An automated data exploitation system for airborne sensors

NASA Astrophysics Data System (ADS)

Chen, Hai-Wen; McGurr, Mike

2014-06-01

Advanced wide area persistent surveillance (WAPS) sensor systems on manned or unmanned airborne vehicles are essential for wide-area urban security monitoring in order to protect our people and our warfighter from terrorist attacks. Currently, human (imagery) analysts process huge data collections from full motion video (FMV) for data exploitation and analysis (real-time and forensic), providing slow and inaccurate results. An Automated Data Exploitation System (ADES) is urgently needed. In this paper, we present a recently developed ADES for airborne vehicles under heavy urban background clutter conditions. This system includes four processes: (1) fast image registration, stabilization, and mosaicking; (2) advanced non-linear morphological moving target detection; (3) robust multiple target (vehicles, dismounts, and human) tracking (up to 100 target tracks); and (4) moving or static target/object recognition (super-resolution). Test results with real FMV data indicate that our ADES can reliably detect, track, and recognize multiple vehicles under heavy urban background clutters. Furthermore, our example shows that ADES as a baseline platform can provide capability for vehicle abnormal behavior detection to help imagery analysts quickly trace down potential threats and crimes.

A Robust Real Time Direction-of-Arrival Estimation Method for Sequential Movement Events of Vehicles.

PubMed

Liu, Huawei; Li, Baoqing; Yuan, Xiaobing; Zhou, Qianwei; Huang, Jingchang

2018-03-27

Parameters estimation of sequential movement events of vehicles is facing the challenges of noise interferences and the demands of portable implementation. In this paper, we propose a robust direction-of-arrival (DOA) estimation method for the sequential movement events of vehicles based on a small Micro-Electro-Mechanical System (MEMS) microphone array system. Inspired by the incoherent signal-subspace method (ISM), the method that is proposed in this work employs multiple sub-bands, which are selected from the wideband signals with high magnitude-squared coherence to track moving vehicles in the presence of wind noise. The field test results demonstrate that the proposed method has a better performance in emulating the DOA of a moving vehicle even in the case of severe wind interference than the narrowband multiple signal classification (MUSIC) method, the sub-band DOA estimation method, and the classical two-sided correlation transformation (TCT) method.

Advanced vehicle systems assessment. Volume 4: Supporting analyses

NASA Technical Reports Server (NTRS)

Hardy, K.

1985-01-01

Volume 4 (Supporting Analyses) is part of a five-volume report, Advanced Vehicle Systems Assessment. Thirty-nine individuals, knowledgeable in advanced technology, were interviewed to obtain their preferences. Rankings were calculated for the eight groups they represented, using multiplicative and additive utility models. The four topics for consideration were: (1) preferred range for various battery technologies; (2) preferred battery technology for each of a variety of travel ranges; (3) most promising battery technology, vehicle range combination; and (4) comparison of the most preferred electric vehicle with the methanol-fuled, spark-ignition engine vehicle and with the most preferred of the hybrid vehicles.

Intelligent power management in a vehicular system with multiple power sources

NASA Astrophysics Data System (ADS)

Murphey, Yi L.; Chen, ZhiHang; Kiliaris, Leonidas; Masrur, M. Abul

This paper presents an optimal online power management strategy applied to a vehicular power system that contains multiple power sources and deals with largely fluctuated load requests. The optimal online power management strategy is developed using machine learning and fuzzy logic. A machine learning algorithm has been developed to learn the knowledge about minimizing power loss in a Multiple Power Sources and Loads (M_PS&LD) system. The algorithm exploits the fact that different power sources used to deliver a load request have different power losses under different vehicle states. The machine learning algorithm is developed to train an intelligent power controller, an online fuzzy power controller, FPC_MPS, that has the capability of finding combinations of power sources that minimize power losses while satisfying a given set of system and component constraints during a drive cycle. The FPC_MPS was implemented in two simulated systems, a power system of four power sources, and a vehicle system of three power sources. Experimental results show that the proposed machine learning approach combined with fuzzy control is a promising technology for intelligent vehicle power management in a M_PS&LD power system.

Evaluation of Different Speech and Touch Interfaces to In-Vehicle Music Retrieval Systems

PubMed Central

Garay-Vega, L.; Pradhan, A. K.; Weinberg, G.; Schmidt-Nielsen, B.; Harsham, B.; Shen, Y.; Divekar, G.; Romoser, M.; Knodler, M.; Fisher, D. L.

2010-01-01

In-vehicle music retrieval systems are becoming more and more popular. Previous studies have shown that they pose a real hazard to drivers when the interface is a tactile one which requires multiple entries and a combination of manual control and visual feedback. Voice interfaces exist as an alternative. Such interfaces can require either multiple or single conversational turns. In this study, each of 17 participants between the ages of 18 and 30 years old was asked to use three different music-retrieval systems (one with a multiple entry touch interface, the iPod™, one with a multiple turn voice interface, interface B, and one with a single turn voice interface, interface C) while driving through a virtual world. Measures of secondary task performance, eye behavior, vehicle control, and workload were recorded. When compared with the touch interface, the voice interfaces reduced the total time drivers spent with their eyes off the forward roadway, especially in prolonged glances, as well as both the total number of glances away from the forward roadway and the perceived workload. Furthermore, when compared with driving without a secondary task, both voice interfaces did not significantly impact hazard anticipation, the frequency of long glances away from the forward roadway, or vehicle control. The multiple turn voice interface (B) significantly increased both the time it took drivers to complete the task and the workload. The implications for interface design and safety are discussed. PMID:20380920

Consensus seeking, formation keeping, and trajectory tracking in multiple vehicle cooperative control

NASA Astrophysics Data System (ADS)

Ren, Wei

Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control problems such as task assignment, cooperative transport, cooperative role assignment, air traffic control, cooperative timing, and cooperative search. The cooperative control of multiple vehicle systems poses significant theoretical and practical challenges. For cooperative control strategies to be successful, numerous issues must be addressed. We consider three important and correlated issues: consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse communication topologies, and noisy and unreliable communication links. The main contribution of this dissertation in this area is that we show necessary and/or sufficient conditions for consensus seeking with limited, unidirectional, and unreliable information exchange under fixed and switching interaction topologies (through either communication or sensing). For formation keeping, we apply a so-called "virtual structure" approach to spacecraft formation flying and multi-vehicle formation maneuvers. As a result, single vehicle path planning and trajectory generation techniques can be employed for the virtual structure while trajectory tracking strategies can be employed for each vehicle. The main contribution of this dissertation in this area is that we propose a decentralized architecture for multiple spacecraft formation flying in deep space with formation feedback introduced. This architecture ensures the necessary precision in the presence of actuator saturation, internal and external disturbances, and stringent inter-vehicle communication limitations. A constructive approach based on the satisficing control paradigm is also applied to multi-robot coordination in hardware. For trajectory tracking, we investigate nonlinear tracking controllers for fixed wing unmanned air vehicles and nonholonomic mobile robots with velocity and heading rate constraints. The main contribution of this dissertation in this area is that our proposed tracking controllers are shown to be robust to input uncertainties and measurement noise, and are computationally simple and can be implemented with low-cost, low-power microcontrollers. In addition, our approach allows piecewise continuous reference velocity and heading rate and can be extended to derive a variety of other trajectory tracking strategies.

Selected Foreign Counterparts of U.S. Army Ground Combat Systems and Implications for Combat Operations and Modernization

DTIC Science & Technology

2017-01-18

System program. 7 While it may not be realistic to have definitive design criteria for a vehicle to be fielded in 2035 established now, a clearer...is focused on fielding an existing “hard kill” APS capability in the near term for the Army’s M-1 Abrams tanks, M-2/3 Bradley fighting vehicles , and...infantry fighting vehicles (IFVs), tracked self-propelled (SP) artillery, and multiple launch rocket systems (MLRS), which constitutes the nucleus

Integrated multiple-model adaptive fault identification and reconfigurable fault-tolerant control for Lead-Wing close formation systems

NASA Astrophysics Data System (ADS)

Liu, Chun; Jiang, Bin; Zhang, Ke

2018-03-01

This paper investigates the attitude and position tracking control problem for Lead-Wing close formation systems in the presence of loss of effectiveness and lock-in-place or hardover failure. In close formation flight, Wing unmanned aerial vehicle movements are influenced by vortex effects of the neighbouring Lead unmanned aerial vehicle. This situation allows modelling of aerodynamic coupling vortex-effects and linearisation based on optimal close formation geometry. Linearised Lead-Wing close formation model is transformed into nominal robust H-infinity models with respect to Mach hold, Heading hold, and Altitude hold autopilots; static feedback H-infinity controller is designed to guarantee effective tracking of attitude and position while manoeuvring Lead unmanned aerial vehicle. Based on H-infinity control design, an integrated multiple-model adaptive fault identification and reconfigurable fault-tolerant control scheme is developed to guarantee asymptotic stability of close-loop systems, error signal boundedness, and attitude and position tracking properties. Simulation results for Lead-Wing close formation systems validate the efficiency of the proposed integrated multiple-model adaptive control algorithm.

Orion Entry, Descent, and Landing Performance and Mission Design

NASA Technical Reports Server (NTRS)

Broome, Joel M.; Johnson, Wyatt

2007-01-01

The Orion Vehicle is the next spacecraft to take humans into space and will include missions to ISS as well as missions to the Moon. As part of that challenge, the vehicle will have to accommodate multiple mission design concepts, since return from Low Earth Orbit and return from the Moon can be quite different. Commonality between the different missions as it relates to vehicle systems, guidance capability, and operations concepts is the goal. Several unique mission design concepts include the specification of multiple land-based landing sites for a vehicle with closed-loop direct and skip entry guidance, followed by a parachute descent and landing attenuation system. This includes the ability of the vehicle to accurately target and land at a designated landing site, including site location aspects, landing site size, and landing opportunities assessments. Analyses associated with these mission design and flight performance challenges and constraints will be discussed as well as potential operational concepts to provide feasibility and/or mission commonality.

Occupant injury in rollover crashes - Contribution of planar impacts with objects and other vehicles.

PubMed

Ivarsson, Johan; Poplin, Gerald; McMurry, Tim; Crandall, Jeff; Kerrigan, Jason

2015-12-01

Planar impacts with objects and other vehicles may increase the risk and severity of injury in rollover crashes. The current study compares the frequency of injury measures (MAIS 2+, 3+, and 4+; fatal; AIS 2+ head and cervical spine; and AIS 3+ head and thorax) as well as vehicle type distribution (passenger car, SUV, van, and light truck), crash kinematics, and occupant demographics between single vehicle single event rollovers (SV Pure) and multiple event rollovers to determine which types of multiple event rollovers can be pooled with SV Pure to study rollover induced occupant injury. Four different types of multiple event rollovers were defined: single and multi-vehicle crashes for which the rollover is the most severe event (SV Prim and MV Prim) and single and multi-vehicle crashes for which the rollover is not the most severe event (SV Non-Prim and MV Non-Prim). Information from real world crashes was obtained from the National Automotive Sampling System - Crashworthiness Data System (NASS-CDS) for the period from 1995 through 2011. Belted, contained or partially ejected, adult occupants in vehicles that completed 1-16 lateral quarter turns were assigned to one of the five rollover categories. The results showed that the frequency of injury in non-primary rollovers (SV Non-Prim and MV Non-Prim) involving no more than one roof inversion is substantially greater than in SV Pure, but that this disparity diminishes for crashes involving multiple inversions. It can further be concluded that for a given number of roof inversions, the distribution of injuries and crash characteristics in SV Pure and SV Prim crashes are sufficiently similar for these categories to be considered collectively for purposes of understanding etiologies and developing strategies for prevention. Copyright © 2015 Elsevier Ltd. All rights reserved.

Efficiency analysis of a multiple axle vehicle with hydrostatic transmission overcoming obstacles

NASA Astrophysics Data System (ADS)

Comellas, M.; Pijuan, J.; Nogués, M.; Roca, J.

2018-01-01

Transmission configurations in off-road vehicles with multiple driven axles can be a determining factor in the obstacle surmounting capacity and also in the vehicle efficiency. An off-road articulated vehicle with four driven axles, four bogies and two modules has been considered for the global hydrostatic transmission efficiency analysis and for the vehicle functional efficiency analysis. The power flow through the transmission system has been quantified from the combustion engine shaft to each axle of the wheels. It has been done for different the operating conditions and taking into account the wheel-terrain interaction and the transmission configuration, that could lead to a forced slippage of some of the wheels. Results show the influence of the different wheels' requirements, the transmission configuration limitations and the considered control strategy on the global transmission and vehicle functional efficiencies.

