the launch site to identify, describe and quantify the operational impacts of the various configurations on the Kennedy Space Center (KSC) and/or space station launch sites. Orbital Transfer Vehicle (OTV) configurations are being developed/defined by contractor teams. Lacking an approved configuration, the KSC Study Team defined a Reference Configuration to be used for this study. This configuration then become the baseline for the identification of the facilities, personnel and crew skills required for processing the OTV in a realistic manner that would help NASA achieve the lowest possible OTV life cycle costs. As the study progressed, researchers' initial apraisal that the vehicle, when delivered, would be a sophisticated, state-of-the-art vehicle was reinforced. It would be recovered and reused many times so the primary savings to be gained would be in the recurring-cycle of the vehicle operations--even to the point where it would be beneficial to break from tradition and make a significant expenditure in the development of processing facilities at the beginning of the program.

  17. Technologies for low-bandwidth high-latency unmanned ground vehicle control

    NASA Astrophysics Data System (ADS)

    Pace, Teresa; Cogan, Ken; Hunt, Lee; Restine, Paul

    2014-05-01

    Automation technology has evolved at a rapid pace in recent years; however, many real-world problems require contextual understanding, problem solving, and other forms of higher-order thinking that extends beyond the capabilities of robots for the foreseeable future. This limits the complexity of automation which can be supplied to modern unmanned ground robots (UGV) and necessitates human-in-the-loop monitoring and control for some portions of missions. In order for the human operator to make decisions and provide tasking during key portions of the mission, existing solutions first derive significant information from a potentially dense reconstruction of the scene utilizing LIDAR, video, and other onboard sensors. A dense reconstruction contains too much data for real-time transmission over a modern wireless data link, so the robot electronics must first condense the scene representation prior to transmission. The control station receives this condensed scene representations and provides visual information to the human operator; the human operator then provides tele-operation commands in real-time to the robot. This paper discusses approaches to dense scene reduction of the data required to transmit to a human-in-the loop as well as the challenges associated with them. In addition, the complex and unstructured nature of real-world environments increases the need for tele-operation. Furthermore, many environments reduce the bandwidth and increase the latency of the link. Ultimately, worsening conditions will cause the tele-operation control process to break down, rendering the robot ineffective. In a worst-case scenario, extreme conditions causing a complete loss-of-communications could result in mission failure and loss of the vehicle.

  18. Ground controlled robotic assembly operations for Space Station Freedom

    NASA Technical Reports Server (NTRS)

    Parrish, Joseph C.

    1991-01-01

    A number of dextrous robotic systems and associated positioning and transportation devices are available on Space Station Freedom (SSF) to perform assembly tasks that would otherwise need to be performed by extravehicular activity (EVA) crewmembers. The currently planned operating mode for these robotic systems during the assembly phase is teleoperation by intravehicular activity (IVA) crewmembers. While this operating mode is less hazardous and expensive than manned EVA operations, and has insignificant control loop time delays, the amount of IVA time available to support telerobotic operations is much less than the anticipated requirements. Some alternative is needed to allow the robotic systems to perform useful tasks without exhausting the available IVA resources; ground control is one such alternative. The issues associated with ground control of SSF robotic systems to alleviate onboard crew time availability constraints are investigated. Key technical issues include the effect of communication time delays, the need for safe, reliable execution of remote operations, and required modifications to the SSF ground and flight system architecture. Time delay compensation techniques such as predictive displays and world model-based force reflection are addressed and collision detection and avoidance strategies to ensure the safety of the on-orbit crew, Orbiter, and SSF are described. Although more time consuming and difficult than IVA controlled teleoperations or manned EVA, ground controlled telerobotic operations offer significant benefits during the SSF assembly phase, and should be considered in assembly planning activities.

  19. Mechatronic Description of a Laser Autoguided Vehicle for Greenhouse Operations

    PubMed Central

    Sánchez-Hermosilla, Julián; González, Ramón; Rodríguez, Francisco; Donaire, Julián G.

    2013-01-01

    This paper presents a novel approach for guiding mobile robots inside greenhouses demonstrated by promising preliminary physical experiments. It represents a comprehensive attempt to use the successful principles of AGVs (auto-guided vehicles) inside greenhouses, but avoiding the necessity of modifying the crop layout, and avoiding having to bury metallic pipes in the greenhouse floor. The designed vehicle can operate different tools, e.g., a spray system for applying plant-protection product, a lifting platform to reach the top part of the plants to perform pruning and harvesting tasks, and a trailer to transport fruits, plants, and crop waste. Regarding autonomous navigation, it follows the idea of AGVs, but now laser emitters are used to mark the desired route. The vehicle development is analyzed from a mechatronic standpoint (mechanics, electronics, and autonomous control). PMID:23299624

  20. Mechatronic description of a laser autoguided vehicle for greenhouse operations.

    PubMed

    Sánchez-Hermosilla, Julián; González, Ramón; Rodríguez, Francisco; Donaire, Julián G

    2013-01-01

    This paper presents a novel approach for guiding mobile robots inside greenhouses demonstrated by promising preliminary physical experiments. It represents a comprehensive attempt to use the successful principles of AGVs (auto-guided vehicles) inside greenhouses, but avoiding the necessity of modifying the crop layout, and avoiding having to bury metallic pipes in the greenhouse floor. The designed vehicle can operate different tools, e.g., a spray system for applying plant-protection product, a lifting platform to reach the top part of the plants to perform pruning and harvesting tasks, and a trailer to transport fruits, plants, and crop waste. Regarding autonomous navigation, it follows the idea of AGVs, but now laser emitters are used to mark the desired route. The vehicle development is analyzed from a mechatronic standpoint (mechanics, electronics, and autonomous control). PMID:23299624

  1. Cooperative Surveillance and Pursuit Using Unmanned Aerial Vehicles and Unattended Ground Sensors

    PubMed Central

    Las Fargeas, Jonathan; Kabamba, Pierre; Girard, Anouck

    2015-01-01

    This paper considers the problem of path planning for a team of unmanned aerial vehicles performing surveillance near a friendly base. The unmanned aerial vehicles do not possess sensors with automated target recognition capability and, thus, rely on communicating with unattended ground sensors placed on roads to detect and image potential intruders. The problem is motivated by persistent intelligence, surveillance, reconnaissance and base defense missions. The problem is formulated and shown to be intractable. A heuristic algorithm to coordinate the unmanned aerial vehicles during surveillance and pursuit is presented. Revisit deadlines are used to schedule the vehicles' paths nominally. The algorithm uses detections from the sensors to predict intruders' locations and selects the vehicles' paths by minimizing a linear combination of missed deadlines and the probability of not intercepting intruders. An analysis of the algorithm's completeness and complexity is then provided. The effectiveness of the heuristic is illustrated through simulations in a variety of scenarios. PMID:25591168

  2. Web Application Software for Ground Operations Planning Database (GOPDb) Management

    NASA Technical Reports Server (NTRS)

    Lanham, Clifton; Kallner, Shawn; Gernand, Jeffrey

    2013-01-01

    A Web application facilitates collaborative development of the ground operations planning document. This will reduce costs and development time for new programs by incorporating the data governance, access control, and revision tracking of the ground operations planning data. Ground Operations Planning requires the creation and maintenance of detailed timelines and documentation. The GOPDb Web application was created using state-of-the-art Web 2.0 technologies, and was deployed as SaaS (Software as a Service), with an emphasis on data governance and security needs. Application access is managed using two-factor authentication, with data write permissions tied to user roles and responsibilities. Multiple instances of the application can be deployed on a Web server to meet the robust needs for multiple, future programs with minimal additional cost. This innovation features high availability and scalability, with no additional software that needs to be bought or installed. For data governance and security (data quality, management, business process management, and risk management for data handling), the software uses NAMS. No local copy/cloning of data is permitted. Data change log/tracking is addressed, as well as collaboration, work flow, and process standardization. The software provides on-line documentation and detailed Web-based help. There are multiple ways that this software can be deployed on a Web server to meet ground operations planning needs for future programs. The software could be used to support commercial crew ground operations planning, as well as commercial payload/satellite ground operations planning. The application source code and database schema are owned by NASA.

  3. Operational design factors for advanced space transportation vehicles

    NASA Astrophysics Data System (ADS)

    Whitehair, C. L.; Hickman, R. A.; Adams, J. D.; Wolfe, M. G.

    1992-08-01

    The tools and techniques needed to provide design decision-makers with balanced quantitative assessments of the potential operability consequences of their decisions are addressed. The factors controlling operability are identified, and a methodology to predict the impact of these factors on a specific launch vehicle is developed. Requirements to control these factors are established, and analytical tools developed specifically for performing detailed simulations to verify specific operability characteristics are described. An approach to collect, store, organize, and access high-quality historical, current, and future launch system data for the benefit of the USAF and the U.S. launch system community at large is outlined.

  4. Command and control displays for space vehicle operations

    NASA Astrophysics Data System (ADS)

    Desjardins, Daniel D.; Zetocha, Paul; Aleva, Denise

    2010-04-01

    This paper shall examine several command and control facility display architectures supporting space vehicle operations, to include TacSat 2, TacSat 3, STPSat 2, and Communications Navigation Outage Forecasting System (CNOFS), located within the Research Development Test & Evaluation Support Complex (RSC) Satellite Operations Center 97 (SOC-97) at Kirtland Air Force Base. A principal focus is to provide an understanding for the general design class of displays currently supporting space vehicle command and control, e.g., custom, commercial-off-the-shelf, or ruggedized commercial-off-the-shelf, and more specifically, what manner of display performance capabilities, e.g., active area, resolution, luminance, contrast ratio, frame/refresh rate, temperature range, shock/vibration, etc., are needed for particular aspects of space vehicle command and control. Another focus shall be to address the types of command and control functions performed for each of these systems, to include how operators interact with the displays, e.g., joystick, trackball, keyboard/mouse, as well as the kinds of information needed or displayed for each function. [Comparison with other known command and control facilities, such as Cheyenne Mountain and NORAD Operations Center, shall be made.] Future, anticipated display systems shall be discussed.

  5. Ground-water contribution to dose from past Hanford Operations

    SciTech Connect

    Freshley, M.D.; Thorne, P.D.

    1992-08-01

    The Hanford Environmental Dose Reconstruction (HEDR) Project is being conducted to estimate radiation doses that populations and individuals could have received from Hanford Site operations from 1944 to the present. Four possible pathways by which radionuclides migrating in ground water on the Hanford Site could have reached the public have been identified: (1) through contaminated ground water migrating to the Columbia River; (2) through wells on or adjacent to the Hanford Site; (3) through wells next to the Columbia River downstream of Hanford that draw some or all of their water from the river (riparian wells); and (4) through atmospheric deposition resulting in contamination of a small watershed that, in turn, results in contamination of a shallow well or spring by transport in the ground water. These four pathways make up the ground-water pathway,'' which is the subject of this study. Assessment of the ground-water pathway was performed by (1) reviewing the existing extensive literature on ground water and ground-water monitoring at Hanford and (2) performing calculations to estimate radionuclide concentrations where no monitoring data were collected. Radiation doses that would result from exposure to these radionuclides were calculated.

  6. Ground-water contribution to dose from past Hanford operations

    SciTech Connect

    Freshley, M. D.; Thorne, P. D.

    1992-01-01

    The Hanford Environmental Dose Reconstruction (HEOR) Project is being conducted to estimate radiation doses that populations and individuals could have received from Hanford Site operations from 1944 to the present. Four possible pathways by which radionuclides originating in ground water on the Hanford Site could have reached the public have been identified: 1) through contaminated ground water migrating to the Columbia River; 2) through wells on or adjacent to the Hanford Site; 3) through wells that draw some or all of their water from the Columbia River (riparian wells); and 4) through atmospheric deposition resulting in the contamination of a small watershed that, in turn, results in contamination of a shallow well or spring. These four pathways make up the "ground-water pathway ," which is the subject of this study. The objective of the study was to assess the extent to which the groundwater pathway contributed to radiation doses that populations or individuals may have received from past operations at Hanford. The assessment presented in this report was performed by 1) reviewing the extensive literature on ground water and ground-water monitoring at Hanford and 2) performing simple calculations to estimate radionuclide concentrations in ground water and the Columbia River resulting from ground-water discharge. Radiation doses that would result from exposure to this ground water and surface water were calculated. The study conclusion is that the ground-water pathways did not contribute significantly to dose. Compared with background radiation in the TriCities {300 mrem/yr), estimated doses are small: 0.02 mrem/yr effective dose equivalent from discharge of contaminated ground water to the Columbia River; 1 mrem/yr effective dose equivalent from Hanford Site wells; 11 mrem/yr effective dose equivalent from riparian wells; and 1 mrem/yr effective dose equivalent from the watershed. Because the estimated doses are so small, the recommendation is that further work

  7. A framework for the natural-language-perception-based creative control of unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Ghaffari, Masoud; Liao, Xiaoqun; Hall, Ernest L.

    2004-09-01

    Mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. That is why mobile robotics problems are complex with many unanswered questions. To reach a high degree of autonomous operation, a new level of learning is required. On the one hand, promising learning theories such as the adaptive critic and creative control have been proposed, while on other hand the human brain"s processing ability has amazed and inspired researchers in the area of Unmanned Ground Vehicles but has been difficult to emulate in practice. A new direction in the fuzzy theory tries to develop a theory to deal with the perceptions conveyed by the natural language. This paper tries to combine these two fields and present a framework for autonomous robot navigation. The proposed creative controller like the adaptive critic controller has information stored in a dynamic database (DB), plus a dynamic task control center (TCC) that functions as a command center to decompose tasks into sub-tasks with different dynamic models and multi-criteria functions. The TCC module utilizes computational theory of perceptions to deal with the high levels of task planning. The authors are currently trying to implement the model on a real mobile robot and the preliminary results have been described in this paper.

  8. Orbital transfer vehicle concept definition and system analysis study, 1985. Volume 2: OTV concept definition and evaluation. Book 4: Operations

    NASA Technical Reports Server (NTRS)

    Mitchell, Jack C.; Keeley, J. T.

    1985-01-01

    The benefits of the reusable Space Shuttle and the advent of the new Space Station hold promise for increasingly effective utilization of space by the scientific and commercial as well as military communities. A high energy reusable oribital transfer vehicle (OTV) represents an additional capability which also exhibits potential for enhancing space access by allowing more ambitious missions and at the same time reducing launch costs when compared to existing upper stages. This section, Vol. 2: Book 4, covers launch operations and flight operations. The launch operations section covers analyses of ground based and space based vehicles, launch site facilities, logistics requirements, propellant loading, space based maintenance and aft cargo carrier access options. The flight operations sections contain summary descriptions of ground based and space based OTV missions, operations and support requirements, and a discussion of fleet implications.

  9. SILEX ground segment control facilities and flight operations

    NASA Astrophysics Data System (ADS)

    Demelenne, Benoit; Tolker-Nielsen, Toni; Guillen, Jean-Claude

    1999-04-01

    The European Space Agency is going to conduct an inter orbit link experiment which will connect a low Earth orbiting satellite and a Geostationary satellite via optical terminals. This experiment has been called SILEX (Semiconductor Inter satellite Link Experiment). Two payloads have been built. One called PASTEL (PASsager de TELecommunication) has been embarked on the French Earth observation satellite SPOT4 which has been launched successfully in March 1998. The future European experimental data relay satellite ARTEMIS (Advanced Relay and TEchnology MISsion), which will route the data to ground, will carry the OPALE terminal (Optical Payload Experiment). The European Space Agency is responsible for the operation of both terminals. Due to the complexity and experimental character of this new optical technology, the development, preparation and validation of the ground segment control facilities required a long series of technical and operational qualification tests. This paper is presenting the operations concept and the early results of the PASTEL in orbit operations.

  10. Optimization of shared autonomy vehicle control architectures for swarm operations.

    PubMed

    Sengstacken, Aaron J; DeLaurentis, Daniel A; Akbarzadeh-T, Mohammad R

    2010-08-01

    The need for greater capacity in automotive transportation (in the midst of constrained resources) and the convergence of key technologies from multiple domains may eventually produce the emergence of a "swarm" concept of operations. The swarm, which is a collection of vehicles traveling at high speeds and in close proximity, will require technology and management techniques to ensure safe, efficient, and reliable vehicle interactions. We propose a shared autonomy control approach, in which the strengths of both human drivers and machines are employed in concert for this management. Building from a fuzzy logic control implementation, optimal architectures for shared autonomy addressing differing classes of drivers (represented by the driver's response time) are developed through a genetic-algorithm-based search for preferred fuzzy rules. Additionally, a form of "phase transition" from a safe to an unsafe swarm architecture as the amount of sensor capability is varied uncovers key insights on the required technology to enable successful shared autonomy for swarm operations. PMID:19963700

  11. Electric and hybrid vehicle program: Site operator program

    NASA Astrophysics Data System (ADS)

    Kiser, D. M.; Brown, H. L.

    1994-10-01

    The DOE Site Operator Program was initially established to meet the requirements of the Electric and Hybrid Vehicle Research, Development, and Demonstration Act of 1976. The program has since evolved in response to new legislation and interests. Its mission now includes three major activity categories: advancement of electric vehicle (EV) technologies, development of infrastructure elements needed to support significant EV use, and increasing public awareness and acceptance of EV's. The 13 program participants, their geographic locations, and the principal thrusts of their efforts are identified. The EV inventories of each participant are summarized. This third quarter report (FY-94) will include a summary of activities from the previous three quarters. The report section sequence has been revised to provide a more easily seen program overview, and specific operator activities are now included.

  12. Electric and hybrid vehicle program; Site Operator Program

    SciTech Connect

    Warren, J.F.

    1992-05-01

    Activities during the second quarter included the second meeting of the Site Operators in Phoenix, AZ in late April. The meeting was held in conjunction with the Solar and Electric 500 Race activities. Delivery of vehicles ordered previously has begun, although two of the operators are experiencing some delays in receiving their vehicles. Public demonstration activities continue, with an apparent increasing level of awareness and interest being displayed by the public. Initial problems with the Site Operator Database have been corrected and revised copies of the program have been supplied to the Program participants. Operating and Maintenance data is being supplied and submitted to INEL on a monthly basis. Interest in the Site Operator Program is being reflected in requests for information from several organizations from across the country, representing a wide diversity of interests. These organizations have been referred to existing Site Operators with the explanation that the program will not be adding new participants, but that most of the existing organizations are willing to work with other groups. The exception to this was the addition of Potomac Electric Power Company (PEPCO) to the program. PEPCO has been awarded a subcontract to operate and maintain the DOE owned G-Van and Escort located in Washington, DC. They will provide data on these vehicles, as well as a Solectria Force which PEPCO has purchased. The Task Force intends to be actively involved in the infrastructure development in a wide range of areas. These include, among others, personnel development, safety, charging, and servicing. Work continues in these areas. York Technical College (YORK) has completed the draft outline for the EV Technician course. This is being circulated to organizations around the country for comments. Kansas State University (KSU) is working with a private sector company to develop a energy dispensing meter for opportunity charging in public areas.

  13. Unmanned Ground Vehicle Navigation and Coverage Hole Patching in Wireless Sensor Networks

    ERIC Educational Resources Information Center

    Zhang, Guyu

    2013-01-01

    This dissertation presents a study of an Unmanned Ground Vehicle (UGV) navigation and coverage hole patching in coordinate-free and localization-free Wireless Sensor Networks (WSNs). Navigation and coverage maintenance are related problems since coverage hole patching requires effective navigation in the sensor network environment. A…

  14. Operations Analysis of the 2nd Generation Reusable Launch Vehicle

    NASA Technical Reports Server (NTRS)

    Noneman, Steven R.; Smith, C. A. (Technical Monitor)

    2002-01-01

    The Space Launch Initiative (SLI) program is developing a second-generation reusable launch vehicle. The program goals include lowering the risk of loss of crew to 1 in 10,000 and reducing annual operations cost to one third of the cost of the Space Shuttle. The SLI missions include NASA, military and commercial satellite launches and crew and cargo launches to the space station. The SLI operations analyses provide an assessment of the operational support and infrastructure needed to operate candidate system architectures. Measures of the operability are estimated (i.e. system dependability, responsiveness, and efficiency). Operations analysis is used to determine the impact of specific technologies on operations. A conceptual path to reducing annual operations costs by two thirds is based on key design characteristics, such as reusability, and improved processes lowering labor costs. New operations risks can be expected to emerge. They can be mitigated with effective risk management with careful identification, assignment, tracking, and closure. SLI design characteristics such as nearly full reusability, high reliability, advanced automation, and lowered maintenance and servicing coupled with improved processes are contributors to operability and large operating cost reductions.

  15. The Application of the Human Engineering Modeling and Performance Laboratory for Space Vehicle Ground Processing Tasks at Kennedy Space Center

    NASA Technical Reports Server (NTRS)

    Woodbury, Sarah K.

    2008-01-01

    The introduction of United Space Alliance's Human Engineering Modeling and Performance Laboratory began in early 2007 in an attempt to address the problematic workspace design issues that the Space Shuttle has imposed on technicians performing maintenance and inspection operations. The Space Shuttle was not expected to require the extensive maintenance it undergoes between flights. As a result, extensive, costly resources have been expended on workarounds and modifications to accommodate ground processing personnel. Consideration of basic human factors principles for design of maintenance is essential during the design phase of future space vehicles, facilities, and equipment. Simulation will be needed to test and validate designs before implementation.

  16. CATIA V5 Virtual Environment Support for Constellation Ground Operations

    NASA Technical Reports Server (NTRS)

    Kelley, Andrew

    2009-01-01

    This summer internship primarily involved using CATIA V5 modeling software to design and model parts to support ground operations for the Constellation program. I learned several new CATIA features, including the Imagine and Shape workbench and the Tubing Design workbench, and presented brief workbench lessons to my co-workers. Most modeling tasks involved visualizing design options for Launch Pad 39B operations, including Mobile Launcher Platform (MLP) access and internal access to the Ares I rocket. Other ground support equipment, including a hydrazine servicing cart, a mobile fuel vapor scrubber, a hypergolic propellant tank cart, and a SCAPE (Self Contained Atmospheric Protective Ensemble) suit, was created to aid in the visualization of pad operations.

  17. Standards and Specifications for Ground Processing of Space Vehicles: From an Aviation-Based Shuttle Project to Global Application

    NASA Technical Reports Server (NTRS)

    Ingalls, John; Cipolletti, John

    2011-01-01

    Proprietary or unique designs and operations are expected early in any industry's development, and often provide a competitive early market advantage. However, there comes a time when a product or industry requires standardization for the whole industry to advance...or survive. For the space industry, that time has come. Here, we will focus on standardization of ground processing for space vehicles and their ground systems. With the retirement of the Space Shuttle, and emergence of a new global space race, affordability and sustainability are more important now than ever. The growing commercialization of the space industry and current global economic environment are driving greater need for efficiencies to save time and money. More RLV's (Reusable Launch Vehicles) are being developed for the gains of reusability not achievable with traditional ELV's (Expendable Launch Vehicles). More crew/passenger vehicles are also being developed. All of this calls for more attention needed for ground processing-repeatedly before launch and after landing/recovery. RLV's should provide more efficiencies than ELV's, as long as MRO (Maintenance, Repair, and Overhaul) is well-planned-even for the unplanned problems. NASA's Space Shuttle is a primary example of an RLV which was supposed to thrive on reusability savings with efficient ground operations, but lessons learned show that costs were (and still are) much greater than expected. International standards and specifications can provide the commonality needed to simplify design and manufacturing as well as to improve safety, quality, maintenance, and operability. There are standards organizations engaged in the space industry, but ground processing is one of the areas least addressed. Challenges are encountered due to various factors often not considered during development. Multiple vehicle elements, sites, customers, and contractors pose various functional and integration difficulties. Resulting technical publication structures

  18. ALLY: An operator's associate for satellite ground control systems

    NASA Technical Reports Server (NTRS)

    Bushman, J. B.; Mitchell, Christine M.; Jones, P. M.; Rubin, K. S.

    1991-01-01

    The key characteristics of an intelligent advisory system is explored. A central feature is that human-machine cooperation should be based on a metaphor of human-to-human cooperation. ALLY, a computer-based operator's associate which is based on a preliminary theory of human-to-human cooperation, is discussed. ALLY assists the operator in carrying out the supervisory control functions for a simulated NASA ground control system. Experimental evaluation of ALLY indicates that operators using ALLY performed at least as well as they did when using a human associate and in some cases even better.

  19. Satellite Ground Operations Automation: Lessons Learned and Future Approaches

    NASA Technical Reports Server (NTRS)

    Catena, John; Frank, Lou; Saylor, Rick; Weikel, Craig; Obenschain, Arthur F. (Technical Monitor)

    2001-01-01

    Reducing spacecraft ground system operations costs is a major goal in all missions. The Fast Auroral Snapshot (FAST) flight operations team at the NASA/Goddard Spacecraft Flight Center developed in-house scripts and procedures to automate monitoring of critical spacecraft functions. The initial staffing profile of 16x7 was reduced first to 8x5 and then to 'lights out'. Operations functions became an offline review of system performance and the generation of future science plans for subsequent upload to the spacecraft. Lessons learned will be applied to the challenging Triana mission, where 24x7 contact with the spacecraft will be necessary at all times.

  20. Transport systems research vehicle color display system operations manual

    NASA Technical Reports Server (NTRS)

    Easley, Wesley C.; Johnson, Larry E.

    1989-01-01

    A recent upgrade of the Transport Systems Research Vehicle operated by the Advanced Transport Operating Systems Program Office at the NASA Langley Research Center has resulted in an all-glass panel in the research flight deck. Eight ARINC-D size CRT color displays make up the panel. A major goal of the display upgrade effort was ease of operation and maintenance of the hardware while maintaining versatility needed for flight research. Software is the key to this required versatility and will be the area demanding the most detailed technical design expertise. This document is is intended to serve as a single source of quick reference information needed for routine operation and system level maintenance. Detailed maintenance and modification of the display system will require specific design documentation and must be accomplished by individuals with specialized knowledge and experience.

  1. A Ground-Based Research Vehicle for Base Drag Studies at Subsonic Speeds

    NASA Technical Reports Server (NTRS)

    Diebler, Corey; Smith, Mark

    2002-01-01

    A ground research vehicle (GRV) has been developed to study the base drag on large-scale vehicles at subsonic speeds. Existing models suggest that base drag is dependent upon vehicle forebody drag, and for certain configurations, the total drag of a vehicle can be reduced by increasing its forebody drag. Although these models work well for small projectile shapes, studies have shown that they do not provide accurate predictions when applied to large-scale vehicles. Experiments are underway at the NASA Dryden Flight Research Center to collect data at Reynolds numbers to a maximum of 3 x 10(exp 7), and to formulate a new model for predicting the base drag of trucks, buses, motor homes, reentry vehicles, and other large-scale vehicles. Preliminary tests have shown errors as great as 70 percent compared to Hoerner's two-dimensional base drag prediction. This report describes the GRV and its capabilities, details the studies currently underway at NASA Dryden, and presents preliminary results of both the effort to formulate a new base drag model and the investigation into a method of reducing total drag by manipulating forebody drag.

  2. Interdisciplinary group explores seafloor eruption with remotely operated vehicle

    NASA Astrophysics Data System (ADS)

    Embley, Robert; Baker, Edward

    One of the most successful open-ocean, interdisciplinary expeditions using a remotely operated vehicle was conducted last year and is being looked on as a harbinger for future deep submergence expeditions. Unmanned systems have emerged in the past decade as an alternative to manned submersibles for deep-ocean studies. But until now they have not proven themselves to be equal to manned vehicles in conducting multiple sampling tasks in an interdisciplinary milieu. Last year's expedition involved extensive investigations and sampling using the Canadian Remotely Operated Vehicle for Ocean Sciences (ROPOS) [Shepherd and Juniper, 1997].A team of 33 chemists, biologists, geologists, and engineers, including a number of principal investigators from the United States and Canada, sailed on the Ronald H. Browne National Oceanic and Atmospheric Administration (NOAA) ship, with ROPOS to investigate in detail the aftermath of a diking event in the Pacific Ocean and its effect on hydrothermal chemistry and on seafloor and subseafloor biological communities. The expedition was part of the New Millennium Observatory (NeMO) project and began in earnest the in situ portion of the project in August 1998.

  3. Integrated Ground Operations Demonstration for Responsive Space Access

    NASA Technical Reports Server (NTRS)

    Johnson, Robert G.; Notardonato, William U.

    2013-01-01

    Integrated Ground Operations Demonstration Units (IGODU) project developed to mature, integrate and demonstrate advancements in cryogenics, system health management and command and control technologies. Two Distinct Testing Environments: a) GODU Integrated Refrigeration and Storage - GODU LH2; b) GODU Autonomous Control - GODU LO2. Scope: I. GODU LH2: a) Investigate alternative storage and distribution architecture for future cryogenic propellant operations. b) Demonstrate advanced cryogenic propellant handling operations (liquefaction, storage and distribution) of normal boiling point and sub-cooled cryogenic propellants. II. GODU L02: a) Develop and demonstrate advanced control and health management technologies and techniques to autonomously control cryogenic propellant servicing operations. b) Investigate modern COTS hardware and control systems in an effort to reduce the "standing army" of engineers associated with maintaining and operating ground systems through the use of health management and autonomous control technologies. Goals: a) Raise Technology Readiness Levels (TRL) and Integration Readiness Levels (IRL) of several key technology development areas. b) Reduce operations lifecycle costs of future test programs and launch complexes. c) Demonstrate technologies for future exploration beyond low earth orbit. d) Serve as test environments for extraterrestrial surface operations.

  4. The Interim : until you achieve an operationally responsive ground system

    NASA Technical Reports Server (NTRS)

    Wendlandt, Bob; Clarke, Kelly; Lei, Jordan; Miyamoto, Charles; Owen-Mankovich, Kyran

    2008-01-01

    Everyone wants to achieve a 'Responsive' Ground Data System (GDS), but that takes time. What do you do in the interim? Our group, called the Integration, Test and Deployment Team (ITD), is a group of responsive engineers whose primary focus is to assist JPL projects to successfully adapt, test, integrate and deploy their ground data system. The team configures and adapts the GDS for a project, so that analysts, engineers and scientist do not need to be experts in the GDS to operate it. The team has developed a human interface to accommodate all types of users. It provides Graphical User Interfaces (GUI's) for those that want GUI's, command line interfaces for those that want control, and selection button interfaces for other users. The cornerstone of a responsive Ground Data System is responsive people. Without individuals who can be aware of a project's changing needs and requirements, how can the GDS become responsive

  5. The Interim: Until You Achieve an Operationally Responsive Ground System

    NASA Technical Reports Server (NTRS)

    Wendlandt, Bob; Clarke, Kelly; Miyamoto, Charles; Lei, Jordan; Owen-Mankovich, Kyran

    2008-01-01

    Everyone wants to achieve a 'Responsive' Ground Data System (GDS), but that takes time. What do you do in the interim? Our group, called the Integration, Test and Deployment Team (ITD), is a group of responsive engineers whose primary focus is to assist JPL projects to successfully adapt, test, integrate and deploy their ground data system. The team configures and adapts the GDS for a project, so that analysts, engineers and scientist do not need to be experts in the GDS to operate it. The team has developed a human interface to accommodate all types of users. It provides Graphical User Interfaces (GUI's) for those that want GUI's, command line interfaces for those that want control, and selection button interfaces for other users. The cornerstone of a responsive Ground Data System is responsive people. Without individuals who can be aware of a project's changing needs and requirements, how can the GDS become responsive?.

  6. Near-Optimal Operation of Dual-Fuel Launch Vehicles

    NASA Technical Reports Server (NTRS)

    Ardema, M. D.; Chou, H. C.; Bowles, J. V.

    1996-01-01

    A near-optimal guidance law for the ascent trajectory from earth surface to earth orbit of a fully reusable single-stage-to-orbit pure rocket launch vehicle is derived. Of interest are both the optimal operation of the propulsion system and the optimal flight path. A methodology is developed to investigate the optimal throttle switching of dual-fuel engines. The method is based on selecting propulsion system modes and parameters that maximize a certain performance function. This function is derived from consideration of the energy-state model of the aircraft equations of motion. Because the density of liquid hydrogen is relatively low, the sensitivity of perturbations in volume need to be taken into consideration as well as weight sensitivity. The cost functional is a weighted sum of fuel mass and volume; the weighting factor is chosen to minimize vehicle empty weight for a given payload mass and volume in orbit.