A study on obstacle detection method of the frontal view using a camera on highway

NASA Astrophysics Data System (ADS)

Nguyen, Van-Quang; Park, Jeonghyeon; Seo, Changjun; Kim, Heungseob; Boo, Kwangsuck

2018-03-01

In this work, we introduce an approach to detect vehicles for driver assistance, or warning system. For driver assistance system, it must detect both lanes (left and right side lane), and discover vehicles ahead of the test vehicle. Therefore, in this study, we use a camera, it is installed on the windscreen of the test vehicle. Images from the camera are used to detect three lanes, and detect multiple vehicles. In lane detection, line detection and vanishing point estimation are used. For the vehicle detection, we combine the horizontal and vertical edge detection, the horizontal edge is used to detect the vehicle candidates, and then the vertical edge detection is used to verify the vehicle candidates. The proposed algorithm works with of 480 × 640 image frame resolution. The system was tested on the highway in Korea.

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.

Real-time vehicle matching for multi-camera tunnel surveillance

NASA Astrophysics Data System (ADS)

Jelača, Vedran; Niño Castañeda, Jorge Oswaldo; Frías-Velázquez, Andrés; Pižurica, Aleksandra; Philips, Wilfried

2011-03-01

Tracking multiple vehicles with multiple cameras is a challenging problem of great importance in tunnel surveillance. One of the main challenges is accurate vehicle matching across the cameras with non-overlapping fields of view. Since systems dedicated to this task can contain hundreds of cameras which observe dozens of vehicles each, for a real-time performance computational efficiency is essential. In this paper, we propose a low complexity, yet highly accurate method for vehicle matching using vehicle signatures composed of Radon transform like projection profiles of the vehicle image. The proposed signatures can be calculated by a simple scan-line algorithm, by the camera software itself and transmitted to the central server or to the other cameras in a smart camera environment. The amount of data is drastically reduced compared to the whole image, which relaxes the data link capacity requirements. Experiments on real vehicle images, extracted from video sequences recorded in a tunnel by two distant security cameras, validate our approach.

Intelligent vehicle control: Opportunities for terrestrial-space system integration

NASA Technical Reports Server (NTRS)

Shoemaker, Charles

1994-01-01

For 11 years the Department of Defense has cooperated with a diverse array of other Federal agencies including the National Institute of Standards and Technology, the Jet Propulsion Laboratory, and the Department of Energy, to develop robotics technology for unmanned ground systems. These activities have addressed control system architectures supporting sharing of tasks between the system operator and various automated subsystems, man-machine interfaces to intelligent vehicles systems, video compression supporting vehicle driving in low data rate digital communication environments, multiple simultaneous vehicle control by a single operator, path planning and retrace, and automated obstacle detection and avoidance subsystem. Performance metrics and test facilities for robotic vehicles were developed permitting objective performance assessment of a variety of operator-automated vehicle control regimes. Progress in these areas will be described in the context of robotic vehicle testbeds specifically developed for automated vehicle research. These initiatives, particularly as regards the data compression, task sharing, and automated mobility topics, also have relevance in the space environment. The intersection of technology development interests between these two communities will be discussed in this paper.

Design of a Multi-Sensor Cooperation Travel Environment Perception System for Autonomous Vehicle

PubMed Central

Chen, Long; Li, Qingquan; Li, Ming; Zhang, Liang; Mao, Qingzhou

2012-01-01

This paper describes the environment perception system designed for intelligent vehicle SmartV-II, which won the 2010 Future Challenge. This system utilizes the cooperation of multiple lasers and cameras to realize several necessary functions of autonomous navigation: road curb detection, lane detection and traffic sign recognition. Multiple single scan lasers are integrated to detect the road curb based on Z-variance method. Vision based lane detection is realized by two scans method combining with image model. Haar-like feature based method is applied for traffic sign detection and SURF matching method is used for sign classification. The results of experiments validate the effectiveness of the proposed algorithms and the whole system.

Integrated Vehicle Thermal Management for Advanced Vehicle Propulsion Technologies

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bennion, K.; Thornton, M.

A critical element to the success of new propulsion technologies that enable reductions in fuel use is the integration of component thermal management technologies within a viable vehicle package. Vehicle operation requires vehicle thermal management systems capable of balancing the needs of multiple vehicle systems that may require heat for operation, require cooling to reject heat, or require operation within specified temperature ranges. As vehicle propulsion transitions away from a single form of vehicle propulsion based solely on conventional internal combustion engines (ICEs) toward a wider array of choices including more electrically dominant systems such as plug-in hybrid electric vehiclesmore » (PHEVs), new challenges arise associated with vehicle thermal management. As the number of components that require active thermal management increase, so do the costs in terms of dollars, weight, and size. Integrated vehicle thermal management is one pathway to address the cost, weight, and size challenges. The integration of the power electronics and electric machine (PEEM) thermal management with other existing vehicle systems is one path for reducing the cost of electric drive systems. This work demonstrates techniques for evaluating and quantifying the integrated transient and continuous heat loads of combined systems incorporating electric drive systems that operate primarily under transient duty cycles, but the approach can be extended to include additional steady-state duty cycles typical for designing vehicle thermal management systems of conventional vehicles. The work compares opportunities to create an integrated low temperature coolant loop combining the power electronics and electric machine with the air conditioning system in contrast to a high temperature system integrated with the ICE cooling system.« less

Interval-parameter chance-constraint programming model for end-of-life vehicles management under rigorous environmental regulations.

PubMed

Simic, Vladimir

2016-06-01

As the number of end-of-life vehicles (ELVs) is estimated to increase to 79.3 million units per year by 2020 (e.g., 40 million units were generated in 2010), there is strong motivation to effectively manage this fast-growing waste flow. Intensive work on management of ELVs is necessary in order to more successfully tackle this important environmental challenge. This paper proposes an interval-parameter chance-constraint programming model for end-of-life vehicles management under rigorous environmental regulations. The proposed model can incorporate various uncertainty information in the modeling process. The complex relationships between different ELV management sub-systems are successfully addressed. Particularly, the formulated model can help identify optimal patterns of procurement from multiple sources of ELV supply, production and inventory planning in multiple vehicle recycling factories, and allocation of sorted material flows to multiple final destinations under rigorous environmental regulations. A case study is conducted in order to demonstrate the potentials and applicability of the proposed model. Various constraint-violation probability levels are examined in detail. Influences of parameter uncertainty on model solutions are thoroughly investigated. Useful solutions for the management of ELVs are obtained under different probabilities of violating system constraints. The formulated model is able to tackle a hard, uncertainty existing ELV management problem. The presented model has advantages in providing bases for determining long-term ELV management plans with desired compromises between economic efficiency of vehicle recycling system and system-reliability considerations. The results are helpful for supporting generation and improvement of ELV management plans. Copyright © 2016 Elsevier Ltd. All rights reserved.

Close-Range Tracking of Underwater Vehicles Using Light Beacons

PubMed Central

Bosch, Josep; Gracias, Nuno; Ridao, Pere; Istenič, Klemen; Ribas, David

2016-01-01

This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time. PMID:27023547

Close-Range Tracking of Underwater Vehicles Using Light Beacons.

PubMed

Bosch, Josep; Gracias, Nuno; Ridao, Pere; Istenič, Klemen; Ribas, David

2016-03-25

This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time.

Controlled Hydrogen Fleet and Infrastructure Demonstration and Validation Project

DOE Office of Scientific and Technical Information (OSTI.GOV)

Stottler, Gary

General Motors, LLC and energy partner Shell Hydrogen, LLC, deployed a system of hydrogen fuel cell electric vehicles integrated with a hydrogen fueling station infrastructure to operate under real world conditions as part of the U.S. Department of Energy's Controlled Hydrogen Fleet and Infrastructure Validation and Demonstration Project. This technical report documents the performance and describes the learnings from progressive generations of vehicle fuel cell system technology and multiple approaches to hydrogen generation and delivery for vehicle fueling.

A Novel Sensor System for Measuring Wheel Loads of Vehicles on Highways

PubMed Central

Zhang, Wenbin; Suo, Chunguang; Wang, Qi

2008-01-01

With the development of the highway transportation and business trade, vehicle Weigh-In-Motion (WIM) technology has become a key technology for measuring traffic loads. In this paper a novel WIM system based on monitoring of pavement strain responses in rigid pavement was investigated. In this WIM system multiple low cost, light weight, small volume and high accuracy embedded concrete strain sensors were used as WIM sensors to measure rigid pavement strain responses. In order to verify the feasibility of the method, a system prototype based on multiple sensors was designed and deployed on a relatively busy freeway. Field calibration and tests were performed with known two-axle truck wheel loads and the measurement errors were calculated based on the static weights measured with a static weighbridge. This enables the weights of other vehicles to be calculated from the calibration constant. Calibration and test results for individual sensors or three-sensor fusions are both provided. Repeatability, sources of error, and weight accuracy are discussed. Successful results showed that the proposed method was feasible and proven to have a high accuracy. Furthermore, a sample mean approach using multiple fused individual sensors could provide better performance compared to individual sensors. PMID:27873952

Hybrid Power Management-Based Vehicle Architecture

NASA Technical Reports Server (NTRS)

Eichenberg, Dennis J.

2011-01-01

Hybrid Power Management (HPM) is the integration of diverse, state-of-the-art power devices in an optimal configuration for space and terrestrial applications (s ee figure). The appropriate application and control of the various power devices significantly improves overall system performance and efficiency. The basic vehicle architecture consists of a primary power source, and possibly other power sources, that provides all power to a common energy storage system that is used to power the drive motors and vehicle accessory systems. This architecture also provides power as an emergency power system. Each component is independent, permitting it to be optimized for its intended purpose. The key element of HPM is the energy storage system. All generated power is sent to the energy storage system, and all loads derive their power from that system. This can significantly reduce the power requirement of the primary power source, while increasing the vehicle reliability. Ultracapacitors are ideal for an HPM-based energy storage system due to their exceptionally long cycle life, high reliability, high efficiency, high power density, and excellent low-temperature performance. Multiple power sources and multiple loads are easily incorporated into an HPM-based vehicle. A gas turbine is a good primary power source because of its high efficiency, high power density, long life, high reliability, and ability to operate on a wide range of fuels. An HPM controller maintains optimal control over each vehicle component. This flexible operating system can be applied to all vehicles to considerably improve vehicle efficiency, reliability, safety, security, and performance. The HPM-based vehicle architecture has many advantages over conventional vehicle architectures. Ultracapacitors have a much longer cycle life than batteries, which greatly improves system reliability, reduces life-of-system costs, and reduces environmental impact as ultracapacitors will probably never need to be replaced and disposed of. The environmentally safe ultracapacitor components reduce disposal concerns, and their recyclable nature reduces the environmental impact. High ultracapacitor power density provides high power during surges, and the ability to absorb high power during recharging. Ultracapacitors are extremely efficient in capturing recharging energy, are rugged, reliable, maintenance-free, have excellent lowtemperature characteristic, provide consistent performance over time, and promote safety as they can be left indefinitely in a safe, discharged state whereas batteries cannot.

System, Apparatus, and Method for Active Debris Removal

NASA Technical Reports Server (NTRS)

Hickey, Christopher J. (Inventor); Spehar, Peter T. (Inventor); Griffith, Sr., Anthony D. (Inventor); Kohli, Rajiv (Inventor); Burns, Susan H. (Inventor); Gruber, David J. (Inventor); Lee, David E. (Inventor); Robinson, Travis M. (Inventor); Damico, Stephen J. (Inventor); Smith, Jason T. (Inventor)

2017-01-01

Systems, apparatuses, and methods for removal of orbital debris are provided. In one embodiment, an apparatus includes a spacecraft control unit configured to guide and navigate the apparatus to a target. The apparatus also includes a dynamic object characterization unit configured to characterize movement, and a capture feature, of the target. The apparatus further includes a capture and release unit configured to capture a target and deorbit or release the target. The collection of these apparatuses is then employed as multiple, independent and individually operated vehicles launched from a single launch vehicle for the purpose of disposing of multiple debris objects.

A Collaborative Analysis Tool for Thermal Protection Systems for Single Stage to Orbit Launch Vehicles

NASA Technical Reports Server (NTRS)

Alexander, Reginald; Stanley, Thomas Troy

2001-01-01

Presented is a design tool and process that connects several disciplines which are needed in the complex and integrated design of high performance reusable single stage to orbit (SSTO) vehicles. Every system is linked to all other systems, as is the case with SSTO vehicles with air breathing propulsion, which is currently being studied by the National Aeronautics and Space Administration (NASA). In particular, the thermal protection system (TPS) is linked directly to almost every major system. The propulsion system pushes the vehicle to velocities on the order of 15 times the speed of sound in the atmosphere before pulling up to go to orbit which results in high temperatures on the external surfaces of the vehicle. Thermal protection systems to maintain the structural integrity of the vehicle must be able to mitigate the heat transfer to the structure and be lightweight. Herein lies the interdependency, in that as the vehicle's speed increases, the TPS requirements are increased. And as TPS masses increase the effect on the propulsion system and all other systems is compounded. To adequately calculate the TPS mass of this type of vehicle several engineering disciplines and analytical tools must be used preferably in an environment that data is easily transferred and multiple iterations are easily facilitated.

Waste Collector System Technology Comparisons for Constellation Applications

NASA Technical Reports Server (NTRS)

Broyan, James Lee, Jr.

2006-01-01

The Waste Collection Systems (WCS) for space vehicles have utilized a variety of hardware for collecting human metabolic wastes. It has typically required multiple missions to resolve crew usability and hardware performance issues that are difficult to duplicate on the ground. New space vehicles should leverage off past WCS systems. Past WCS hardware designs are substantially different and unique for each vehicle. However, each WCS can be analyzed and compared as a subset of technologies which encompass fecal collection, urine collection, air systems, pretreatment systems. Technology components from the WCS of various vehicles can then be combined to reduce hardware mass and volume while maximizing use of previous technology and proven human-equipment interfaces. Analysis of past US and Russian WCS are compared and extrapolated to Constellation missions.

Automation for deep space vehicle monitoring

NASA Technical Reports Server (NTRS)

Schwuttke, Ursula M.

1991-01-01

Information on automation for deep space vehicle monitoring is given in viewgraph form. Information is given on automation goals and strategy; the Monitor Analyzer of Real-time Voyager Engineering Link (MARVEL); intelligent input data management; decision theory for making tradeoffs; dynamic tradeoff evaluation; evaluation of anomaly detection results; evaluation of data management methods; system level analysis with cooperating expert systems; the distributed architecture of multiple expert systems; and event driven response.

Effectiveness of a Program Using a Vehicle Tracking System, Incentives, and Disincentives to Reduce the Speeding Behavior of Drivers with ADHD

ERIC Educational Resources Information Center

Markham, Paula T.; Porter, Bryan E.; Ball, J. D.

2013-01-01

Objective: In this article, the authors investigated the effectiveness of a behavior modification program using global positioning system (GPS) vehicle tracking devices with contingency incentives and disincentives to reduce the speeding behavior of drivers with ADHD. Method: Using an AB multiple-baseline design, six participants drove a 5-mile…

Multiple Attribute Evaluation of Auditory Warning Signals for In-Vehicle Crash Avoidance Warning Systems

DOT National Transportation Integrated Search

1995-11-01

This research was directed at optimizing the auditory warnings that may be used in future crash avoidance warning applications. There is a need to standardize such warnings, so that they retain immediacy of meaning across various vehicles, situations...

Acquisition of Cooperative Small Unmanned Aerial Systems for Advancing Man Machine Interface Research

DTIC Science & Technology

2016-08-24

global sensor field of views (FOVs), mimicking biological systems such as an insect fly eye , but allowing multiple aperture configurations. Due to...synthetic, global sensor field of views (FOVs), mimicking biological systems such as an insect fly eye , but allowing multiple aperture configurations. Due to...such as an insect fly eye , but allowing multiple aperture configurations. Due to the desired nature of distributed networked aerial vehicles (for the

Complex Decision-Making Applications for the NASA Space Launch System

NASA Technical Reports Server (NTRS)

Lyles, Garry; Flores, Tim; Hundley, Jason; Monk, Timothy; Feldman, Stuart

2012-01-01

The Space Shuttle program is ending and elements of the Constellation Program are either being cancelled or transitioned to new NASA exploration endeavors. NASA is working diligently to select an optimum configuration for the Space Launch System (SLS), a heavy lift vehicle that will provide the foundation for future beyond LEO large ]scale missions for the next several decades. Thus, multiple questions must be addressed: Which heavy lift vehicle will best allow the agency to achieve mission objectives in the most affordable and reliable manner? Which heavy lift vehicle will allow for a sufficiently flexible exploration campaign of the solar system? Which heavy lift vehicle configuration will allow for minimizing risk in design, test, build and operations? Which heavy lift vehicle configuration will be sustainable in changing political environments? Seeking to address these questions drove the development of an SLS decisionmaking framework. From Fall 2010 until Spring 2011, this framework was formulated, tested, fully documented, and applied to multiple SLS vehicle concepts at NASA from previous exploration architecture studies. This was a multistep process that involved performing FOM-based assessments, creating Pass/Fail gates based on draft threshold requirements, performing a margin-based assessment with supporting statistical analyses, and performing sensitivity analysis on each. This paper discusses the various methods of this process that allowed for competing concepts to be compared across a variety of launch vehicle metrics. The end result was the identification of SLS launch vehicle candidates that could successfully meet the threshold requirements in support of the SLS Mission Concept Review (MCR) milestone.

Complex Decision-Making Applications for the NASA Space Launch System

NASA Technical Reports Server (NTRS)

Lyles, Garry; Flores, Tim; Hundley, Jason; Feldman, Stuart; Monk, Timothy

2012-01-01

The Space Shuttle program is ending and elements of the Constellation Program are either being cancelled or transitioned to new NASA exploration endeavors. The National Aeronautics and Space Administration (NASA) has worked diligently to select an optimum configuration for the Space Launch System (SLS), a heavy lift vehicle that will provide the foundation for future beyond low earth orbit (LEO) large-scale missions for the next several decades. Thus, multiple questions must be addressed: Which heavy lift vehicle will best allow the agency to achieve mission objectives in the most affordable and reliable manner? Which heavy lift vehicle will allow for a sufficiently flexible exploration campaign of the solar system? Which heavy lift vehicle configuration will allow for minimizing risk in design, test, build and operations? Which heavy lift vehicle configuration will be sustainable in changing political environments? Seeking to address these questions drove the development of an SLS decision-making framework. From Fall 2010 until Spring 2011, this framework was formulated, tested, fully documented, and applied to multiple SLS vehicle concepts at NASA from previous exploration architecture studies. This was a multistep process that involved performing figure of merit (FOM)-based assessments, creating Pass/Fail gates based on draft threshold requirements, performing a margin-based assessment with supporting statistical analyses, and performing sensitivity analysis on each. This paper discusses the various methods of this process that allowed for competing concepts to be compared across a variety of launch vehicle metrics. The end result was the identification of SLS launch vehicle candidates that could successfully meet the threshold requirements in support of the SLS Mission Concept Review (MCR) milestone.

Earth Observatory Satellite system definition study. Report 1: Orbit/launch vehicle trade-off studies and recommendations

NASA Technical Reports Server (NTRS)

1974-01-01

A summary of the constraints and requirements on the Earth Observatory Satellite (EOS-A) orbit and launch vehicle analysis is presented. The propulsion system (hydrazine) and the launch vehicle (Delta 2910) selected for EOS-A are examined. The rationale for the selection of the recommended orbital altitude of 418 nautical miles is explained. The original analysis was based on the EOS-A mission with the Thematic Mapper and the High Resolution Pointable Imager. The impact of the revised mission model is analyzed to show how the new mission model affects the previously defined propulsion system, launch vehicle, and orbit. A table is provided to show all aspects of the EOS multiple mission concepts. The subjects considered include the following: (1) mission orbit analysis, (2) spacecraft parametric performance analysis, (3) launch system performance analysis, and (4) orbits/launch vehicle selection.

A Generic Multibody Parachute Simulation Model

NASA Technical Reports Server (NTRS)

Neuhaus, Jason Richard; Kenney, Patrick Sean

2006-01-01

Flight simulation of dynamic atmospheric vehicles with parachute systems is a complex task that is not easily modeled in many simulation frameworks. In the past, the performance of vehicles with parachutes was analyzed by simulations dedicated to parachute operations and were generally not used for any other portion of the vehicle flight trajectory. This approach required multiple simulation resources to completely analyze the performance of the vehicle. Recently, improved software engineering practices and increased computational power have allowed a single simulation to model the entire flight profile of a vehicle employing a parachute.

The Launch Processing System for Space Shuttle.

NASA Technical Reports Server (NTRS)

Springer, D. A.

1973-01-01

In order to reduce costs and accelerate vehicle turnaround, a single automated system will be developed to support shuttle launch site operations, replacing a multiplicity of systems used in previous programs. The Launch Processing System will provide real-time control, data analysis, and information display for the checkout, servicing, launch, landing, and refurbishment of the launch vehicles, payloads, and all ground support systems. It will also provide real-time and historical data retrieval for management and sustaining engineering (test records and procedures, logistics, configuration control, scheduling, etc.).

Multiple-degree-of-freedom vehicle

DOEpatents

Borenstein, Johann

1995-01-01

A multi-degree-of-freedom vehicle employs a compliant linkage to accommodate the need for a variation in the distance between drive wheels or drive systems which are independently steerable and drivable. The subject vehicle is provided with rotary encodes to provide signals representative of the orientation of the steering pivot associated with each such drive wheel or system, and a linear encoder which issues a signal representative of the fluctuations in the distance between the drive elements. The wheels of the vehicle are steered and driven in response to the linear encoder signal, there being provided a controller system for minimizing the fluctuations in the distance. The controller system is a software implementation of a plurality of controllers, operating at the chassis level and at the vehicle level. A trajectory interpolator receives x-displacement, y-displacement, and .theta.-displacement signals and produces to the vehicle level controller trajectory signals corresponding to interpolated control signals. The x-displacement, y-displacement, and .theta.-displacement signals are received from a human operator, via a manipulable joy stick.

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles

PubMed Central

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-01-01

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional–integral–derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle. PMID:27110793

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles.

PubMed

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-04-22

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional-integral-derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle.

Advanced wireless mobile collaborative sensing network for tactical and strategic missions

NASA Astrophysics Data System (ADS)

Xu, Hao

2017-05-01

In this paper, an advanced wireless mobile collaborative sensing network will be developed. Through properly combining wireless sensor network, emerging mobile robots and multi-antenna sensing/communication techniques, we could demonstrate superiority of developed sensing network. To be concrete, heterogeneous mobile robots including unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) are equipped with multi-model sensors and wireless transceiver antennas. Through real-time collaborative formation control, multiple mobile robots can team the best formation that can provide most accurate sensing results. Also, formatting multiple mobile robots can also construct a multiple-input multiple-output (MIMO) communication system that can provide a reliable and high performance communication network.

Multiple Attribute Evaluation Of Auditory Warning Signals For In-Vehicle Crash Avoidance Warning Systems, Technical Report

DOT National Transportation Integrated Search

1995-11-01

THIS RESEARCH WAS DIRECTED AT OPTIMIZING THE AUDITORY WARNINGS THAT MAY BE USED IN FUTURE CRASH AVOIDANCE WARNING APPLICATIONS. THERE IS A NEED TO STANDARDIZE SUCH WARNINGS, SO THAT THEY RETAIN IMMEDIACY OF MEANING ACROSS VARIOUS VEHICLES, SITUATIONS...

Automotive dual-mode hydrogen generation system

NASA Astrophysics Data System (ADS)

Kelly, D. A.

The automotive dual mode hydrogen generation system is advocated as a supplementary hydrogen fuel means along with the current metallic hydride hydrogen storage method for vehicles. This system consists of utilizing conventional electrolysis cells with the low voltage dc electrical power supplied by two electrical generating sources within the vehicle. Since the automobile engine exhaust manifold(s) are presently an untapped useful source of thermal energy, they can be employed as the heat source for a simple heat engine/generator arrangement. The second, and minor electrical generating means consists of multiple, miniature air disk generators which are mounted directly under the vehicle's hood and at other convenient locations within the engine compartment. The air disk generators are revolved at a speed which is proportionate to the vehicles forward speed and do not impose a drag on the vehicles motion.

Cooperative Control of Multiple Space Manipulators

DTIC Science & Technology

1993-09-01

are configured to grasp the payload once the vehicle moves within range. After the manipulators are in position, their joints are locked while the...spacecraft maneuvers to a location and attitude near the payload. Next, the vehicle approaches the payload in a straight line until the end effectors can...grasp the payload. While the manipulator joints remain locked, the vehicle repositions the entire rigid body system to the desired payload destination

A spring-mass-damper system dynamics-based driver-vehicle integrated model for representing heterogeneous traffic

NASA Astrophysics Data System (ADS)

Munigety, Caleb Ronald

2018-04-01

The traditional traffic microscopic simulation models consider driver and vehicle as a single unit to represent the movements of drivers in a traffic stream. Due to this very fact, the traditional car-following models have the driver behavior related parameters, but ignore the vehicle related aspects. This approach is appropriate for homogeneous traffic conditions where car is the major vehicle type. However, in heterogeneous traffic conditions where multiple vehicle types are present, it becomes important to incorporate the vehicle related parameters exclusively to account for the varying dynamic and static characteristics. Thus, this paper presents a driver-vehicle integrated model hinged on the principles involved in physics-based spring-mass-damper mechanical system. While the spring constant represents the driver’s aggressiveness, the damping constant and the mass component take care of the stability and size/weight related aspects, respectively. The proposed model when tested, behaved pragmatically in representing the vehicle-type dependent longitudinal movements of vehicles.