  7. Function-based design process for an intelligent ground vehicle vision system

    NASA Astrophysics Data System (ADS)

    Nagel, Robert L.; Perry, Kenneth L.; Stone, Robert B.; McAdams, Daniel A.

    2010-10-01

    An engineering design framework for an autonomous ground vehicle vision system is discussed. We present both the conceptual and physical design by following the design process, development and testing of an intelligent ground vehicle vision system constructed for the 2008 Intelligent Ground Vehicle Competition. During conceptual design, the requirements for the vision system are explored via functional and process analysis considering the flows into the vehicle and the transformations of those flows. The conceptual design phase concludes with a vision system design that is modular in both hardware and software and is based on a laser range finder and camera for visual perception. During physical design, prototypes are developed and tested independently, following the modular interfaces identified during conceptual design. Prototype models, once functional, are implemented into the final design. The final vision system design uses a ray-casting algorithm to process camera and laser range finder data and identify potential paths. The ray-casting algorithm is a single thread of the robot's multithreaded application. Other threads control motion, provide feedback, and process sensory data. Once integrated, both hardware and software testing are performed on the robot. We discuss the robot's performance and the lessons learned.

  8. Operations and support cost modeling of conceptual space vehicles

    NASA Technical Reports Server (NTRS)

    Ebeling, Charles

    1994-01-01

    The University of Dayton is pleased to submit this annual report to the National Aeronautics and Space Administration (NASA) Langley Research Center which documents the development of an operations and support (O&S) cost model as part of a larger life cycle cost (LCC) structure. It is intended for use during the conceptual design of new launch vehicles and spacecraft. This research is being conducted under NASA Research Grant NAG-1-1327. This research effort changes the focus from that of the first two years in which a reliability and maintainability model was developed to the initial development of an operations and support life cycle cost model. Cost categories were initially patterned after NASA's three axis work breakdown structure consisting of a configuration axis (vehicle), a function axis, and a cost axis. A revised cost element structure (CES), which is currently under study by NASA, was used to established the basic cost elements used in the model. While the focus of the effort was on operations and maintenance costs and other recurring costs, the computerized model allowed for other cost categories such as RDT&E and production costs to be addressed. Secondary tasks performed concurrent with the development of the costing model included support and upgrades to the reliability and maintainability (R&M) model. The primary result of the current research has been a methodology and a computer implementation of the methodology to provide for timely operations and support cost analysis during the conceptual design activities.

  9. Satellite Power Systems (SPS) concept definition study. Volume 5: Transportation and operations analysis. [heavy lift launch and orbit transfer vehicles for orbital assembly

    NASA Technical Reports Server (NTRS)

    Hanley, G.

    1978-01-01

    The development of transportation systems to support the operations required for the orbital assembly of a 5-gigawatt satellite is discussed as well as the construction of a ground receiving antenna (rectenna). Topics covered include heavy lift launch vehicle configurations for Earth-to LEO transport; the use of chemical, nuclear, and electric orbit transfer vehicles for LEO to GEO operations; personnel transport systems; ground operations; end-to-end analysis of the construction, operation, and maintenance of the satellite and rectenna; propellant production and storage; and payload packaging.

  10. Application of radio control cars as intelligent unmanned ground vehicles with collaborative and independent behavior

    NASA Astrophysics Data System (ADS)

    Wasson, Steven R.; Kouns, John; Bruder, Stephen; Wedeward, Kevin; El-Osery, Aly

    2004-09-01

    Simple radio control cars commonly sold as toys can provide a viable starting platform for the development of low-cost intelligent Unmanned Ground Vehicles (UGVs) for the study of robot collectives. In a collaborative effort, Sandia National Labs and New Mexico Tech have successfully demonstrated proof-of-concept by utilizing low-cost radio control cars manufactured by Nikko. Initial tests have involved using a small number (two to ten) of these UGVs to successfully demonstrate both collaborative and independent behavior simultaneously. In the tests individuals share their locations with the collective to cover an area, thus demonstrating collaborative behavior. Independent behavior is demonstrated as each member of the collective maintains a desired compass heading while simultaneously avoiding obstacles in its path. These UGVs are powered by high-capacity rechargeable batteries and equipped with a custom-designed microcontroller board with a stackable modular interface and wireless communication. The initial modular sensor configuration includes a digital compass and GPS unit for navigation as well as ultrasonic sensors for obstacle avoidance. This paper describes the design and operations of these UGVs, their possible uses, and the advantages of using a radio control car platform as a low-cost starting point for the development of intelligent UGV collectives.

  11. 49 CFR 242.111 - Prior safety conduct as motor vehicle operator.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false Prior safety conduct as motor vehicle operator... CONDUCTORS Program and Eligibility Requirements § 242.111 Prior safety conduct as motor vehicle operator. (a... prior conduct as a motor vehicle operator. (c) A railroad shall initially certify a person as...

  12. Integrated Procedures for Flight and Ground Operations Using International Standards

    NASA Technical Reports Server (NTRS)

    Ingalls, John

    2011-01-01

    Imagine astronauts using the same Interactive Electronic Technical Manuals (IETM's) as the ground personnel who assemble or maintain their flight hardware, and having all of that data interoperable with design, logistics, reliability analysis, and training. Modern international standards and their corresponding COTS tools already used in other industries provide a good foundation for streamlined technical publications in the space industry. These standards cover everything from data exchange to product breakdown structure to business rules flexibility. Full Product Lifecycle Support (PLCS) is supported. The concept is to organize, build once, reuse many ways, and integrate. This should apply to all future and some current launch vehicles, payloads, space stations/habitats, spacecraft, facilities, support equipment, and retrieval ships.

  13. Ground Operations Demonstration Unit for Liquid Hydrogen Initial Test Results

    NASA Technical Reports Server (NTRS)

    Notardonato, W. U.; Johnson, W. L.; Swanger, A. M.; Tomsik, T.

    2015-01-01

    NASA operations for handling cryogens in ground support equipment have not changed substantially in 50 years, despite major technology advances in the field of cryogenics. NASA loses approximately 50% of the hydrogen purchased because of a continuous heat leak into ground and flight vessels, transient chill down of warm cryogenic equipment, liquid bleeds, and vent losses. NASA Kennedy Space Center (KSC) needs to develop energy-efficient cryogenic ground systems to minimize propellant losses, simplify operations, and reduce cost associated with hydrogen usage. The GODU LH2 project has designed, assembled, and started testing of a prototype storage and distribution system for liquid hydrogen that represents an advanced end-to-end cryogenic propellant system for a ground launch complex. The project has multiple objectives including zero loss storage and transfer, liquefaction of gaseous hydrogen, and densification of liquid hydrogen. The system is unique because it uses an integrated refrigeration and storage system (IRAS) to control the state of the fluid. This paper will present and discuss the results of the initial phase of testing of the GODU LH2 system.

  14. Ground operations demonstration unit for liquid hydrogen initial test results

    NASA Astrophysics Data System (ADS)

    Notardonato, W. U.; Johnson, W. L.; Swanger, A. M.; Tomsik, T.

    2015-12-01

    NASA operations for handling cryogens in ground support equipment have not changed substantially in 50 years, despite major technology advances in the field of cryogenics. NASA loses approximately 50% of the hydrogen purchased because of a continuous heat leak into ground and flight vessels, transient chill down of warm cryogenic equipment, liquid bleeds, and vent losses. NASA Kennedy Space Center (KSC) needs to develop energy-efficient cryogenic ground systems to minimize propellant losses, simplify operations, and reduce cost associated with hydrogen usage. The GODU LH2 project has designed, assembled, and started testing of a prototype storage and distribution system for liquid hydrogen that represents an advanced end-to-end cryogenic propellant system for a ground launch complex. The project has multiple objectives including zero loss storage and transfer, liquefaction of gaseous hydrogen, and densification of liquid hydrogen. The system is unique because it uses an integrated refrigeration and storage system (IRAS) to control the state of the fluid. This paper will present and discuss the results of the initial phase of testing of the GODU LH2 system.

  15. Effects of Command and Control Vehicle (C2V) operational environment on soldier health and performance

    NASA Technical Reports Server (NTRS)

    Cowings, P. S.; Toscano, W. B.; DeRoshia, C.; Tauso, R.

    2001-01-01

    The purpose of this project was to use NASA technology to assist the US Army in the assessment of motion sickness incidences and effects on soldier performance and mood states within the Command and Control Vehicle (C2V). Specific objectives were (1) to determine if there was a significant difference between three internal configurations of the C2V and/or between seats within these vehicles; (2) to determine if there was a significant difference between the park, move, or short-halt field conditions; and (3) to validate a method of converging indicators developed by NASA to assess environmental impact of long duration spaceflight on crewmembers, using a large sample of subjects under ground-based operational conditions.

  16. Integrated Ground Operations Demonstration for Responsive Space Access

    NASA Technical Reports Server (NTRS)

    Johnson, Robert G.; Notardonato, William U.

    2014-01-01

    The NASA Advanced Exploration Systems (AES) program has a three year project to develop and demonstrate technologies to fundamentally change the way ground servicing activities support future access to space architectures. The AES Integrated Ground Operation Demonstration Units (IGODU) project has created two test beds for investigating and maturing two key elements of spaceport processing activities. The first is the GODU Integrated Refrigeration and Storage test bed that is demonstrating zero-loss storage of liquid hydrogen propellants and studying the storage and transfer of densified propellants. The second activity is the GODU Autonomous Control test bed that is implementing health management technologies and autonomous control capability of the propellant loading process to reduce the standing army of experts historically needed to ensure safe propellant loading operations. This presentation will give an overview of the activities at the Kennedy Space Center on these two test beds and its potential impact on future access to space programs.

  17. Ground Operations Aerospace Language (GOAL). Volume 2: Compiler

    NASA Technical Reports Server (NTRS)

    1973-01-01

    The principal elements and functions of the Ground Operations Aerospace Language (GOAL) compiler are presented. The technique used to transcribe the syntax diagrams into machine processable format for use by the parsing routines is described. An explanation of the parsing technique used to process GOAL source statements is included. The compiler diagnostics and the output reports generated during a GOAL compilation are explained. A description of the GOAL program package is provided.

  18. Ground Operations Aerospace Language (GOAL). Volume 1: Study overview

    NASA Technical Reports Server (NTRS)

    1973-01-01

    A series of NASA and Contractor studies sponsored by NASA/KSC resulted in a specification for the Ground Operations Aerospace Language (GOAL). The Cape Kennedy Facility of the IBM Corporation was given the responsibility, under existing contracts, to perform an analysis of the Language Specification, to design and develop a GOAL Compiler, to provide a specification for a data bank, to design and develop an interpretive code translator, and to perform associated application studies.

  19. Analysis and Prediction of Weather Impacted Ground Stop Operations

    NASA Technical Reports Server (NTRS)

    Wang, Yao Xun

    2014-01-01

    When the air traffic demand is expected to exceed the available airport's capacity for a short period of time, Ground Stop (GS) operations are implemented by Federal Aviation Administration (FAA) Traffic Flow Management (TFM). The GS requires departing aircraft meeting specific criteria to remain on the ground to achieve reduced demands at the constrained destination airport until the end of the GS. This paper provides a high-level overview of the statistical distributions as well as causal factors for the GSs at the major airports in the United States. The GS's character, the weather impact on GSs, GS variations with delays, and the interaction between GSs and Ground Delay Programs (GDPs) at Newark Liberty International Airport (EWR) are investigated. The machine learning methods are used to generate classification models that map the historical airport weather forecast, schedule traffic, and other airport conditions to implemented GS/GDP operations and the models are evaluated using the cross-validations. This modeling approach produced promising results as it yielded an 85% overall classification accuracy to distinguish the implemented GS days from the normal days without GS and GDP operations and a 71% accuracy to differentiate the GS and GDP implemented days from the GDP only days.

  20. Ground Operations Autonomous Control and Integrated Health Management

    NASA Technical Reports Server (NTRS)

    Daniels, James

    2014-01-01

    The Ground Operations Autonomous Control and Integrated Health Management plays a key role for future ground operations at NASA. The software that is integrated into this system is called G2 2011 Gensym. The purpose of this report is to describe the Ground Operations Autonomous Control and Integrated Health Management with the use of the G2 Gensym software and the G2 NASA toolkit for Integrated System Health Management (ISHM) which is a Computer Software Configuration Item (CSCI). The decision rationale for the use of the G2 platform is to develop a modular capability for ISHM and AC. Toolkit modules include knowledge bases that are generic and can be applied in any application domain module. That way, there's a maximization of reusability, maintainability, and systematic evolution, portability, and scalability. Engine modules are generic, while application modules represent the domain model of a specific application. Furthermore, the NASA toolkit, developed since 2006 (a set of modules), makes it possible to create application domain models quickly, using pre-defined objects that include sensors and components libraries for typical fluid, electrical, and mechanical systems.

  1. Objectives and Progress on Ground Vibration Testing for the Ares Launch Vehicles

    NASA Technical Reports Server (NTRS)

    Tuma, Margaret L.; Askins, Bruce R.; Chenevert, Donald J.

    2009-01-01

    NASA has conducted dynamic tests on each of its major launch vehicles during the past 45 years. Each test has provided invaluable data to correlate and correct analytical models used to predict structural responses to differing dynamics for these vehicles. With both Saturn V and Space Shuttle, hardware changes were also required to the flight vehicles to ensure crew and vehicle safety. The Ares I IVGVT will undoubtedly provide similar valuable test data to support successful flights of the Constellation Program. The IVGVT will provide test determined natural frequencies, mode shapes and damping for the Ares I. This data will be used to support controls analysis by providing this test data to reduce uncertainty in the models. The value of this testing has been proven by past launch vehicle successes and failures. Performing dynamic testing on the Ares vehicles will provide confidence that the launch vehicles will be safe and successful in their missions. In addition, IVGVT will provide the following benefits for the Ares rockets: a) IVGVT data along with Ares development flights like Ares I-X, Ares I-Y, Ares I-X Prime, and Orion-1 or others will reduce the risk to the Orion-2 crew. IVGVT will permit anchoring the various analytical and operational models used in so many different aspects of Ares operations. b) IVGVT data will permit better understanding of the structural and GN&C margins of the spacecraft and may permit mass savings or expanded day-of-launch opportunities or fewer constraints to launch. c) Undoubtedly IVGVT will uncover some of the "unknown unknowns" so often seen in developing, launching, and flying new spacecraft vehicles and data from IVGVT may help prevent a loss of vehicle or crew. d) IVGVT also will be the first time Ares I flight-like hardware is transported, handled, rotated, mated, stacked, and integrated. e) Furthermore, handling and stacking the IVGVT launch vehicle stacks will be an opportunity to understand certain aspects of vehicle

  2. Functional design for operational earth resources ground data processing

    NASA Technical Reports Server (NTRS)

    Baldwin, C. J. (Principal Investigator); Bradford, L. H.; Hutson, D. E.; Jugle, D. R.

    1972-01-01

    The author has identified the following significant results. Study emphasis was on developing a unified concept for the required ground system, capable of handling data from all viable acquisition platforms and sensor groupings envisaged as supporting operational earth survey programs. The platforms considered include both manned and unmanned spacecraft in near earth orbit, and continued use of low and high altitude aircraft. The sensor systems include both imaging and nonimaging devices, operated both passively and actively, from the ultraviolet to the microwave regions of the electromagnetic spectrum.

  3. 41 CFR 109-38.301-1.53 - Responsibilities of motor vehicle operators.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... motor vehicle operators. 109-38.301-1.53 Section 109-38.301-1.53 Public Contracts and Property... MANAGEMENT REGULATIONS AVIATION, TRANSPORTATION, AND MOTOR VEHICLES 38-MOTOR EQUIPMENT MANAGEMENT 38.3-Official Use of Government Motor Vehicles § 109-38.301-1.53 Responsibilities of motor vehicle...

  4. 41 CFR 109-38.301-1.53 - Responsibilities of motor vehicle operators.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... motor vehicle operators. 109-38.301-1.53 Section 109-38.301-1.53 Public Contracts and Property... MANAGEMENT REGULATIONS AVIATION, TRANSPORTATION, AND MOTOR VEHICLES 38-MOTOR EQUIPMENT MANAGEMENT 38.3-Official Use of Government Motor Vehicles § 109-38.301-1.53 Responsibilities of motor vehicle...

  5. On the radar cross section (RCS) prediction of vehicles moving on the ground

    SciTech Connect

    Sabihi, Ahmad

    2014-12-10

    As readers should be aware, Radar Cross Section depends on the factors such as: Wave frequency and polarization, Target dimension, angle of ray incidence, Target’s material and covering, Type of radar system as monostatic or bistatic, space in which contains target and propagating waves, and etc. Having moved or stationed in vehicles can be effective in RCS values. Here, we investigate effective factors in RCS of moving targets on the ground or sea. Image theory in electromagnetic applies to be taken into account RCS of a target over the ground or sea.

  6. Vehicle-mounted ground penetrating radar (Mine Stalker III) field evaluation in Angola

    NASA Astrophysics Data System (ADS)

    Laudato, Stephen; Hart, Kerry; Nevard, Michael; Lauziere, Steven; Grant, Shaun

    2014-05-01

    The U.S. Department of Defense Humanitarian Demining Research and Development (HD R&D) Program, Non-Intrusive Inspection Technology (NIITEK), Inc. and The HALO Trust have over the last decade funded, developed and tested various prototype vehicle mounted ground penetrating radar (GPR) systems named the Mine Stalker. The HD R&D Program and NIITEK developed the Mine Stalker to detect low metal anti-tank (LM-AT) mines in roads. The country of Angola is severely affected by LM-AT mines in and off road, some of which are buried beyond the effective range of detection sensors current used in country. The threat from LM-AT mines such as the South African Number 8 (No. 8) and the Chinese Type 72 (72AT) still persist from Angola's 30 years of civil war. These LM-AT threats are undetectable at depths greater than 5 to 10 centimeters using metal detection technology. Clearing commerce routes are a critical requirement before Angola can rebuild its infrastructure and improve safety conditions for the local populace. The Halo Trust, a non-governmental demining organization (NGO) focused on demining and clearance of unexploded ordnance (UXO), has partnered with the HD R&D Program to conduct an operational field evaluation (OFE) of the Mine Stalker III (MS3) in Angola. Preliminary testing and training efforts yielded encouraging results. This paper presents a review of the data collected, testing results, system limitations and deficiencies while operating in a real world environment. Our goal is to demonstrate and validate this technology in live minefield environments, and to collect data to prompt future developments to the system.

  7. Suborbital Reusable Launch Vehicles as an Opportunity to Consolidate and Calibrate Ground Based and Satellite Instruments

    NASA Astrophysics Data System (ADS)

    Papadopoulos, K.

    2014-12-01

    XCOR Aerospace, a commercial space company, is planning to provide frequent, low cost access to near-Earth space on the Lynx suborbital Reusable Launch Vehicle (sRLV). Measurements in the external vacuum environment can be made and can launch from most runways on a limited lead time. Lynx can operate as a platform to perform suborbital in situ measurements and remote sensing to supplement models and simulations with new data points. These measurements can serve as a quantitative link to existing instruments and be used as a basis to calibrate detectors on spacecraft. Easier access to suborbital data can improve the longevity and cohesiveness of spacecraft and ground-based resources. A study of how these measurements can be made on Lynx sRLV will be presented. At the boundary between terrestrial and space weather, measurements from instruments on Lynx can help develop algorithms to optimize the consolidation of ground and satellite based data as well as assimilate global models with new data points. For example, current tides and the equatorial electrojet, essential to understanding the Thermosphere-Ionosphere system, can be measured in situ frequently and on short notice. Furthermore, a negative-ion spectrometer and a Faraday cup, can take measurements of the D-region ion composition. A differential GPS receiver can infer the spatial gradient of ionospheric electron density. Instruments and optics on spacecraft degrade over time, leading to calibration drift. Lynx can be a cost effective platform for deploying a reference instrument to calibrate satellites with a frequent and fast turnaround and a successful return of the instrument. A calibrated reference instrument on Lynx can make collocated observations as another instrument and corrections are made for the latter, thus ensuring data consistency and mission longevity. Aboard a sRLV, atmospheric conditions that distort remotely sensed data (ground and spacecraft based) can be measured in situ. Moreover, an

  8. Ground vehicle based ladar for standoff detection of road-side hazards

    NASA Astrophysics Data System (ADS)

    Hollinger, Jim; Close, Ryan

    2015-05-01

    In recent years, the number of commercially available LADAR (also referred to as LIDAR) systems have grown with the increased interest in ground vehicle robotics and aided navigation/collision avoidance in various industries. With this increased demand the cost of these systems has dropped and their capabilities have increased. As a result of this trend, LADAR systems are becoming a cost effective sensor to use in a number of applications of interest to the US Army. One such application is the standoff detection of road-side hazards from ground vehicles. This paper will discuss detection of road-side hazards partially concealed by light to medium vegetation. Current algorithms using commercially available LADAR systems for detecting these targets will be presented, along with results from relevant data sets. Additionally, optimization of commercial LADAR sensors and/or fusion with Radar will be discussed as ways of increasing detection ability.

  9. Application of a distributed systems architecture for increased speed in image processing on an autonomous ground vehicle

    NASA Astrophysics Data System (ADS)

    Wright, Adam A.; Momin, Orko; Shin, Young Ho; Shakya, Rahul; Nepal, Kumud; Ahlgren, David J.

    2010-01-01

    This paper presents the application of a distributed systems architecture to an autonomous ground vehicle, Q, that participates in both the autonomous and navigation challenges of the Intelligent Ground Vehicle Competition. In the autonomous challenge the vehicle is required to follow a course, while avoiding obstacles and staying within the course boundaries, which are marked by white lines. For the navigation challenge, the vehicle is required to reach a set of target destinations, known as way points, with given GPS coordinates and avoid obstacles that it encounters in the process. Previously the vehicle utilized a single laptop to execute all processing activities including image processing, sensor interfacing and data processing, path planning and navigation algorithms and motor control. National Instruments' (NI) LabVIEW served as the programming language for software implementation. As an upgrade to last year's design, a NI compact Reconfigurable Input/Output system (cRIO) was incorporated to the system architecture. The cRIO is NI's solution for rapid prototyping that is equipped with a real time processor, an FPGA and modular input/output. Under the current system, the real time processor handles the path planning and navigation algorithms, the FPGA gathers and processes sensor data. This setup leaves the laptop to focus on running the image processing algorithm. Image processing as previously presented by Nepal et. al. is a multi-step line extraction algorithm and constitutes the largest processor load. This distributed approach results in a faster image processing algorithm which was previously Q's bottleneck. Additionally, the path planning and navigation algorithms are executed more reliably on the real time processor due to the deterministic nature of operation. The implementation of this architecture required exploration of various inter-system communication techniques. Data transfer between the laptop and the real time processor using UDP packets

  10. Robust H∞ output-feedback control for path following of autonomous ground vehicles

    NASA Astrophysics Data System (ADS)

    Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

    2016-03-01

    This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

  11. Multi- and Hyper-Spectral Sensing for Autonomous Ground Vehicle Navigation

    SciTech Connect

    FOGLER, ROBERT J.

    2003-06-01

    Robotic vehicles that navigate autonomously are hindered by unnecessary avoidance of soft obstacles, and entrapment by potentially avoidable obstacles. Existing sensing technologies fail to reliably distinguish hard obstacles from soft obstacles, as well as impassable thickets and other sources of entrapment. Automated materials classification through advanced sensing methods may provide a means to identify such obstacles, and from their identity, to determine whether they must be avoided. Multi- and hyper-spectral electro-optic sensors are used in remote sensing applications to classify both man-made and naturally occurring materials on the earth's surface by their reflectance spectra. The applicability of this sensing technology to obstacle identification for autonomous ground vehicle navigation is the focus of this report. The analysis is restricted to system concepts in which the multi- or hyper-spectral sensor is on-board the ground vehicle, facing forward to detect and classify obstacles ahead of the vehicle. Obstacles of interest include various types of vegetation, rocks, soils, minerals, and selected man-made materials such as paving asphalt and concrete.

  12. 11th Annual Intelligent Ground Vehicle Competition: team approaches to intelligent driving and machine vision

    NASA Astrophysics Data System (ADS)

    Theisen, Bernard L.; Lane, Gerald R.

    2003-10-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990's. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Both the U.S. and international teams focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligtent driving capabilities. Over the past 11 years, the competition has challenged both undergraduates and graduates, including Ph.D. students with real world applications in intelligent transportation systems, the military, and manufacturing automation. To date, teams from over 40 universities and colleges have participated. In this paper, we describe some of the applications of the technologies required by this competition, and discuss the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

  13. The 17th Annual Intelligent Ground Vehicle Competition: intelligent robots built by intelligent students

    NASA Astrophysics Data System (ADS)

    Theisen, Bernard L.

    2010-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four unmanned systems student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned ground vehicle. Teams from around the world focus on developing a suite of dual-use technologies to equip their system of the future with intelligent driving capabilities. Over the past 17 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 70 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  14. The 21st annual intelligent ground vehicle competition: robotists for the future

    NASA Astrophysics Data System (ADS)

    Theisen, Bernard L.

    2013-12-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 21 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the fourday competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  15. The 20th annual intelligent ground vehicle competition: building a generation of robotists

    NASA Astrophysics Data System (ADS)

    Theisen, Bernard L.; Kosinski, Andrew

    2013-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 20 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  16. Operationally Efficient Propulsion System Study (OEPSS) data book. Volume 2: Ground operations problems

    NASA Technical Reports Server (NTRS)

    Waldrop, Glen S.

    1990-01-01

    Operations problems and cost drivers were identified for current propulsion systems and design and technology approaches were identified to increase the operational efficiency and to reduce operations costs for future propulsion systems. To provide readily usable data for the ALS program, the results of the OEPSS study were organized into a series of OEPSS Data Books. This volume presents a detailed description of 25 major problems encountered during launch processing of current expendable and reusable launch vehicles. A concise description of each problem and its operational impact on launch processing is presented, along with potential solutions and technology recommendation.

  17. Resolving ranges of layered objects using ground vehicle LiDAR

    NASA Astrophysics Data System (ADS)

    Hollinger, Jim; Kutscher, Brett; Close, Ryan

    2015-06-01

    Lidar systems are well known for their ability to measure three-dimensional aspects of a scene. This attribute of Lidar has been widely exploited by the robotics community, among others. The problem of resolving ranges of layered objects (such as a tree canopy over the forest floor) has been studied from the perspective of airborne systems. However, little research exists in studying this problem from a ground vehicle system (e.g., a bush covering a rock or other hazard). This paper discusses the issues involved in solving this problem from a ground vehicle. This includes analysis of extracting multi-return data from Lidar and the various laser properties that impact the ability to resolve multiple returns, such as pulse length and beam size. The impacts of these properties are presented as they apply to three different Lidar imaging technologies: scanning pulse Lidar, Geiger-mode flash Lidar, and Time-of-Flight camera. Tradeoffs associated with these impacts are then discussed for a ground vehicle Lidar application.

  18. A system for testing airdata probes at high angles of attack using a ground vehicle

    NASA Technical Reports Server (NTRS)

    Geenen, Robert J.; Moulton, Bryan J.; Haering, Edward A., Jr.

    1991-01-01

    A system to calibrate airdata probes at angles of attack between 0 and 90 deg was developed and tested at the NASA Ames Dryden Flight Research Facility. This system used a test fixture mounted to the roof of a ground vehicle and included an onboard instrumentation and data acquisition system for measuring pressures and flow angles. The data could be easily transferred to the facility mainframe computer for further analysis. The system was designed to provide convenient and inexpensive airdata probe calibrations for projects which require airdata at high angles of attack, such as the F-18 High Alpha Research Program. This type of probe was tested to 90 deg angle of attack in a wind tunnel and using the ground vehicle system. The results of both tests are in close agreement. An airdata probe with a swiveling pilot-static tube was also calibrated with the ground vehicle system. This paper presents the results of these tests and gives a detailed description of the test system.

  19. Risk analysis for autonomous underwater vehicle operations in extreme environments.

    PubMed

    Brito, Mario Paulo; Griffiths, Gwyn; Challenor, Peter

    2010-12-01

    Autonomous underwater vehicles (AUVs) are used increasingly to explore hazardous marine environments. Risk assessment for such complex systems is based on subjective judgment and expert knowledge as much as on hard statistics. Here, we describe the use of a risk management process tailored to AUV operations, the implementation of which requires the elicitation of expert judgment. We conducted a formal judgment elicitation process where eight world experts in AUV design and operation were asked to assign a probability of AUV loss given the emergence of each fault or incident from the vehicle's life history of 63 faults and incidents. After discussing methods of aggregation and analysis, we show how the aggregated risk estimates obtained from the expert judgments were used to create a risk model. To estimate AUV survival with mission distance, we adopted a statistical survival function based on the nonparametric Kaplan-Meier estimator. We present theoretical formulations for the estimator, its variance, and confidence limits. We also present a numerical example where the approach is applied to estimate the probability that the Autosub3 AUV would survive a set of missions under Pine Island Glacier, Antarctica in January-March 2009. PMID:20731790

  20. An operating system for future aerospace vehicle computer systems

    NASA Technical Reports Server (NTRS)

    Foudriat, E. C.; Berman, W. J.; Will, R. W.; Bynum, W. L.

    1984-01-01

    The requirements for future aerospace vehicle computer operating systems are examined in this paper. The computer architecture is assumed to be distributed with a local area network connecting the nodes. Each node is assumed to provide a specific functionality. The network provides for communication so that the overall tasks of the vehicle are accomplished. The O/S structure is based upon the concept of objects. The mechanisms for integrating node unique objects with node common objects in order to implement both the autonomy and the cooperation between nodes is developed. The requirements for time critical performance and reliability and recovery are discussed. Time critical performance impacts all parts of the distributed operating system; e.g., its structure, the functional design of its objects, the language structure, etc. Throughout the paper the tradeoffs - concurrency, language structure, object recovery, binding, file structure, communication protocol, programmer freedom, etc. - are considered to arrive at a feasible, maximum performance design. Reliability of the network system is considered. A parallel multipath bus structure is proposed for the control of delivery time for time critical messages. The architecture also supports immediate recovery for the time critical message system after a communication failure.

  1. Automated space vehicle control for rendezvous proximity operations

    NASA Technical Reports Server (NTRS)

    Lea, Robert N.

    1988-01-01

    Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

  2. Automated space vehicle control for rendezvous proximity operations

    NASA Technical Reports Server (NTRS)

    Lea, Robert N.

    1988-01-01

    Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision-making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

  3. Intelligent Command and Control Systems for Satellite Ground Operations

    NASA Technical Reports Server (NTRS)

    Mitchell, Christine M.

    1999-01-01

    This grant, Intelligent Command and Control Systems for Satellite Ground Operations, funded by NASA Goddard Space Flight Center, has spanned almost a decade. During this time, it has supported a broad range of research addressing the changing needs of NASA operations. It is important to note that many of NASA's evolving needs, for example, use of automation to drastically reduce (e.g., 70%) operations costs, are similar requirements in both government and private sectors. Initially the research addressed the appropriate use of emerging and inexpensive computational technologies, such as X Windows, graphics, and color, together with COTS (commercial-off-the-shelf) hardware and software such as standard Unix workstations to re-engineer satellite operations centers. The first phase of research supported by this grant explored the development of principled design methodologies to make effective use of emerging and inexpensive technologies. The ultimate performance measures for new designs were whether or not they increased system effectiveness while decreasing costs. GT-MOCA (The Georgia Tech Mission Operations Cooperative Associate) and GT-VITA (Georgia Tech Visual and Inspectable Tutor and Assistant), whose latter stages were supported by this research, explored model-based design of collaborative operations teams and the design of intelligent tutoring systems, respectively. Implemented in proof-of-concept form for satellite operations, empirical evaluations of both, using satellite operators for the former and personnel involved in satellite control operations for the latter, demonstrated unequivocally the feasibility and effectiveness of the proposed modeling and design strategy underlying both research efforts. The proof-of-concept implementation of GT-MOCA showed that the methodology could specify software requirements that enabled a human-computer operations team to perform without any significant performance differences from the standard two-person satellite

  4. Navigation of military and space unmanned ground vehicles in unstructured terrains

    NASA Technical Reports Server (NTRS)

    Lescoe, Paul; Lavery, David; Bedard, Roger

    1991-01-01

    Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

  5. Tracked-vehicle fuel consumption. Final report on international test operations procedure

    SciTech Connect

    Not Available

    1987-05-18

    This document describes procedures for evaluating the fuel efficiency of tracked vehicles under controlled operating conditions. The test data are a major source for comparisons with similar vehicles, and can also serve to predict the operational range of these vehicles during tactical missions.