Reusable Launch Vehicle Control In Multiple Time Scale Sliding Modes

NASA Technical Reports Server (NTRS)

Shtessel, Yuri; Hall, Charles; Jackson, Mark

2000-01-01

A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. Overall stability of a two-loop control system is addressed. An optimal control allocation algorithm is designed that allocates torque commands into end-effector deflection commands, which are executed by the actuators. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. This is a significant advancement in performance over that achieved with linear, gain scheduled control systems currently being used for launch vehicles.

Assimilation of Wind Profiles from Multiple Doppler Radar Wind Profilers for Space Launch Vehicle Applications

NASA Technical Reports Server (NTRS)

Decker, Ryan K.; Barbre, Robert E., Jr.; Brenton, James C.; Walker, James C.; Leach, Richard D.

2015-01-01

Space launch vehicles utilize atmospheric winds in design of the vehicle and during day-of-launch (DOL) operations to assess affects of wind loading on the vehicle and to optimize vehicle performance during ascent. The launch ranges at NASA's Kennedy Space Center co-located with the United States Air Force's (USAF) Eastern Range (ER) at Cape Canaveral Air Force Station and USAF's Western Range (WR) at Vandenberg Air Force Base have extensive networks of in-situ and remote sensing instrumentation to measure atmospheric winds. Each instrument's technique to measure winds has advantages and disadvantages in regards to use for vehicle engineering assessments. Balloons measure wind at all altitudes necessary for vehicle assessments, but two primary disadvantages exist when applying balloon output on DOL. First, balloons need approximately one hour to reach required altitude. For vehicle assessments this occurs at 60 kft (18.3 km). Second, balloons are steered by atmospheric winds down range of the launch site that could significantly differ from those winds along the vehicle ascent trajectory. Figure 1 illustrates the spatial separation of balloon measurements from the surface up to approximately 55 kft (16.8 km) during the Space Shuttle launch on 10 December 2006. The balloon issues are mitigated by use of vertically pointing Doppler Radar Wind Profilers (DRWPs). However, multiple DRWP instruments are required to provide wind data up to 60 kft (18.3 km) for vehicle trajectory assessments. The various DRWP systems have different operating configurations resulting in different temporal and spatial sampling intervals. Therefore, software was developed to combine data from both DRWP-generated profiles into a single profile for use in vehicle trajectory analyses. Details on how data from various wind measurement systems are combined and sample output will be presented in the following sections.

Sensor Data Quality and Angular Rate Down-Selection Algorithms on SLS EM-1

NASA Technical Reports Server (NTRS)

Park, Thomas; Oliver, Emerson; Smith, Austin

2018-01-01

The NASA Space Launch System Block 1 launch vehicle is equipped with an Inertial Navigation System (INS) and multiple Rate Gyro Assemblies (RGA) that are used in the Guidance, Navigation, and Control (GN&C) algorithms. The INS provides the inertial position, velocity, and attitude of the vehicle along with both angular rate and specific force measurements. Additionally, multiple sets of co-located rate gyros supply angular rate data. The collection of angular rate data, taken along the launch vehicle, is used to separate out vehicle motion from flexible body dynamics. Since the system architecture uses redundant sensors, the capability was developed to evaluate the health (or validity) of the independent measurements. A suite of Sensor Data Quality (SDQ) algorithms is responsible for assessing the angular rate data from the redundant sensors. When failures are detected, SDQ will take the appropriate action and disqualify or remove faulted sensors from forward processing. Additionally, the SDQ algorithms contain logic for down-selecting the angular rate data used by the GN&C software from the set of healthy measurements. This paper provides an overview of the algorithms used for both fault-detection and measurement down selection.

Error-eliminating rapid ultrasonic firing

DOEpatents

Borenstein, Johann; Koren, Yoram

1993-08-24

A system for producing reliable navigation data for a mobile vehicle, such as a robot, combines multiple range samples to increase the "confidence" of the algorithm in the existence of an obstacle. At higher vehicle speed, it is crucial to sample each sensor quickly and repeatedly to gather multiple samples in time to avoid a collision. Erroneous data is rejected by delaying the issuance of an ultrasonic energy pulse by a predetermined wait-period, which may be different during alternate ultrasonic firing cycles. Consecutive readings are compared, and the corresponding data is rejected if the readings differ by more than a predetermined amount. The rejection rate for the data is monitored and the operating speed of the navigation system is reduced if the data rejection rate is increased. This is useful to distinguish and eliminate noise from the data which truly represents the existence of an article in the field of operation of the vehicle.

Error-eliminating rapid ultrasonic firing

DOEpatents

Borenstein, J.; Koren, Y.

1993-08-24

A system for producing reliable navigation data for a mobile vehicle, such as a robot, combines multiple range samples to increase the confidence'' of the algorithm in the existence of an obstacle. At higher vehicle speed, it is crucial to sample each sensor quickly and repeatedly to gather multiple samples in time to avoid a collision. Erroneous data is rejected by delaying the issuance of an ultrasonic energy pulse by a predetermined wait-period, which may be different during alternate ultrasonic firing cycles. Consecutive readings are compared, and the corresponding data is rejected if the readings differ by more than a predetermined amount. The rejection rate for the data is monitored and the operating speed of the navigation system is reduced if the data rejection rate is increased. This is useful to distinguish and eliminate noise from the data which truly represents the existence of an article in the field of operation of the vehicle.

An Advanced Commanding and Telemetry System

NASA Astrophysics Data System (ADS)

Hill, Maxwell G. G.

The Loral Instrumentation System 500 configured as an Advanced Commanding and Telemetry System (ACTS) supports the acquisition of multiple telemetry downlink streams, and simultaneously supports multiple uplink command streams for today's satellite vehicles. By using industry and federal standards, the system is able to support, without relying on a host computer, a true distributed dataflow architecture that is complemented by state-of-the-art RISC-based workstations and file servers.

Linear Algebraic Modeling of Power Flow in the HMPT500-3 Transmission

DTIC Science & Technology

2012-08-01

BFV ) family and Multiple Launch Rocket System (MLRS). It is also proposed for use in the Paladin Integrated Management (PIM) self-propelled...howitzer and BFV derived Armored Multipurpose Vehicle (AMPV). Weight growth of these vehicles is exceeding the capacity of the current HMPT500-3...reduce the heat-rejection burden to the cooling system also makes efficiency improvements desirable. Automotive performance models of the BFV to

Linear Algebraic Modeling of Power Flow in the HMP500-3 Transmission

DTIC Science & Technology

2012-08-01

BFV ) family and Multiple Launch Rocket System (MLRS). It is also proposed for use in the Paladin Integrated Management (PIM) self-propelled...howitzer and BFV derived Armored Multipurpose Vehicle (AMPV). Weight growth of these vehicles is exceeding the capacity of the current HMPT500-3...reduce the heat-rejection burden to the cooling system also makes efficiency improvements desirable. Automotive performance models of the BFV to date

The Application of the NASA Advanced Concepts Office, Launch Vehicle Team Design Process and Tools for Modeling Small Responsive Launch Vehicles

NASA Technical Reports Server (NTRS)

Threet, Grady E.; Waters, Eric D.; Creech, Dennis M.

2012-01-01

The Advanced Concepts Office (ACO) Launch Vehicle Team at the NASA Marshall Space Flight Center (MSFC) is recognized throughout NASA for launch vehicle conceptual definition and pre-phase A concept design evaluation. The Launch Vehicle Team has been instrumental in defining the vehicle trade space for many of NASA s high level launch system studies from the Exploration Systems Architecture Study (ESAS) through the Augustine Report, Constellation, and now Space Launch System (SLS). The Launch Vehicle Team s approach to rapid turn-around and comparative analysis of multiple launch vehicle architectures has played a large role in narrowing the design options for future vehicle development. Recently the Launch Vehicle Team has been developing versions of their vetted tools used on large launch vehicles and repackaged the process and capability to apply to smaller more responsive launch vehicles. Along this development path the LV Team has evaluated trajectory tools and assumptions against sounding rocket trajectories and air launch systems, begun altering subsystem mass estimating relationships to handle smaller vehicle components, and as an additional development driver, have begun an in-house small launch vehicle study. With the recent interest in small responsive launch systems and the known capability and response time of the ACO LV Team, ACO s launch vehicle assessment capability can be utilized to rapidly evaluate the vast and opportune trade space that small launch vehicles currently encompass. This would provide a great benefit to the customer in order to reduce that large trade space to a select few alternatives that should best fit the customer s payload needs.

Integrated vehicle control and guidance systems in unmanned ground vehicles for commercial applications

NASA Astrophysics Data System (ADS)

Kenyon, Chase H.

1995-01-01

While there is a lot of recent development in the entire IVHS field, very few have had the opportunity to combine the many areas of development into a single integrated `intelligent' unmanned vehicle. One of our systems was developed specifically to serve a major automobile manufacturer's need for an automated vehicle chassis durability test facility. Due to the severity of the road surface human drivers could not be used. A totally automated robotic vehicle driver and guidance system was necessary. In order to deliver fixed price commercial projects now, it was apparent system and component costs were of paramount importance. Cyplex has developed a robust, cost effective single wire guidance system. This system has inherent advantages in system simplicity. Multi-signal (per vehicle lane) systems complicate path planning and layout when multiple lanes and lane changes are required, as on actual highways. The system has demonstrated high enough immunity to rain and light snow cover that normal safety reductions in speed are adequate to stay within the required system performance envelope. This system and it's antenna interface have shown the ability to guide the vehicle at slow speeds (10 MPH) with a tracking repeatability of plus or minus 1/8 of an inch. The basic guide and antenna system has been tested at speeds up to 80 mph. The system has inherently superior abilities for lane changes and precision vehicle placement. The operation of this system will be described and the impact of a system that is commercially viable now for highway and off road use will be discussed.

Systems analysis of decontamination options for civilian vehicles.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Foltz, Greg W.; Hoette, Trisha Marie

2010-11-01

The objective of this project, which was supported by the Department of Homeland Security (DHS) Science and Technology Directorate (S&T) Chemical and Biological Division (CBD), was to investigate options for the decontamination of the exteriors and interiors of vehicles in the civilian setting in order to restore those vehicles to normal use following the release of a highly toxic chemical. The decontamination of vehicles is especially challenging because they often contain sensitive electronic equipment, multiple materials some of which strongly adsorb chemical agents, and in the case of aircraft, have very rigid material compatibility requirements (i.e., they cannot be exposedmore » to reagents that may cause even minor corrosion). A systems analysis approach was taken examine existing and future civilian vehicle decontamination capabilities.« less

Advanced Vehicle Concepts and Implications for NextGen

NASA Technical Reports Server (NTRS)

Blake, Matt; Smith, Jim; Wright, Ken; Mediavilla Ricky; Kirby, Michelle; Pfaender, Holger; Clarke, John-Paul; Volovoi, Vitali; Dorbian, Christopher; Ashok, Akshay;

Control Architecture for Robotic Agent Command and Sensing

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand; Estlin, Tara; Gaines, Daniel

2008-01-01

Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).

Properties of train load frequencies and their applications

NASA Astrophysics Data System (ADS)

Milne, D. R. M.; Le Pen, L. M.; Thompson, D. J.; Powrie, W.

2017-06-01

A train in motion applies moving steady loads to the railway track as well as dynamic excitation; this causes track deflections, vibration and noise. At low frequency, the spectrum of measured track vibration has been found to have a distinct pattern; with spectral peaks occurring at multiples of the vehicle passing frequency. This pattern can be analysed to quantify aspects of train and track performance as well as to design sensors and systems for trackside condition monitoring. To this end, analytical methods are developed to determine frequency spectra based on known vehicle geometry and track properties. It is shown that the quasi-static wheel loads from a moving train, which are the most significant cause of the track deflections at low frequency, can be understood by considering a loading function representing the train geometry in combination with the response of the track to a single unit load. The Fourier transform of the loading function describes how the passage of repeating vehicles within a train leads to spectral peaks at various multiples of the vehicle passing frequency. When a train consists of a single type of repeating vehicle, these peaks depend on the geometry of that vehicle type as the separation of axles on a bogie and spacing of those bogies on a vehicle cause certain frequencies to be suppressed. Introduction of different vehicle types within a train or coupling of trainsets with a different inter-car length changes the spectrum, although local peaks still occur at multiples of the passing frequency of the primary vehicle. Using data from track-mounted geophones, it is shown that the properties of the train load spectrum, together with a model for track behaviour, allows calculation of the track system support modulus without knowledge of the axle loads, and enables rapid determination of the train speed. For continuous remote condition monitoring, track-mounted transducers are ideally powered using energy harvesting devices. These need to be tuned to optimise energy abstraction; the appropriate energy harvesting frequencies for given vehicle types and line speeds can also be predicted using the models developed.

Integrated thermal management of a hybrid electric vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Traci, R.M.; Acebal, R.; Mohler, T.

1999-01-01

A thermal management methodology, based on the Vehicle Integrated Thermal Management Analysis Code (VITMAC), has been developed for a notional vehicle employing the All-Electric Combat Vehicle (AECV) concept. AECV uses a prime power source, such as a diesel, to provide mechanical energy which is converted to electrical energy and stored in a central energy storage system consisting of flywheels, batteries and/or capacitors. The combination of prime power and stored energy powers the vehicle drive system and also advanced weapons subsystems such as an ETC or EM gun, electrically driven lasers, an EM armor system and an active suspension. Every majormore » system is electrically driven with energy reclamation when possible from braking and gun recoil. Thermal management of such a complicated energy transfer and utilization system is a major design consideration due to the substantial heat rejection requirements. In the present paper, an overall integrated thermal management system (TMS) is described which accounts for energy losses from each subsystem component, accepts the heat using multiple coolant loops and expels the heat from the vehicle. VITMAC simulations are used to design the TMS and to demonstrate that a conventional TMS approach is capable of successfully handling vehicle heat rejection requirements under stressing operational conditions.« less

Contingency Operations of Americas Next Moon Rocket, Ares V

NASA Technical Reports Server (NTRS)

Jaap, John; Richardson, Lea

2010-01-01

America has begun the development of a new space vehicle system which will enable humans to return to the moon and reach even farther destinations. The system is called Constellation: it has 2 earth-launch vehicles, Ares I and Ares V; a crew module, Orion; and a lander, Altair with descent and ascent stages. Ares V will launch an Earth Departure Stage (EDS) and Altair into low earth orbit. Ares I will launch the Orion crew module into low earth orbit where it will rendezvous and dock with the Altair and EDS "stack". After rendezvous, the stack will contain four complete rocket systems, each capable of independent operations. Of course this multiplicity of vehicles provides a multiplicity of opportunities for off-nominal behavior and multiple mitigation options for each. Contingency operations are complicated by the issues of crew safety and the possibility of debris from the very large components impacting the ground. This paper examines contingency operations of the EDS in low earth orbit, during the boost to translunar orbit, and after the translunar boost. Contingency operations under these conditions have not been a consideration since the Apollo era and analysis of the possible contingencies and mitigations will take some time to evolve. Since the vehicle has not been designed, much less built, it is not possible to evaluate contingencies from a root-cause basis or from a probability basis; rather they are discussed at an effects level (such as the reaction control system is consuming propellant at a high rate). Mitigations for the contingencies are based on the severity of the off-nominal condition, the time of occurrence, recovery options, options for alternate missions, crew safety, evaluation of the condition (forensics) and future prevention. Some proposed mitigations reflect innovation in thinking and make use of the multiplicity of on-orbit resources including the crew; example: Orion could do a "fly around" to allow the crew to determine the condition and cause of a partially separated payload shroud. Other mitigations are really alternate missions; example, an engine out on during ascent resulted in insufficient propellant for the lunar mission, but the on-orbit vehicle stack is otherwise perfect and can pursue an alternate mission, such as a high ballistic trajectory to test the high-speed atmospheric reentry of Orion. Evaluation and presentation of contingency operations at this early stage of the development of the Ares V rocket will improve the design of the vehicle and lay the groundwork for the exhaustive contingency planning which must be done after the vehicle is built as preparations for operations.

Optimal Design of Integrated Systems Health Management (ISHM) Systems for improving safety in NASA's Exploration Vehicles: A Two-Level Multidisciplinary Design Approach

NASA Technical Reports Server (NTRS)

Mehr, Ali Farhang; Tumer, Irem; Barszcz, Eric

2005-01-01

Integrated Vehicle Health Management (ISHM) systems are used to detect, assess, and isolate functional failures in order to improve safety of space systems such as Orbital Space Planes (OSPs). An ISHM system, as a whole, consists of several subsystems that monitor different components of an OSP including: Spacecraft, Launch Vehicle, Ground Control, and the International Space Station. In this research, therefore, we propose a new methodology to design and optimize ISHM as a distributed system with multiple disciplines (that correspond to different subsystems of OSP safety). A paramount amount of interest has been given in the literature to the multidisciplinary design optimization of problems with such architecture (as will be reviewed in the full paper).

The Design of an Autonomous Underwater Vehicle for Water Quality Monitoring

NASA Astrophysics Data System (ADS)

Li, Yulong; Liu, Rong; Liu, Shujin

2018-01-01

This paper describes the development of a civilian-used autonomous underwater vehicle (AUV) for water quality monitoring at reservoirs and watercourses that can obtain realtime visual and locational information. The mechanical design was completed with CAD software Solidworks. Four thrusters—two horizontal and two vertical—on board enable the vehicle to surge, heave, yaw, and pitch. A specialized water sample collection compartment is designed to perform water collection at target locations. The vehicle has a central controller—STM32—and a sub-coordinate controller—Arduino MEGA 2560—that coordinates multiple sensors including an inertial sensor, ultrasonic sensors, etc. Global Navigation Satellite System (GNSS) and the inertial sensor enable the vehicle’s localization. Remote operators monitor and control the vehicle via a host computer system. Operators choose either semi-autonomous mode in which they set target locations or manual mode. The experimental results show that the vehicle is able to perform well in either mode.

Reusable Launch Vehicle Control in Multiple Time Scale Sliding Modes

NASA Technical Reports Server (NTRS)

Shtessel, Yuri

1999-01-01

A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. 6DOF simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. It creates possibility to operate the X-33 vehicle in an aircraft-like mode with reduced pre-launch adjustment of the control system.

Draper Laboratory small autonomous aerial vehicle

NASA Astrophysics Data System (ADS)

DeBitetto, Paul A.; Johnson, Eric N.; Bosse, Michael C.; Trott, Christian A.

1997-06-01

The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: navigation, guidance, control, vision processing, human factors, packaging, power, real-time software, and others. The aerial vehicle, an autonomous helicopter, performs navigation and control functions using multiple sensors: differential GPS, inertial measurement unit, sonar altimeter, and a flux compass. The aerial transmits video imagery to the ground. A ground based vision processor converts the image data into target position and classification estimates. The system was designed, built, and flown in less than one year and has provided many lessons about autonomous vehicle systems, several of which are discussed. In an appendix, our current research in augmenting the navigation system with vision- based estimates is presented.

Land vehicle antennas for satellite mobile communications

NASA Technical Reports Server (NTRS)

Haddad, H. A.; Paschen, D.; Pieper, B. V.

1985-01-01

Antenna designs applicable to future satellite mobile vehicle communications are examined. Microstrip disk, quadrifilar helix, cylindrical microstrip, and inverted V and U crossed-dipole low gain antennas (3-5 dBic) that provide omnidirectional coverage are described. Diagrams of medium gain antenna (9-12 dBic) concepts are presented; the antennas are classified into three types: (1) electronically steered with digital phase shifters; (2) electronically switched with switchable power divider/combiner; and (3) mechanically steered with motor. The operating characteristics of a conformal antenna with electronic beam steering and a nonconformal design with mechanical steering are evaluated with respect to isolation levels in a multiple satellite system. Vehicle antenna pointing systems and antenna system costs are investigated.

Coordinated platooning with multiple speeds

DOE PAGES

Luo, Fengqiao; Larson, Jeffrey; Munson, Todd

2018-03-22

In a platoon, vehicles travel one after another with small intervehicle distances; trailing vehicles in a platoon save fuel because they experience less aerodynamic drag. This work presents a coordinated platooning model with multiple speed options that integrates scheduling, routing, speed selection, and platoon formation/dissolution in a mixed-integer linear program that minimizes the total fuel consumed by a set of vehicles while traveling between their respective origins and destinations. The performance of this model is numerically tested on a grid network and the Chicago-area highway network. We find that the fuel-savings factor of a multivehicle system significantly depends on themore » time each vehicle is allowed to stay in the network; this time affects vehicles’ available speed choices, possible routes, and the amount of time for coordinating platoon formation. For problem instances with a large number of vehicles, we propose and test a heuristic decomposed approach that applies a clustering algorithm to partition the set of vehicles and then routes each group separately. When the set of vehicles is large and the available computational time is small, the decomposed approach finds significantly better solutions than does the full model.« less

Coordinated platooning with multiple speeds

DOE Office of Scientific and Technical Information (OSTI.GOV)

Luo, Fengqiao; Larson, Jeffrey; Munson, Todd

In a platoon, vehicles travel one after another with small intervehicle distances; trailing vehicles in a platoon save fuel because they experience less aerodynamic drag. This work presents a coordinated platooning model with multiple speed options that integrates scheduling, routing, speed selection, and platoon formation/dissolution in a mixed-integer linear program that minimizes the total fuel consumed by a set of vehicles while traveling between their respective origins and destinations. The performance of this model is numerically tested on a grid network and the Chicago-area highway network. We find that the fuel-savings factor of a multivehicle system significantly depends on themore » time each vehicle is allowed to stay in the network; this time affects vehicles’ available speed choices, possible routes, and the amount of time for coordinating platoon formation. For problem instances with a large number of vehicles, we propose and test a heuristic decomposed approach that applies a clustering algorithm to partition the set of vehicles and then routes each group separately. When the set of vehicles is large and the available computational time is small, the decomposed approach finds significantly better solutions than does the full model.« less

Twin Jet

NASA Technical Reports Server (NTRS)

Henderson, Brenda; Bozak, Rick

2010-01-01

Many subsonic and supersonic vehicles in the current fleet have multiple engines mounted near one another. Some future vehicle concepts may use innovative propulsion systems such as distributed propulsion which will result in multiple jets mounted in close proximity. Engine configurations with multiple jets have the ability to exploit jet-by-jet shielding which may significantly reduce noise. Jet-by-jet shielding is the ability of one jet to shield noise that is emitted by another jet. The sensitivity of jet-by-jet shielding to jet spacing and simulated flight stream Mach number are not well understood. The current experiment investigates the impact of jet spacing, jet operating condition, and flight stream Mach number on the noise radiated from subsonic and supersonic twin jets.

Automated site characterization for robotic sample acquisition systems

NASA Astrophysics Data System (ADS)

Scholl, Marija S.; Eberlein, Susan J.

1993-04-01

A mobile, semiautonomous vehicle with multiple sensors and on-board intelligence is proposed for performing preliminary scientific investigations on extraterrestrial bodies prior to human exploration. Two technologies, a hybrid optical-digital computer system based on optical correlator technology and an image and instrument data analysis system, provide complementary capabilities that might be part of an instrument package for an intelligent robotic vehicle. The hybrid digital-optical vision system could perform real-time image classification tasks using an optical correlator with programmable matched filters under control of a digital microcomputer. The data analysis system would analyze visible and multiband imagery to extract mineral composition and textural information for geologic characterization. Together these technologies would support the site characterization needs of a robotic vehicle for both navigational and scientific purposes.

Aerocapture Systems Analysis for a Titan Mission

NASA Technical Reports Server (NTRS)

Lockwood, Mary K.; Queen, Eric M.; Way, David W.; Powell, Richard W.; Edquist, Karl; Starr, Brett W.; Hollis, Brian R.; Zoby, E. Vincent; Hrinda, Glenn A.; Bailey, Robert W.

2006-01-01

Performance projections for aerocapture show a vehicle mass savings of between 40 and 80%, dependent on destination, for an aerocapture vehicle compared to an all-propulsive chemical vehicle. In addition aerocapture is applicable to multiple planetary exploration destinations of interest to NASA. The 2001 NASA In-Space Propulsion Program (ISP) technology prioritization effort identified aerocapture as one of the top three propulsion technologies for solar system exploration missions. An additional finding was that aerocapture needed a better system definition and that supporting technology gaps needed to be identified. Consequently, the ISP program sponsored an aerocapture systems analysis effort that was completed in 2002. The focus of the effort was on aerocapture at Titan with a rigid aeroshell system. Titan was selected as the initial destination for the study due to potential interest in a follow-on mission to Cassini/Huygens. Aerocapture is feasible, and the performance is adequate, for the Titan mission and it can deliver 2.4 times more mass to Titan than an all-propulsive system for the same launch vehicle.