  6. Electric and hybrid vehicle project. Quarterly report of private-sector operations, first quarter 1982

    SciTech Connect

    1982-06-01

    As of January 1, 1982 sixteen private-sector site operators at 30 sites in the US were involved in electric and hybrid electric-powered vehicle demonstration programs. Data for 1981 and the first quarter of 1982 are presented on vehicle selection, miles accumulated, energy usage, maintenance requirements, reliability and operating performance for demonstration vehicles at each site. (LCL)

  7. 14 CFR 437.51 - Rest rules for vehicle safety operations personnel.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 4 2014-01-01 2014-01-01 false Rest rules for vehicle safety operations... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION LICENSING EXPERIMENTAL PERMITS Safety Requirements § 437.51 Rest rules for vehicle safety operations personnel. A permittee must ensure that all vehicle...

  8. 14 CFR 437.51 - Rest rules for vehicle safety operations personnel.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 4 2013-01-01 2013-01-01 false Rest rules for vehicle safety operations... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION LICENSING EXPERIMENTAL PERMITS Safety Requirements § 437.51 Rest rules for vehicle safety operations personnel. A permittee must ensure that all vehicle...

  9. 14 CFR 437.51 - Rest rules for vehicle safety operations personnel.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 4 2011-01-01 2011-01-01 false Rest rules for vehicle safety operations... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION LICENSING EXPERIMENTAL PERMITS Safety Requirements § 437.51 Rest rules for vehicle safety operations personnel. A permittee must ensure that all vehicle...

  10. 14 CFR 437.51 - Rest rules for vehicle safety operations personnel.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 4 2010-01-01 2010-01-01 false Rest rules for vehicle safety operations... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION LICENSING EXPERIMENTAL PERMITS Safety Requirements § 437.51 Rest rules for vehicle safety operations personnel. A permittee must ensure that all vehicle...

  11. 14 CFR 437.51 - Rest rules for vehicle safety operations personnel.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 4 2012-01-01 2012-01-01 false Rest rules for vehicle safety operations... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION LICENSING EXPERIMENTAL PERMITS Safety Requirements § 437.51 Rest rules for vehicle safety operations personnel. A permittee must ensure that all vehicle...

  12. SpaceOps 1992: Proceedings of the Second International Symposium on Ground Data Systems for Space Mission Operations

    NASA Technical Reports Server (NTRS)

    1993-01-01

    The Second International Symposium featured 135 oral presentations in these 12 categories: Future Missions and Operations; System-Level Architectures; Mission-Specific Systems; Mission and Science Planning and Sequencing; Mission Control; Operations Automation and Emerging Technologies; Data Acquisition; Navigation; Operations Support Services; Engineering Data Analysis of Space Vehicle and Ground Systems; Telemetry Processing, Mission Data Management, and Data Archiving; and Operations Management. Topics focused on improvements in the productivity, effectiveness, efficiency, and quality of mission operations, ground systems, and data acquisition. Also emphasized were accomplishments in management of human factors; use of information systems to improve data retrieval, reporting, and archiving; design and implementation of logistics support for mission operations; and the use of telescience and teleoperations.

  13. Space station operations task force. Panel 2 report: Ground operations and support systems

    NASA Technical Reports Server (NTRS)

    1987-01-01

    The Ground Operations Concept embodied in this report provides for safe multi-user utilization of the Space Station, eases user integration, and gives users autonomy and flexibility. It provides for meaningful multi-national participation while protecting U.S. interests. The concept also supports continued space operations technology development by maintaining NASA expertise and enabling technology evolution. Given attention here are pre/post flight operations, logistics, sustaining engineering/configuration management, transportation services/rescue, and information systems and communication.

  14. Expert system decision support for low-cost launch vehicle operations

    NASA Technical Reports Server (NTRS)

    Szatkowski, G. P.; Levin, Barry E.

    1991-01-01

    Progress in assessing the feasibility, benefits, and risks associated with AI expert systems applied to low cost expendable launch vehicle systems is described. Part one identified potential application areas in vehicle operations and on-board functions, assessed measures of cost benefit, and identified key technologies to aid in the implementation of decision support systems in this environment. Part two of the program began the development of prototypes to demonstrate real-time vehicle checkout with controller and diagnostic/analysis intelligent systems and to gather true measures of cost savings vs. conventional software, verification and validation requirements, and maintainability improvement. The main objective of the expert advanced development projects was to provide a robust intelligent system for control/analysis that must be performed within a specified real-time window in order to meet the demands of the given application. The efforts to develop the two prototypes are described. Prime emphasis was on a controller expert system to show real-time performance in a cryogenic propellant loading application and safety validation implementation of this system experimentally, using commercial-off-the-shelf software tools and object oriented programming techniques. This smart ground support equipment prototype is based in C with imbedded expert system rules written in the CLIPS protocol. The relational database, ORACLE, provides non-real-time data support. The second demonstration develops the vehicle/ground intelligent automation concept, from phase one, to show cooperation between multiple expert systems. This automated test conductor (ATC) prototype utilizes a knowledge-bus approach for intelligent information processing by use of virtual sensors and blackboards to solve complex problems. It incorporates distributed processing of real-time data and object-oriented techniques for command, configuration control, and auto-code generation.

  15. Control performance evaluation of railway vehicle MR suspension using fuzzy sky-ground hook control algorithm

    NASA Astrophysics Data System (ADS)

    Ha, S. H.; Choi, S. B.; Lee, G. S.; Yoo, W. H.

    2013-02-01

    This paper presents control performance evaluation of railway vehicle featured by semi-active suspension system using magnetorheological (MR) fluid damper. In order to achieve this goal, a nine degree of freedom of railway vehicle model, which includes car body and bogie, is established. The wheel-set data is loaded from measured value of railway vehicle. The MR damper system is incorporated with the governing equation of motion of the railway vehicle model which includes secondary suspension. To illustrate the effectiveness of the controlled MR dampers on suspension system of railway vehicle, the control law using the sky-ground hook controller is adopted. This controller takes into account for both vibration control of car body and increasing stability of bogie by adopting a weighting parameter between two performance requirements. The parameters appropriately determined by employing a fuzzy algorithm associated with two fuzzy variables: the lateral speed of the car body and the lateral performance of the bogie. Computer simulation results of control performances such as vibration control and stability analysis are presented in time and frequency domains.

  16. The Importance of a Detailed Vehicle Modelling in the Numerical Prediction of Railway Ground Vibrations

    NASA Astrophysics Data System (ADS)

    Kouroussis, G.; Bergeret, E.; Conti, C.; Verlinden, O.

    With the development of continuous technological innovation, the railway transport is presented as an interesting alternative to the road traffic. Some drawbacks exist, one of the most problematic being certainly the vibrations induced by the railway traffic. The presented research wants to establish a reliable methodology in order to evaluate, from the design stage of a vehicle or of a track, the efforts transmitted by the vehicle to the track/soil system and consequently the level of vibrations in the surroundings. An analysis of the interaction between the track and the soil has been performed in order to show when the track/soil uncoupling can be assumed, with the aim of working in two stages. The first step is based on the vertical dynamic behaviour of the vehicle/track subsystem, taking into account any irregularity in the rail surface. For the soil subsystem (second step), recent publications showed that the finite/infinite element method can be an interesting alternative to boundary element method. The objective of this paper is to demonstrate the real benefit of the vehicle modelling in this kind of problem. Typical railway applications (Brussels tram, Thalys HST) are proposed, showing among others that significant reduction of ground vibration level can be obtained by modifying the dynamic characteristics of the vehicle.

  17. Path planning and energy management of solar-powered unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Kaplan, Adam

    Many of the applications pertinent to unmanned vehicles, such as environmental research and analysis, communications, and information-surveillance and reconnaissance, benefit from prolonged vehicle operation time. Conventional efforts to increase the operational time of electric-powered unmanned vehicles have traditionally focused on the design of energy-efficient components and the identification of energy efficient search patterns, while little attention has been paid to the vehicle's mission-level path plan and power management. This thesis explores the formulation and generation of integrated motion-plans and power-schedules for solar-panel equipped mobile robots operating under strict energy constraints, which cannot be effectively addressed through conventional motion planning algorithms. Transit problems are considered to design time-optimal paths using both Balkcom-Mason and Pseudo-Dubins curves. Additionally, a more complicated problem to generate mission plans for vehicles which must persistently travel between certain locations, similar to the traveling salesperson problem (TSP), is presented. A comparison between one of the common motion-planning algorithms and experimental results of the prescribed algorithms, made possible by use of a test environment and mobile robot designed and developed specifically for this research, are presented and discussed.

  18. Bench wear and single-cylinder engine evaluations of high-temperature lubricants for US Army ground vehicles

    NASA Astrophysics Data System (ADS)

    Lacey, Paul I.; Frame, Edwin A.; Yost, Douglas M.

    1994-09-01

    High-temperature lubricant (HTL) requirements for future U.S. Army ground vehicles were investigated. A single-cylinder diesel engine (SCE-903) was successfully modified to operate at increased cylinder liner temperatures and to serve as an evaluation tool for HTL's. Oil D, one of six lubricants evaluated, completed 200 test hours at an average cylinder wall temperature of 247 deg C and an oil sump temperature of 166 deg C with only minor oil degradation. However, improved piston cleanliness is desired. A wide range of bench scale wear techniques have been developed to highlight different lubricant performance characteristics, with particular emphasis on high-temperature operation and oxidation. Based on the bench tests, Oil D would be expected to have inadequate high-temperature, long-term wear protection. Oil D passed the Allison C-4 graphite clutch friction test.

  19. Autonomous urban reconnaissance ingress system (AURIS): providing a tactically relevant autonomous door-opening kit for unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Shane, David J.; Rufo, Michael A.; Berkemeier, Matthew D.; Alberts, Joel A.

    2012-06-01

    The Autonomous Urban Reconnaissance Ingress System (AURIS™) addresses a significant limitation of current military and first responder robotics technology: the inability of reconnaissance robots to open doors. Leveraging user testing as a baseline, the program has derived specifications necessary for military personnel to open doors with fielded UGVs (Unmanned Ground Vehicles), and evaluates the technology's impact on operational mission areas: duration, timing, and user patience in developing a tactically relevant, safe, and effective system. Funding is provided through the US ARMY Tank Automotive Research, Development and Engineering Center (TARDEC) and the project represents a leap forward in perception, autonomy, robotic implements, and coordinated payload operation in UGVs. This paper describes high level details of specification generation, status of the last phase of development, an advanced view of the system autonomy capability, and a short look ahead towards the ongoing work on this compelling and important technology.

  20. Apparatus and method for modifying the operation of a robotic vehicle in a real environment, to emulate the operation of the robotic vehicle operating in a mixed reality environment

    SciTech Connect

    Garretson, Justin R.; Parker, Eric P.; Gladwell, T. Scott; Rigdon, J. Brian; Oppel, III, Fred J.

    2012-05-29

    Apparatus and methods for modifying the operation of a robotic vehicle in a real environment to emulate the operation of the robotic vehicle in a mixed reality environment include a vehicle sensing system having a communications module attached to the robotic vehicle for communicating operating parameters related to the robotic vehicle in a real environment to a simulation controller for simulating the operation of the robotic vehicle in a mixed (live, virtual and constructive) environment wherein the affects of virtual and constructive entities on the operation of the robotic vehicle (and vice versa) are simulated. These effects are communicated to the vehicle sensing system which generates a modified control command for the robotic vehicle including the effects of virtual and constructive entities, causing the robot in the real environment to behave as if virtual and constructive entities existed in the real environment.

  1. MAIUS-1- Vehicle, Subsystems Design and Mission Operations

    NASA Astrophysics Data System (ADS)

    Stamminger, A.; Ettl, J.; Grosse, J.; Horschgen-Eggers, M.; Jung, W.; Kallenbach, A.; Raith, G.; Saedtler, W.; Seidel, S. T.; Turner, J.; Wittkamp, M.

    2015-09-01

    In November 2015, the DLR Mobile Rocket Base will launch the MAIUS-1 rocket vehicle at Esrange, Northern Sweden. The MAIUS-A experiment is a pathfinder atom optics experiment. The scientific objective of the mission is the first creation of a BoseEinstein Condensate in space and performing atom interferometry on a sounding rocket [3]. MAIUS-1 comprises a two-stage unguided solid propellant VSB-30 rocket motor system. The vehicle consists of a Brazilian 53 1 motor as 1 st stage, a 530 motor as 2nd stage, a conical motor adapter, a despin module, a payload adapter, the MAIUS-A experiment consisting of five experiment modules, an attitude control system module, a newly developed conical service system, and a two-staged recovery system including a nosecone. In contrast to usual payloads on VSB-30 rockets, the payload has a diameter of 500 mm due to constraints of the scientific experiment. Because of this change in design, a blunted nosecone is necessary to guarantee the required static stability during the ascent phase of the flight. This paper will give an overview on the subsystems which have been built at DLR MORABA, especially the newly developed service system. Further, it will contain a description of the MAIUS-1 vehicle, the mission and the unique requirements on operations and attitude control, which is additionally required to achieve a required attitude with respect to the nadir vector. Additionally to a usual microgravity environment, the MAIUS-l payload requires attitude control to achieve a required attitude with respect to the nadir vector.

  2. Operationally Efficient Propulsion System Study (OEPSS) data book. Volume 1: Generic ground operations data

    NASA Technical Reports Server (NTRS)

    Byrd, Raymond J.

    1990-01-01

    This study was initiated to identify operations problems and cost drivers for current propulsion systems and to identify technology and design approaches to increase the operational efficiency and reduce operations costs for future propulsion systems. To provide readily usable data for the Advance Launch System (ALS) program, the results of the Operationally Efficient Propulsion System Study (OEPSS) were organized into a series of OEPSS Data Books as follows: Volume 1, Generic Ground Operations Data; Volume 2, Ground Operations Problems; Volume 3, Operations Technology; Volume 4, OEPSS Design Concepts; and Volume 5, OEPSS Final Review Briefing, which summarizes the activities and results of the study. This volume presents ground processing data for a generic LOX/LH2 booster and core propulsion system based on current STS experience. The data presented includes: top logic diagram, process flow, activities bar-chart, loaded timelines, manpower requirements in terms of duration, headcount and skill mix per operations and maintenance instruction (OMI), and critical path tasks and durations.

  3. Engineering a Multimission Approach to Navigation Ground Data System Operations

    NASA Technical Reports Server (NTRS)

    Gerasimatos, Dimitrios V.; Attiyah, Ahlam A.

    2012-01-01

    The Mission Design and Navigation (MDNAV) Section at the Jet Propulsion Laboratory (JPL) supports many deep space and earth orbiting missions from formulation to end of mission operations. The requirements of these missions are met with a multimission approach to MDNAV ground data system (GDS) infrastructure capable of being shared and allocated in a seamless and consistent manner across missions. The MDNAV computing infrastructure consists of compute clusters, network attached storage, mission support area facilities, and desktop hardware. The multimission architecture allows these assets, and even personnel, to be leveraged effectively across the project lifecycle and across multiple missions simultaneously. It provides a more robust and capable infrastructure to each mission than might be possible if each constructed its own. It also enables a consistent interface and environment within which teams can conduct all mission analysis and navigation functions including: trajectory design; ephemeris generation; orbit determination; maneuver design; and entry, descent, and landing analysis. The savings of these efficiencies more than offset the costs of increased complexity and other challenges that had to be addressed: configuration management, scheduling conflicts, and competition for resources. This paper examines the benefits of the multimission MDNAV ground data system infrastructure, focusing on the hardware and software architecture. The result is an efficient, robust, scalable MDNAV ground data system capable of supporting more than a dozen active missions at once.

  4. Segregation of tracked and wheeled ground vehicle mobility mechanisms through in-situ adaptation of seismic features

    NASA Astrophysics Data System (ADS)

    Park, Christopher G.; Fitzgerald, James; Power, Dennis

    2008-04-01

    The ability to perform generalized ground vehicle classification by unattended ground sensors (UGS) is an important facet of data analysis performed by modern unattended sensor systems. Large variation in seismic signature propagation from one location to another renders exploiting seismic measurements to classify vehicles a significant challenge. This paper presents the results of using an adaptive methodology to distinguish between tracked and wheeled ground vehicle mobility mechanisms. The methodology is a passive in-situ learning process that does not rely upon an explicit calibration process but does require an estimated range to the target. Furthermore, the benefits of the seismic feature adaptation are realized with a sparse information set. There exist scenarios in which the adaptation fails to provide information when implemented as an independent process. These situations, however, may be mitigated by sharing information with other classification algorithms. Once properly initialized, the in-situ adaptation process correctly categorizes over 95% of ground vehicles.

  5. Building Operations Efficiencies into NASA's Crew Launch Vehicle Design

    NASA Technical Reports Server (NTRS)

    Dumbacher, Daniel L.

    2006-01-01

    The U.S. Vision for Space Exploration guides NASA's challenging missions of technological innovation and scientific investigation. With the Agency's commitment to complete the International Space Station (ISS) and to retire the Space Shuttle by 2010, the NASA Administrator commissioned the Exploration Systems Architecture Study (ESAS) in mid 2005 to analyze options for a safer, simpler, more cost efficient launch system that could deliver timely human-rated space transportation capabilities. NASA's finite resources yield discoveries with infinite possibilities. As the Agency begins the process of replacing the Shuttle with new launch vehicles destined for missions beyond low-Earth orbit to the Moon and Mars, NASA is designing the follow-on crew and cargo systems for maximum operational efficiencies. This mandate is imperative to reduce the $4.5 billion NASA spends on space transportation each year. This paper gives top-level details of how the follow-on Crew Launch Vehicle (CLV) is being designed for reduced lifecycle costs as a primary catalyst for the expansion of future frontiers.

  6. Mission Operations Support Area (MOSA) for ground network support

    NASA Technical Reports Server (NTRS)

    Woods, Robert D.; Moser, Susan A.

    1993-01-01

    The Mission Operations Support Area (MOSA) has been designed utilizing numerous commercial off the shelf items allowing for easy maintenance and upgrades. At its inception, all equipment was at the forefront of technology. The system was created to provide the operator with a 'State of the Art' replacement for equipment that was becoming antiquated and virtually impossible to repair because new parts were no longer available. Although the Mini-NOCC provided adequate support to the Network for a number of years, it was quickly becoming ineffectual for higher data rate and non-standard missions. The MOSA will prove to be invaluable in the future as more and more missions require Ground Network support.

  7. Constraint-based semi-autonomy for unmanned ground vehicles using local sensing

    NASA Astrophysics Data System (ADS)

    Anderson, Sterling J.; Karumanchi, Sisir B.; Johnson, Bryan; Perlin, Victor; Rohde, Mitchell; Iagnemma, Karl

    2012-06-01

    Teleoperated vehicles are playing an increasingly important role in a variety of military functions. While advantageous in many respects over their manned counterparts, these vehicles also pose unique challenges when it comes to safely avoiding obstacles. Not only must operators cope with difficulties inherent to the manned driving task, but they must also perform many of the same functions with a restricted field of view, limited depth perception, potentially disorienting camera viewpoints, and significant time delays. In this work, a constraint-based method for enhancing operator performance by seamlessly coordinating human and controller commands is presented. This method uses onboard LIDAR sensing to identify environmental hazards, designs a collision-free path homotopy traversing that environment, and coordinates the control commands of a driver and an onboard controller to ensure that the vehicle trajectory remains within a safe homotopy. This system's performance is demonstrated via off-road teleoperation of a Kawasaki Mule in an open field among obstacles. In these tests, the system safely avoids collisions and maintains vehicle stability even in the presence of "routine" operator error, loss of operator attention, and complete loss of communications.

  8. Man-Vehicle Systems Research Facility - Design and operating characteristics

    NASA Technical Reports Server (NTRS)

    Shiner, Robert J.; Sullivan, Barry T.

    1992-01-01

    This paper describes the full-mission flight simulation facility at the NASA Ames Research Center. The Man-Vehicle Systems Research Facility (MVSRF) supports aeronautical human factors research and consists of two full-mission flight simulators and an air-traffic-control simulator. The facility is used for a broad range of human factors research in both conventional and advanced aviation systems. The objectives of the research are to improve the understanding of the causes and effects of human errors in aviation operations, and to limit their occurrence. The facility is used to: (1) develop fundamental analytical expressions of the functional performance characteristics of aircraft flight crews; (2) formulate principles and design criteria for aviation environments; (3) evaluate the integration of subsystems in contemporary flight and air traffic control scenarios; and (4) develop training and simulation technologies.

  9. Coordination Between Unmanned Aerial and Ground Vehicles: A Taxonomy and Optimization Perspective.

    PubMed

    Chen, Jie; Zhang, Xing; Xin, Bin; Fang, Hao

    2016-04-01

    The coordination between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) is a proactive research topic whose great value of application has attracted vast attention. This paper outlines the motivations for studying the cooperative control of UAVs and UGVs, and attempts to make a comprehensive investigation and analysis on recent research in this field. First, a taxonomy for classification of existing unmanned aerial and ground vehicles systems (UAGVSs) is proposed, and a generalized optimization framework is developed to allow the decision-making problems for different types of UAGVSs to be described in a unified way. By following the proposed taxonomy, we show how different types of UAGVSs can be built to realize the goal of a common task, that is target tracking, and how optimization problems can be formulated for a UAGVS to perform specific tasks. This paper presents an optimization perspective to model and analyze different types of UAGVSs, and serves as a guidance and reference for developing UAGVSs. PMID:25898328

  10. Progress in Operational Analysis of Launch Vehicles in Nonstationary Flight

    NASA Technical Reports Server (NTRS)

    James, George; Kaouk, Mo; Cao, Timothy

    2013-01-01

    This paper presents recent results in an ongoing effort to understand and develop techniques to process launch vehicle data, which is extremely challenging for modal parameter identification. The primary source of difficulty is due to the nonstationary nature of the situation. The system is changing, the environment is not steady, and there is an active control system operating. Hence, the primary tool for producing clean operational results (significant data lengths and data averaging) is not available to the user. This work reported herein uses a correlation-based two step operational modal analysis approach to process the relevant data sets for understanding and development of processes. A significant drawback for such processing of short time histories is a series of beating phenomena due to the inability to average out random modal excitations. A recursive correlation process coupled to a new convergence metric (designed to mitigate the beating phenomena) is the object of this study. It has been found in limited studies that this process creates clean modal frequency estimates but numerically alters the damping.

  11. SPHERES: From Ground Development to Operations on ISS

    NASA Technical Reports Server (NTRS)

    Katterhagen, A.

    2015-01-01

    SPHERES (Synchronized Position Hold Engage and Reorient Experimental Satellites) is an internal International Space Station (ISS) Facility that supports multiple investigations for the development of multi-spacecraft and robotic control algorithms. The SPHERES Facility on ISS is managed and operated by the SPHERES National Lab Facility at NASA Ames Research Center (ARC) at Moffett Field California. The SPHERES Facility on ISS consists of three self-contained eight-inch diameter free-floating satellites which perform the various flight algorithms and serve as a platform to support the integration of experimental hardware. To help make science a reality on the ISS, the SPHERES ARC team supports a Guest Scientist Program (GSP). This program allows anyone with new science the possibility to interface with the SPHERES team and hardware. In addition to highlighting the available SPHERES hardware on ISS and on the ground, this presentation will also highlight ground support, facilities, and resources available to guest researchers. Investigations on the ISS evolve through four main phases: Strategic, Tactical, Operations, and Post Operations. The Strategic Phase encompasses early planning beginning with initial contact by the Principle Investigator (PI) and the SPHERES program who may work with the PI to assess what assistance the PI may need. Once the basic parameters are understood, the investigation moves to the Tactical Phase which involves more detailed planning, development, and testing. Depending on the nature of the investigation, the tactical phase may be split into the Lab Tactical Phase or the ISS Tactical Phase due to the difference in requirements for the two destinations. The Operations Phase is when the actual science is performed; this can be either in the lab, or on the ISS. The Post Operations Phase encompasses data analysis and distribution, and generation of summary status and reports. The SPHERES Operations and Engineering teams at ARC is composed of

  12. Fleet vehicles in the Unites States: composition, operating characteristics, and fueling practices

    SciTech Connect

    Miaou, S.P.; Hu, P.S.; Young, J.R.

    1992-05-01

    As fleets become a larger proportion of the new vehicle population on the road, they have more influence on the characteristics of the total US motor vehicle population. One of the characteristics which fleets are expected to have the most influence on is the overall vehicle fuel economy. In addition, because of the relatively large market share and the high turnover rate of fleet vehicles, fleets have been considered as a useful initial market for alternative fuel vehicles. In order to analyze fleet market potential and likely market penetration of alternative fuel vehicles and to infrastructure requirements for successful operations of these vehicles in the future, information on fleet sizes and composition, fleet vehicle operating characteristics (such as daily/annual miles of travel), fuel efficiency, and refueling practices, is essential. The purpose of this report is to gather and summarize information from the latest data sources available pertaining to fleet vehicles in the US This report presents fleet vehicle data on composition, operating characteristics, and fueling practices. The questions these data are intended to address include: (1) How are fleet vehicles operated? (2) Where are they located? and (3) What are their usual fueling practices? Since a limited number of alternative fuel fleet vehicles are already in use, data on these vehicles are also included in this report. 17 refs.

  13. Fleet vehicles in the Unites States: composition, operating characteristics, and fueling practices

    SciTech Connect

    Miaou, S.P.; Hu, P.S. ); Young, J.R. )

    1992-05-01

    As fleets become a larger proportion of the new vehicle population on the road, they have more influence on the characteristics of the total US motor vehicle population. One of the characteristics which fleets are expected to have the most influence on is the overall vehicle fuel economy. In addition, because of the relatively large market share and the high turnover rate of fleet vehicles, fleets have been considered as a useful initial market for alternative fuel vehicles. In order to analyze fleet market potential and likely market penetration of alternative fuel vehicles and to infrastructure requirements for successful operations of these vehicles in the future, information on fleet sizes and composition, fleet vehicle operating characteristics (such as daily/annual miles of travel), fuel efficiency, and refueling practices, is essential. The purpose of this report is to gather and summarize information from the latest data sources available pertaining to fleet vehicles in the US This report presents fleet vehicle data on composition, operating characteristics, and fueling practices. The questions these data are intended to address include: (1) How are fleet vehicles operated (2) Where are they located and (3) What are their usual fueling practices Since a limited number of alternative fuel fleet vehicles are already in use, data on these vehicles are also included in this report. 17 refs.

  14. Concept of Operations for a Prospective "Proving Ground" in the Lunar Vicinity

    NASA Technical Reports Server (NTRS)

    Love, Stanley G.; Hill, James J.

    2016-01-01

    NASA is studying a "Proving Ground" near the Moon to conduct human space exploration missions in preparation for future flights to Mars. This paper describes a concept of operations ("conops") for activities in the Proving Ground, focusing on the construction and use of a mobile Cislunar Transit Habitat capable of months-long excursions within and beyond the Earth-Moon system. Key elements in the conops include the Orion spacecraft (with mission kits for docking and other specialized operations) and the Space Launch System heavy-lift rocket. Potential additions include commercial launch vehicles and logistics carriers, solar electric propulsion stages to move elements between different orbits and eventually take them on excursions to deep space, a node module with multiple docking ports, habitation and life support blocks, and international robotic and piloted lunar landers. The landers might include reusable ascent modules which could remain docked to in-space elements between lunar sorties. The architecture will include infrastructure for launch preparation, communication, mission control, and range safety. The conops describes "case studies" of notional missions chosen to guide the design of the architecture and its elements. One such mission is the delivery of a 10-ton pressurized element, co-manifested with an Orion on a Block 1B Space Launch System rocket, to the Proving Ground. With a large solar electric propulsion stage, the architecture could enable a year-long mission to land humans on a near-Earth asteroid. In the last case, after returning to near-lunar space, two of the asteroid explorers could join two crewmembers freshly arrived from Earth for a Moon landing, helping to safely quantify the risk of landing deconditioned crews on Mars. The conops also discusses aborts and contingency operations. Early return to Earth may be difficult, especially during later Proving Ground missions. While adding risk, limited-abort conditions provide needed practice

  15. Assuring Ground-Based Detect and Avoid for UAS Operations

    NASA Technical Reports Server (NTRS)

    Denney, Ewen W.; Pai, Ganeshmadhav Jagadeesh; Berthold, Randall; Fladeland, Matthew; Storms, Bruce; Sumich, Mark

    2014-01-01

    One of the goals of the Marginal Ice Zones Observations and Processes Experiment (MIZOPEX) NASA Earth science mission was to show the operational capabilities of Unmanned Aircraft Systems (UAS) when deployed on challenging missions, in difficult environments. Given the extreme conditions of the Arctic environment where MIZOPEX measurements were required, the mission opted to use a radar to provide a ground-based detect-and-avoid (GBDAA) capability as an alternate means of compliance (AMOC) with the see-and-avoid federal aviation regulation. This paper describes how GBDAA safety assurance was provided by interpreting and applying the guidelines in the national policy for UAS operational approval. In particular, we describe how we formulated the appropriate safety goals, defined the processes and procedures for system safety, identified and assembled the relevant safety verification evidence, and created an operational safety case in compliance with Federal Aviation Administration (FAA) requirements. To the best of our knowledge, the safety case, which was ultimately approved by the FAA, is the first successful example of non-military UAS operations using GBDAA in the U.S. National Airspace System (NAS), and, therefore, the first nonmilitary application of the safety case concept in this context.

  16. Preliminary analysis of the JAPE ground vehicle test data with an artificial neural network classifier

    NASA Technical Reports Server (NTRS)

    Larsen, Nathan F.; Carnes, Ben L.

    1993-01-01

    Remotely sensing and classifying military vehicles in a battlefield environment have been the source of much research over the past 20 years. The ability to know where threat vehicles are located is an obvious advantage to military personnel. In the past active methods of ground vehicle detection such as radar have been used, but with the advancement of technology to locate these active sensors, passive sensors are preferred. Passive sensors detect acoustic emissions, seismic movement, electromagnetic radiation, etc., produced by the target and use this information to describe it. Deriving the mathematical models to classify vehicles in this manner has been, and is, quite complex and not always reliable. However, with the resurgence of artificial neural network (ANN) research in the past few years, developing models for this work may be a thing of the past. Preliminary results from an ANN analysis to the tank signatures recorded at the Joint Acoustic Propagation Experiment (JAPE) at the US Army White Sands Missile Range, NM, in July 1991, are presented.

  17. Experimental investigation of the ground transportation systems (GTS) project for heavy vehicle drag reduction

    SciTech Connect

    Croll, R.H.; Gutierrez, W.T.; Hassan, B.; Suazo, J.E.; Riggins, A.J.

    1995-12-31

    A wind tunnel experimental research program was conducted on a heavily instrumented Ground Transportation System (GTS) vehicle. The GTS baseline model represented a generic 1:8 scale Class-8 van-type tractor trailer geometry. Five base drag reduction add-on devices, instrumented with surface pressure ports, were also tested. These add-on devices included two ogive boattail shapes and three slant geometry devices. Six component force and moment data, surface pressure contours, and wake velocity surveys are presented for each configuration along with qualitative insights gained from flow visualization. This wind tunnel program was designed to complement a parallel research effort in computational fluid dynamics (CFD) which modeled many of these same vehicle geometries. The wind tunnel data are documented and archived in ASCII format on floppy discs and available to researchers interested in further analysis or comparison to other CFD solutions.

  18. Passive Night Vision Sensor Comparison for Unmanned Ground Vehicle Stereo Vision Navigation

    NASA Technical Reports Server (NTRS)

    Owens, Ken; Matthies, Larry

    2000-01-01

    One goal of the "Demo III" unmanned ground vehicle program is to enable autonomous nighttime navigation at speeds of up to 10 m.p.h. To perform obstacle detection at night with stereo vision will require night vision cameras that produce adequate image quality for the driving speeds, vehicle dynamics, obstacle sizes, and scene conditions that will be encountered. This paper analyzes the suitability of four classes of night vision cameras (3-5 micrometer cooled FLIR, 8-12 micrometer cooled FLIR, 8-12 micrometer uncooled FLIR, and image intensifiers) for night stereo vision, using criteria based on stereo matching quality, image signal to noise ratio, motion blur and synchronization capability. We find that only cooled FLIRs will enable stereo vision performance that meets the goals of the Demo III program for nighttime autonomous mobility.

  19. An investigation of drag reduction on box-shaped ground vehicles

    NASA Technical Reports Server (NTRS)

    Muirhead, V. U.

    1976-01-01

    A wind tunnel investigation was conducted to determine the reduction in drag which could be obtained by making various configuration changes to a box-shaped ground vehicle. Tests were conducted at yaw (relative wind) angles of 0, 5, 10, 20, and 30 degrees and Reynolds numbers of 300,000 to 850,000. The power required to overcome the aerodynamic drag was reduced by a maximum of 73% for a head wind for the best configuration relative to the smooth bottom box-shape, or 75% relative to the rough bottom box-shape. The reduction for a 20 MPH wind at 30 deg to the vehicle path was, respectively, 77% and 79%.

  20. 49 CFR 396.9 - Inspection of motor vehicles in operation.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 5 2011-10-01 2011-10-01 false Inspection of motor vehicles in operation. 396.9... INSPECTION, REPAIR, AND MAINTENANCE § 396.9 Inspection of motor vehicles in operation. (a) Personnel... and intermodal equipment in operation. (b) Prescribed inspection report. The Driver...

  1. 49 CFR 396.9 - Inspection of motor vehicles in operation.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 5 2010-10-01 2010-10-01 false Inspection of motor vehicles in operation. 396.9... INSPECTION, REPAIR, AND MAINTENANCE § 396.9 Inspection of motor vehicles in operation. (a) Personnel... and intermodal equipment in operation. (b) Prescribed inspection report. The Driver...

  2. What influences youth to operate all-terrain vehicles safely?

    PubMed Central

    Grummon, A. H.; Heaney, C. A.; Dellinger, W. A.; Wilkins, J. R.

    2014-01-01

    The operation of all-terrain vehicles (ATVs) by youth has contributed to the incidence of serious and fatal injuries among children. This study explored factors related to the frequency with which youth wore a helmet and refrained from engaging in three risky driving behaviors (driving at risky speeds, on paved roads and on unfamiliar terrain) while operating an ATV. Youth (n = 248) aged 9–14 from central Ohio and one of their parents completed self-report measures of ATV safety behaviors, youth general propensity for risk taking, protection motivation and parental behaviors to facilitate youth safety. Data from two focus groups provided insight on quantitative results. Analyses revealed considerable variation in the frequency with which youth performed the safety behaviors, with 13- and 14-year-olds reporting less frequent safe behavior than 9- to 12-year-olds. Multiple regression analyses suggested that parental behaviors, such as providing reminders to wear a helmet, were associated with more frequent helmet use but were not associated with risky driving behaviors. Youth’s general propensity toward risk taking was not associated with helmet use and only associated with riskydriving behaviors among the 13- and 14-year-olds. Self-efficacy was an important predictor across both age groups and behaviors. Implications for injury prevention are discussed. PMID:24740837

  3. What influences youth to operate all-terrain vehicles safely?

    PubMed

    Grummon, A H; Heaney, C A; Dellinger, W A; Wilkins, J R

    2014-06-01

    The operation of all-terrain vehicles (ATVs) by youth has contributed to the incidence of serious and fatal injuries among children. This study explored factors related to the frequency with which youth wore a helmet and refrained from engaging in three risky driving behaviors (driving at risky speeds, on paved roads and on unfamiliar terrain) while operating an ATV. Youth (n = 248) aged 9-14 from central Ohio and one of their parents completed self-report measures of ATV safety behaviors, youth general propensity for risk taking, protection motivation and parental behaviors to facilitate youth safety. Data from two focus groups provided insight on quantitative results. Analyses revealed considerable variation in the frequency with which youth performed the safety behaviors, with 13- and 14-year-olds reporting less frequent safe behavior than 9- to 12-year-olds. Multiple regression analyses suggested that parental behaviors, such as providing reminders to wear a helmet, were associated with more frequent helmet use but were not associated with risky driving behaviors. Youth's general propensity toward risk taking was not associated with helmet use and only associated with riskydriving behaviors among the 13- and 14-year-olds. Self-efficacy was an important predictor across both age groups and behaviors. Implications for injury prevention are discussed. PMID:24740837

  4. Stepped leaders observed in ground operations of ADELE

    NASA Astrophysics Data System (ADS)

    Smith, D. M.; Kelley, N.; Lowell, A.; Martinez-McKinney, F.; Dwyer, J. R.; Splitt, M. E.; Lazarus, S. M.; Cramer, E. S.; Levine, S.; Cummer, S. A.; Lu, G.; Shao, X.; Ho, C.; Eastvedt, E. M.; Trueblood, J.; Edens, H. E.; Hunyady, S. J.; Winn, W. P.; Rassoul, H. K.

    2010-12-01

    While the Airborne Detector for Energetic Lightning Emissions (ADELE) was designed primarily to study high-energy radiation associated with thunderstorms at aircraft altitude, it can also be used as a mobile ground-based instrument when mounted in a van. ADELE contains scintillation detectors optimized for faint and bright events and a flat-plate antenna measuring dE/dt. In July and August 2010, ADELE was brought to Langmuir Laboratory in New Mexico as a stationary detector and to the Florida peninsula (based at the Florida Institute of Technology in Melbourne) for rapid-response (storm-chasing) operations. In ten days of chasing, stepped-leader x-ray emission was observed from at least four close CG flashes, a much higher rate of success than can be achieved from a stationary detector or array. We will present these four events as well as the results of a study of candidate events of lesser statistical significance. We will also discuss the optimization of lightning-chasing strategies, science goals for future ground campaigns, and what additional instrumentation would be most scientifically beneficial. In the latter category, a proximity sensor (comparing flash and thunder arrival times) and a field mill are particularly important.

  5. ASTP (SA-210) launch vehicle operational flight trajectory dispersion analysis, volume 1

    NASA Technical Reports Server (NTRS)

    Williams, N. D.; Klug, G. W.; Ransom, F. A.

    1975-01-01

    In order to establish realistic deviation limits for the ASTP (SA-210) Launch Vehicle Operational Flight Trajectory, a dispersion analysis was conducted. The nominal trajectory prescribed for this analysis is the ASTP (SA-210) Launch Vehicle 500 Pound Launch Window Opening OT. The error sources considered are those associated with predictions of vehicle characteristics, vehicle systems performance, and flight environment. The nominal vehicle, the boost trajectory simulations, the error sources, the analytic procedures utilized, and the results are discussed. Launch vehicle guidance system inaccuracies were determined from the guidance error analysis. These data are composed of individual error source trajectory parameter dispersion envelopes.

  6. Ground Operations Aerospace Language (GOAL). Volume 5: Application Studies

    NASA Technical Reports Server (NTRS)

    1973-01-01

    The Ground Operations Aerospace Language (GOAL) was designed to be used by test oriented personnel to write procedures which would be executed in a test environment. A series of discussions between NASA LV-CAP personnel and IBM resulted in some peripheral tasks which would aid in evaluating the applicability of the language in this environment, and provide enhancement for future applications. The results of these tasks are contained within this volume. The GOAL vocabulary provides a high degree of readability and retainability. To achieve these benefits, however, the procedure writer utilizes words and phrases of considerable length. Brief form study was undertaken to determine a means of relieving this burden. The study resulted in a version of GOAL which enables the writer to develop a dialect suitable to his needs and satisfy the syntax equations. The output of the compiler would continue to provide readability by printing out the standard GOAL language. This task is described.

  7. Impact of mesh tracks and low-ground-pressure vehicle use on blanket peat hydrology

    NASA Astrophysics Data System (ADS)

    McKendrick-Smith, Kathryn; Holden, Joseph; Parry, Lauren

    2016-04-01

    Peatlands are subject to multiple uses including drainage, farming and recreation. Low-ground-pressure vehicle access is desirable by land owners and tracks facilitate access. However, there is concern that such activity may impact peat hydrology and so granting permission for track installation has been problematic, particularly without evidence for decision-making. We present the first comprehensive study of mesh track and low-ground-pressure vehicle impacts on peatland hydrology. In the sub-arctic oceanic climate of the Moor House World Biosphere Reserve in the North Pennines, UK, a 1.5 km long experimental track was installed to investigate hydrological impacts. Surface vegetation was cut and the plastic mesh track pinned into the peat surface. The experimental track was split into 7 treatments, designed to reflect typical track usage (0 - 5 vehicle passes per week) and varying vehicle weight. The greatest hydrological impacts were expected for sections of track subject to more frequent vehicle use and in close proximity to the track. In total 554 dipwells (including 15 automated recording at 15-min intervals) were monitored for water-table depth, positioned to capture potential spatial variability in response. Before track installation, samples for vertical and lateral hydraulic conductivity (Ks) analysis (using the modified cube method) were taken at 0-10 cm depth from a frequently driven treatment (n = 15), an infrequently driven treatment (0.5 passes per week) (n = 15) and a control site with no track/driving (n = 15). The test was repeated after 16 months of track use. We present a spatially and temporally rich water-table dataset from the study site showing how the impacts of the track on water table are spatially highly variable. Water-table depths across the site were shallow, typically within the upper 10 cm of the peat profile for > 75% of the time. We show that mesh track and low-ground-pressure vehicle impacts on water-table depth were small except

  8. Nano-based chemical sensor array systems for uninhabited ground and airborne vehicles

    NASA Astrophysics Data System (ADS)

    Brantley, Christina; Ruffin, Paul B.; Edwards, Eugene

    2009-03-01

    In a time when homemade explosive devices are being used against soldiers and in the homeland security environment, it is becoming increasingly evident that there is an urgent need for high-tech chemical sensor packages to be mounted aboard ground and air vehicles to aid soldiers in determining the location of explosive devices and the origin of bio-chemical warfare agents associated with terrorist activities from a safe distance. Current technologies utilize relatively large handheld detection systems that are housed on sizeable robotic vehicles. Research and development efforts are underway at the Army Aviation & Missile Research, Development, and Engineering Center (AMRDEC) to develop novel and less expensive nano-based chemical sensors for detecting explosives and chemical agents used against the soldier. More specifically, an array of chemical sensors integrated with an electronics control module on a flexible substrate that can conform to and be surface-mounted to manned or unmanned vehicles to detect harmful species from bio-chemical warfare and other explosive devices is being developed. The sensor system under development is a voltammetry-based sensor system capable of aiding in the detection of any chemical agent and in the optimization of sensor microarray geometry to provide nonlinear Fourier algorithms to characterize target area background (e.g., footprint areas). The status of the research project is reviewed in this paper. Critical technical challenges associated with achieving system cost, size, and performance requirements are discussed. The results obtained from field tests using an unmanned remote controlled vehicle that houses a CO2/chemical sensor, which detects harmful chemical agents and wirelessly transmits warning signals back to the warfighter, are presented. Finally, the technical barriers associated with employing the sensor array system aboard small air vehicles will be discussed.

  9. Evaluating the presentation and usability of 2D and 3D maps generated by unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Gregory, Jason; Baran, David; Evans, A. W.

    2013-05-01

    Currently fielded small unmanned ground vehicles (SUGVs) are operated via teleoperation. This method of operation requires a high level of operator involvement within, or near within, line of sight of the robot. As advances are made in autonomy algorithms, capabilities such as automated mapping can be developed to allow SUGVs to be used to provide situational awareness with an increased standoff distance while simultaneously reducing operator involvement. In order to realize these goals, it is paramount the data produced by the robot is not only accurate, but also presented in an intuitive manner to the robot operator. The focus of this paper is how to effectively present map data produced by a SUGV in order to drive the design of a future user interface. The effectiveness of several 2D and 3D mapping capabilities was evaluated by presenting a collection of pre-recorded data sets of a SUGV mapping a building in an urban environment to a user panel of Soldiers. The data sets were presented to each Soldier in several different formats to evaluate multiple factors, including update frequency and presentation style. Once all of the data sets were presented, a survey was administered. The questions in the survey were designed to gauge the overall usefulness of the mapping algorithm presentations as an information generating tool. This paper presents the development of this test protocol along with the results of the survey.

  10. Fishery research in the Great Lakes using a low-cost remotely operated vehicle

    USGS Publications Warehouse

    Kennedy, Gregory W.; Brown, Charles L.; Argyle, Ray L.

    1988-01-01

    We used a MiniROVER MK II remotely operated vehicle (ROV) to collect ground-truth information on fish and their habitat in the Great Lakes that have traditionally been collected by divers, or with static cameras, or submersibles. The ROV, powered by 4 thrusters and controlled by the pilot at the surface, was portable and efficient to operate throughout the Great Lakes in 1987, and collected a total of 30 h of video data recorded for later analysis. We collected 50% more substrate information per unit of effort with the ROV than with static cameras. Fish behavior ranged from no avoidance reaction in ambient light, to erratic responses in the vehicle lights. The ROV's field of view depended on the time of day, light levels, and density of zooplankton. Quantification of the data collected with the ROV (either physical samples or video image data) will serve to enhance the use of the ROV as a research tool to conduct fishery research on the Great Lakes.

  11. A Bayesian framework with an auxiliary particle filter for GMTI-based ground vehicle tracking aided by domain knowledge

    NASA Astrophysics Data System (ADS)

    Yu, Miao; Liu, Cunjia; Chen, Wen-hua; Chambers, Jonathon

    2014-06-01

    In this work, we propose a new ground moving target indicator (GMTI) radar based ground vehicle tracking method which exploits domain knowledge. Multiple state models are considered and a Monte-Carlo sampling based algorithm is preferred due to the manoeuvring of the ground vehicle and the non-linearity of the GMTI measurement model. Unlike the commonly used algorithms such as the interacting multiple model particle filter (IMMPF) and bootstrap multiple model particle filter (BS-MMPF), we propose a new algorithm integrating the more efficient auxiliary particle filter (APF) into a Bayesian framework. Moreover, since the movement of the ground vehicle is likely to be constrained by the road, this information is taken as the domain knowledge and applied together with the tracking algorithm for improving the tracking performance. Simulations are presented to show the advantages of both the new algorithm and incorporation of the road information by evaluating the root mean square error (RMSE).

  12. Concept of Operations for a Prospective "Proving Ground" in the Lunar Vicinity

    NASA Technical Reports Server (NTRS)

    Love, Stanley G.; Hill, James J.; Goodliff, Kandyce

    2016-01-01

    NASA is studying conceptual architectures for a "Proving Ground" near the Moon or in high lunar orbit to conduct human space exploration missions that bridge the gap between today's operations with the International Space Station (ISS) and future human exploration of Mars beginning in the 2030s. This paper describes the framework of a concept of operations ("Conops") for candidate activities in the Proving Ground. The Conops discusses broad goals that the Proving Ground might address, such as participation from commercial entities, support for human landings on the Moon, use of mature technologies, and growth of capability through a steady cadence of increasingly ambitious piloted missions. Additional Proving Ground objectives are outlined in a companion paper. Key elements in the Conops include the Orion spacecraft (with mission kits for docking and other specialized operations) and the Space Launch System (SLS) heavy-lift rocket. Potential additions include a new space suit, commercial launch vehicles and logistics carriers, Solar Electric Propulsion (SEP) stages to move elements between different orbits and eventually take them on excursions to deep space, a core module with multiple docking ports, a habitation block, and robotic and piloted lunar landers. The landers might include reusable ascent modules which could remain docked to in-space elements between lunar sorties. A module providing advanced regenerative life support functions could launch to the ISS, and later move to the Proving Ground. The architecture will include infrastructure for launch preparation, communication, mission control, and range safety. The Conops describes notional missions chosen to guide the design of the architecture and its elements. One such mission might be the delivery of a approximately 10-t Transit Habitat element, comanifested with Orion on a Block 1B SLS launcher, to the Proving Ground. In another mission, the architecture might participate in direct human exploration of

  13. Embracing Safe Ground Test Facility Operations and Maintenance

    NASA Technical Reports Server (NTRS)

    Dunn, Steven C.; Green, Donald R.

    2010-01-01

    Conducting integrated operations and maintenance in wind tunnel ground test facilities requires a balance of meeting due dates, efficient operation, responsiveness to the test customer, data quality, effective maintenance (relating to readiness and reliability), and personnel and facility safety. Safety is non-negotiable, so the balance must be an "and" with other requirements and needs. Pressure to deliver services faster at increasing levels of quality in under-maintained facilities is typical. A challenge for management is to balance the "need for speed" with safety and quality. It s especially important to communicate this balance across the organization - workers, with a desire to perform, can be tempted to cut corners on defined processes to increase speed. Having a lean staff can extend the time required for pre-test preparations, so providing a safe work environment for facility personnel and providing good stewardship for expensive National capabilities can be put at risk by one well-intending person using at-risk behavior. This paper documents a specific, though typical, operational environment and cites management and worker safety initiatives and tools used to provide a safe work environment. Results are presented and clearly show that the work environment is a relatively safe one, though still not good enough to keep from preventing injury. So, the journey to a zero injury work environment - both in measured reality and in the minds of each employee - continues. The intent of this paper is to provide a benchmark for others with operational environments and stimulate additional sharing and discussion on having and keeping a safe work environment.

  14. FootFall: A Ground Based Operations Toolset Enabling Walking for the ATHLETE Rover

    NASA Technical Reports Server (NTRS)

    SunSpiral, Vytas; Chavez-Clemente, Daniel; Broxton, Michael; Keely, Leslie; Mihelich, Patrick; Mittman, David; Collins, Curtis

    2008-01-01

    The ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) vehicle consists of six identical, six degree of freedom limbs. FootFall is a ground tool for ATHLETE intended to provide an operator with integrated situational awareness, terrain reconstruction, stability and safety analysis, motion planning, and decision support capabilities to enable the efficient generation of flight software command sequences for walking. FootFall has been under development at NASA Ames for the last year, and having accomplished the initial integration, it is being used to generate command sequences for single footfalls. In this paper, the architecture of FootFall in its current state will be presented, results from the recent Human Robotic Systems Project?s Integrated Field Test (Moses Lake, Washington, June, 2008) will be discussed, and future plans for extending the capabilities of FootFall to enable ATHLETE to walk across a boulder field in real time will be described.

  15. Applied Virtual Reality in Reusable Launch Vehicle Design, Operations Development, and Training

    NASA Technical Reports Server (NTRS)

    Hale, Joseph P.

    1997-01-01

    Application of Virtual Reality (VR) technology offers much promise to enhance and accelerate the development of Reusable Launch Vehicle (RLV) infrastructure and operations while simultaneously reducing developmental and operational costs. One of the primary cost areas in the RLV concept that is receiving special attention is maintenance and refurbishment operations. To produce and operate a cost effective RLV, turnaround cost must be minimized. Designing for maintainability is a necessary requirement in developing RLVs. VR can provide cost effective methods to design and evaluate components and systems for maintenance and refurbishment operations. The National Aeronautics and Space Administration (NASA)/Marshall Space Flight Center (MSFC) is beginning to utilize VR for design, operations development, and design analysis for RLVs. A VR applications program has been under development at NASA/MSFC since 1989. The objectives of the MSFC VR Applications Program are to develop, assess, validate, and utilize VR in hardware development, operations development and support, mission operations training and science training. The NASA/MSFC VR capability has also been utilized in several applications. These include: 1) the assessment of the design of the late Space Station Freedom Payload Control Area (PCA), the control room from which onboard payload operations are managed; 2) a viewing analysis of the Tethered Satellite System's (TSS) "end-of-reel" tether marking options; 3) development of a virtual mockup of the International Space Welding Experiment for science viewing analyses from the Shuttle Remote Manipulator System elbow camera and as a trainer for ground controllers; and 4) teleoperations using VR. This presentation will give a general overview of the MSFC VR Applications Program and describe the use of VR in design analyses, operations development, and training for RLVs.

  16. A pose estimation method for unmanned ground vehicles in GPS denied environments

    NASA Astrophysics Data System (ADS)

    Tamjidi, Amirhossein; Ye, Cang

    2012-06-01

    This paper presents a pose estimation method based on the 1-Point RANSAC EKF (Extended Kalman Filter) framework. The method fuses the depth data from a LIDAR and the visual data from a monocular camera to estimate the pose of a Unmanned Ground Vehicle (UGV) in a GPS denied environment. Its estimation framework continuy updates the vehicle's 6D pose state and temporary estimates of the extracted visual features' 3D positions. In contrast to the conventional EKF-SLAM (Simultaneous Localization And Mapping) frameworks, the proposed method discards feature estimates from the extended state vector once they are no longer observed for several steps. As a result, the extended state vector always maintains a reasonable size that is suitable for online calculation. The fusion of laser and visual data is performed both in the feature initialization part of the EKF-SLAM process and in the motion prediction stage. A RANSAC pose calculation procedure is devised to produce pose estimate for the motion model. The proposed method has been successfully tested on the Ford campus's LIDAR-Vision dataset. The results are compared with the ground truth data of the dataset and the estimation error is ~1.9% of the path length.

  17. A new min-max methodology for computing optimised obstacle avoidance steering manoeuvres of ground vehicles

    NASA Astrophysics Data System (ADS)

    Kanarachos, Stratis

    2014-05-01

    In this paper, a new methodology for computing optimised obstacle avoidance steering manoeuvres for ground vehicles is presented and discussed. Most of the existing methods formulate the obstacle avoidance problem as an optimal control problem which is hard to solve or as a numerical optimisation problem with a large number of unknowns. This method is based on a reformulation of Pontryagin's Maximum Principle and leads to the solution of an adjustable time optimal controller. The control input is significantly simplified and permits its application in a sample and hold sense. Furthermore, with the proposed approach the maximum tyre forces exerted during the manoeuvre are minimised. In this study, it is shown how to 'warm start' the proposed algorithm and which constraints to 'relax'. Numerical examples and benchmark tests illustrate the performance of the proposed controller and compare it with other standard controllers. A sensitivity analysis for different vehicle parameters is performed and finally conclusions are drawn. A significant advantage of the method is the small computational complexity. The overall simplicity of the controller makes it attractive for application on autonomous vehicles.

  18. Flight tests of Viking parachute system in three Mach number regimes. 1: Vehicle description, test operations, and performance

    NASA Technical Reports Server (NTRS)

    Lundstrom, R. R.; Raper, J. L.; Bendura, R. J.; Shields, E. W.

    1974-01-01

    Flight qualifications for parachutes were tested on full-scale simulated Viking spacecraft at entry conditions for the Viking 1975 mission to Mars. The vehicle was carried to an altitude of 36.6 km for the supersonic and transonic tests by a 980.000 cu m balloon. The vehicles were released and propelled to test conditions with rocket engines. A 117,940 cu m balloon carried the test vehicle to an altitude of 27.5 km and the conditions for the subsonic tests were achieved in free fall. Aeroshell separation occurred on all test vehicles from 8 to 14 seconds after parachute deployment. This report describes: (1) the test vehicle; (2) methods used to insure that the test conditions were achieved; and (3) the balloon system design and operations. The report also presents the performance data from onboard and ground based instruments and the results from a statistical trajectory program which gives a continuous history of test-vehicle motions.

  19. Development of Nereid-UI: A Remotely Operated Underwater Vehicle for Oceanographic Access Under Ice

    NASA Astrophysics Data System (ADS)

    Whitcomb, L. L.; Bowen, A.; Yoerger, D. R.; German, C. R.; Kinsey, J. C.; Mayer, L. A.; Jakuba, M.; Gomez-Ibanez, D.; Taylor, C. L.; Machado, C.; Howland, J. C.; Kaiser, C. L.; Heintz, M.

    2012-12-01

    The Woods Hole Oceanographic Institution and collaborators from the Johns Hopkins University and the University of New Hampshire are developing a remotely-controlled underwater robotic vehicle to provide the Polar Research Community with a capability to be tele-operated under ice under direct real-time human supervision. The Nereid Under-Ice (Nereid-UI) vehicle, Figure 1, will enable exploration and detailed examination of biological and physical environments at glacial ice-tongues and ice-shelf margins through the use of HD video in addition to acoustic, chemical, and biological sensors, Table 1. We anticipate propulsion system optimization that will enable us to attain distances up to 20 km from an ice-edge boundary, as dictated by the current maximum tether length. The goal of the Nereid-UI system is to provide scientific access to under-ice and ice-margin environments that is presently impractical or infeasible. The project design phase is underway, with incremental field testing planned in 2014. We welcome input from the Polar Science Community on how best to serve your scientific objectives. The Nereid-UI vehicle will employ technology developed during the Nereus HROV project including lightweight expendable tethers and tolerance of communications failures. Performance goals include: 1. Extreme horizontal and vertical mobility - access to under-ice crevasses and glacier grounding- lines, close inspection and mapping. 2. Real-time exploration under direct human control. 3. Response to features of interest by altering sensing modality and trajectory as desired 4. Access to the calving front 5. Access to the under-ice boundary layer 6. Future manipulation, sample retrieval, and instrument emplacement capability Supported by NSF OPP under ANT-1126311, James Family Foundation, George Frederick Jewett Foundation East, and the Woods Hole Oceanographic Institution Fig. 1: Nereid-UI Concept of Operations. Table 1: Nereid-UI Specifications;

  20. Transformational Spaceport and Range Concept of Operations: A Vision to Transform Ground and Launch Operations

    NASA Technical Reports Server (NTRS)

    2005-01-01

    The Transformational Concept of Operations (CONOPS) provides a long-term, sustainable vision for future U.S. space transportation infrastructure and operations. This vision presents an interagency concept, developed cooperatively by the Department of Defense (DoD), the Federal Aviation Administration (FAA), and the National Aeronautics and Space Administration (NASA) for the upgrade, integration, and improved operation of major infrastructure elements of the nation s space access systems. The interagency vision described in the Transformational CONOPS would transform today s space launch infrastructure into a shared system that supports worldwide operations for a variety of users. The system concept is sufficiently flexible and adaptable to support new types of missions for exploration, commercial enterprise, and national security, as well as to endure further into the future when space transportation technology may be sufficiently advanced to enable routine public space travel as part of the global transportation system. The vision for future space transportation operations is based on a system-of-systems architecture that integrates the major elements of the future space transportation system - transportation nodes (spaceports), flight vehicles and payloads, tracking and communications assets, and flight traffic coordination centers - into a transportation network that concurrently accommodates multiple types of mission operators, payloads, and vehicle fleets. This system concept also establishes a common framework for defining a detailed CONOPS for the major elements of the future space transportation system. The resulting set of four CONOPS (see Figure 1 below) describes the common vision for a shared future space transportation system (FSTS) infrastructure from a variety of perspectives.

  1. Space Mission Operations Ground Systems Integration Customer Service

    NASA Technical Reports Server (NTRS)

    Roth, Karl

    2014-01-01

    , and cultural differences, to ensure an efficient response to customer issues using a small Customer Service Team (CST) and adaptability, constant communication with customers, technical expertise and knowledge of services, and dedication to customer service. The HOSC Customer Support Team has implemented a variety of processes, and procedures that help to mitigate the potential problems that arise when integrating ground system services for a variety of complex missions and the lessons learned from this experience will lead the future of customer service in the space operations industry.

  2. 49 CFR 398.8 - Administration inspection of motor vehicles in operation.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 5 2014-10-01 2014-10-01 false Administration inspection of motor vehicles in... REGULATIONS TRANSPORTATION OF MIGRANT WORKERS § 398.8 Administration inspection of motor vehicles in operation... operation. (b) Prescribed inspection report. Form MCS 63, Driver-Equipment Compliance Check, shall be...

  3. 49 CFR 398.8 - Administration inspection of motor vehicles in operation.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 5 2011-10-01 2011-10-01 false Administration inspection of motor vehicles in... REGULATIONS TRANSPORTATION OF MIGRANT WORKERS § 398.8 Administration inspection of motor vehicles in operation... operation. (b) Prescribed inspection report. Form MCS 63, Driver-Equipment Compliance Check, shall be...

  4. 49 CFR 398.8 - Administration inspection of motor vehicles in operation.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 5 2010-10-01 2010-10-01 false Administration inspection of motor vehicles in... REGULATIONS TRANSPORTATION OF MIGRANT WORKERS § 398.8 Administration inspection of motor vehicles in operation... operation. (b) Prescribed inspection report. Form MCS 63, Driver-Equipment Compliance Check, shall be...

  5. 49 CFR 398.8 - Administration inspection of motor vehicles in operation.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 5 2012-10-01 2012-10-01 false Administration inspection of motor vehicles in... REGULATIONS TRANSPORTATION OF MIGRANT WORKERS § 398.8 Administration inspection of motor vehicles in operation... operation. (b) Prescribed inspection report. Form MCS 63, Driver-Equipment Compliance Check, shall be...

  6. 29 CFR 1915.93 - Motor vehicle safety equipment, operation and maintenance.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... requirements in 29 CFR 1910.178 continue to apply to powered industrial trucks used for shipyard employment. (b... 29 Labor 7 2013-07-01 2013-07-01 false Motor vehicle safety equipment, operation and maintenance... General Working Conditions § 1915.93 Motor vehicle safety equipment, operation and maintenance....

  7. 49 CFR 37.163 - Keeping vehicle lifts in operative condition: Public entities.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 1 2010-10-01 2010-10-01 false Keeping vehicle lifts in operative condition... lifts in operative condition: Public entities. (a) This section applies only to public entities with respect to lifts in non-rail vehicles. (b) The entity shall establish a system of regular and...

  8. Milestones Towards Hot CMC Structures for Operational Space Rentry Vehicles

    NASA Astrophysics Data System (ADS)

    Hald, H.; Weihs, H.; Reimer, T.

    2002-01-01

    little nose cap had been developed and tested during the EXPRESS mission in 1995. These three flight tests were the first ones in Europe carried out with such a kind of material and hot structural concept and manifold lessons learned w.r.t. material behaviour and structural design performance under the severe environment conditions of ballistic capsule reentry could be achieved. Within an ESA program called FESTIP we developed a new design concept for a rigid surface TPS based on CMC's which should be adaptable to the outer side of a cryogenic tank structure of a future SSTO vehicle. Special TPS concept features are (flat) integral stiffened CMC panels, hot CMC fasteners for outside attachment capability, thermal displacement compensation, sealing and insulation, provision of a purge gap etc. Two test samples have been constructed and manufactured in close cooperation with industrial companies and finally they were tested very successfully under realistic thermal and mechanical loading conditions. A further key technology is high temperature fastening of shell like CMC components; here two new CMC based fastener concepts featuring a combination of screwing and riveting methods could be developed and qualified even under high temperature fatigue loads within ESA and national German programs. In addition high temperature testing technology has been matured over years and some extraordinary tests of components like the EMA bearing for the X-38 body flaps designed and manufactured by MAN-T could be tested very successfully. Finally these developments put DLR in the position to develop and provide the nose cap system for X-38 from NASA and some of the most demanding basic features will be highlighted briefly (details in a separate paper). Reflecting the described developments and considering near future programs like CRV and other ongoing experimental developments it is obvious that we now entered a state of transition from basic technology development towards operational use

  9. Study of high-definition and stereoscopic head-aimed vision for improved teleoperation of an unmanned ground vehicle

    NASA Astrophysics Data System (ADS)

    Tyczka, Dale R.; Wright, Robert; Janiszewski, Brian; Chatten, Martha Jane; Bowen, Thomas A.; Skibba, Brian

    2012-06-01

    Nearly all explosive ordnance disposal robots in use today employ monoscopic standard-definition video cameras to relay live imagery from the robot to the operator. With this approach, operators must rely on shadows and other monoscopic depth cues in order to judge distances and object depths. Alternatively, they can contact an object with the robot's manipulator to determine its position, but that approach carries with it the risk of detonation from unintentionally disturbing the target or nearby objects. We recently completed a study in which high-definition (HD) and stereoscopic video cameras were used in addition to conventional standard-definition (SD) cameras in order to determine if higher resolutions and/or stereoscopic depth cues improve operators' overall performance of various unmanned ground vehicle (UGV) tasks. We also studied the effect that the different vision modes had on operator comfort. A total of six different head-aimed vision modes were used including normal-separation HD stereo, SD stereo, "micro" (reduced separation) SD stereo, HD mono, and SD mono (two types). In general, the study results support the expectation that higher resolution and stereoscopic vision aid UGV teleoperation, but the degree of improvement was found to depend on the specific task being performed; certain tasks derived notably more benefit from improved depth perception than others. This effort was sponsored by the Joint Ground Robotics Enterprise under Robotics Technology Consortium Agreement #69-200902 T01. Technical management was provided by the U.S. Air Force Research Laboratory's Robotics Research and Development Group at Tyndall AFB, Florida.