Motor Vehicle Safety - Multiple Languages

MedlinePlus

... Are Here: Home → Multiple Languages → All Health Topics → Motor Vehicle Safety URL of this page: https://medlineplus.gov/languages/ ... V W XYZ List of All Topics All Motor Vehicle Safety - Multiple Languages To use the sharing features on ...

Coordination of networked systems on digraphs with multiple leaders via pinning control

NASA Astrophysics Data System (ADS)

Chen, Gang; Lewis, Frank L.

2012-02-01

It is well known that achieving consensus among a group of multi-vehicle systems by local distributed control is feasible if and only if all nodes in the communication digraph are reachable from a single (root) node. In this article, we take into account a more general case that the communication digraph of the networked multi-vehicle systems is weakly connected and has two or more zero-in-degree and strongly connected subgraphs, i.e. there are two or more leader groups. Based on the pinning control strategy, the feasibility problem of achieving second-order controlled consensus is studied. At first, a necessary and sufficient condition is given when the topology is fixed. Then the method to design the controller and the rule to choose the pinned vehicles are discussed. The proposed approach allows us to extend several existing results for undirected graphs to directed balanced graphs. A sufficient condition is proposed in the case where the coupling topology is variable. As an illustrative example, a second-order controlled consensus scheme is applied to coordinate the movement of networked multiple mobile robots.

Cascade Storage and Delivery System for a Multi Mission Space Exploration Vehicle (MMSEV)

NASA Technical Reports Server (NTRS)

Yagoda, Evan; Swickrath, Michael; Stambaugh, Imelda

2012-01-01

NASA is developing a Multi Mission Space Exploration Vehicle (MMSEV) for missions beyond Low Earth Orbit (LEO). The MMSEV is a pressurized vehicle used to extend the human exploration envelope for Lunar, Near Earth Object (NEO), and Deep Space missions. The Johnson Space Center is developing the Environmental Control and Life Support System (ECLSS) for the MMSEV. The MMSEV s intended use is to support longer sortie lengths with multiple Extra Vehicular Activities (EVAs) on a higher magnitude than any previous vehicle. This paper presents an analysis of a high pressure oxygen cascade storage and delivery system that will accommodate the crew during long duration Intra Vehicular Activity (IVA) and capable of multiple high pressure oxygen fills to the Portable Life Support System (PLSS) worn by the crew during EVAs. A cascade is a high pressure gas cylinder system used for the refilling of smaller compressed gas cylinders. Each of the large cylinders are filled by a compressor, but the cascade system allows small cylinders to be filled without the need of a compressor. In addition, the cascade system is useful as a "reservoir" to accommodate low pressure needs. A regression model was developed to provide the mechanism to size the cascade systems subject to constraints such as number of crew, extravehicular activity duration and frequency, and ullage gas requirements under contingency scenarios. The sizing routine employed a numerical integration scheme to determine gas compressibility changes during depressurization and compressibility effects were captured using the Soave-Redlich-Kwong (SRK) equation of state. A multi-dimensional nonlinear optimization routine was used to find the minimum cascade tank system mass that meets the mission requirements. The sizing algorithms developed in this analysis provide a powerful framework to assess cascade filling, compressor, and hybrid systems to design long duration vehicle ECLSS architecture. 1

36 CFR 1192.35 - Public information system.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 36 Parks, Forests, and Public Property 3 2010-07-01 2010-07-01 false Public information system... Buses, Vans and Systems § 1192.35 Public information system. (a) Vehicles in excess of 22 feet in length, used in multiple-stop, fixed-route service, shall be equipped with a public address system permitting...

Multiple-vehicle collision induced by a sudden stop in traffic flow

NASA Astrophysics Data System (ADS)

Sugiyama, Naoki; Nagatani, Takashi

2012-04-01

We study the dynamic process of the multiple-vehicle collision when a vehicle stops suddenly in a traffic flow. We apply the optimal-velocity model to the vehicular motion. If a vehicle does not decelerate successfully, it crashes into the vehicle ahead with a residual speed. The collision criterion is presented by vi(t)/Δxi(t)→∞ if Δxi(t)→0 where vi(t) and Δxi(t) are the speed and headway of vehicle i at time t. The number of crumpled vehicles depends on the initial velocity, the sensitivity, and the initial headway. We derive the region map (or phase diagram) for the multiple-vehicle collision.

Vision-based object detection and recognition system for intelligent vehicles

NASA Astrophysics Data System (ADS)

Ran, Bin; Liu, Henry X.; Martono, Wilfung

1999-01-01

Recently, a proactive crash mitigation system is proposed to enhance the crash avoidance and survivability of the Intelligent Vehicles. Accurate object detection and recognition system is a prerequisite for a proactive crash mitigation system, as system component deployment algorithms rely on accurate hazard detection, recognition, and tracking information. In this paper, we present a vision-based approach to detect and recognize vehicles and traffic signs, obtain their information, and track multiple objects by using a sequence of color images taken from a moving vehicle. The entire system consist of two sub-systems, the vehicle detection and recognition sub-system and traffic sign detection and recognition sub-system. Both of the sub- systems consist of four models: object detection model, object recognition model, object information model, and object tracking model. In order to detect potential objects on the road, several features of the objects are investigated, which include symmetrical shape and aspect ratio of a vehicle and color and shape information of the signs. A two-layer neural network is trained to recognize different types of vehicles and a parameterized traffic sign model is established in the process of recognizing a sign. Tracking is accomplished by combining the analysis of single image frame with the analysis of consecutive image frames. The analysis of the single image frame is performed every ten full-size images. The information model will obtain the information related to the object, such as time to collision for the object vehicle and relative distance from the traffic sings. Experimental results demonstrated a robust and accurate system in real time object detection and recognition over thousands of image frames.

Analyzing the Impacts of Natural Environments on Launch and Landing Availability for NASA's Eploration Systems Development Programs

NASA Technical Reports Server (NTRS)

Altino, Karen M.; Burns, K. Lee; Barbre, Robert E.; Leahy, Frank B.

2014-01-01

NASA is developing new capabilities for human and scientific exploration beyond Earth orbit. Natural environments information is an important asset for NASA's development of the next generation space transportation system as part of the Exploration Systems Development Program, which includes the Space Launch System (SLS) and MultiPurpose Crew Vehicle (MPCV) Programs. Natural terrestrial environment conditions - such as wind, lightning and sea states - can affect vehicle safety and performance during multiple mission phases ranging from prelaunch ground processing to landing and recovery operations, including all potential abort scenarios. Space vehicles are particularly sensitive to these environments during the launch/ascent and the entry/landing phases of mission operations. The Marshall Space Flight Center (MSFC) Natural Environments Branch provides engineering design support for NASA space vehicle projects and programs by providing design engineers and mission planners with natural environments definitions as well as performing custom analyses to help characterize the impacts the natural environment may have on vehicle performance. One such analysis involves assessing the impact of natural environments to operational availability. Climatological time series of operational surface weather observations are used to calculate probabilities of meeting or exceeding various sets of hypothetical vehicle-specific parametric constraint thresholds.

Design of Small MEMS Microphone Array Systems for Direction Finding of Outdoors Moving Vehicles

PubMed Central

Zhang, Xin; Huang, Jingchang; Song, Enliang; Liu, Huawei; Li, Baoqing; Yuan, Xiaobing

2014-01-01

In this paper, a MEMS microphone array system scheme is proposed which implements real-time direction of arrival (DOA) estimation for moving vehicles. Wind noise is the primary source of unwanted noise on microphones outdoors. A multiple signal classification (MUSIC) algorithm is used in this paper for direction finding associated with spatial coherence to discriminate between the wind noise and the acoustic signals of a vehicle. The method is implemented in a SHARC DSP processor and the real-time estimated DOA is uploaded through Bluetooth or a UART module. Experimental results in different places show the validity of the system and the deviation is no bigger than 6° in the presence of wind noise. PMID:24603636

UM-PRS: An implementation of the procedural reasoning system for multirobot applications

NASA Technical Reports Server (NTRS)

Lee, Jaeho; Huber, Marcus J.; Durfee, Edmund H.; Kenny, Patrick G.

1994-01-01

The Procedural Reasoning System (PRS) is used in applications where predetermined situations might arise. The UM-PRS provides a reasoning system that represents robotic applications even in unpredictable domains, such as the robotic reconnaissance task domain outlined here. UM-PRS incorporates a changing context, rather than relying solely on a prearranged plan. The UM-PRS here provides representation important in the reasoning and interface between a mission plan and the executable map of an outdoor vehicle that changes its behavior based on what it comes in contact with in its environment. PRS is thus used in the dynamic control of such a vehicle, providing the basis for coordinating the joint task of multiple robotic vehicles by the their individual observations and representation.

Design of small MEMS microphone array systems for direction finding of outdoors moving vehicles.

PubMed

Zhang, Xin; Huang, Jingchang; Song, Enliang; Liu, Huawei; Li, Baoqing; Yuan, Xiaobing

2014-03-05

In this paper, a MEMS microphone array system scheme is proposed which implements real-time direction of arrival (DOA) estimation for moving vehicles. Wind noise is the primary source of unwanted noise on microphones outdoors. A multiple signal classification (MUSIC) algorithm is used in this paper for direction finding associated with spatial coherence to discriminate between the wind noise and the acoustic signals of a vehicle. The method is implemented in a SHARC DSP processor and the real-time estimated DOA is uploaded through Bluetooth or a UART module. Experimental results in different places show the validity of the system and the deviation is no bigger than 6° in the presence of wind noise.

Networking Multiple Autonomous Air and Ocean Vehicles for Oceanographic Research and Monitoring

NASA Astrophysics Data System (ADS)

McGillivary, P. A.; Borges de Sousa, J.; Rajan, K.

2013-12-01

Autonomous underwater and surface vessels (AUVs and ASVs) are coming into wider use as components of oceanographic research, including ocean observing systems. Unmanned airborne vehicles (UAVs) are now available at modest cost, allowing multiple UAVs to be deployed with multiple AUVs and ASVs. For optimal use good communication and coordination among vehicles is essential. We report on the use of multiple AUVs networked in communication with multiple UAVs. The UAVs are augmented by inferential reasoning software developed at MBARI that allows UAVs to recognize oceanographic fronts and change their navigation and control. This in turn allows UAVs to automatically to map frontal features, as well as to direct AUVs and ASVs to proceed to such features and conduct sampling via onboard sensors to provide validation for airborne mapping. ASVs can also act as data nodes for communication between UAVs and AUVs, as well as collecting data from onboard sensors, while AUVs can sample the water column vertically. This allows more accurate estimation of phytoplankton biomass and productivity, and can be used in conjunction with UAV sampling to determine air-sea flux of gases (e.g. CO2, CH4, DMS) affecting carbon budgets and atmospheric composition. In particular we describe tests in July 2013 conducted off Sesimbra, Portugal in conjunction with the Portuguese Navy by the University of Porto and MBARI with the goal of tracking large fish in the upper water column with coordinated air/surface/underwater measurements. A thermal gradient was observed in the infrared by a low flying UAV, which was used to dispatch an AUV to obtain ground truth to demonstrate the event-response capabilities using such autonomous platforms. Additional field studies in the future will facilitate integration of multiple unmanned systems into research vessel operations. The strength of hardware and software tools described in this study is to permit fundamental oceanographic measurements of both ocean and atmosphere over temporal and spatial scales that have previously been problematic. The methods demonstrated are particularly suited to the study of oceanographic fronts and for tracking and mapping oil spills or plankton blooms. With the networked coordination of multiple autonomous systems, individual components may be changed out while ocean observations continue, allowing coarse to fine spatial studies of hydrographic features over temporal dimensions that would otherwise be difficult, including diurnal and tidal periods. Constraints on these methods currently involve coordination of data archiving systems into shipboard operating systems, familiarization of oceanographers with these methods, and existing nearshore airspace use constraints on UAVs. An important outcome of these efforts is to understand the methodology for using multiple heterogeneous autonomous vehicles for targeted science exploration.

A Generic Guidance and Control Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

NASA Technical Reports Server (NTRS)

Cotting, M. Christopher; Cox, Timothy H.