  10. Advanced Vehicle Testing Activity: High-Percentage Hydrogen/CNG Blend, Ford F-150 -- Operating Summary

    SciTech Connect

    Don Karner; Francfort, James Edward

    2003-01-01

    Over the past two years, Arizona Public Service, a subsidiary of Pinnacle West Capital Corporation, in cooperation with the U.S. Department of Energy’s Advanced Vehicle Testing Activity, tested four gaseous fuel vehicles as part of its alternative fueled vehicle fleet. One vehicle operated initially using compressed natural gas (CNG) and later a blend of CNG and hydrogen. Of the other three vehicles, one was fueled with pure hydrogen and two were fueled with a blend of CNG and hydrogen. The three blended-fuel vehicles were originally equipped with either factory CNG engines or factory gasoline engines that were converted to run CNG fuel. The vehicles were variously modified to operate on blended fuel and were tested using 15 to 50% blends of hydrogen (by volume). The pure-hydrogen-fueled vehicle was converted from gasoline fuel to operate on 100% hydrogen. All vehicles were fueled from the Arizona Public Service’s Alternative Fuel Pilot Plant, which was developed to dispense gaseous fuels, including CNG, blends of CNG and hydrogen, and pure hydrogen with up to 99.9999% purity. The primary objective of the test was to evaluate the safety and reliability of operating vehicles on hydrogen and blended hydrogen fuel, and the interface between the vehicles and the hydrogen fueling infrastructure. A secondary objective was to quantify vehicle emissions, cost, and performance. Over a total of 40,000 fleet test miles, no safety issues were found. Also, significant reductions in emissions were achieved by adding hydrogen to the fuel. This report presents the results of 4,695 miles of testing for one of the blended fuel vehicles, a Ford F-150 pickup truck, operating on up to 50% hydrogen–50% CNG fuel.

  11. Advanced Vehicle Testing Activity: Low-Percentage Hydrogen/CNG Blend, Ford F-150 -- Operating Summary

    SciTech Connect

    Karner, D.; Francfort, James Edward

    2003-01-01

    Over the past two years, Arizona Public Service, a subsidiary of Pinnacle West Capital Corporation, in cooperation with the U.S. Department of Energy’s Advanced Vehicle Testing Activity, tested four gaseous fuel vehicles as part of its alternative fueled vehicle fleet. One vehicle operated initially using compressed natural gas (CNG) and later a blend of CNG and hydrogen. Of the other three vehicles, one was fueled with pure hydrogen and two were fueled with a blend of CNG and hydrogen. The three blended-fuel vehicles were originally equipped with either factory CNG engines or factory gasoline engines that were converted to run CNG fuel. The vehicles were variously modified to operate on blended fuel and were tested using 15 to 50% blends of hydrogen (by volume). The pure-hydrogen-fueled vehicle was converted from gasoline fuel to operate on 100% hydrogen. All vehicles were fueled from the Arizona Public Service’s Alternative Fuel Pilot Plant, which was developed to dispense gaseous fuels, including CNG, blends of CNG and hydrogen, and pure hydrogen with up to 99.9999% purity The primary objective of the test was to evaluate the safety and reliability of operating vehicles on hydrogen and blended hydrogen fuel, and the interface between the vehicles and the hydrogen fueling infrastructure. A secondary objective was to quantify vehicle emissions, cost, and performance. Over a total of 40,000 fleet test miles, no safety issues were found. Also, significant reductions in emissions were achieved by adding hydrogen to the fuel. This report presents results of 16,942 miles of testing for one of the blended fuel vehicles, a Ford F-150 pickup truck, operating on up to 30% hydrogen/70% CNG fuel.

  12. An integrated transportation and operations comparison of space and ground based OTV's

    NASA Technical Reports Server (NTRS)

    Davis, E. E.; Rehder, J. J.

    1981-01-01

    This paper presents the results of a comparison of space vs. ground basing of orbital transfer vehicles (OTV). The comparison was done assuming an 11-year mission model beginning in 1995 and averaging over 100 MT of payloads per year to GEO. When analyzed from a total transportation standpoint, the launch system employed had the greatest impact on the basing mode comparison. A launch fleet consisting of both a basic STS and a Shuttle derivative cargo vehicle provided the least cost. Only a small advantage (3%) was found in flight performance for the space based (SB) OTV once it incorporated the necessary provisions for space debris protection and on-orbit maintenance. Propellant storage and transfer losses associated with the SB OTV amounted to 12% of the actual flight propellant requirement. Turnaround of the SB OTV required a crew of 3 and 40% duty cycle. The life cycle cost comparison including all involved space elements indicated less than a 10% difference between basing modes. The SB OTV however is judged to provide more flexibility in launch manifesting, simplified recovery operations and greater potential for improvement.

  13. An integrated transportation and operations comparison of space and ground based OTV's

    NASA Astrophysics Data System (ADS)

    Davis, E. E.; Rehder, J. J.

    1981-07-01

    This paper presents the results of a comparison of space vs. ground basing of orbital transfer vehicles (OTV). The comparison was done assuming an 11-year mission model beginning in 1995 and averaging over 100 MT of payloads per year to GEO. When analyzed from a total transportation standpoint, the launch system employed had the greatest impact on the basing mode comparison. A launch fleet consisting of both a basic STS and a Shuttle derivative cargo vehicle provided the least cost. Only a small advantage (3%) was found in flight performance for the space based (SB) OTV once it incorporated the necessary provisions for space debris protection and on-orbit maintenance. Propellant storage and transfer losses associated with the SB OTV amounted to 12% of the actual flight propellant requirement. Turnaround of the SB OTV required a crew of 3 and 40% duty cycle. The life cycle cost comparison including all involved space elements indicated less than a 10% difference between basing modes. The SB OTV however is judged to provide more flexibility in launch manifesting, simplified recovery operations and greater potential for improvement.

  14. Ground Operations Autonomous Control and Integrated Health Management

    NASA Technical Reports Server (NTRS)

    Figueroa, Fernando; Walker, Mark; Wilkins, Kim; Johnson, Robert; Sass, Jared; Youney, Justin

    2014-01-01

    An intelligent autonomous control capability has been developed and is currently being validated in ground cryogenic fluid management operations. The capability embodies a physical architecture consistent with typical launch infrastructure and control systems, augmented by a higher level autonomous control (AC) system enabled to make knowledge-based decisions. The AC system is supported by an integrated system health management (ISHM) capability that detects anomalies, diagnoses causes, determines effects, and could predict future anomalies. AC is implemented using the concept of programmed sequences that could be considered to be building blocks of more generic mission plans. A sequence is a series of steps, and each executes actions once conditions for the step are met (e.g. desired temperatures or fluid state are achieved). For autonomous capability, conditions must consider also health management outcomes, as they will determine whether or not an action is executed, or how an action may be executed, or if an alternative action is executed instead. Aside from health, higher level objectives can also drive how a mission is carried out. The capability was developed using the G2 software environment (www.gensym.com) augmented by a NASA Toolkit that significantly shortens time to deployment. G2 is a commercial product to develop intelligent applications. It is fully object oriented. The core of the capability is a Domain Model of the system where all elements of the system are represented as objects (sensors, instruments, components, pipes, etc.). Reasoning and decision making can be done with all elements in the domain model. The toolkit also enables implementation of failure modes and effects analysis (FMEA), which are represented as root cause trees. FMEA's are programmed graphically, they are reusable, as they address generic FMEA referring to classes of subsystems or objects and their functional relationships. User interfaces for integrated awareness by

  15. Method and appartus for converting static in-ground vehicle scales into weigh-in-motion systems

    DOEpatents

    Muhs, Jeffrey D.; Scudiere, Matthew B.; Jordan, John K.

    2002-01-01

    An apparatus and method for converting in-ground static weighing scales for vehicles to weigh-in-motion systems. The apparatus upon conversion includes the existing in-ground static scale, peripheral switches and an electronic module for automatic computation of the weight. By monitoring the velocity, tire position, axle spacing, and real time output from existing static scales as a vehicle drives over the scales, the system determines when an axle of a vehicle is on the scale at a given time, monitors the combined weight output from any given axle combination on the scale(s) at any given time, and from these measurements automatically computes the weight of each individual axle and gross vehicle weight by an integration, integration approximation, and/or signal averaging technique.

  16. Vertically operating flight vehicle for drilling and agricultural use

    NASA Technical Reports Server (NTRS)

    Pabst, W.

    1986-01-01

    The invention deals with an aircraft which ascends and descends vertically and which is used for recreational aircraft, as well as for drilling and in agriculture. The invention combines the floating effect of a parachute with the helicopter to develop a flight vehicle with multiple uses which go beyond those of contemporary flight vehicles. Both hub mechanisms and thrust power are implemented to achieve this goal. Four designs are described in detail.

  17. Emissions from a vehicle fitted to operate on either petrol or compressed natural gas.

    PubMed

    Ristovski, Z; Morawska, L; Ayoko, G A; Johnson, G; Gilbert, D; Greenaway, C

    2004-05-01

    The purpose of this work was to evaluate the physical and chemical properties of emission products from a six-cylinder sedan car under a variety of operating conditions, before and after it has been converted to compressed natural gas (CNG) fuel. The specific focus of the measurements was on emission levels and characteristics of ultra fine particles and the emission levels together with the emissions of gaseous pollutants for a range of operating conditions before and up to 3 months after the vehicle was converted are presented and discussed in the paper. The investigations showed that converting a petrol operating vehicle to CNG has the potential of reducing some of the emissions and thus risks, while it does not appear to have an impact on others. In particular there was no statistically significant change in the emission of particles for the vehicle operating on petrol, before the conversion, compared to the emissions for the vehicle operating on CNG, after the conversion. There was a significant lowering of emissions of total polycyclic aromatic hydrocarbons and formaldehyde when the vehicle was operated on CNG, and a reduction of global warming potential was also observed when the vehicle was run on CNG, but the later gain is only at high vehicle speeds/loads, and would thus have to be considered in view of traffic and transport models for the region (in these models vehicle speed is an important parameter). PMID:15081726

  18. Field Operations Program, Toyota PRIUS Hybrid Electric Vehicle Performance Characterization Report

    SciTech Connect

    Francfort, James Edward; Nguyen, N.; Phung, J.; Smith, J.; Wehrey, M.

    2001-12-01

    The U.S. Department of Energy’s Field Operations Program evaluates advanced technology vehicles in real-world applications and environments. Advanced technology vehicles include pure electric, hybrid electric, hydrogen, and other vehicles that use emerging technologies such as fuel cells. Information generated by the Program is targeted to fleet managers and others considering the deployment of advanced technology vehicles. As part of the above activities, the Field Operations Program has initiated the testing of the Toyota Prius hybrid electric vehicle (HEV), a technology increasingly being considered for use in fleet applications. This report describes the Pomona Loop testing of the Prius, providing not only initial operational and performance information, but also a better understanding of HEV testing issues. The Pomona Loop testing includes both Urban and Freeway drive cycles, each conducted at four operating scenarios that mix minimum and maximum payloads with different auxiliary (e.g., lights, air conditioning) load levels.

  19. Results of the second (1996) experiment to lead cranes on migration behind a motorized ground vehicle

    USGS Publications Warehouse

    Ellis, D.H.; Clauss, B.; Watanabe, T.; Mykut, R.C.; Shawkey, M.; Mummert, D.P.; Sprague, D.T.; Ellis, C.H.; Trahan, F.B.

    2001-01-01

    Fourteen greater sandhill cranes (Grus canadensis tabida) were trained to follow a specially-equipped truck and 12 were led along a ca 620-km route from Camp Navajo in northern Arizona to the Buenos Aires National Wildlife Refuge near the Arizona/Mexico border. Ten survived the trek, 380 km of which were flown, although only a few cranes flew every stage of the route. Major problems during the migration were powerline collisions (ca 15, 2 fatal) and overheating (when air temperatures exceeded ca 25 C). The tenacity of the cranes in following both in 1995 and 1996 under unfavorable conditions (e.g., poor light, extreme dust, or heat) demonstrated that cranes could be led over long distances by motorized vehicles on the ground.

  20. Computational architecture for image processing on a small unmanned ground vehicle

    NASA Astrophysics Data System (ADS)

    Ho, Sean; Nguyen, Hung

    2010-08-01

    Man-portable Unmanned Ground Vehicles (UGVs) have been fielded on the battlefield with limited computing power. This limitation constrains their use primarily to teleoperation control mode for clearing areas and bomb defusing. In order to extend their capability to include the reconnaissance and surveillance missions of dismounted soldiers, a separate processing payload is desired. This paper presents a processing architecture and the design details on the payload module that enables the PackBot to perform sophisticated, real-time image processing algorithms using data collected from its onboard imaging sensors including LADAR, IMU, visible, IR, stereo, and the Ladybug spherical cameras. The entire payload is constructed from currently available Commercial off-the-shelf (COTS) components including an Intel multi-core CPU and a Nvidia GPU. The result of this work enables a small UGV to perform computationally expensive image processing tasks that once were only feasible on a large workstation.

  1. Comparison of thermal modeling and experimental results of a generic model for ground vehicle

    NASA Astrophysics Data System (ADS)

    Bushlin, Y.; Lessin, A.; Reinov, A.

    2006-05-01

    Accurate thermal modeling requires verification and validation of the model and software being used. For basic evaluation of thermal prediction models and software tools, a generic model - CUBI was build. The model was designed to have simple geometry yet, consisted of similar characteristics as of a ground vehicle. The model was equipped with thermocouples for measuring its temperature variations and was placed in a typical desert environment for field testing. The experimental setup also included a meteorological station. The data collected was used for the thermal behavior analysis of the generic model and for comparison with the thermal calculations predictions. Comparison of the results shows sufficient compliance but yet reviles some issues in the modeling that should be addressed.

  2. Advanced Vehicle Testing Activity: Hydrogen-Fueled Mercedes Sprinter Van Operating Summary - January 2003

    SciTech Connect

    Karner, D.; Francfort, J.E.

    2003-01-22

    Over the past two years, Arizona Public Service, a subsidiary of Pinnacle West Capital Corporation, in cooperation with the U.S. Department of Energy's Advanced Vehicle Testing Activity, tested four gaseous fuel vehicles as part of its alternative fueled vehicle fleet. One vehicle operated initially using compressed natural gas (CNG) and later a blend of CNG and hydrogen. Of the other three vehicles, one was fueled with pure hydrogen and two were fueled with a blend of CNG and hydrogen. The three blended-fuel vehicles were originally equipped with either factory CNG engines or factory gasoline engines that were converted to run CNG fuel. The vehicles were variously modified to operate on blended fuel and were tested using 15 to 50% blends of hydrogen (by volume). The pure-hydrogen-fueled vehicle was converted from gasoline fuel to operate on 100% hydrogen. All vehicles were fueled from the Arizona Public Service's Alternative Fuel Pilot Plant, which was developed to dispense gaseous fuels, including CNG, blends of CNG and hydrogen, and pure hydrogen with up to 99.9999% purity. The primary objective of the test was to evaluate the safety and reliability of operating vehicles on hydrogen and blended hydrogen fuel, and the interface between the vehicles and the hydrogen fueling infrastructure. A secondary objective was to quantify vehicle emissions, cost, and performance. Over a total of 40,000 fleet test miles, no safety issues were found. Also, significant reductions in emissions were achieved by adding hydrogen to the fuel. This report presents results of testing conducted over 6,864 kilometers (4,265 miles) of operation using the pure-hydrogen-fueled Mercedes Sprinter van.

  3. Advanced Vehicle Testing Activity: Dodge Ram Wagon Van - Hydrogen/CNG Operations Summary - January 2003

    SciTech Connect

    Karner, D.; Francfort, J.E.

    2003-01-16

    Over the past two years, Arizona Public Service, a subsidiary of Pinnacle West Capital Corporation, in cooperation with the U.S. Department of Energy's Advanced Vehicle Testing Activity, tested four gaseous fuel vehicles as part of its alternative fueled vehicle fleet. One vehicle, a Dodge Ram Wagon Van, operated initially using compressed natural gas (CNG) and later a blend of CNG and hydrogen. Of the other three vehicles, one was fueled with pure hydrogen and two were fueled with a blend of CNG and hydrogen. The three blended-fuel vehicles were originally equipped with either factory CNG engines or factory gasoline engines that were converted to run CNG fuel. The vehicles were variously modified to operate on blended fuel and were tested using 15 to 50% blends of hydrogen (by volume). The pure-hydrogen-fueled vehicle was converted from gasoline fuel to operate on 100% hydrogen. All vehicles were fueled from the Arizona Public Service's Fuel Pilot Plant, which was developed to dispense gaseous fuels, including CNG, blends of CNG and hydrogen, and pure hydrogen with up to 99.9999% purity. The primary objective of the test was to evaluate the safety and reliability of operating vehicles on hydrogen and blended hydrogen fuel, and the interface between the vehicles and the hydrogen fueling infrastructure. A secondary objective was to quantify vehicle emissions, cost, and performance. Over a total of 40,000 fleet test miles, no safety issues were found. Also, significant reductions in emissions were achieved by adding hydrogen to the fuel. This report presents results of 22,816 miles of testing for the Dodge Ram Wagon Van, operating on CNG fuel, and a blended fuel of 15% hydrogen-85% CNG.

  4. Advanced Vehicle Testing Activity: Dodge Ram Wagon Van -- Hydrogen/CNG Operations Summary

    SciTech Connect

    Don Karner; Francfort, James Edward

    2003-01-01

    Over the past two years, Arizona Public Service, a subsidiary of Pinnacle West Capital Corporation, in cooperation with the U.S. Department of Energy’s Advanced Vehicle Testing Activity, tested four gaseous fuel vehicles as part of its alternative fueled vehicle fleet. One vehicle, a Dodge Ram Wagon Van, operated initially using compressed natural gas (CNG) and later a blend of CNG and hydrogen. Of the other three vehicles, one was fueled with pure hydrogen and two were fueled with a blend of CNG and hydrogen. The three blended-fuel vehicles were originally equipped with either factory CNG engines or factory gasoline engines that were converted to run CNG fuel. The vehicles were variously modified to operate on blended fuel and were tested using 15 to 50% blends of hydrogen (by volume). The pure-hydrogen-fueled vehicle was converted from gasoline fuel to operate on 100% hydrogen. All vehicles were fueled from the Arizona Public Service’s Alternative Fuel Pilot Plant, which was developed to dispense gaseous fuels, including CNG, blends of CNG and hydrogen, and pure hydrogen with up to 99.9999% purity. The primary objective of the test was to evaluate the safety and reliability of operating vehicles on hydrogen and blended hydrogen fuel, and the interface between the vehicles and the hydrogen fueling infrastructure. A secondary objective was to quantify vehicle emissions, cost, and performance. Over a total of 40,000 fleet test miles, no safety issues were found. Also, significant reductions in emissions were achieved by adding hydrogen to the fuel. This report presents results of 22,816 miles of testing for the Dodge Ram Wagon Van, operating on CNG fuel, and a blended fuel of 15% hydrogen–85% CNG.

  5. Advanced Vehicle Testing Activity: Hydrogen-Fueled Mercedes Sprinter Van -- Operating Summary

    SciTech Connect

    Karner, D.; Francfort, James Edward

    2003-01-01

    Over the past two years, Arizona Public Service, a subsidiary of Pinnacle West Capital Corporation, in cooperation with the U.S. Department of Energy's Advanced Vehicle Testing Activity, tested four gaseous fuel vehicles as part of its alternative fueled vehicle fleet. One vehicle operated initially using compressed natural gas (CNG) and later a blend of CNG and hydrogen. Of the other three vehicles, one was fueled with pure hydrogen and two were fueled with a blend of CNG and hydrogen. The three blended-fuel vehicles were originally equipped with either factory CNG engines or factory gasoline engines that were converted to run CNG fuel. The vehicles were variously modified to operate on blended fuel and were tested using 15 to 50% blends of hydrogen (by volume). The pure- hydrogen-fueled vehicle was converted from gasoline fuel to operate on 100% hydrogen. All vehicles were fueled from the Arizona Public Service's Alternative Fuel Pilot Plant, which was developed to dispense gaseous fuels, including CNG, blends of CNG and hydrogen, and pure hydrogen with up to 99.9999% purity. The primary objective of the test was to evaluate the safety and reliability of operating vehicles on hydrogen and blended hydrogen fuel, and the interface between the vehicles and the hydrogen fueling infrastructure. A secondary objective was to quantify vehicle emissions, cost, and performance. Over a total of 40,000 fleet test miles, no safety issues were found. Also, significant reductions in emissions were achieved by adding hydrogen to the fuel. This report presents results of testing conducted over 6,864 kilometers (4,265 miles) of operation using the pure-hydrogen-fueled Mercedes Sprinter van.

  6. The design and results of an algorithm for intelligent ground vehicles

    NASA Astrophysics Data System (ADS)

    Duncan, Matthew; Milam, Justin; Tote, Caleb; Riggins, Robert N.

    2010-01-01

    This paper addresses the design, design method, test platform, and test results of an algorithm used in autonomous navigation for intelligent vehicles. The Bluefield State College (BSC) team created this algorithm for its 2009 Intelligent Ground Vehicle Competition (IGVC) robot called Anassa V. The BSC robotics team is comprised of undergraduate computer science, engineering technology, marketing students, and one robotics faculty advisor. The team has participated in IGVC since the year 2000. A major part of the design process that the BSC team uses each year for IGVC is a fully documented "Post-IGVC Analysis." Over the nine years since 2000, the lessons the students learned from these analyses have resulted in an ever-improving, highly successful autonomous algorithm. The algorithm employed in Anassa V is a culmination of past successes and new ideas, resulting in Anassa V earning several excellent IGVC 2009 performance awards, including third place overall. The paper will discuss all aspects of the design of this autonomous robotic system, beginning with the design process and ending with test results for both simulation and real environments.

  7. Phobetor: Princeton University's entry in the 2010 Intelligent Ground Vehicle Competition

    NASA Astrophysics Data System (ADS)

    Newman, Joshua; Zhu, Han; Partridge, Brenton A.; Szocs, Laszlo J.; Abiola, Solomon O.; Corey, Ryan M.; Suresh, Srinivasan A.; Yu, Derrick D.

    2011-01-01

    In this paper we present Phobetor, an autonomous outdoor vehicle originally designed for the 2010 Intelligent Ground Vehicle Competition (IGVC). We describe new vision and navigation systems that have yielded 3x increase in obstacle detection speed using parallel processing and robust lane detection results. Phobetor also uses probabilistic local mapping to learn about its environment and Anytime Dynamic A* (AD*) to plan paths to reach its goals. Our vision software is based on color stereo images and uses robust, RANSAC-based algorithms while running fast enough to support real-time autonomous navigation on uneven terrain. AD* allows Phobetor to respond quickly in all situations even when optimal planning takes more time, and uses incremental replanning to increase search efficiency. We augment the cost map of the environment with a potential field which addresses the problem of "wall-hugging" and smoothes generated paths to allow safe and reliable path-following. In summary, we present innovations on Phobetor that are relevant to real-world robotics platforms in uncertain environments.

  8. Situational awareness for unmanned ground vehicles in semi-structured environments

    NASA Astrophysics Data System (ADS)

    Goodsell, Thomas G.; Snorrason, Magnus; Stevens, Mark R.

    2002-07-01

    Situational Awareness (SA) is a critical component of effective autonomous vehicles, reducing operator workload and allowing an operator to command multiple vehicles or simultaneously perform other tasks. Our Scene Estimation & Situational Awareness Mapping Engine (SESAME) provides SA for mobile robots in semi-structured scenes, such as parking lots and city streets. SESAME autonomously builds volumetric models for scene analysis. For example, a SES-AME equipped robot can build a low-resolution 3-D model of a row of cars, then approach a specific car and build a high-resolution model from a few stereo snapshots. The model can be used onboard to determine the type of car and locate its license plate, or the model can be segmented out and sent back to an operator who can view it from different viewpoints. As new views of the scene are obtained, the model is updated and changes are tracked (such as cars arriving or departing). Since the robot's position must be accurately known, SESAME also has automated techniques for deter-mining the position and orientation of the camera (and hence, robot) with respect to existing maps. This paper presents an overview of the SESAME architecture and algorithms, including our model generation algorithm.

  9. Electric and hybrid vehicle program site operator program. Quarterly progress report, January 1995--March 1995

    SciTech Connect

    Kiser, D.M.; Brown, H.L.

    1995-08-01

    The Site Operator Program was initially established by the Department of Energy (DOE) to incorporate the electric vehicle activities dictated by the Electric and Hybrid Vehicle Research, Development and Demonstration Act of 1976. In the ensuing years, the Program has evolved in response to new legislation and interests. The Program currently includes twelve sites located in diverse geographic, metrologic, and metropolitan areas across the United States. Information is shared reciprocally with a thirteenth site, not under Program contract. The vehicles are operator-owned. The Mission Statement of the Site Operator Program includes three major activities: (1) Advancement of electric vehicle technologies; (2) Development of infrastructure elements necessary to support significant electric vehicle use; and (3) Increasing the awareness and acceptance of electric vehicles (EVs) by the public. The current participants in the Site Operator Program are shown. Table 1 indicates the EVs in each of the Site Operator fleets. Table 2 provides baseline information on several EVs currently in use by the Site Operators, or which have evolved to the point that they may be introduced in the near future. The Program is currently managed by personnel of the Electric and Hybrid Vehicle Program at the Idaho National Engineering Laboratory (INEL). The current principal management functions include: Coordination of Site Operator efforts in the areas of public awareness and infrastructure development (program-related meetings, and educational presentations).

  10. Remote operated vehicle with carbon dioxide blasting (ROVCO{sub 2})

    SciTech Connect

    Resnick, A.M.

    1995-12-01

    The Remote Operated Vehicle with Carbon Dioxide Blasting (ROVCO{sub 2}), as shown in a front view, is a six-wheeled remote land vehicle used to decontaminate concrete floors. The remote vehicle has a high pressure Cryogenesis blasting subsystem, Oceaneering Technologies (OTECH) developed a CO{sub 2} xY Orthogonal Translational End Effector (COYOTEE) subsystem, and a vacuum/filtration and containment subsystem. Figure 2 shows a block diagram with the various subsystems labeled.

  11. Wind Tunnel Investigation of Ground Wind Loads for Ares Launch Vehicle

    NASA Technical Reports Server (NTRS)

    Keller, Donald F.; Ivanco, Thomas G.

    2010-01-01

    A three year program was conducted at the NASA Langley Research Center (LaRC) Aeroelasticity Branch (AB) and Transonic Dynamics Tunnel (TDT) with the primary objective to acquire scaled steady and dynamic ground-wind loads (GWL) wind-tunnel data for rollout, on-pad stay, and on-pad launch configurations for the Ares I-X Flight Test Vehicle (FTV). The experimental effort was conducted to obtain an understanding of the coupling of aerodynamic and structural characteristics that can result in large sustained wind-induced oscillations (WIO) on such a tall and slender launch vehicle and to generate a unique database for development and evaluation of analytical methods for predicting steady and dynamic GWL, especially those caused by vortex shedding, and resulting in significant WIO. This paper summarizes the wind-tunnel test program that employed two dynamically-aeroelastically scaled GWL models based on the Ares I-X Flight Test Vehicle. The first model tested, the GWL Checkout Model (CM), was a relatively simple model with a secondary objective of restoration and development of processes and methods for design, fabrication, testing, and data analysis of a representative ground wind loads model. In addition, parametric variations in surface roughness, Reynolds number, and protuberances (on/off) were investigated to determine effects on GWL characteristics. The second windtunnel model, the Ares I-X GWL Model, was significantly more complex and representative of the Ares I-X FTV and included the addition of simplified rigid geometrically-scaled models of the Kennedy Space Center (KSC) Mobile Launch Platform (MLP) and Launch Complex 39B primary structures. Steady and dynamic base bending moment as well as model response and steady and unsteady pressure data was acquired during the testing of both models. During wind-tunnel testing of each model, flow conditions (speed and azimuth) where significant WIO occurred, were identified and thoroughly investigated. Scaled data from

  12. Argos: Princeton University's entry in the 2009 Intelligent Ground Vehicle Competition

    NASA Astrophysics Data System (ADS)

    Abiola, Solomon O.; Baldassano, Christopher A.; Franken, Gordon H.; Harris, Richard J.; Hendrick, Barbara A.; Mayer, Jonathan R.; Partridge, Brenton A.; Starr, Eric W.; Tait, Alexander N.; Yu, Derrick D.; Zhu, Tony H.

    2010-01-01

    In this paper, we present Argos, an autonomous ground robot built for the 2009 Intelligent Ground Vehicle Competition (IGVC). Discussed are the significant improvements over its predecessor from the 2008 IGVC, Kratos. We continue to use stereo vision techniques to generate a cost map of the environment around the robot. Lane detection is improved through the use of color filters that are robust to changing lighting conditions. The addition of a single-axis gyroscope to the sensor suite allows accurate measurement of the robot's yaw rate and compensates for wheel slip, vastly improving state estimation. The combination of the D* Lite algorithm, which avoids unnecessary re-planning, and the Field D* algorithm, which allows us to plan much smoother paths, results in an algorithm that produces higher quality paths in the same amount of time as methods utilizing A*. The successful implementation of a crosstrack error navigation law allows the robot to follow planned paths without cutting corners, reducing the chance of collision with obstacles. A redesigned chassis with a smaller footprint and a bi-level design, combined with a more powerful drivetrain, makes Argos much more agile and maneuverable compared to its predecessor. At the 2009 IGVC, Argos placed first in the Navigation Challenge.

  13. Electric and Hybrid Vehicle Program: Site Operation Program. Quarterly progress report, July--September 1995

    SciTech Connect

    Francfort, J.; Bassett, R.R.; Briasco, S.

    1995-12-01

    The Site Operator Program has evolved substantially since its inception in response to the Electric Vehicle Research and Demonstration Act of 1976. In its original form, a commercialization effort was intended but this was not feasible for lack of vehicle suppliers and infrastructure. Nonetheless, with DOE sponsorship and technical participation, a few results (primarily operating experience and data) were forthcoming. The current Program comprises eleven sites and over 200 vehicles, of which about 50 are latest generation vehicles. DOE partially funds the Program participant expenditures and the INEL receives operating and maintenance data for the DOE-owned, and participant-owned or monitored vehicles, as well as Program reports. As noted elsewhere in this report, participants represent several widely differing categories: electric utilities, academic institutions, and federal agencies. While both the utilities and the academic institutions tend to establish beneficial relationships with the industrial community.

  14. Bantam System Technology Project Ground System Operations Concept and Plan

    NASA Technical Reports Server (NTRS)

    Moon, Jesse M.; Beveridge, James R.