2005-01-01

A control system framework is presented for both real-time and batch six-degree-of-freedom simulation. This framework allows stabilization and control with multiple command options, from body rate control to waypoint guidance. Also, pilot commands can be used to operate the simulation in a pilot-in-the-loop environment. This control system framework is created by using direct vehicle state feedback with nonlinear dynamic inversion. A direct control allocation scheme is used to command aircraft effectors. Online B-matrix estimation is used in the control allocation algorithm for maximum algorithm flexibility. Primary uses for this framework include conceptual design and early preliminary design of aircraft, where vehicle models change rapidly and a knowledge of vehicle six-degree-of-freedom performance is required. A simulated airbreathing hypersonic vehicle and a simulated high performance fighter are controlled to demonstrate the flexibility and utility of the control system.

Simulation Environment for Orion Launch Abort System Control Design Studies

NASA Technical Reports Server (NTRS)

McMinn, J. Dana; Jackson, E. Bruce; Christhilf, David M.

2007-01-01

The development and use of an interactive environment to perform control system design and analysis of the proposed Crew Exploration Vehicle Launch Abort System is described. The environment, built using a commercial dynamic systems design package, includes use of an open-source configuration control software tool and a collaborative wiki to coordinate between the simulation developers, control law developers and users. A method for switching between multiple candidate control laws and vehicle configurations is described. Aerodynamic models, especially in a development program, change rapidly, so a means for automating the implementation of new aerodynamic models is described.

Reusable cryogenic foam insulation for advanced aerospace vehicles

NASA Technical Reports Server (NTRS)

Mcauliffe, Patrick S.; Taylor, Allan H.; Sparks, Larry L.; Dube, William P.

1991-01-01

Future high-speed aircraft and aerospace vehicles using cryogenic propellants will require an advanced reusable insulation system for the propellant tank structure. This cryogenic insulation system must be lightweight, structurally and thermally efficient, and capable of multiple reuse without cracking or degraded performance. This paper presents recent progress in the development of a reusable cryogenic foam insulation system having a maximum service temperature of 400 F. The system consists of preshaped, precut blocks of rigid polymethacrylimide foam insulation, wrapped with a high-temperature Kapton and aluminum foil vapor barrier which is adhesively bonded to the propellant tank wall.

Thermal Control System Development to Support the Crew Exploration Vehicle and Lunar Surface Access Module

NASA Technical Reports Server (NTRS)

Anderson, Molly; Westheimer, David

2006-01-01

All space vehicles or habitats require thermal management to maintain a safe and operational environment for both crew and hardware. Active Thermal Control Systems (ATCS) perform the functions of acquiring heat from both crew and hardware within a vehicle, transporting that heat throughout the vehicle, and finally rejecting that energy into space. Almost all of the energy used in a space vehicle eventually turns into heat, which must be rejected in order to maintain an energy balance and temperature control of the vehicle. For crewed vehicles, Active Thermal Control Systems are pumped fluid loops that are made up of components designed to perform these functions. NASA has recently evaluated all of the agency s technology development work and identified key areas that must be addressed to aid in the successful development of a Crew Exploration Vehicle (CEV) and a Lunar Surface Access Module (LSAM). The technologies that have been selected and are currently under development include: fluids that enable single loop ATCS architectures, a gravity insensitive vapor compression cycle heat pump, a sublimator with reduced sensitivity to feedwater contamination, an evaporative heat sink that can operate in multiple ambient pressure environments, a compact spray evaporator, and lightweight radiators that take advantage of carbon composites and advanced optical coatings.

40 CFR Appendix B to Subpart S of... - Test Procedures

Code of Federal Regulations, 2010 CFR

2010-07-01

... percent or the vehicle's engine stalls at any time during the test sequence. (4) Multiple exhaust pipes. Exhaust gas concentrations from vehicle engines equipped with multiple exhaust pipes shall be sampled... pipes. Exhaust gas concentrations from vehicle engines equipped with multiple exhaust pipes shall be...

Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

NASA Technical Reports Server (NTRS)

Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

1994-01-01

A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

The HAL 9000 Space Operating System Real-Time Planning Engine Design and Operations Requirements

NASA Technical Reports Server (NTRS)

Stetson, Howard; Watson, Michael D.; Shaughnessy, Ray

2012-01-01

In support of future deep space manned missions, an autonomous/automated vehicle, providing crew autonomy and an autonomous response planning system, will be required due to the light time delays in communication. Vehicle capabilities as a whole must provide for tactical response to vehicle system failures and space environmental effects induced failures, for risk mitigation of permanent loss of communication with Earth, and for assured crew return capabilities. The complexity of human rated space systems and the limited crew sizes and crew skills mix drive the need for a robust autonomous capability on-board the vehicle. The HAL 9000 Space Operating System[2] designed for such missions and space craft includes the first distributed real-time planning / re-planning system. This paper will detail the software architecture of the multiple planning engine system, and the interface design for plan changes, approval and implementation that is performed autonomously. Operations scenarios will be defined for analysis of the planning engines operations and its requirements for nominal / off nominal activities. An assessment of the distributed realtime re-planning system, in the defined operations environment, will be provided as well as findings as it pertains to the vehicle, crew, and mission control requirements needed for implementation.

3D model generation using an airborne swarm

DOE Office of Scientific and Technical Information (OSTI.GOV)

Clark, R. A.; Punzo, G.; Macdonald, M.

2015-03-31

Using an artificial kinematic field to provide co-ordination between multiple inspection UAVs, the authors herein demonstrate full 3D modelling capability based on a photogrammetric system. The operation of the system is demonstrated by generating a full 3D surface model of an intermediate level nuclear waste storage drum. Such drums require periodic inspection to ensure that drum distortion or corrosion is carefully monitored. Performing this inspection with multiple airborne platforms enables rapid inspection of structures that are inaccessible to on-surface remote vehicles and are in human-hazardous environments. A three-dimensional surface-meshed model of the target can then be constructed in post-processing throughmore » photogrammetry analysis of the visual inspection data. The inspection environment uses a tracking system to precisely monitor the position of each aerial vehicle within the enclosure. The vehicles used are commercially available Parrot AR. Drone quadcopters, controlled through a computer interface connected over an IEEE 802.11n (WiFi) network, implementing a distributed controller for each vehicle. This enables the autonomous and distributed elements of the control scheme to be retained, while alleviating the vehicles of the control algorithm’s computational load. The control scheme relies on a kinematic field defined with the target at its centre. This field defines the trajectory for all the drones in the volume relative to the central target, enabling the drones to circle the target at a set radius while avoiding drone collisions. This function enables complete coverage along the height of the object, which is assured by transitioning to another inspection band only after completing circumferential coverage. Using a swarm of vehicles, the time until complete coverage can be significantly reduced.« less

3D model generation using an airborne swarm

NASA Astrophysics Data System (ADS)

Clark, R. A.; Punzo, G.; Dobie, G.; MacLeod, C. N.; Summan, R.; Pierce, G.; Macdonald, M.; Bolton, G.

2015-03-01

Using an artificial kinematic field to provide co-ordination between multiple inspection UAVs, the authors herein demonstrate full 3D modelling capability based on a photogrammetric system. The operation of the system is demonstrated by generating a full 3D surface model of an intermediate level nuclear waste storage drum. Such drums require periodic inspection to ensure that drum distortion or corrosion is carefully monitored. Performing this inspection with multiple airborne platforms enables rapid inspection of structures that are inaccessible to on-surface remote vehicles and are in human-hazardous environments. A three-dimensional surface-meshed model of the target can then be constructed in post-processing through photogrammetry analysis of the visual inspection data. The inspection environment uses a tracking system to precisely monitor the position of each aerial vehicle within the enclosure. The vehicles used are commercially available Parrot AR. Drone quadcopters, controlled through a computer interface connected over an IEEE 802.11n (WiFi) network, implementing a distributed controller for each vehicle. This enables the autonomous and distributed elements of the control scheme to be retained, while alleviating the vehicles of the control algorithm's computational load. The control scheme relies on a kinematic field defined with the target at its centre. This field defines the trajectory for all the drones in the volume relative to the central target, enabling the drones to circle the target at a set radius while avoiding drone collisions. This function enables complete coverage along the height of the object, which is assured by transitioning to another inspection band only after completing circumferential coverage. Using a swarm of vehicles, the time until complete coverage can be significantly reduced.

Modeling and Optimization of Multiple Unmanned Aerial Vehicles System Architecture Alternatives

PubMed Central

Wang, Weiping; He, Lei

2014-01-01

Unmanned aerial vehicle (UAV) systems have already been used in civilian activities, although very limitedly. Confronted different types of tasks, multi UAVs usually need to be coordinated. This can be extracted as a multi UAVs system architecture problem. Based on the general system architecture problem, a specific description of the multi UAVs system architecture problem is presented. Then the corresponding optimization problem and an efficient genetic algorithm with a refined crossover operator (GA-RX) is proposed to accomplish the architecting process iteratively in the rest of this paper. The availability and effectiveness of overall method is validated using 2 simulations based on 2 different scenarios. PMID:25140328

Multiple Autonomous Vehicles for Minefield Reconnaissance and Mapping

DTIC Science & Technology

1997-12-01

NPS-ME-97-008 NAVAL POSTGRADUATE SCHOOL Monterey, California ItC A D- 19980421 131 =C QUALTY Ui Ji.CTEJ) THESIS MULTIPLE AUTONOMOUS VEHICLES FOR...MULTIPLE AUTONOMOUS VEHICLES FOR MINEFIELD 5. FUNDING NUMBERS RECONNAISSANCE AND MAPPING N0001497WX30039 6. AUTHOR(S) Jack A. Starr 7. PERFORMING... AUTONOMOUS VEHICLES FOR MINEFIELD RECONNAISSANCE AND MAPPING Jack A. Starr Lieutenant, United States Navy B.S., Oregon State University, 1991 Submitted in

Advanced Hybrid Spacesuit Concept Featuring Integrated Open Loop and Closed Loop Ventilation Systems

NASA Technical Reports Server (NTRS)

Daniel, Brian A.; Fitzpatrick, Garret R.; Gohmert, Dustin M.; Ybarra, Rick M.; Dub, Mark O.

2013-01-01

A document discusses the design and prototype of an advanced spacesuit concept that integrates the capability to function seamlessly with multiple ventilation system approaches. Traditionally, spacesuits are designed to operate both dependently and independently of a host vehicle environment control and life support system (ECLSS). Spacesuits that operate independent of vehicle-provided ECLSS services must do so with equipment selfcontained within or on the spacesuit. Suits that are dependent on vehicle-provided consumables must remain physically connected to and integrated with the vehicle to operate properly. This innovation is the design and prototype of a hybrid spacesuit approach that configures the spacesuit to seamlessly interface and integrate with either type of vehicular systems, while still maintaining the ability to function completely independent of the vehicle. An existing Advanced Crew Escape Suit (ACES) was utilized as the platform from which to develop the innovation. The ACES was retrofitted with selected components and one-off items to achieve the objective. The ventilation system concept was developed and prototyped/retrofitted to an existing ACES. Components were selected to provide suit connectors, hoses/umbilicals, internal breathing system ducting/ conduits, etc. The concept utilizes a lowpressure- drop, high-flow ventilation system that serves as a conduit from the vehicle supply into the suit, up through a neck seal, into the breathing helmet cavity, back down through the neck seal, out of the suit, and returned to the vehicle. The concept also utilizes a modified demand-based breathing system configured to function seamlessly with the low-pressure-drop closed-loop ventilation system.

Evaluation of powertrain solutions for future tactical truck vehicle systems

NASA Astrophysics Data System (ADS)

Pisu, Pierluigi; Cantemir, Codrin-Gruie; Dembski, Nicholas; Rizzoni, Giorgio; Serrao, Lorenzo; Josephson, John R.; Russell, James

2006-05-01

The article presents the results of a large scale design space exploration for the hybridization of two off-road vehicles, part of the Future Tactical Truck System (FTTS) family: Maneuver Sustainment Vehicle (MSV) and Utility Vehicle (UV). Series hybrid architectures are examined. The objective of the paper is to illustrate a novel design methodology that allows for the choice of the optimal values of several vehicle parameters. The methodology consists in an extensive design space exploration, which involves running a large number of computer simulations with systematically varied vehicle design parameters, where each variant is paced through several different mission profiles, and multiple attributes of performance are measured. The resulting designs are filtered to choose the design tradeoffs that better satisfy the performance and fuel economy requirements. At the end, few promising vehicle configuration designs will be selected that will need additional detailed investigation including neglected metrics like ride and drivability. Several powertrain architectures have been simulated. The design parameters include the number of axles in the vehicle (2 or 3), the number of electric motors per axle (1 or 2), the type of internal combustion engine, the type and quantity of energy storage system devices (batteries, electrochemical capacitors or both together). An energy management control strategy has also been developed to provide efficiency and performance. The control parameters are tunable and have been included into the design space exploration. The results show that the internal combustion engine and the energy storage system devices are extremely important for the vehicle performance.