    1997-01-01

    The Low Cost Booster Technology Program, also known as the Bantam Booster program, is a NASA sponsored initiative to establish a viable commercial technology to support the market for placing small payloads in low earth orbit. This market is currently served by large boosters which orbit a number of small payloads on a single launch vehicle, or by these payloads taking up available space on major commercial launches. Even by sharing launch costs, the minimum cost to launch one of these small satellites is in the 6 to 8 million dollar range. Additionally, there is a shortage of available launch opportunities which can be shared in this manner. The goal of the Bantam program is to develop two competing launch vehicles, with launch costs in the neighborhood of 1.5 million dollars to launch a 150 kg payload into low earth orbit (200 nautical mile sun synchronous). Not only could the cost of the launch be significantly less than the current situation, but the payload sponsor could expect better service for his expenditure, the ability to specify his own orbit, and a dedicated vehicle. By developing two distinct launch vehicles, market forces are expected to aid in keeping customer costs low.

  15. 32 CFR 634.20 - Privately owned vehicle operation requirements.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... Safety Administration (NHTSA) in 49 CFR 570.1 through 570.10. Lights, turn signals, brake lights, horn... modified in a mechanically unsafe manner are unsafe and will be denied registration. 49 CFR 570.8 states... (CONTINUED) LAW ENFORCEMENT AND CRIMINAL INVESTIGATIONS MOTOR VEHICLE TRAFFIC SUPERVISION Motor...

  16. 32 CFR 634.20 - Privately owned vehicle operation requirements.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... Safety Administration (NHTSA) in 49 CFR 570.1 through 570.10. Lights, turn signals, brake lights, horn... modified in a mechanically unsafe manner are unsafe and will be denied registration. 49 CFR 570.8 states... (CONTINUED) LAW ENFORCEMENT AND CRIMINAL INVESTIGATIONS MOTOR VEHICLE TRAFFIC SUPERVISION Motor...

  17. 32 CFR 634.20 - Privately owned vehicle operation requirements.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... Safety Administration (NHTSA) in 49 CFR 570.1 through 570.10. Lights, turn signals, brake lights, horn... modified in a mechanically unsafe manner are unsafe and will be denied registration. 49 CFR 570.8 states... (CONTINUED) LAW ENFORCEMENT AND CRIMINAL INVESTIGATIONS MOTOR VEHICLE TRAFFIC SUPERVISION Motor...

  18. 32 CFR 634.20 - Privately owned vehicle operation requirements.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... Safety Administration (NHTSA) in 49 CFR 570.1 through 570.10. Lights, turn signals, brake lights, horn... modified in a mechanically unsafe manner are unsafe and will be denied registration. 49 CFR 570.8 states... (CONTINUED) LAW ENFORCEMENT AND CRIMINAL INVESTIGATIONS MOTOR VEHICLE TRAFFIC SUPERVISION Motor...

  19. 32 CFR 634.20 - Privately owned vehicle operation requirements.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... Safety Administration (NHTSA) in 49 CFR 570.1 through 570.10. Lights, turn signals, brake lights, horn... modified in a mechanically unsafe manner are unsafe and will be denied registration. 49 CFR 570.8 states that springs shall not be extended above the vehicle manufacturer's design height....

  20. Tug fleet and ground operations schedules and controls. Volume 2: part 1

    NASA Technical Reports Server (NTRS)

    1975-01-01

    This Tug Fleet and Ground Operations Schedules and Controls Study addresses both ground operational data and technical requirements that span the Tug planning phase and operations phase. A similar study covering mission operations (by others) provides the complimentary flight operations details. The two studies provide the planning data requirements, resource allocation, and control milestones for supporting the requirements of the STS program. This Tug Fleet and Ground Operations Schedules and Controls Study incorporates the basic ground operations requirements and concepts provided by previous studies with the interrelationships of the planning, IUS transition, and Tug fleet operations phases. The interrelationships of these phases were studied as a system to optimize overall program benefits and minimize operational risk factors.

  1. Carbonaceous Aerosols Emitted from Light-Duty Vehicles Operating on Gasoline and Ethanol Fuel Blends

    EPA Science Inventory

    This study examines the chemical properties of carbonaceous aerosols emitted from three light-duty gasoline vehicles (LDVs) operating on gasoline (e0) and ethanol-gasoline fuel blends (e10 and e85). Vehicle road load simulations were performed on a chassis dynamometer using the t...

  2. Rockot Launch Vehicle Commercial Operations for Grace and Iridium Program

    NASA Astrophysics Data System (ADS)

    Viertel, Y.; Kinnersley, M.; Schumacher, I.

    2002-01-01

    The GRACE mission and the IRIDIUM mission on ROCKOT launch vehicle are presented. Two identical GRACE satellites to measure in tandem the gravitational field of the earth with previously unattainable accuracy - it's called the Gravity Research and Climate Experiment, or and is a joint project of the U.S. space agency, NASA and the German Centre for Aeronautics and Space Flight, DLR. In order to send the GRACE twins into a 500x500 km , 89deg. orbit, the Rockot launch vehicle was selected. A dual launch of two Iridium satellites was scheduled for June 2002 using the ROCKOT launch vehicle from Plesetsk Cosmodrome in Northern Russia. This launch will inject two replacement satellites into a low earth orbit (LEO) to support the maintenance of the Iridium constellation. In September 2001, Eurockot successfully carried out a "Pathfinder Campaign" to simulate the entire Iridium mission cycle at Plesetsk. The campaign comprised the transport of simulators and related equipment to the Russian port-of-entry and launch site and also included the integration and encapsulation of the simulators with the actual Rockot launch vehicle at Eurockot's dedicated launch facilities at Plesetsk Cosmodrome. The pathfinder campaign lasted four weeks and was carried out by a joint team that also included Khrunichev, Russian Space Forces and Eurockot personnel on the contractors' side. The pathfinder mission confirmed the capability of Eurockot Launch Services to perform the Iridium launch on cost and on schedule at Plesetsk following Eurockot's major investment in international standard preparation, integration and launch facilities including customer facilities and a new hotel. In 2003, Eurockot will also launch the Japanese SERVI'S-1 satellite for USEF. The ROCKOT launch vehicle is a 3 stage liquid fuel rocket whose first 2 stages have been adapted from the Russian SS-19. A third stage, called "Breeze", can be repeatedly ignited and is extraordinarily capable of manoeuvre. Rockot can place

  3. Operational Considerations and Comparisons of the Saturn, Space Shuttle and Ares Launch Vehicles

    NASA Technical Reports Server (NTRS)

    Cruzen, Craig; Chavers, Greg; Wittenstein, Jerry

    2009-01-01

    The United States (U.S.) space exploration policy has directed the National Aeronautics and Space Administration (NASA) to retire the Space Shuttle and to replace it with a new generation of space transportation systems for crew and cargo travel to the International Space Station, the Moon, Mars, and beyond. As part of the Constellation Program, engineers at NASA's Marshall Space Flight Center in Huntsville, Alabama are working to design and build the Ares I, the first of two large launch vehicles to return humans to the Moon. A deliberate effort is being made to ensure a high level of operability in order to significantly increase safety and availability as well as reduce recurring costs of this new launch vehicle. It is the Ares Project's goal to instill operability as part of the requirements development, design and operations of the vehicle. This paper will identify important factors in launch vehicle design that affect the operability and availability of the system. Similarities and differences in operational constraints will also be compared between the Saturn V, Space Shuttle and current Ares I design. Finally, potential improvements in operations and operability for large launch vehicles will be addressed. From the examples presented, the paper will discuss potential improvements for operability for future launch vehicles.

  4. Application of an off-road mobility model to autonomous cross-country routing of unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Cummins, Christopher L.; Jones, Randolph A.; Gates, Burhman Q., Jr.

    2006-05-01

    This paper describes the application of an Army-standard legacy off-road mobility model to cross-country route planning and negotiation by unmanned ground vehicles. A planned route is created from a movement map generated from existing terrain data. An unmanned ground vehicle negotiates the planned route and makes local routing adjustments based on a trafficability assessment of terrain features which are observed from the platform. This research leverages results from other work investigating the scalability of the existing legacy off-road mobility model to small vehicles (<500 kg). The legacy mobility model is the NATO Reference Mobility Model II (NRMM II), a standard for combat mobility modeling and procurement since the mid-90's.

  5. Ground Operations Demonstration Unit for Liquid Hydrogen (GODU LH2)

    NASA Technical Reports Server (NTRS)

    Notardonato, William U.

    2015-01-01

    When the technology associated with zero loss storage and transfer is implemented, NASA can reduce the LH2 losses and procurement costs by up to 30 compared to historical Shuttle numbers. This return on investment is based on the mission manifest and commodity use. LH2 densification can provide improved launch vehicle ascent performance by minimizing the size of the LH2 tanks or storing more mass of propellant in the given tank volume.

  6. Advanced Technology Vehicle Testing

    SciTech Connect

    James Francfort

    2003-11-01

    The light-duty vehicle transportation sector in the United States depends heavily on imported petroleum as a transportation fuel. The Department of Energy’s Advanced Vehicle Testing Activity (AVTA) is testing advanced technology vehicles to help reduce this dependency, which would contribute to the economic stability and homeland security of the United States. These advanced technology test vehicles include internal combustion engine vehicles operating on 100% hydrogen (H2) and H2CNG (compressed natural gas) blended fuels, hybrid electric vehicles, neighborhood electric vehicles, urban electric vehicles, and electric ground support vehicles. The AVTA tests and evaluates these vehicles with closed track and dynamometer testing methods (baseline performance testing) and accelerated reliability testing methods (accumulating lifecycle vehicle miles and operational knowledge within 1 to 1.5 years), and in normal fleet environments. The Arizona Public Service Alternative Fuel Pilot Plant and H2-fueled vehicles are demonstrating the feasibility of using H2 as a transportation fuel. Hybrid, neighborhood, and urban electric test vehicles are demonstrating successful applications of electric drive vehicles in various fleet missions. The AVTA is also developing electric ground support equipment (GSE) test procedures, and GSE testing will start during the fall of 2003. All of these activities are intended to support U.S. energy independence. The Idaho National Engineering and Environmental Laboratory manages these activities for the AVTA.

  7. Aircraft and ground vehicle friction correlation test results obtained under winter runway conditions during joint FAA/NASA Runway Friction Program

    NASA Technical Reports Server (NTRS)

    Yager, Thomas J.; Vogler, William A.; Baldasare, Paul

    1988-01-01

    Aircraft and ground vehicle friction data collected during the Joint FAA/NASA Runway Friction Program under winter runway conditions are discussed and test results are summarized. The relationship between the different ground vehicle friction measurements obtained on compacted snow- and ice-covered conditions is defined together with the correlation to aircraft tire friction performance under similar runway conditions.

  8. Securing Ground Data System Applications for Space Operations

    NASA Technical Reports Server (NTRS)

    Pajevski, Michael J.; Tso, Kam S.; Johnson, Bryan

    2014-01-01

    The increasing prevalence and sophistication of cyber attacks has prompted the Multimission Ground Systems and Services (MGSS) Program Office at Jet Propulsion Laboratory (JPL) to initiate the Common Access Manager (CAM) effort to protect software applications used in Ground Data Systems (GDSs) at JPL and other NASA Centers. The CAM software provides centralized services and software components used by GDS subsystems to meet access control requirements and ensure data integrity, confidentiality, and availability. In this paper we describe the CAM software; examples of its integration with spacecraft commanding software applications and an information management service; and measurements of its performance and reliability.

  9. Analysis of the Effects of Vitiates on Surface Heat Flux in Ground Tests of Hypersonic Vehicles

    NASA Technical Reports Server (NTRS)

    Cuda, Vincent; Gaffney, Richard L

    2008-01-01

    To achieve the high enthalpy conditions associated with hypersonic flight, many ground test facilities burn fuel in the air upstream of the test chamber. Unfortunately, the products of combustion contaminate the test gas and alter gas properties and the heat fluxes associated with aerodynamic heating. The difference in the heating rates between clean air and a vitiated test medium needs to be understood so that the thermal management system for hypersonic vehicles can be properly designed. This is particularly important for advanced hypersonic vehicle concepts powered by air-breathing propulsion systems that couple cooling requirements, fuel flow rates, and combustor performance by flowing fuel through sub-surface cooling passages to cool engine components and preheat the fuel prior to combustion. An analytical investigation was performed comparing clean air to a gas vitiated with methane/oxygen combustion products to determine if variations in gas properties contributed to changes in predicted heat flux. This investigation started with simple relationships, evolved into writing an engineering-level code, and ended with running a series of CFD cases. It was noted that it is not possible to simultaneously match all of the gas properties between clean and vitiated test gases. A study was then conducted selecting various combinations of freestream properties for a vitiated test gas that matched clean air values to determine which combination of parameters affected the computed heat transfer the least. The best combination of properties to match was the free-stream total sensible enthalpy, dynamic pressure, and either the velocity or Mach number. This combination yielded only a 2% difference in heating. Other combinations showed departures of up to 10% in the heat flux estimate.

  10. Vehicle operating experience with methanol as a substitute for petrol and diesel

    SciTech Connect

    Joyce, R.J.; Natusch, D.F.S.; Richardson, D.W.

    1983-11-01

    Blends of 15% methanol with petrol containing 1% isobutanol have been utilised by 45 vehicles operated for a period of two years. An additional 907 vehicles have been operated for approximately one year to obtain information about the distribution of M15 blends, about necessary co-solvent concentrations, and about general vehicle driveability. Initial studies have also been conducted using 15-20% emulsions of methanol with diesel in diesel-cycle engines. High methanol fuels ranging from M85 to M100 have been tested in six purpose-built vehicles and 45 retrofitted vehicles involving four different types of retrofit systems. In addition, high methanol fuels have also been tested in dieselcycle engines involving two different types of purpose-built engines, together with unmodified engines.

  11. A Ground Systems Architecture Transition for a Distributed Operations System

    NASA Technical Reports Server (NTRS)

    Sellers, Donna; Pitts, Lee; Bryant, Barry

    2003-01-01

    The Marshall Space Flight Center (MSFC) Ground Systems Department (GSD) recently undertook an architecture change in the product line that serves the ISS program. As a result, the architecture tradeoffs between data system product lines that serve remote users versus those that serve control center flight control teams were explored extensively. This paper describes the resulting architecture that will be used in the International Space Station (ISS) payloads program, and the resulting functional breakdown of the products that support this architecture. It also describes the lessons learned from the path that was followed, as a migration of products cause the need to reevaluate the allocation of functions across the architecture. The result is a set of innovative ground system solutions that is scalable so it can support facilities of wide-ranging sizes, from a small site up to large control centers. Effective use of system automation, custom components, design optimization for data management, data storage, data transmissions, and advanced local and wide area networking architectures, plus the effective use of Commercial-Off-The-Shelf (COTS) products, provides flexible Remote Ground System options that can be tailored to the needs of each user. This paper offers a description of the efficiency and effectiveness of the Ground Systems architectural options that have been implemented, and includes successful implementation examples and lessons learned.

  12. Introductions to Mission Operations and Ground Data Systems

    NASA Technical Reports Server (NTRS)

    Stewart, Helen J.

    2009-01-01

    This slide presentation discusses how in the early concept studies the communications architecture plays an important part: The communications architecture is the arrangement, or configuration of satellites and ground systems in a space system, and the network of communications links that transfers information between them.

  13. Computational Fluid Dynamics (CFD) Image of Hyper-X Research Vehicle at Mach 7 with Engine Operating

    NASA Technical Reports Server (NTRS)

    1997-01-01

    This computational fluid dynamics (CFD) image shows the Hyper-X vehicle at a Mach 7 test condition with the engine operating. The solution includes both internal (scramjet engine) and external flow fields, including the interaction between the engine exhaust and vehicle aerodynamics. The image illustrates surface heat transfer on the vehicle surface (red is highest heating) and flowfield contours at local Mach number. The last contour illustrates the engine exhaust plume shape. This solution approach is one method of predicting the vehicle performance, and the best method for determination of vehicle structural, pressure and thermal design loads. The Hyper-X program is an ambitious series of experimental flights to expand the boundaries of high-speed aeronautics and develop new technologies for space access. When the first of three aircraft flies, it will be the first time a non-rocket engine has powered a vehicle in flight at hypersonic speeds--speeds above Mach 5, equivalent to about one mile per second or approximately 3,600 miles per hour at sea level. Hyper-X, the flight vehicle for which is designated as X-43A, is an experimental flight-research program seeking to demonstrate airframe-integrated, 'air-breathing' engine technologies that promise to increase payload capacity for future vehicles, including hypersonic aircraft (faster than Mach 5) and reusable space launchers. This multiyear program is currently underway at NASA Dryden Flight Research Center, Edwards, California. The Hyper-X schedule calls for its first flight later this year (2000). Hyper-X is a joint program, with Dryden sharing responsibility with NASA's Langley Research Center, Hampton, Virginia. Dryden's primary role is to fly three unpiloted X-43A research vehicles to validate engine technologies and hypersonic design tools as well as the hypersonic test facility at Langley. Langley manages the program and leads the technology development effort. The Hyper-X Program seeks to significantly

  14. An Analysis of Skill Requirements for Operators of Amphibious Air Cushion Vehicles (ACVs).

    ERIC Educational Resources Information Center

    McKnight, A. James; And Others

    This report describes the skills required in the operation of an amphibious air cushion vehicle (ACV) in Army tactical and logistic missions. The research involved analyzing ACV characteristics, operating requirements, environmental effects, and results of a simulation experiment. The analysis indicates that ACV operation is complicated by an…

  15. The propulsion system is the key to airline-like operation of ETO vehicles

    NASA Technical Reports Server (NTRS)

    Obrien, Charles J.

    1991-01-01

    The topics covered include the following: (1) Advanced Launch System (ALS); (2) life cycle cost/lb payload; (3) current operational cost; (4) major cost driver; (5) fully automated operations; (6) technology impacts on vehicle dry mass efficiency; (7) single stage to orbit (SSTO) approach; and (8) efficient SSTO propulsion system operations.

  16. 33 CFR 117.31 - Drawbridge operations for emergency vehicles and emergency vessels.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 33 Navigation and Navigable Waters 1 2012-07-01 2012-07-01 false Drawbridge operations for emergency vehicles and emergency vessels. 117.31 Section 117.31 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY BRIDGES DRAWBRIDGE OPERATION REGULATIONS General Requirements § 117.31 Drawbridge operations for emergency...

  17. A novel lidar-driven two-level approach for real-time unmanned ground vehicle navigation and map building

    NASA Astrophysics Data System (ADS)

    Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Cui, Bo; Zhang, Xingzhong

    2013-12-01

    In this paper, a two-level LIDAR-driven hybrid approach is proposed for real-time unmanned ground vehicle navigation and map building. Top level is newly designed enhanced Voronoi Diagram (EVD) method to plan a global trajectory for an unmanned vehicle. Bottom level employs Vector Field Histogram (VFH) algorithm based on the LIDAR sensor information to locally guide the vehicle under complicated workspace, in which it autonomously traverses from one node to another within the planned EDV with obstacle avoidance. To find the least-cost path within the EDV, novel distance and angle based search heuristic algorithms are developed, in which the cost of an edge is the risk of traversing the edge. An EVD is first constructed based on the environment, which is utilized to generate the initial global trajectory with obstacle avoidance. The VFH algorithm is employed to guide the vehicle to follow the path locally. Its effectiveness and efficiency of real-time navigation and map building for unmanned vehicles have been successfully validated by simulation studies and experiments. The proposed approach is successfully experimented on an actual unmanned vehicle to demonstrate the real-time navigation and map building performance of the proposed method. The vehicle appears to follow a very stable path while navigating through various obstacles.

  18. Autonomous vehicles

    SciTech Connect

    Meyrowitz, A.L.; Blidberg, D.R.; Michelson, R.C. |

    1996-08-01

    There are various kinds of autonomous vehicles (AV`s) which can operate with varying levels of autonomy. This paper is concerned with underwater, ground, and aerial vehicles operating in a fully autonomous (nonteleoperated) mode. Further, this paper deals with AV`s as a special kind of device, rather than full-scale manned vehicles operating unmanned. The distinction is one in which the AV is likely to be designed for autonomous operation rather than being adapted for it as would be the case for manned vehicles. The authors provide a survey of the technological progress that has been made in AV`s, the current research issues and approaches that are continuing that progress, and the applications which motivate this work. It should be noted that issues of control are pervasive regardless of the kind of AV being considered, but that there are special considerations in the design and operation of AV`s depending on whether the focus is on vehicles underwater, on the ground, or in the air. The authors have separated the discussion into sections treating each of these categories.

  19. Remotely Operated Vehicles under sea ice - Experiences and results from five years of polar operations

    NASA Astrophysics Data System (ADS)

    Katlein, Christian; Arndt, Stefanie; Lange, Benjamin; Belter, Hans Jakob; Schiller, Martin; Nicolaus, Marcel

    2016-04-01

    The availability of advanced robotic technologies to the Earth Science community has largely increased in the last decade. Remotely operated vehicles (ROV) enable spatially extensive scientific investigations underneath the sea ice of the polar oceans, covering a larger range and longer diving times than divers with significantly lower risks. Here we present our experiences and scientific results acquired from ROV operations during the last five years in the Arctic and Antarctic sea ice region. Working under the sea ice means to have all obstacles and investigated objects above the vehicle, and thus changes several paradigms of ROV operations as compared to blue water applications. Observations of downwelling spectral irradiance and radiance allow a characterization of the optical properties of sea ice and the spatial variability of the energy partitioning across the atmosphere-ice-ocean boundary. Our results show that the decreasing thickness and age of the sea ice have led to a significant increase in light transmission during summer over the last three decades. Spatially extensive measurements from ROV surveys generally provide more information on the light field variability than single spot measurements. The large number of sampled ice conditions during five cruises with the German research icebreaker RV Polarstern allows for the investigations of the seasonal evolution of light transmittance. Both, measurements of hyperspectral light transmittance through sea ice, as well as classification of upward-looking camera images were used to investigate the spatial distribution of ice-algal biomass. Buoyant ice-algal aggregates were found to be positioned in the stretches of level ice, rather than pressure ridges due to a physical interaction of aggregate-buoyancy and under-ice currents. Synchronous measurements of sea ice thickness by upward looking sonar provides crucial additional information to put light-transmittance and biological observations into context

  20. Design of a swarm of autonomous ground vehicles for use in remote sensing applications

    NASA Astrophysics Data System (ADS)

    Benavidez, Patrick J.

    As current technological trends are leading towards relatively small, cheap and powerful computational platforms that can support a multitude of sensors, systems of multiple smaller robots are becoming more cost effective than use of a single larger robot. Small, cheap and powerful are three key ingredients in enabling the development and deployment of larger swarms of robots. This thesis explores the concepts required for developing and deploying a swarm of autonomous ground vehicle (AGV) robots. The concepts investigated are communication, obstacle avoidance, navigation, path planning, formation planning, autonomous control, and task allocation. Each swarm robot concept is explored through comparison in the use of different instruments and methods to reach the end goal in creation and use of the system component. Verification of the need for these concepts in a multi-robot system is performed through simulation and experiments. Results from simulations and experiments provide a promising outlook for deployment of the robotic swarm on current wireless networks for long range experiments. Products of this thesis are the set of concepts that can be used to create and deploy an expandable system of heterogeneous robots for use in remote sensing applications, and software created to control two coordinator robots that were used to test the concepts.

  1. Electric and Hybrid Vehicle Program, Site Operator Program. Quarterly progress report, January--March 1996

    SciTech Connect

    Francfort, J.E.; Bassett, R.R.; Briasco, S.

    1996-08-01

    Goals of the site operator program include field evaluation of electric vehicles (EVs) in real-world applications and environments, advancement of electric vehicle technologies, development of infrastructure elements necessary to support significant EV use, and increasing the awareness and acceptance of EVs by the public. The site operator program currently consists of 11 participants under contract and two other organizations with data-sharing agreements with the program. The participants (electric utilities, academic institutions, Federal agencies) are geographically dispersed within US and their vehicles see a broad spectrum of service conditions. Current EV inventories of the site operators exceeds 250 vehicles. Several national organizations have joined DOE to further the introduction and awareness of EVs, including: (1) EVAmerica (a utility program) and DOE conduct performance and evaluation tests to support market development for EVs; (2) DOE, DOT, the Electric Transportation Coalition, and the Electric Vehicle Association of the Americas are conducting a series of workshops to encourage urban groups in Clean Cities (a DOE program) to initiate the policies and infrastructure development necessary to support large-scale demonstrations, and ultimately the mass market use, of EVs. Current focus of the program is collection and dissemination of EV operations and performance data to aid in the evaluation of real- world EV use. This report contains several sections with vehicle evaluation as a focus: EV testing results, energy economics of EVs, and site operators activities.

  2. The Earth Observing System (EOS) Ground System: Leveraging an Existing Operational Ground System Infrastructure to Support New Missions

    NASA Technical Reports Server (NTRS)

    Hardison, David; Medina, Johnny; Dell, Greg

    2016-01-01

    The Earth Observer System (EOS) was officially established in 1990 and went operational in December 1999 with the launch of its flagship spacecraft Terra. Aqua followed in 2002 and Aura in 2004. All three spacecraft are still operational and producing valuable scientific data. While all are beyond their original design lifetime, they are expected to remain viable well into the 2020s. The EOS Ground System is a multi-mission system based at NASA Goddard Space Flight Center that supports science and spacecraft operations for these three missions. Over its operational lifetime to date, the EOS Ground System has evolved as needed to accommodate mission requirements. With an eye towards the future, several updates are currently being deployed. Subsystem interconnects are being upgraded to reduce data latency and improve system performance. End-of-life hardware and operating systems are being replaced to mitigate security concerns and eliminate vendor support gaps. Subsystem hardware is being consolidated through the migration to Virtual Machine based platforms. While mission operations autonomy was not a design goal of the original system concept, there is an active effort to apply state-of-the-art products from the Goddard Mission Services Evolution Center (GMSEC) to facilitate automation where possible within the existing heritage architecture. This presentation will provide background information on the EOS ground system architecture and evolution, discuss latest improvements, and conclude with the results of a recent effort that investigated how the current system could accommodate a proposed new earth science mission.

  3. A revolutionary and operational tethered aerostat system illustrating new LTA technology. [for ground-air-ground communications

    NASA Technical Reports Server (NTRS)

    Menke, J. A.

    1975-01-01

    An operational tethered aerostat system, which demonstrates utility of LTA systems, is described. It was made possible by development of a reliable tethered aerostat that is used to support broadcast equipment at an altitude of 10,000 feet. Two elements of the TCOM system, the aerostat and mooring station, are particularly relevant to the LTA Workshop. They demonstrate the feasibility of using LTA vehicles in real, operational, all-weather applications and, in addition, illustrate an advance in the overall technology base of LTA. The aerostat and the mooring station, including their technical design features and demonstrated performance characteristics, are described.

  4. Artificial intelligent decision support for low-cost launch vehicle integrated mission operations

    NASA Technical Reports Server (NTRS)

    Szatkowski, Gerard P.; Schultz, Roger

    1988-01-01

    The feasibility, benefits, and risks associated with Artificial Intelligence (AI) Expert Systems applied to low cost space expendable launch vehicle systems are reviewed. This study is in support of the joint USAF/NASA effort to define the next generation of a heavy-lift Advanced Launch System (ALS) which will provide economical and routine access to space. The significant technical goals of the ALS program include: a 10 fold reduction in cost per pound to orbit, launch processing in under 3 weeks, and higher reliability and safety standards than current expendables. Knowledge-based system techniques are being explored for the purpose of automating decision support processes in onboard and ground systems for pre-launch checkout and in-flight operations. Issues such as: satisfying real-time requirements, providing safety validation, hardware and Data Base Management System (DBMS) interfacing, system synergistic effects, human interfaces, and ease of maintainability, have an effect on the viability of expert systems as a useful tool.

  5. Atmospheric entry of nuclear-powered vehicles due to accidental/inadvertent termination of operations

    NASA Technical Reports Server (NTRS)

    Menees, Gene P.; Park, Chul; Tauber, Michael E.

    1992-01-01

    The entries of the radioactive components into earth's atmosphere resulting from an accident or inadvertent abort of a space vehicle powered by nuclear-thermal-rockets are investigated. The study is made for a typical piloted Mars mission vehicle incapacitated by an accident or malfunction during the trans-Mars-injection maneuver due to simultaneous multiple failures of its component systems. The three different accident/abort modes considered are the following: (1) a constant-rate angular pitching motion of the vehicle, (2) a constant-acceleration angular pitching motion of the vehicle, and (3) the rocket engine breaks away from the rest of the vehicle with a finite relative (dispersion) velocity. The speeds and angles of the atmospheric entries are calculated for each mode for different values of the time of the accident, pitching rate, acceleration, and dispersion velocity. For the most severe entry speeds and flight-path angles, the stagnation-point pressures, heat transfer rates, thickness, and mass per unit area of the heat shields necessary to protect the radioactive components from disintegrating, deceleration g-loads, and high ground-impact velocities are calculated. The study points out that the high g-loads and high ground-impact velocities are the most serious problems that must be addressed.

  6. Software Architecture of the NASA Shuttle Ground Operations Simulator - SGOS

    NASA Technical Reports Server (NTRS)

    Cook, Robert P.; Lostroscio, Charles T.

    2005-01-01

    The SGOS executive and its subsystems have been an integral component of the Shuttle Launch Safety Program for almost thirty years. It is usable (via the LAN) by over 2000 NASA employees at the Kennedy Space Center and 11,000 contractors. SGOS supports over 800 models comprised of several hundred thousand lines of code and over 1,000 MCP procedures. Yet neither language has a for loop!! The simulation software described in this paper is used to train ground controllers and to certify launch countdown readiness.

  7. Absolute High-Precision Localisation of an Unmanned Ground Vehicle by Using Real-Time Aerial Video Imagery for Geo-referenced Orthophoto Registration

    NASA Astrophysics Data System (ADS)

    Kuhnert, Lars; Ax, Markus; Langer, Matthias; Nguyen van, Duong; Kuhnert, Klaus-Dieter

    This paper describes an absolute localisation method for an unmanned ground vehicle (UGV) if GPS is unavailable for the vehicle. The basic idea is to combine an unmanned aerial vehicle (UAV) to the ground vehicle and use it as an external sensor platform to achieve an absolute localisation of the robotic team. Beside the discussion of the rather naive method directly using the GPS position of the aerial robot to deduce the ground robot's position the main focus of this paper lies on the indirect usage of the telemetry data of the aerial robot combined with live video images of an onboard camera to realise a registration of local video images with apriori registered orthophotos. This yields to a precise driftless absolute localisation of the unmanned ground vehicle. Experiments with our robotic team (AMOR and PSYCHE) successfully verify this approach.

  8. Intelligent command and control systems for satellite ground operations

    NASA Technical Reports Server (NTRS)

    Mitchell, Christine M.

    1994-01-01

    The Georgia Tech portion of the Intelligent Control Center project includes several complementary activities. Two major activities entail thesis level research; the other activities are either support activities or preliminary explorations (e.g., task analyses) to support the research. The first research activity is the development of principles for the design of active interfaces to support monitoring during real-time supports. It is well known that as the operator's task becomes less active, i.e., more monitoring and less active control, there is concern that the operator will be less involved and less able to rapidly identify anomalous or failure situations. The research project to design active monitoring interfaces is an attempt to remediate this undesirable side-effect of increasingly automated control systems that still depend ultimately on operator supervision. The second research activity is the exploration of the use of case-based reasoning as a way to accumulate operator experience and make it available in computational form.

  9. Use of 3D laser radar for navigation of unmanned aerial and ground vehicles in urban and indoor environments

    NASA Astrophysics Data System (ADS)

    Uijt de Haag, Maarten; Venable, Don; Smearcheck, Mark

    2007-04-01

    This paper discusses the integration of Inertial measurements with measurements from a three-dimensional (3D) imaging sensor for position and attitude determination of unmanned aerial vehicles (UAV) and autonomous ground vehicles (AGV) in urban or indoor environments. To enable operation of UAVs and AGVs at any time in any environment a Precision Navigation, Attitude, and Time (PNAT) capability is required that is robust and not solely dependent on the Global Positioning System (GPS). In urban and indoor environments a GPS position capability may not only be unavailable due to shadowing, significant signal attenuation or multipath, but also due to intentional denial or deception. Although deep integration of GPS and Inertial Measurement Unit (IMU) data may prove to be a viable solution an alternative method is being discussed in this paper. The alternative solution is based on 3D imaging sensor technologies such as Flash Ladar (Laser Radar). Flash Ladar technology consists of a modulated laser emitter coupled with a focal plane array detector and the required optics. Like a conventional camera this sensor creates an "image" of the environment, but producing a 2D image where each pixel has associated intensity vales the flash Ladar generates an image where each pixel has an associated range and intensity value. Integration of flash Ladar with the attitude from the IMU allows creation of a 3-D scene. Current low-cost Flash Ladar technology is capable of greater than 100 x 100 pixel resolution with 5 mm depth resolution at a 30 Hz frame rate. The proposed algorithm first converts the 3D imaging sensor measurements to a point cloud of the 3D, next, significant environmental features such as planar features (walls), line features or point features (corners) are extracted and associated from one 3D imaging sensor frame to the next. Finally, characteristics of these features such as the normal or direction vectors are used to compute the platform position and attitude

  10. Concepts, technology, and operations for a quick response, highly maneuverable launch vehicle

    NASA Technical Reports Server (NTRS)

    Gabris, E. A.; Freeman, D. C., Jr.; Martin, J. A.

    1984-01-01

    Preliminary results from the NASA orbit-on-demand study are used to identify major technology issues for development of a quick response vehicle. Reasonable vehicles are found to require significant advances in propulsion, structures, materials, and flight mechanics technology. Vehicle concepts using normal growth technology predicted for the 1990s are compromised by expendable hardware or by unmanageable size and complexity. Operational analyses of the vertical-launch and horizontal-launch takeoff vehicles show that the latter have more inherent operational utility. The supply of liquid hydrogen propellant at alternate sites is a major issue; however, propane may be a viable option for at least one concept. Propellant for orbital maneuvering significantly increases gross weight for many of the concepts. This increase is greater for horizontal-takeoff systems becasue of their larger orbiters.

  11. Human-Automation Interaction Design for Adaptive Cruise Control Systems of Ground Vehicles.

    PubMed

    Eom, Hwisoo; Lee, Sang Hun

    2015-01-01

    A majority of recently developed advanced vehicles have been equipped with various automated driver assistance systems, such as adaptive cruise control (ACC) and lane keeping assistance systems. ACC systems have several operational modes, and drivers can be unaware of the mode in which they are operating. Because mode confusion is a significant human error factor that contributes to traffic accidents, it is necessary to develop user interfaces for ACC systems that can reduce mode confusion. To meet this requirement, this paper presents a new human-automation interaction design methodology in which the compatibility of the machine and interface models is determined using the proposed criteria, and if the models are incompatible, one or both of the models is/are modified to make them compatible. To investigate the effectiveness of our methodology, we designed two new interfaces by separately modifying the machine model and the interface model and then performed driver-in-the-loop experiments. The results showed that modifying the machine model provides a more compact, acceptable, effective, and safe interface than modifying the interface model. PMID:26076406

  12. Human-Automation Interaction Design for Adaptive Cruise Control Systems of Ground Vehicles

    PubMed Central

    Eom, Hwisoo; Lee, Sang Hun

    2015-01-01

    A majority of recently developed advanced vehicles have been equipped with various automated driver assistance systems, such as adaptive cruise control (ACC) and lane keeping assistance systems. ACC systems have several operational modes, and drivers can be unaware of the mode in which they are operating. Because mode confusion is a significant human error factor that contributes to traffic accidents, it is necessary to develop user interfaces for ACC systems that can reduce mode confusion. To meet this requirement, this paper presents a new human-automation interaction design methodology in which the compatibility of the machine and interface models is determined using the proposed criteria, and if the models are incompatible, one or both of the models is/are modified to make them compatible. To investigate the effectiveness of our methodology, we designed two new interfaces by separately modifying the machine model and the interface model and then performed driver-in-the-loop experiments. The results showed that modifying the machine model provides a more compact, acceptable, effective, and safe interface than modifying the interface model. PMID:26076406

  13. Integration of health management and support systems is key to achieving cost reduction and operational concept goals of the 2nd generation reusable launch vehicle

    NASA Astrophysics Data System (ADS)

    Koon, Phillip L.; Greene, Scott

    2002-07-01

    Our aerospace customers are demanding that we drastically reduce the cost of operating and supporting our products. Our space customer in particular is looking for the next generation of reusable launch vehicle systems to support more aircraft like operation. To achieve this goal requires more than an evolution in materials, processes and systems, what is required is a paradigm shift in the design of the launch vehicles and the processing systems that support the launch vehicles. This paper describes the Automated Informed Maintenance System (AIM) we are developing for NASA's Space Launch Initiative (SLI) Second Generation Reusable Launch Vehicle (RLV). Our system includes an Integrated Health Management (IHM) system for the launch vehicles and ground support systems, which features model based diagnostics and prognostics. Health Management data is used by our AIM decision support and process aids to automatically plan maintenance, generate work orders and schedule maintenance activities along with the resources required to execute these processes. Our system will automate the ground processing for a spaceport handling multiple RLVs executing multiple missions. To accomplish this task we are applying the latest web based distributed computing technologies and application development techniques.

  14. 29 CFR 1915.93 - Motor vehicle safety equipment, operation and maintenance.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... requirements in 29 CFR 1910.178 continue to apply to powered industrial trucks used for shipyard employment. (b... initially used after August 1, 2011 is equipped with a safety belt for each employee operating or riding in... belt, securely and tightly fastened, at all times while operating or riding in a motor vehicle. (3)...

  15. 29 CFR 1915.93 - Motor vehicle safety equipment, operation and maintenance.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... requirements in 29 CFR 1910.178 continue to apply to powered industrial trucks used for shipyard employment. (b... initially used after August 1, 2011 is equipped with a safety belt for each employee operating or riding in... belt, securely and tightly fastened, at all times while operating or riding in a motor vehicle. (3)...

  16. Lightning Characteristics and Lightning Strike Peak Current Probabilities as Related to Aerospace Vehicle Operations

    NASA Technical Reports Server (NTRS)

    Johnson, Dale L.; Vaughan, William W.

    1998-01-01

    A summary is presented of basic lightning characteristics/criteria for current and future NASA aerospace vehicles. The paper estimates the probability of occurrence of a 200 kA peak lightning return current, should lightning strike an aerospace vehicle in various operational phases, i.e., roll-out, on-pad, launch, reenter/land, and return-to-launch site. A literature search was conducted for previous work concerning occurrence and measurement of peak lighting currents, modeling, and estimating probabilities of launch vehicles/objects being struck by lightning. This paper presents these results.

  17. Ground Systems Development Environment (GSDE) interface requirements analysis: Operations scenarios

    NASA Technical Reports Server (NTRS)

    Church, Victor E.; Phillips, John

    1991-01-01

    This report is a preliminary assessment of the functional and data interface requirements to the link between the GSDE GS/SPF (Amdahl) and the Space Station Control Center (SSCC) and Space Station Training Facility (SSTF) Integration, Verification, and Test Environments (IVTE's). These interfaces will be involved in ground software development of both the control center and the simulation and training systems. Our understanding of the configuration management (CM) interface and the expected functional characteristics of the Amdahl-IVTE interface is described. A set of assumptions and questions that need to be considered and resolved in order to complete the interface functional and data requirements definitions are presented. A listing of information items defined to describe software configuration items in the GSDE CM system is included. It also includes listings of standard reports of CM information and of CM-related tools in the GSDE.

  18. Real-time Accurate Surface Reconstruction Pipeline for Vision Guided Planetary Exploration Using Unmanned Ground and Aerial Vehicles

    NASA Technical Reports Server (NTRS)

    Almeida, Eduardo DeBrito

    2012-01-01

    This report discusses work completed over the summer at the Jet Propulsion Laboratory (JPL), California Institute of Technology. A system is presented to guide ground or aerial unmanned robots using computer vision. The system performs accurate camera calibration, camera pose refinement and surface extraction from images collected by a camera mounted on the vehicle. The application motivating the research is planetary exploration and the vehicles are typically rovers or unmanned aerial vehicles. The information extracted from imagery is used primarily for navigation, as robot location is the same as the camera location and the surfaces represent the terrain that rovers traverse. The processed information must be very accurate and acquired very fast in order to be useful in practice. The main challenge being addressed by this project is to achieve high estimation accuracy and high computation speed simultaneously, a difficult task due to many technical reasons.

  19. Onboard Autonomy and Ground Operations Automation for the Intelligent Payload Experiment (IPEX) CubeSat Mission

    NASA Technical Reports Server (NTRS)

    Chien, Steve; Doubleday, Joshua; Ortega, Kevin; Tran, Daniel; Bellardo, John; Williams, Austin; Piug-Suari, Jordi; Crum, Gary; Flatley, Thomas

    2012-01-01

    The Intelligent Payload Experiment (IPEX) is a cubesat manifested for launch in October 2013 that will flight validate autonomous operations for onboard instrument processing and product generation for the Intelligent Payload Module (IPM) of the Hyperspectral Infra-red Imager (HyspIRI) mission concept. We first describe the ground and flight operations concept for HyspIRI IPM operations. We then describe the ground and flight operations concept for the IPEX mission and how that will validate HyspIRI IPM operations. We then detail the current status of the mission and outline the schedule for future development.

  20. Analysis and Modeling of Ground Operations at Hub Airports

    NASA Technical Reports Server (NTRS)

    Atkins, Stephen (Technical Monitor); Andersson, Kari; Carr, Francis; Feron, Eric; Hall, William D.

    2000-01-01

    Building simple and accurate models of hub airports can considerably help one understand airport dynamics, and may provide quantitative estimates of operational airport improvements. In this paper, three models are proposed to capture the dynamics of busy hub airport operations. Two simple queuing models are introduced to capture the taxi-out and taxi-in processes. An integer programming model aimed at representing airline decision-making attempts to capture the dynamics of the aircraft turnaround process. These models can be applied for predictive purposes. They may also be used to evaluate control strategies for improving overall airport efficiency.

  1. Remotely Operated Vehicles (ROVs) Provide a "Big Data Progression"

    NASA Astrophysics Data System (ADS)

    Oostra, D.; Sanghera, S. S.; Mangosing, D. C., Jr.; Lewis, P. M., Jr.; Chambers, L. H.

    2015-12-01

    This year, science and technology teams at the NASA Langley Science Directorate were challenged with creating an API-based web application using RockBlock Mobile sensors mounted on a zero pressure high-altitude balloon. The system tracks and collects meteorological data parameters and visualizes this data in near real time, using a MEAN development stack to create an HTML5 based tool that can send commands to the vehicle, parse incoming data, and perform other functions to store and serve data to other devices. NASA developers and science educators working on this project saw an opportunity to use this emerging technology to address a gap identified in science education between middle and high school curricula. As students learn about data analysis in elementary and middle school, they are taught to collect data from in situ sources. In high school, students are then asked to work with remotely sensed data, without always having the experience or understanding of how that data is collected. We believe that using ROVs to create a "big data progression" for students will not only enhance their ability to understand how remote satellite data is collected, but will also provide the outlet for younger students to expand their interest in science and data prior to entering high school. In this presentation, we will share and discuss our experiences with ROVs, APIs and data viz applications, with a focus on the next steps for developing this emerging capability.

  2. Ground Systems Development and Operations: Exploration Begins Here

    NASA Technical Reports Server (NTRS)

    Hanna, Mary; Phillips, Pepper; VanNes, Timothy

    2012-01-01

    Hunger Hydraulik of Lohr, Germany has been selected as the vendor to build replacement Jacking, Leveling and Equalization cylinders for one Crawler Transporter. A site visit has been scheduled and a overview of how the Crawler Transporter fits into KSC launch operations will be presented as information. The presentation will be presented on July 11, 2012 by Pepper Phillips, the Program Manager for GSDO.

  3. Integrated payload and mission planning, phase 3. Volume 3: Ground real-time mission operations

    NASA Technical Reports Server (NTRS)

    White, W. J.

    1977-01-01

    The payloads tentatively planned to fly on the first two Spacelab missions were analyzed to examine the cost relationships of providing mission operations support from onboard vs the ground-based Payload Operations Control Center (POCC). The quantitative results indicate that use of a POCC, with data processing capability, to support real-time mission operations is the most cost effective case.

  4. Ground Systems Development and Operations (GSDO): Exploration Begins Here [Grades K-4

    NASA Technical Reports Server (NTRS)

    Hill, Trudy

    2012-01-01

    Presentation to inform the non-NASA general public and school children of ground systems development and operations activities at Kennedy Space Center, particularly on what GSDO is and does, in a high level overview.

  5. Ground Systems Development and Operations (GSDO) Education 101: Exploration Begins Here [Grades 9-12

    NASA Technical Reports Server (NTRS)

    Hill, Trudy

    2012-01-01

    Presentation to inform the non-NASA general public and school children of ground systems development and operations activities at Kennedy Space Center, particularly on what GSDO is and does, in a high level overview.

  6. TITLE MICROBIOLOGICAL IMPACT OF CONCENTRATED ANIMAL FEED OPERATIONS (CAFOS) ON SURFACE AND GROUND WATER QUALITY

    EPA Science Inventory

    Abstract: This research will focus on the microbiological impact of concentrated animal feed operations (CAFOs) on surface and ground water quality. The specific sites of study will be Turkey Creek Watershed and Canton River in Northwestern Oklahoma. The microbiological source...

  7. Ground Systems Development and Operations (GSDO): Exploration Begins Here [Grades 5-8

    NASA Technical Reports Server (NTRS)

    Hill, Trudy

    2012-01-01

    Presentation to inform the non-NASA general public and school students of ground systems development and operations activities at Kennedy Space Center, particularly on what GSDO is and does, in a high level overview.

  8. SCAILET: An intelligent assistant for satellite ground terminal operations

    NASA Technical Reports Server (NTRS)

    Shahidi, A. K.; Crapo, J. A.; Schlegelmilch, R. F.; Reinhart, R. C.; Petrik, E. J.; Walters, J. L.; Jones, R. E.

    1993-01-01

    NASA Lewis Research Center has applied artificial intelligence to an advanced ground terminal. This software application is being deployed as an experimenter interface to the link evaluation terminal (LET) and was named Space Communication Artificial Intelligence for the Link Evaluation Terminal (SCAILET). The high-burst-rate (HBR) LET provides 30-GHz-transmitting and 20-GHz-receiving, 220-Mbps capability for wide band communications technology experiments with the Advanced Communication Technology Satellite (ACTS). The HBR-LET terminal consists of seven major subsystems. A minicomputer controls and monitors these subsystems through an IEEE-488 or RS-232 protocol interface. Programming scripts (test procedures defined by design engineers) configure the HBR-LET and permit data acquisition. However, the scripts are difficult to use, require a steep learning curve, are cryptic, and are hard to maintain. This discourages experimenters from utilizing the full capabilities of the HBR-LET system. An intelligent assistant module was developed as part of the SCAILET software. The intelligent assistant addresses critical experimenter needs by solving and resolving problems that are encountered during the configuring of the HBR-LET system. The intelligent assistant is a graphical user interface with an expert system running in the background. In order to further assist and familiarize an experimenter, an on-line hypertext documentation module was developed and included in the SCAILET software.

  9. The MER/CIP Portal for Ground Operations

    NASA Technical Reports Server (NTRS)

    Chan, Louise; Desai, Sanjay; DOrtenzio, Matthew; Filman, Robtert E.; Heher, Dennis M.; Hubbard, Kim; Johan, Sandra; Keely, Leslie; Magapu, Vish; Mak, Ronald

    2003-01-01

    We developed the Mars Exploration Rover/Collaborative Information Portal (MER/CIP) to facilitate MER operations. MER/CIP provides a centralized, one-stop delivery platform integrating science and engineering data from several distributed heterogeneous data sources. Key issues for MER/CIP include: 1) Scheduling and schedule reminders; 2) Tracking the status of daily predicted outputs; 3) Finding and analyzing data products; 4) Collaboration; 5) Announcements; 6) Personalization.

  10. Operations Research Flight Ground Service Education/Outreach

    NASA Technical Reports Server (NTRS)

    Smith, Scott M.

    2011-01-01

    This viewgraph presentation describes a nutritional biochemistry assessment of astronauts in preflight, in-flight, and post-flight operations. In-flight collections of blood and urine samples from astronauts to test the effects of Vitamin K, Pro K, Vitamin D, Omega-3 Fatty Acids, Iron, and Sodium in spaceflight is shown. A demonstration of a 1-carbon metabolism pathway that determines the existence of enzymes and polymorphisms is also presented.

  11. Feasibility report: Operation of light air cushion vehicle at McMurdo Sound, Antarctica

    NASA Astrophysics Data System (ADS)

    Dibbern, J. S.

    1987-02-01

    This report explores the viability of the use of an air cushion vehicle (ACV) or hovercraft to perform logistic and scientific support in the area of McMurdo Station, Antarctica. After a review of personnel assets and facilities at McMurdo Station to support the ACV plus a reconnaissance of the five major routes selected, it appears that an air cushion vehicle in the 1 to 1 1/2 ton payload class would be of significant value to support operations. It would reduce transit times for surface vehicle traverses on the routes selected and reduce requirements for expenditure of helicopter flight time in others. Of major significance is the ability to handle passenger/shuttle requirements between the Scott Base transition and Williams Field Skiway. Use of the ACV for high frequency passenger operations would help preserve the snow road for cargo operations during periods of road deterioration.

  12. Performance and operational considerations in the design of vehicle antennas for mobile satellite communications

    NASA Technical Reports Server (NTRS)

    Milne, R.

    1995-01-01

    This paper examines the vehicle antenna requirements for mobile satellite systems. The antenna parameters are discussed in the light of the requirements and the limitations in performance imposed by the physical constraints of antenna and by vehicle geometries. Measurements of diffraction and antenna noise temperature in an operational environment are examined, as well as their effects on system margins. Mechanical versus electronic designs are compared with regards to performance, cost, reliability, and design complexity. Comparisons between open-loop and close-loop tracking systems are made and the effects of bandwidth, sidelobe levels, operational constraints, vehicle angular velocity, and acceleration are discussed. Some consideration is given to the use of hybrid systems employing both open and closed-loop tracking. Changes to antenna/terminal specifications are recommended which will provide greater design flexibility and increase the likelihood of meeting the performance and operational requirements.

  13. Unmanned aerial vehicle (UAV) operated megapixel spectral camera

    NASA Astrophysics Data System (ADS)

    Mäkynen, Jussi; Holmlund, Christer; Saari, Heikki; Ojala, Kai; Antila, Tapani

    2011-11-01

    VTT Technical Research Centre of Finland has developed a lightweight Fabry-Perot interferometer based hyperspectral imager weighting only 400 g which makes it compatible with various small UAV platforms. The concept of the hyperspectral imager has been published in SPIE Proc. 74741 and 76682. This UAV spectral imager is capable of recording 5 Mpix multispectral data in the wavelength range of 500 - 900 nm at resolutions of 10-40 nm, Full-Width-Half-Maximum (FWHM). An internal memory buffer allows 16 Mpix of image data to be stored during one image burst. The user can configure the system to take either three 5 Mpix images or up to 54 VGA resolution images with each triggering. Each image contains data from one, two or three wavelength bands which can be separated during post processing. This allows a maximum of 9 spectral bands to be stored in high spatial resolution mode or up to 162 spectral bands in VGA-mode during each image burst. Image data is stored in a compact flash memory card which provides the mass storage for the imager. The field of view of the system is 26° × 36° and the ground pixel size at 150 m flying altitude is around 40 mm in high-resolution mode. The design, calibration and test flight results will be presented.

  14. Achieving Lights-Out Operation of SMAP Using Ground Data System Automation

    NASA Technical Reports Server (NTRS)

    Sanders, Antonio

    2013-01-01

    The approach used in the SMAP ground data system to provide reliable, automated capabilities to conduct unattended operations has been presented. The impacts of automation on the ground data system architecture were discussed, including the three major automation patterns identified for SMAP and how these patterns address the operations use cases. The architecture and approaches used by SMAP will set the baseline for future JPL Earth Science missions.

  15. Integrated multi-sensor package (IMSP) for unmanned vehicle operations

    NASA Astrophysics Data System (ADS)

    Crow, Eddie C.; Reichard, Karl; Rogan, Chris; Callen, Jeff; Seifert, Elwood

    2007-10-01

    This paper describes recent efforts to develop integrated multi-sensor payloads for small robotic platforms for improved operator situational awareness and ultimately for greater robot autonomy. The focus is on enhancements to perception through integration of electro-optic, acoustic, and other sensors for navigation and inspection. The goals are to provide easier control and operation of the robot through fusion of multiple sensor outputs, to improve interoperability of the sensor payload package across multiple platforms through the use of open standards and architectures, and to reduce integration costs by embedded sensor data processing and fusion within the sensor payload package. The solutions investigated in this project to be discussed include: improved capture, processing and display of sensor data from multiple, non-commensurate sensors; an extensible architecture to support plug and play of integrated sensor packages; built-in health, power and system status monitoring using embedded diagnostics/prognostics; sensor payload integration into standard product forms for optimized size, weight and power; and the use of the open Joint Architecture for Unmanned Systems (JAUS)/ Society of Automotive Engineers (SAE) AS-4 interoperability standard. This project is in its first of three years. This paper will discuss the applicability of each of the solutions in terms of its projected impact to reducing operational time for the robot and teleoperator.

  16. Operation of an aluminum-intensive vehicle : report on a six-year project.

    SciTech Connect

    Gaines, L. L.; Cuenca, R. M.

    2002-05-02

    In 1994, Ford produced a small demonstration fleet of Mercury Sables with aluminum bodies. Argonne National Laboratory obtained one of these vehicles on a lease so that Laboratory staff could observe the wear characteristics of the body under normal operating conditions. The vehicle was placed in the transportation pool, parked outdoors, and used by staff members for both local and longer trips. The vehicle performed normally, except for having particularly good acceleration because of its light weight and highpower SHO engine. No significant problems were encountered that related to the Al body or engine. No special driving protocols were observed, but a log was kept of trip lengths and fuel purchases. Fuel economy was observed to be improved, compared with that of a similar conventional steel-bodied vehicle that was available for one year of the lease period. The vehicle was tested on a chassis dynamometer to obtain emissions and fuel economy over the federal test cycle. The impacts of further mass reduction were also simulated. At the end of the lease, the body was in excellent condition, which we documented with a set of detailed photographs before the vehicle was returned to Ford. There were minor imperfections in the painted surface, probably resulting from the omission of an E-coat during the painting process. We also examined three similar conventional vehicles for comparison; these exhibited varying degrees of rust.

  17. Third International Symposium on Space Mission Operations and Ground Data Systems, part 1

    NASA Technical Reports Server (NTRS)

    Rash, James L. (Editor)

    1994-01-01

    Under the theme of 'Opportunities in Ground Data Systems for High Efficiency Operations of Space Missions,' the SpaceOps '94 symposium included presentations of more than 150 technical papers spanning five topic areas: Mission Management, Operations, Data Management, System Development, and Systems Engineering. The papers focus on improvements in the efficiency, effectiveness, productivity, and quality of data acquisition, ground systems, and mission operations. New technology, techniques, methods, and human systems are discussed. Accomplishments are also reported in the application of information systems to improve data retrieval, reporting, and archiving; the management of human factors; the use of telescience and teleoperations; and the design and implementation of logistics support for mission operations.

  18. A scientific operations plan for the NASA space telescope. [ground support systems, project planning

    NASA Technical Reports Server (NTRS)

    West, D. K.; Costa, S. R.

    1975-01-01

    A ground system is described which is compatible with the operational requirements of the space telescope. The goal of the ground system is to minimize the cost of post launch operations without seriously compromising the quality and total throughput of space telescope science, or jeopardizing the safety of the space telescope in orbit. The resulting system is able to accomplish this goal through optimum use of existing and planned resources and institutional facilities. Cost is also reduced and efficiency in operation increased by drawing on existing experience in interfacing guest astronomers with spacecraft as well as mission control experience obtained in the operation of present astronomical spacecraft.

  19. 41 CFR 101-39.307 - Grounds for withdrawal of vehicle.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... vehicle. 101-39.307 Section 101-39.307 Public Contracts and Property Management Federal Property Management Regulations System FEDERAL PROPERTY MANAGEMENT REGULATIONS AVIATION, TRANSPORTATION, AND MOTOR VEHICLES 39-INTERAGENCY FLEET MANAGEMENT SYSTEMS 39.3-Use and Care of GSA Interagency Fleet...

  20. 41 CFR 101-39.307 - Grounds for withdrawal of vehicle.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... of vehicle. 101-39.307 Section 101-39.307 Public Contracts and Property Management Federal Property Management Regulations System FEDERAL PROPERTY MANAGEMENT REGULATIONS AVIATION, TRANSPORTATION, AND MOTOR VEHICLES 39-INTERAGENCY FLEET MANAGEMENT SYSTEMS 39.3-Use and Care of GSA Interagency Fleet...

  1. 41 CFR 101-39.307 - Grounds for withdrawal of vehicle.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... vehicle. 101-39.307 Section 101-39.307 Public Contracts and Property Management Federal Property Management Regulations System FEDERAL PROPERTY MANAGEMENT REGULATIONS AVIATION, TRANSPORTATION, AND MOTOR VEHICLES 39-INTERAGENCY FLEET MANAGEMENT SYSTEMS 39.3-Use and Care of GSA Interagency Fleet...

  2. 41 CFR 101-39.307 - Grounds for withdrawal of vehicle.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... vehicle. 101-39.307 Section 101-39.307 Public Contracts and Property Management Federal Property Management Regulations System FEDERAL PROPERTY MANAGEMENT REGULATIONS AVIATION, TRANSPORTATION, AND MOTOR VEHICLES 39-INTERAGENCY FLEET MANAGEMENT SYSTEMS 39.3-Use and Care of GSA Interagency Fleet...

  3. Remote operated vehicle with carbon dioxide blasting (ROVCO{sub 2})

    SciTech Connect

    Resnick, A.M.

    1995-10-01

    The Remote Operated Vehicle with Carbon Dioxide Blasting (ROVCO{sub 2}), as shown in a front view is a six-wheeled remote land vehicle used to decontaminate concrete floors. The remote vehicle has a high pressure Cryogenesis blasting subsystem, Oceaneering Technologies (OTECH) developed a CO{sub 2} xY Orthogonal Translational End Effector (COYOTEE) subsystem, and a vacuum/filtration and containment subsystem. The cryogenesis subsystem performs the actual decontamination work and consists of the dry ice supply unit, the blasting nozzle, the remotely controlled electric and pneumatic valves, and the vacuum work-head. The COYOTEE subsystem positions the blasting work-head within a planar work space and the vacuum subsystem provides filtration and containment of the debris generated by the CO{sub 2} blasting. It employs a High Efficiency Particulate Air (HEPA) filtration unit to separate contaminants for disposal. All of the above systems are attached to the vehicle subsystem via the support structure.

  4. Electric and Hybrid Vehicle Program; Site Operator Program. Quarterly progress report, October--December 1991

    SciTech Connect

    Warren, J.F.

    1992-01-01

    Activities during the first quarter centered around integrating the new participants into the program. A meeting of the Site Operators, in conjunction with the first meeting of the Electric Vehicle Users Task Force, was held in October. A second meeting of the Task Force was held in December. During these meetings the new contractual requirements were explained to the participants. The Site Operator Data Base was distributed and explained. The Site Operators will begin using the data base in December 1991 and will supply the operating and maintenance data to the INEL on a monthly basis. The Operators requested that they be able to have access to the data of the other Operators and it was agreed that they would be provided this on floppy disk monthly from the INEL. Presentations were made to the DOE sponsored Automotive Technology Development-Contractors Coordination Meeting in October. An overview of the program was given by EG&G. Representatives from Arizona Public Service, Texas A&M University, and York Technical College provided details of their programs and the results and future goals. Work was begun on commercializing the Versatile Data Acquisition System (VDAS). A Scope of Work has been written for a Cooperative Research and Development Agreement (CRADA) to be submitted to the USABC. If implemented, the CRADA will provide funds for the development and commercialization of the VDAS. Participants in the Site Operator Program will test prototypes of the system within their fleets, making the data available to the USABC and other interested organizations. The USABC will provide recommendations on the data to be collected. Major activities by the majority of the Operators were involved with the continued operation and demonstration of existing vehicles. In addition, several of the operators were involved in identifying and locating vehicles to be added to their fleets. A list of the vehicles in each Site Operator fleet is included as Appendix A to this report.

  5. 77 FR 67399 - Trim Systems Operating Corp., a Subsidiary of Commercial Vehicle Group, Inc., Including On-Site...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-11-09

    ... Employment and Training Administration Trim Systems Operating Corp., a Subsidiary of Commercial Vehicle Group... of Trim Systems Operating Corp., a subsidiary of Commercial Vehicle Group, Inc., Statesville, North... applicable to TA-W-81,393 is hereby issued as follows: All workers of Trim Systems Operating Corp.,...

  6. 76 FR 21789 - ITS Joint Program Office; Vehicle to Infrastructure Core System Concept of Operations; Notice of...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-04-18

    ... ITS Joint Program Office; Vehicle to Infrastructure Core System Concept of Operations; Notice of... host a free public meeting to discuss the Vehicle to Infrastructure (V2I) Core System Concept of... under the Vehicle Infrastructure Integration Proof of Concept (VII POC). The Core System supports...

  7. Expendable second stage reusable space shuttle booster. Volume 2: Technical summary. Book 3: Booster vehicle modifications and ground systems definition

    NASA Technical Reports Server (NTRS)

    1972-01-01

    A definition of the expendable second stage and space shuttle booster separation system is presented. Modifications required on the reusable booster for expendable second stage/payload flight and the ground systems needed to operate the expendable second stage in conjuction with the space shuttle booster are described. The safety, reliability, and quality assurance program is explained. Launch complex operations and services are analyzed.

  8. Ground Operations of the ISS GNC Babb-Mueller Atmospheric Density Model

    NASA Technical Reports Server (NTRS)

    Brogan, Jonathan

    2002-01-01

    The ISS GNC system was updated recently with a new software release that provides onboard state determination capability. Prior to this release, only the Russian segment maintained and propagated the onboard state, which was periodically updated through Russian ground tracking. The new software gives the US segment the capability for maintaining the onboard state, and includes new GPS and state vector propagation capabilities. Part of this software package is an atmospheric density model based on the Babb-Mueller algorithm. Babb-Mueller efficiently mimics a full analytical density model, such as the Jacchia model. While lacchia is very robust and is used in the Mission Control Center, it is too computationally intensive for use onboard. Thus, Babb-Mueller was chosen as an alternative. The onboard model depends on a set of calibration coefficients that produce a curve fit to the lacchia model. The ISS GNC system only maintains one set of coefficients onboard, so a new set must be uplinked by controllers when the atmospheric conditions change. The onboard density model provides a real-time density value, which is used to calculate the drag experienced by the ISS. This drag value is then incorporated into the onboard propagation of the state vector. The propagation of the state vector, and therefore operation of the BabbMueller algorithm, will be most critical when GPS updates and secondary state vector sources fail. When GPS is active, the onboard state vector will be updated every ten seconds, so the propagation error is irrelevant. When GPS is inactive, the state vector must be updated at least every 24 hours, based on current protocol. Therefore, the Babb-Mueller coefficients must be accurate enough to fulfill the state vector accuracy requirements for at least one day. A ground operations concept was needed in order to manage both the on board Babb-Mueller density model and the onboard state quality. The Babb-Mueller coefficients can be determined operationally

  9. Operations and maintenance manual for a scale-model lunar roving vehicle

    NASA Technical Reports Server (NTRS)

    Lessem, A. S.

    1972-01-01

    A one-sixth scale model of the lunar roving vehicle used in the Apollo 15 mission was built and instrumented to conduct model studies of vehicle mobility. The model was free running under radio control and was equipped with a lightweight telemetry transmitter that allowed 16 channels of data to be gathered simultaneously. String payout and fifth-wheel devices were developed to measure vehicle velocity. Other real-time measurements included wheel torque, wheel speed, center-of-gravity accelerations, and steering forces. Calibration, operations, and maintenance procedures were worked out. Details of the development of the instrumentation, its maintenance, and some of the problems encountered, are recorded serve as a preliminary operations and maintenance manual for this specific model. In addition, information regarding soil processing and testing that may be useful to NASA personnel planning mobility research with the model in soil is furnished.

  10. Hydrogen and Hydrogen/Natural Gas Station and Vehicle Operations - 2006 Summary Report

    SciTech Connect

    Francfort; Donald Karner; Roberta Brayer

    2006-09-01

    This report is a summary of the operations and testing of internal combustion engine vehicles that were fueled with 100% hydrogen and various blends of hydrogen and compressed natural gas (HCNG). It summarizes the operations of the Arizona Public Service Alternative Fuel Pilot Plant, which produces, compresses, and dispenses hydrogen fuel. Other testing activities, such as the destructive testing of a CNG storage cylinder that was used for HCNG storage, are also discussed. This report highlights some of the latest technology developments in the use of 100% hydrogen fuels in internal combustion engine vehicles. Reports are referenced and WWW locations noted as a guide for the reader that desires more detailed information. These activities are conducted by Arizona Public Service, Electric Transportation Applications, the Idaho National Laboratory, and the U.S. Department of Energy’s Advanced Vehicle Testing Activity.

  11. Autonomy and manual operation in a small robotic system for under-vehicle inspections at security checkpoints

    NASA Astrophysics Data System (ADS)

    Smuda, William; Muench, Paul L.; Gerhart, Grant R.; Moore, Kevin L.

    2002-07-01

    Unmanned ground vehicle (UGV) technology can be used in a number of ways to assist in counter-terrorism activities. In addition to the conventional uses of tele-operated robots for unexploded ordinance handling and disposal, water cannons and other crowd control devices, robots can also be employed for a host of terrorism deterrence and detection applications. In previous research USU developed a completely autonomous prototype robot for performing under- vehicle inspections in parking areas (ODIS). Testing of this prototype and discussions with the user community indicated that neither the technology nor the users are ready for complete autonomy. In this paper we present a robotic system based on ODIS that balances the users' desire/need for tele- operation with a limited level of autonomy that enhances the performance of the robot. The system can be used by both civilian law enforcement and military police to replace the traditional mirror on a stick system of looking under cars for bombs and contraband.

  12. EFFECTS OF CONCENTRATED ANIMAL FEEDING OPERATIONS (CAFOS) ON GROUND WATER QUALITY (GWERD TASK 5823)

    EPA Science Inventory

    This research focuses on the potential for ground water contamination from swine CAFOs in Oklahoma. Three CAFOs have been selected for study, including a new farrowing sow operation, an existing nursery operation, and a closed combined facility. For the sow and combined facilitie...

  13. A Licensing Program for Operators of Two-Wheeled Motor Vehicles.

    ERIC Educational Resources Information Center

    Locke, Lewis Alvin

    This study was conducted to develop and evaluate a licensing program for operators of two-wheeled motor vehicles. Materials specifically developed for the study were: (1) a driver's handbook, (2) two forms of a written test, (3) an off-street driving test, and (4) a driving range. Once developed, these materials were the basis of the separate…

  14. 49 CFR 242.111 - Prior safety conduct as motor vehicle operator.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false Prior safety conduct as motor vehicle operator. 242.111 Section 242.111 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION QUALIFICATION AND CERTIFICATION OF CONDUCTORS Program and Eligibility Requirements §...

  15. System-level requirements for an operational solar electric orbital transfer vehicle

    SciTech Connect

    Miller, T.M.; Seaworth, G.B.; Cady, E.C.; Bell, R.S.

    1994-06-01

    The concept of using a solar electric orbital transfer vehicle (SEOTV) propulsion systems as a replacement for chemical propulsion systems has been examined on the merits of performance enhancement, economic benefit, and operability. This paper summarizes the system-level requirements for an operational SEOTV that were generated over the course of the study. The requirements provided are the result of detailed system-level trades covering complete vehicle performance, costs, and operational characteristics. Top-level requirements are defined for the SEOTV system and each of the major subsystems. Major operational requirements are also given. Results indicate that advanced, low-cost solar arrays will be required to provide the necessary economic pay-offs as will highly efficient hydrogen arcjet thruster systems. An advanced technology cryogenic propellant storage system will also be required for maximum payload capability. 20 refs.

  16. Electric and hybrid vehicle site operators program: Thinking of the future

    NASA Astrophysics Data System (ADS)

    Kansas State University, with support from federal, state, public, and private companies, is participating in the Department of Energy's Electric Vehicle Site Operator Program. Through participation in this program, Kansas State is displaying, testing, and evaluating electric or hybrid vehicle technology. This participation will provide organizations the opportunity to examine the latest EHV prototypes under actual operating conditions. KSU proposes to purchase one electric or hybrid van and two electric cars during the first two years of this five-year program. KSU has purchased one G-Van built by Conceptor Industries, Toronto, Canada and has initiated a procurement order to purchase two Soleq 1993 Ford EVcort station wagons. The G-Van has been signed in order for the public to be aware that this is an electric drive vehicle. Financial participants' names have been stenciled on the back door of the van. This vehicle is available for short term loan to interested utilities and companies. When other vehicles are obtained, the G-Van will be maintained on K-State's campus.

  17. [Electric and hybrid vehicle site operators program]: Thinking of the future

    SciTech Connect

    Not Available

    1993-01-01

    Kansas State University, with funding support from federal, state, public, and private companies, is participating in the Department of Energy's Electric Vehicle Site Operator Program. Through participation in this program, Kansas State is displaying, testing, and evaluating electric or hybrid vehicle technology. This participation will provide organizations the opportunity to examine the latest EHV prototypes under actual operating conditions. KSU proposes to purchase one (1) electric or hybrid vans and two (2) electric cars during the first two years of this five-year program. KSU has purchased one G-Van built by Conceptor Industries, Toronto, Canada and has initiated a procurement order to purchase two (2) Soleq 1993 Ford EVcort station wagons. The G-Van has been signed in order for the public to be aware that this is an electric drive vehicle. Financial participants' names have been stenciled on the back door of the van. This vehicle is available for short term loan to interested utilities and companies. When other vehicles are obtained, the G-Van will be maintained on K-State's campus.

  18. Integrated optimal dynamics control of 4WD4WS electric ground vehicle with tire-road frictional coefficient estimation

    NASA Astrophysics Data System (ADS)

    Wang, Rongrong; Hu, Chuan; Wang, Zejiang; Yan, Fengjun; Chen, Nan

    2015-08-01

    This paper presents an integrated optimal dynamics control of four-wheel driving and four-wheel steering (4WD4WS) electric ground vehicles via hierarchical control methodology. In the higher-level design, an LQR controller is proposed to obtain the integrated lateral force and yaw moment, according to their respective reference values. The lower-level controller is designed to ensure all the tires work in the stable region while realizing the tracking control of the vehicle dynamics. The tire-road friction coefficient is estimated through the integrated longitudinal force and lateral force, respectively, using a brush tire model. To reduce the estimation error, a novel data fusion function is employed to generate the final estimation value. Finally, the effectiveness of the proposed control and estimation strategies is validated via CarSim-Simulink joint simulation.

  19. Exhaust particle characterization for lean and stoichiometric DI vehicles operating on ethanol-gasoline blends

    SciTech Connect

    Storey, John Morse; Barone, Teresa L; Thomas, John F; Huff, Shean P

    2012-01-01

    Gasoline direct injection (GDI) engines can offer better fuel economy and higher performance over their port fuel-injected (PFI) counterparts, and are now appearing in increasingly more U.S. and European vehicles. Small displacement, turbocharged GDI engines are replacing large displacement engines, particularly in light-duty trucks and sport utility vehicles, in order for manufacturers to meet the U.S. fuel economy standards for 2016. Furthermore, lean-burn GDI engines can offer even higher fuel economy than stoichiometric GDI engines and have overcome challenges associated with cost-effective aftertreatment for NOx control. Along with changes in gasoline engine technology, fuel composition may increase in ethanol content beyond the current 10% due to the recent EPA waiver allowing 15% ethanol. In addition, the Renewable Fuels Standard passed as part of the 2007 Energy Independence and Security Act (EISA) mandates the use of biofuels in upcoming years. GDI engines are of environmental concern due to their high particulate matter (PM) emissions relative to port-fuel injected (PFI) gasoline vehicles; widespread market penetration of GDI vehicles may result in additional PM from mobile sources at a time when the diesel contribution is declining. In this study, we characterized particulate emissions from a European certified lean-burn GDI vehicle operating on ethanol-gasoline blends. Particle mass and particle number concentration emissions were measured for the Federal Test Procedure urban driving cycle (FTP 75) and the more aggressive US06 driving cycle. Particle number-size distributions and organic to elemental carbon ratios (OC/EC) were measured for 30 MPH and 80 MPH steady-state operation. In addition, particle number concentration was measured during wide open throttle accelerations (WOTs) and gradual accelerations representative of the FTP 75. Fuels included certification gasoline and 10% (E10) and 20% (E20) ethanol blends from the same supplier. The particle

  20. Remote Operated Vehicle with CO{sub 2} Blasting (ROVCO{sub 2}). Phase 1

    SciTech Connect

    1994-10-01

    This report documents the first phase of the Remote Operated Vehicle with CO{sub 2} Blasting (ROVCO{sub 2}) Program. The ROVCO{sub 2} Program`s goal is to develop and demonstrate a tool to improve the productivity of concrete floor decontamination. The first phase adapted and tested the critical subsystems: the CO{sub 2} blasting, the workhead manipulation, the controls, and the base vehicle. The testing documented the performance of the subsystems and preformed a concept demonstration of the integrated ROVCO{sub 2} system. This testing and demonstration verified that the ROVCO{sub 2} development exceeded it Phase 1 success criteria.

  1. The Design of Ground Operation Control System Based on Red5 & Flex

    NASA Astrophysics Data System (ADS)

    Guilin, Zhou; Chunlin, Li; Houyi

    According to the ground production of Beijing branch of China Southern Airlines, a production monitoring ground system was designed. The system is mainly used for ground monitoring of aircraft loading and production activities at the airfield, and use the event mechanism to coordinate the production work of SOC, CGS, cargo and aircraft maintenance factory. The system will provide strong support for SOC's work and has great significance for the protection of normal flights and investigation of delays. This innovative design proposed the online games conception and architecture to deal the production problems, and satisfy the front-line operational unit's strong demand of real-time, ease use and ease deployment.

  2. 14 CFR 417.405 - Ground safety analysis.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 4 2010-01-01 2010-01-01 false Ground safety analysis. 417.405 Section 417... OF TRANSPORTATION LICENSING LAUNCH SAFETY Ground Safety § 417.405 Ground safety analysis. (a) A launch operator must perform a ground safety analysis for launch vehicle hardware, ground...

  3. Counter tunnel exploration, mapping, and localization with an unmanned ground vehicle

    NASA Astrophysics Data System (ADS)

    Larson, Jacoby; Okorn, Brian; Pastore, Tracy; Hooper, David; Edwards, Jim

    2014-06-01

    Covert, cross-border tunnels are a security vulnerability that enables people and contraband to illegally enter the United States. All of these tunnels to-date have been constructed for the purpose of drug smuggling, but they may also be used to support terrorist activity. Past robotic tunnel exploration efforts have had limited success in aiding law enforcement to explore and map the suspect cross-border tunnels. These efforts have made use of adapted explosive ordnance disposal (EOD) or pipe inspection robotic systems that are not ideally suited to the cross-border tunnel environment. The Counter Tunnel project was sponsored by the Office of Secretary of Defense (OSD) Joint Ground Robotics Enterprise (JGRE) to develop a prototype robotic system for counter-tunnel operations, focusing on exploration, mapping, and characterization of tunnels. The purpose of this system is to provide a safe and effective solution for three-dimensional (3D) localization, mapping, and characterization of a tunnel environment. The system is composed of the robotic mobility platform, the mapping sensor payload, and the delivery apparatus. The system is able to deploy and retrieve the robotic mobility platform through a 20-cm-diameter borehole into the tunnel. This requirement posed many challenges in order to design and package the sensor and robotic system to fit through this narrow opening and be able to perform the mission. This paper provides a short description of a few aspects of the Counter Tunnel system such as mobility, perception, and localization, which were developed to meet the unique challenges required to access, explore, and map tunnel environments.

  4. The technical evolution of ground flight dynamics system utilized for spacecraft operations

    NASA Astrophysics Data System (ADS)

    Carrou, J. P.; Campan, G.; Fourcade, J.; Folliard, J.

    1992-08-01

    The development of technologies for ground-control systems for space mechanics systems at CNES is reviewed in the context of three experimental stages. The period 1965-74 focused on operational issues such as orbit determination and concepts for mission analysis such as launcher and satellite parameters. The preoperational phase of 1975-86 emphasized the development of satellites and ground-segment support for telecommunications, direct broadcasting, and earth observation. The developments led to the operational and commercial space ventures that characterize current projects, and a computer operation system for station acquisition is described for present satellite activities. A strategy is outlined for coping with the commercialization of space by developing the Oremus computer system which is based on the Mercator system that is demonstrated effective in satellite ground control.

  5. Variability of heavy duty vehicle operating mode frequencies for prediction of mobile emissions. Report for March 1995--March 1996

    SciTech Connect

    Grant, C.D.; Guensler, R.; Meyer, M.D.

    1996-01-01

    The paper discusses a new geographic information system (GIS)-based modal emissions model being developed with EPA and Georgia Tech to account for vehicle load conditions that will significantly improve the spatial resolution of emissions estimates. The GIS-based modal research model employs detailed subfleet engine and emissions characteristics and the speed/acceleration profiles for vehicle activity along links in the transportation system. Composition of the vehicle subfleet affects the amount of emissions produced under various operating conditions, dependent upon the load induced by the vehicle and driver, and the physical constraints of the vehicle. The aggregate modal frequencies are compared across vehicle classes to show differences in how heavy duty vehicles are operated.

  6. Human-robot interaction modeling and simulation of supervisory control and situational awareness during field experimentation with military manned and unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Johnson, Tony; Metcalfe, Jason; Brewster, Benjamin; Manteuffel, Christopher; Jaswa, Matthew; Tierney, Terrance

    2010-04-01

    The proliferation of intelligent systems in today's military demands increased focus on the optimization of human-robot interactions. Traditional studies in this domain involve large-scale field tests that require humans to operate semiautomated systems under varying conditions within military-relevant scenarios. However, provided that adequate constraints are employed, modeling and simulation can be a cost-effective alternative and supplement. The current presentation discusses a simulation effort that was executed in parallel with a field test with Soldiers operating military vehicles in an environment that represented key elements of the true operational context. In this study, "constructive" human operators were designed to represent average Soldiers executing supervisory control over an intelligent ground system. The constructive Soldiers were simulated performing the same tasks as those performed by real Soldiers during a directly analogous field test. Exercising the models in a high-fidelity virtual environment provided predictive results that represented actual performance in certain aspects, such as situational awareness, but diverged in others. These findings largely reflected the quality of modeling assumptions used to design behaviors and the quality of information available on which to articulate principles of operation. Ultimately, predictive analyses partially supported expectations, with deficiencies explicable via Soldier surveys, experimenter observations, and previously-identified knowledge gaps.

  7. Calculators for Estimating Greenhouse Gas Emissions from Public Transit Agency Vehicle Fleet Operations

    SciTech Connect

    Weigel, Brent; Southworth, Frank; Meyer, Michael D

    2010-01-01

    This paper reviews calculation tools available for quantifying the greenhouse gas emissions associated with different types of public transit service, and their usefulness in helping a transit agency to reduce its carbon footprint through informed vehicle and fuel procurement decisions. Available calculators fall into two categories: registry/inventory based calculators most suitable for standardized voluntary reporting, carbon trading, and regulatory compliance; and multi-modal life cycle analysis calculators that seek comprehensive coverage of all direct and indirect emissions. Despite significant progress in calculator development, no single calculator as yet contains all of the information needed by transit agencies to develop a truly comprehensive, life cycle analysis-based accounting of the emissions produced by its vehicle fleet operations, and for a wide range of vehicle/fuel technology options.

  8. Results from the Operational Testing of the Eaton Smart Grid Capable Electric Vehicle Supply Equipment

    SciTech Connect

    Bennett, Brion

    2014-10-01

    The Idaho National Laboratory conducted testing and analysis of the Eaton smart grid capable electric vehicle supply equipment (EVSE), which was a deliverable from Eaton for the U.S. Department of Energy FOA-554. The Idaho National Laboratory has extensive knowledge and experience in testing advanced conductive and wireless charging systems though INL’s support of the U.S. Department of Energy’s Advanced Vehicle Testing Activity. This document details the findings from the EVSE operational testing conducted at the Idaho National Laboratory on the Eaton smart grid capable EVSE. The testing conducted on the EVSE included energy efficiency testing, SAE J1772 functionality testing, abnormal conditions testing, and charging of a plug-in vehicle.

  9. Results from Operational Testing of the Siemens Smart Grid-Capable Electric Vehicle Supply Equipment

    SciTech Connect

    Bennett, Brion

    2015-05-01

    The Idaho National Laboratory conducted testing and analysis of the Siemens smart grid capable electric vehicle supply equipment (EVSE), which was a deliverable from Siemens for the U.S. Department of Energy FOA-554. The Idaho National Laboratory has extensive knowledge and experience in testing advanced conductive and wireless charging systems though INL’s support of the U.S. Department of Energy’s Advanced Vehicle Testing Activity. This document details the findings from the EVSE operational testing conducted at the Idaho National Laboratory on the Siemens smart grid capable EVSE. The testing conducted on the EVSE included energy efficiency testing, SAE J1772 functionality testing, abnormal conditions testing, and charging of a plug-in vehicle.

  10. Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance

    NASA Astrophysics Data System (ADS)

    Aras, Mohd Shahrieel Mohd; Abdullah, Shahrum Shah; Kamarudin, Muhammad Nizam; Rahman, Ahmad Fadzli Nizam Abdul; Azis, Fadilah Abd; Jaafar, Hazriq Izzuan

    2015-05-01

    This paper describes the effectiveness of observer-based output feedback for Unmanned Underwater Vehicle (UUV) with Linear Quadratic Regulation (LQR) performance. Tuning of observer parameters is crucial for tracking purpose. Prior to tuning facility, the ranges of observer and LQR parameters are obtained via system output cum error. The validation of this technique using unmanned underwater vehicles called Remotely Operated Vehicle (ROV) modelling helps to improve steady state performance of system response. The ROV modeling is focused for depth control using ROV 1 developed by the Underwater Technology Research Group (UTeRG). The results are showing that this technique improves steady state performances in term of overshoot and settling time of the system response.

  11. Tip-over prevention through heuristic reactive behaviors for unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Talke, Kurt; Kelley, Leah; Longhini, Patrick; Catron, Garret

    2014-06-01

    Skid-steer teleoperated robots are commonly used by military and civilian crews to perform high-risk, dangerous and critical tasks such as bomb disposal. Their missions are often performed in unstructured environments with irregular terrain, such as inside collapsed buildings or on rough terrain covered with a variety of media, such as sand, brush, mud, rocks and debris. During such missions, it is often impractical if not impossible to send another robot or a human operator to right a toppled robot. As a consequence, a robot tip-over event usually results in mission failure. To make matters more complicated, such robots are often equipped with heavy payloads that raise their centers of mass and hence increase their instability. Should the robot be equipped with a manipulator arm or flippers, it may have a way to self-right. The majority of manipulator arms are not designed for and are likely to be damaged during self-righting procedures, however, which typically have a low success rate. Furthermore, those robots not equipped with manipulator arms or flippers have no self-righting capabilities. Additionally, due to the on-board camera frame of reference, the video feed may cause the robot to appear to be on at level ground, when it actually may be on a slope nearing tip-over. Finally, robot operators are often so focused on the mission at hand they are oblivious to their surroundings, similar to a kid playing a video game. While this may not be an issue in the living room, it is not a good scenario to experience on the battlefield. Our research seeks to remove tip-over monitoring from the already large list of tasks an operator must perform. An autonomous tip-over prevention behavior for a mobile robot with a static payload has been developed, implemented and experimentally validated on two different teleoperated robotic platforms. Suitable for use with both teleoperated and autonomous robots, the prevention behavior uses the force-angle stability measure

  12. X-43A Fluid and Environmental Systems: Ground and Flight Operation and Lessons Learned

    NASA Technical Reports Server (NTRS)

    Vachon, Michael Jacob; Grindle, Thomas J.; St.John, Clinton W.; Dowdell, David B.

    2005-01-01

    The X-43A Hyper-X program demonstrated the first successful flights of an airframe integrated scramjet powered hypersonic vehicle. The X-43A vehicles established successive world records for jet-powered vehicles at speeds of Mach 7 and Mach 10. The X-43A vehicle is a subscale version of proposed hypersonic reconnaissance strike aircraft. Scaled down to a length of 12 ft (3.66 m), the lifting body design with high fineness ratio resulted in very small internal space available for fluid systems and their corresponding environmental conditioning systems. Safe testing and operation of the X-43A fluid and environmental systems was critical for mission success, not only for the safety of the flight crew in the NASA B-52B carrier aircraft, but also to maintain the reliability of vehicle systems while exposed to dynamics and hostile conditions encountered during the boost trajectory. The X-43A fluid and environmental systems successfully managed explosive, pyrophoric, inert, and very high pressure gases without incident. This report presents a summary of the checkout and flight validation of the X-43A fluid systems. The testing used for mission assurance is summarized. System performance during captive carry and launch flights is presented. The lessons learned are also discussed.

  13. ModSAF-based development of operational requirements for light armored vehicles

    NASA Astrophysics Data System (ADS)

    Rapanotti, John; Palmarini, Marc

    2003-09-01

    Light Armoured Vehicles (LAVs) are being developed to meet the modern requirements of rapid deployment and operations other than war. To achieve these requirements, passive armour is minimized and survivability depends more on sensors, computers, countermeasures and communications to detect and avoid threats. The performance, reliability, and ultimately the cost of these systems, will be determined by the technology trends and the rates at which they mature. Defining vehicle requirements will depend upon an accurate assessment of these trends over a longer term than was previously needed. Modelling and simulation are being developed to study these long-term trends and how they contribute to establishing vehicle requirements. ModSAF is being developed for research and development, in addition to the original requirement of Simulation and Modelling for Acquisition, Rehearsal, Requirements and Training (SMARRT), and is becoming useful as a means for transferring technology to other users, researchers and contractors. This procedure eliminates the need to construct ad hoc models and databases. The integration of various technologies into a Defensive Aids Suite (DAS) can be designed and analyzed by combining field trials and laboratory data with modelling and simulation. ModSAF (Modular Semi-Automated Forces,) is used to construct the virtual battlefield and, through scripted input files, a "fixed battle" approach is used to define and implement contributions from three different sources. These contributions include: models of technology and natural phenomena from scientists and engineers, tactics and doctrine from the military and detailed analyses from operations research. This approach ensures the modelling of processes known to be important regardless of the level of information available about the system. Survivability of DAS-equipped vehicles based on future and foreign technology can be investigated by ModSAF and assessed relative to a test vehicle. A vehicle can

  14. Spaceflight Systems Training: A Comparison and Contrasting of Techniques for Training Ground Operators and Onboard Crewmembers

    NASA Technical Reports Server (NTRS)

    Balmain, Clinton; Fleming, Mark

    2009-01-01

    When developing techniques and products for instruction on manned spaceflight systems, training organizations are often faced with two very different customers: ground operators and onboard crewmembers. Frequently, instructional development focuses on one of these customers with the assumption that the other s needs will be met by default. Experience teaches us that differing approaches are required when developing training tailored to the specific needs of each customer. As a rule, ground operators require focused instruction on specific areas of expertise. Their knowledge should be of the details of the hardware, software, and operational techniques associated with that system. They often benefit from historical knowledge of how their system has operated over its lifetime. Since several different ground operators may be interfacing with the same system, each individual operator must understand the agreed-to principles by which that system will be run. In contrast, onboard crewmembers require a more broad, hands-on awareness of their operational environment. Their training should be developed with an understanding of the physical environment in which they live and work and the day-to-day tasks they are most likely to perform. Rarely do they require a deep understanding of the details of a system; it is often sufficient to teach them just enough to maintain situational awareness and perform basic tasks associated with maintenance and operation of onboard systems. Crewmembers may also develop unique onboard operational techniques that differ from preceding crews. They should be taught what flexibility they have in systems operations and how their specific habits can be communicated to ground support personnel. This paper will explore the techniques that can be employed when developing training for these unique customers. We will explore the history of International Space Station training development and how past efforts can guide us in creating training for users of

  15. A human operator simulator model of the NASA Terminal Configured Vehicle (TCV)

    NASA Technical Reports Server (NTRS)

    Glenn, F. A., III; Doane, S. M.

    1981-01-01

    A generic operator model called HOS was used to simulate the behavior and performance of a pilot flying a transport airplane during instrument approach and landing operations in order to demonstrate the applicability of the model to problems associated with interfacing a crew with a flight system. The model which was installed and operated on NASA Langley's central computing system is described. Preliminary results of its application to an investigation of an innovative display system under development in Langley's terminal configured vehicle program are considered.

  16. Operational Concept for the NASA Constellation Program's Ares I Crew Launch Vehicle

    NASA Technical Reports Server (NTRS)

    Best, Joel; Chavers, Greg; Richardson, Lea; Cruzen, Craig

    2008-01-01

    Ares I design brings together innovation and new technologies with established infrastructure and proven heritage hardware to achieve safe, reliable, and affordable human access to space. NASA has 50 years of experience from Apollo and Space Shuttle. The Marshall Space Flight Center's Mission Operations Laboratory is leading an operability benchmarking effort to compile operations and supportability lessons learned from large launch vehicle systems, both domestically and internationally. Ares V will be maturing as the Shuttle is retired and the Ares I design enters the production phase. More details on the Ares I and Ares V will be presented at SpaceOps 2010 in Huntsville, Alabama, U.S.A., April 2010.

  17. Advanced Vehicle Testing Activity: Low-Percentage Hydrogen/CNG Blend Ford F-150 Operating Summary - January 2003

    SciTech Connect

    Karner, D.; Francfort, J.E.

    2003-01-22

    Over the past two years, Arizona Public Service, a subsidiary of Pinnacle West Capital Corporation, in cooperation with the U.S. Department of Energy's Advanced Vehicle Testing Activity, tested four gaseous fuel vehicles as part of its alternative fueled vehicle fleet. One vehicle operated initially using compressed natural gas (CNG) and later a blend of CNG and hydrogen. Of the other three vehicles, one was fueled with pure hydrogen and two were fueled with a blend of CNG and hydrogen. The three blended-fuel vehicles were originally equipped with either factory CNG engines or factory gasoline engines that were converted to run CNG fuel. The vehicles were variously modified to operate on blended fuel and were tested using 15 to 50% blends of hydrogen (by volume). The pure-hydrogen-fueled vehicle was converted from gasoline fuel to operate on 100% hydrogen. All vehicles were fueled from the Arizona Public Service's Alternative Fuel Pilot Plant, which was developed to dispense gaseous fuels, including CNG, blends of CNG and hydrogen, and pure hydrogen with up to 99.9999% purity. The primary objective of the test was to evaluate the safety and reliability of operating vehicles on hydrogen and blended hydrogen fuel, and the interface between the vehicles and the hydrogen fueling infrastructure. A secondary objective was to quantify vehicle emissions, cost, and performance. Over a total of 40,000 fleet test miles, no safety issues were found. Also, significant reductions in emissions were achieved by adding hydrogen to the fuel. This report presents results of 16,942 miles of testing for one of the blended fuel vehicles, a Ford F-150 pickup truck, operating on up to 30% hydrogen/70% CNG fuel.

  18. Advanced Vehicle Testing Activity: High-Percentage Hydrogen/CNG Blend Ford F-150 Operating Summary - January 2003

    SciTech Connect

    Karner, D.; Francfort, J.E.

    2003-01-22

    Over the past two years, Arizona Public Service, a subsidiary of Pinnacle West Capital Corporation, in cooperation with the U.S. Department of Energy's Advanced Vehicle Testing Activity, tested four gaseous fuel vehicles as part of its alternative fueled vehicle fleet. One vehicle operated initially using compressed natural gas (CNG) and later a blend of CNG and hydrogen. Of the other three vehicles, one was fueled with pure hydrogen and two were fueled with a blend of CNG and hydrogen. The three blended-fuel vehicles were originally equipped with either factory CNG engines or factory gasoline engines that were converted to run CNG fuel. The vehicles were variously modified to operate on blended fuel and were tested using 15 to 50% blends of hydrogen (by volume). The pure-hydrogen-fueled vehicle was converted from gasoline fuel to operate on 100% hydrogen. All vehicles were fueled from the Arizona Public Service's Alternative Fuel Pilot Plant, which was developed to dispense gaseous fuels, including CNG, blends of CNG and hydrogen, and pure hydrogen with up to 99.9999% purity. The primary objective of the test was to evaluate the safety and reliability of operating vehicles on hydrogen and blended fuel, and the interface between the vehicles and the hydrogen fueling infrastructure. A secondary objective was to quantify vehicle emissions, cost, and performance. Over a total of 40,000 fleet test miles, no safety issues were found. Also, significant reductions in emissions were achieved by adding hydrogen to the fuel. This report presents the results of 4,695 miles of testing for one of the blended fuel vehicles, a Ford F-150 pickup truck, operating on up to 50% hydrogen-50% CNG fuel.

  19. Pheromone-based coordination strategy to static sensors on the ground and unmanned aerial vehicles carried sensors

    NASA Astrophysics Data System (ADS)

    Pignaton de Freitas, Edison; Heimfarth, Tales; Pereira, Carlos Eduardo; Morado Ferreira, Armando; Rech Wagner, Flávio; Larsson, Tony

    2010-04-01

    A current trend that is gaining strength in the wireless sensor network area is the use of heterogeneous sensor nodes in one coordinated overall network, needed to fulfill the requirements of sophisticated emerging applications, such as area surveillance systems. One of the main concerns when developing such sensor networks is how to provide coordination among the heterogeneous nodes, in order to enable them to efficiently respond the user needs. This study presents an investigation of strategies to coordinate a set of static sensor nodes on the ground cooperating with wirelessly connected Unmanned Aerial Vehicles (UAVs) carrying a variety of sensors, in order to provide efficient surveillance over an area of interest. The sensor nodes on the ground are set to issue alarms on the occurrence of a given event of interest, e.g. entrance of a non-authorized vehicle in the area, while the UAVs receive the issued alarms and have to decide which of them is the most suitable to handle the issued alarm. A bio-inspired coordination strategy based on the concept of pheromones is presented. As a complement of this strategy, a utility-based decision making approach is proposed.

  20. Latest Sea-Operations in the Macaronesian region with Unmanned Autonomous Marine Gliding Vehicles

    NASA Astrophysics Data System (ADS)

    Barrera, Carlos; Lorenzo, Alvaro; Viera, Josue; Morales, Tania; Vega, Daura; Rueda, Maria Jose; Llinas, Octavio

    2013-04-01

    Current advances on key marine technology fields provide nowadays a broad range of autonomous unmanned platforms addressed for an efficient and cost-effective ocean observation, with a suitable level of success in terms of endurance, reliability and useful gathered information. In this context, a multidisciplinary family of unmanned autonomous vehicles addressed to monitor both coastal and open-ocean areas plays a relevant role. During the last month, some of the newest unmanned gliding vehicle technologies have been tested within the context of the Oceanic Platform of the Canary Islands (PLOCAN) in varied operational scenarios aiming different technical and scientific purposes, all of them joined in direct partnership with the company provider and other R&D institutions in some cases. Among others, representative examples in this way are the missions under the name Challenger One, Vulcano and SB02 through surface and underwater gliding vehicles, performed mostly in the surrounding subtropical waters of the ESTOC site observatory in the Canary Islands archipelago. The main gathered operational and scientific results from these missions are presented in this work as a sign of new ocean observing technologies within the framework of the Macaronesian Marine and Maritime Observation Strategy (R3M) and linked with the current European rules programs and projects in this field. Keywords: autonomous vehicle, gliders, R3M, ocean observatory, monitoring, marine robotics, ESTOC,