Effect of velocity-dependent friction on multiple-vehicle collisions in traffic flow

NASA Astrophysics Data System (ADS)

Nagatani, Takashi

2017-01-01

We present the dynamic model for the multiple-vehicle collisions to take into account the velocity-dependent friction force. We study the effect of the velocity-dependent friction on the chain-reaction crash on a road. In the traffic situation, drivers brake according to taillights of the forward vehicle and the friction force depends highly on the vehicular speed. The first crash may induce more collisions. We investigate whether or not the first collision induces the multiple-vehicle collisions, numerically and analytically. The dynamic transitions occur from no collisions, through a single collision and double collisions, to multiple collisions with decreasing the headway. We explore the effect of the velocity-dependent friction on the dynamic transitions and the region maps in the multiple-vehicle collisions.

Seat Integrated and Conventional Restraints: A Study of Crash Injury/Fatality Rates in Rollovers

PubMed Central

Padmanaban, Jeya; Burnett, Roger A.

2008-01-01

This study used police-reported motor vehicle crash data from eleven states to determine ejection, fatality, and fatal/serious injury risks for belted drivers in vehicles with conventional seatbelts compared to belted drivers in vehicles with seat integrated restraint systems (SIRS). Risks were compared for 11,159 belted drivers involved in single- or multiple-vehicle rollover crashes. Simple driver ejection (partial and complete), fatality, and injury rates were derived, and logistic regression analyses were used to determine relative contribution of factors (including event calendar year, vehicle age, driver age/gender/alcohol use) that significantly influence the likelihood of fatality and fatal/serious injury to belted drivers in rollovers. Results show no statistically significant difference in driver ejection, fatality, or fatal/serious injury rates between vehicles with conventional belts and vehicles with SIRS. PMID:19026243

Obstacle avoidance system with sonar sensing and fuzzy logic

NASA Astrophysics Data System (ADS)

Chiang, Wen-chuan; Kelkar, Nikhal; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of an obstacle avoidance system using sonar sensors for a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. The obstacle avoidance system is based on a micro-controller interfaced with multiple ultrasonic transducers. This micro-controller independently handles all timing and distance calculations and sends a distance measurement back to the computer via the serial line. This design yields a portable independent system. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous obstacle avoidance controller applicable for any mobile vehicle with only minor adaptations.

Assimilation of Wind Profiles from Multiple Doppler Radar Wind Profilers for Space Launch Vehicle Applications

NASA Technical Reports Server (NTRS)

Decker, Ryan K.; Walker, John R.; Barbre, Robert E., Jr.; Leach, Richard D.

2015-01-01

Atmospheric wind data are required by space launch vehicles in order to assess flight vehicle loads and performance on day-of-launch. Space launch ranges at NASA's Kennedy Space Center co-located with the United States Air Force's (USAF) Eastern Range (ER) at Cape Canaveral Air Force Station and USAF's Western Range (WR) at Vandenberg Air Force Base have extensive networks of in-situ and remote sensing instrumentation to measure atmospheric winds. Each instrument's technique to measure winds has advantages and disadvantages in regards to use within vehicle trajectory analyses. Balloons measure wind at all altitudes necessary for vehicle assessments, but two primary disadvantages exist when applying balloon output. First, balloons require approximately one hour to reach required altitudes. Second, balloons are steered by atmospheric winds down range of the launch site that could significantly differ from those winds along the vehicle ascent trajectory. These issues are mitigated by use of vertically pointing Doppler Radar Wind Profilers (DRWPs). However, multiple DRWP instruments are required to provide wind data over altitude ranges necessary for vehicle trajectory assessments. The various DRWP systems have different operating configurations resulting in different temporal and spatial sampling intervals. Therefore, software was developed to combine data from both DRWP-generated profiles into a single profile for use in vehicle trajectory analyses. This paper will present details of the splicing software algorithms and will provide sample output.

Thin Film Physical Sensor Instrumentation Research and Development at NASA Glenn Research Center

NASA Technical Reports Server (NTRS)

Wrbanek, John D.; Fralick, Gustave C.

2006-01-01

A range of thin film sensor technology has been demonstrated enabling measurement of multiple parameters either individually or in sensor arrays including temperature, strain, heat flux, and flow. Multiple techniques exist for refractory thin film fabrication, fabrication and integration on complex surfaces and multilayered thin film insulation. Leveraging expertise in thin films and high temperature materials, investigations for the applications of thin film ceramic sensors has begun. The current challenges of instrumentation technology are to further develop systems packaging and component testing of specialized sensors, further develop instrumentation techniques on complex surfaces, improve sensor durability, and to address needs for extreme temperature applications. The technology research and development ongoing at NASA Glenn for applications to future launch vehicles, space vehicles, and ground systems is outlined.

Reconfigurable Flight Control Designs With Application to the X-33 Vehicle

NASA Technical Reports Server (NTRS)

Burken, John J.; Lu, Ping; Wu, Zhenglu

1999-01-01

Two methods for control system reconfiguration have been investigated. The first method is a robust servomechanism control approach (optimal tracking problem) that is a generalization of the classical proportional-plus-integral control to multiple input-multiple output systems. The second method is a control-allocation approach based on a quadratic programming formulation. A globally convergent fixed-point iteration algorithm has been developed to make onboard implementation of this method feasible. These methods have been applied to reconfigurable entry flight control design for the X-33 vehicle. Examples presented demonstrate simultaneous tracking of angle-of-attack and roll angle commands during failures of the right body flap actuator. Although simulations demonstrate success of the first method in most cases, the control-allocation method appears to provide uniformly better performance in all cases.

Investigation of the Landing Characteristics of a Re-entry Vehicle Having a Canted Multiple Air Bag Load Alleviation System

NASA Technical Reports Server (NTRS)

McGehee, John R.; Stubbs, Sandy M.

1963-01-01

An investigation was made to determine the landing-impact characteristics of a reentry vehicle having a multiple-air-bag load-alleviation system. A 1/16-scale dynamic model having four canted air bags was tested at flight-path angles of 90 degrees (vertical), 45 degrees, and 27 degrees for a parachute or paraglider vertical letdown velocity of 30 feet per second (full scale). Landings were made on concrete at attitudes ranging from -l5 degrees to 20 degrees. The friction coefficient between the model heat shield and the concrete was approximately 0.4. An aluminum diaphragm, designed to rupture at 10.8 pounds per square inch gage, was used to maintain initial pressure in the air bags for a short time period.

Architecting Human Operator Trust in Automation to Improve System Effectiveness in Multiple Unmanned Aerial Vehicles (UAV) Control

DTIC Science & Technology

2009-03-01

like to extend our appreciation to our research sponsor Dr. Janet Miller from the Air Force Research Labs, and her colleague Dr. Cheryl Batchelor, for...for single-operator control of multiple UAVs. Drs. Brian Tsou, Lamar Warfield , Justin Estepp and Benjamin Knott , meanwhile, contributed to our

System and method for filling a plurality of isolated vehicle fluid circuits through a common fluid fill port

DOEpatents

Sullivan, Scott C; Fansler, Douglas

2014-10-14

A vehicle having multiple isolated fluid circuits configured to be filled through a common fill port includes a first fluid circuit disposed within the vehicle, the first fluid circuit having a first fill port, a second fluid circuit disposed within the vehicle, and a conduit defining a fluid passageway between the first fluid circuit and second fluid circuit, the conduit including a valve. The valve is configured such that the first and second fluid circuits are fluidly coupled via the passageway when the valve is open, and are fluidly isolated when the valve is closed.

The Impact of Human-Automation Collaboration in Decentralized Multiple Unmanned Vehicle Control

DTIC Science & Technology

2011-01-01

based decentralized auctions for robust task allocation ,[ IEEE Trans. Robot., vol. 25, no. 4, pp...operators can aid such systems by bringing their knowledge- based reasoning and experience to bear. Given a decentralized task planner and a goal- based ...experience to bear. Given a decentralized task planner and a goal- based operator interface for a network of unmanned vehicles in a search, track,

Reliability, Maintainability, and Availability: Consideration During the Design Phase in Ground Systems to Ensure Successful Launch Support

NASA Technical Reports Server (NTRS)

Gillespie, Amanda M.

2012-01-01

The future of Space Exploration includes missions to the moon, asteroids, Mars, and beyond. To get there, the mission concept is to launch multiple launch vehicles months, even years apart. In order to achieve this, launch vehicles, payloads (satellites and crew capsules), and ground systems must be highly reliable and/or available, to include maintenance concepts and procedures in the event of a launch scrub. In order to achieve this high probability of mission success, Ground Systems Development and Operations (GSDO) has allocated Reliability, Maintainability, and Availability (RMA) requirements to all hardware and software required for both launch operations and, in the event of a launch scrub, required to support a repair of the ground systems, launch vehicle, or payload. This is done concurrently with the design process (30/60/90 reviews).

3D Indoor Positioning of UAVs with Spread Spectrum Ultrasound and Time-of-Flight Cameras

PubMed Central

Aguilera, Teodoro

2017-01-01

This work proposes the use of a hybrid acoustic and optical indoor positioning system for the accurate 3D positioning of Unmanned Aerial Vehicles (UAVs). The acoustic module of this system is based on a Time-Code Division Multiple Access (T-CDMA) scheme, where the sequential emission of five spread spectrum ultrasonic codes is performed to compute the horizontal vehicle position following a 2D multilateration procedure. The optical module is based on a Time-Of-Flight (TOF) camera that provides an initial estimation for the vehicle height. A recursive algorithm programmed on an external computer is then proposed to refine the estimated position. Experimental results show that the proposed system can increase the accuracy of a solely acoustic system by 70–80% in terms of positioning mean square error. PMID:29301211

Mission control of multiple unmanned aerial vehicles: a workload analysis.

PubMed

Dixon, Stephen R; Wickens, Christopher D; Chang, Dervon

2005-01-01

With unmanned aerial vehicles (UAVs), 36 licensed pilots flew both single-UAV and dual-UAV simulated military missions. Pilots were required to navigate each UAV through a series of mission legs in one of the following three conditions: a baseline condition, an auditory autoalert condition, and an autopilot condition. Pilots were responsible for (a) mission completion, (b) target search, and (c) systems monitoring. Results revealed that both the autoalert and the autopilot automation improved overall performance by reducing task interference and alleviating workload. The autoalert system benefited performance both in the automated task and mission completion task, whereas the autopilot system benefited performance in the automated task, the mission completion task, and the target search task. Practical implications for the study include the suggestion that reliable automation can help alleviate task interference and reduce workload, thereby allowing pilots to better handle concurrent tasks during single- and multiple-UAV flight control.

A Cost-Effective Vehicle Localization Solution Using an Interacting Multiple Model−Unscented Kalman Filters (IMM-UKF) Algorithm and Grey Neural Network

PubMed Central

Xu, Qimin; Li, Xu; Chan, Ching-Yao

2017-01-01

In this paper, we propose a cost-effective localization solution for land vehicles, which can simultaneously adapt to the uncertain noise of inertial sensors and bridge Global Positioning System (GPS) outages. First, three Unscented Kalman filters (UKFs) with different noise covariances are introduced into the framework of Interacting Multiple Model (IMM) algorithm to form the proposed IMM-based UKF, termed as IMM-UKF. The IMM algorithm can provide a soft switching among the three UKFs and therefore adapt to different noise characteristics. Further, two IMM-UKFs are executed in parallel when GPS is available. One fuses the information of low-cost GPS, in-vehicle sensors, and micro electromechanical system (MEMS)-based reduced inertial sensor systems (RISS), while the other fuses only in-vehicle sensors and MEMS-RISS. The differences between the state vectors of the two IMM-UKFs are considered as training data of a Grey Neural Network (GNN) module, which is known for its high prediction accuracy with a limited amount of samples. The GNN module can predict and compensate position errors when GPS signals are blocked. To verify the feasibility and effectiveness of the proposed solution, road-test experiments with various driving scenarios were performed. The experimental results indicate that the proposed solution outperforms all the compared methods. PMID:28629165

Multiple-object tracking while driving: the multiple-vehicle tracking task.

PubMed

Lochner, Martin J; Trick, Lana M

2014-11-01

Many contend that driving an automobile involves multiple-object tracking. At this point, no one has tested this idea, and it is unclear how multiple-object tracking would coordinate with the other activities involved in driving. To address some of the initial and most basic questions about multiple-object tracking while driving, we modified the tracking task for use in a driving simulator, creating the multiple-vehicle tracking task. In Experiment 1, we employed a dual-task methodology to determine whether there was interference between tracking and driving. Findings suggest that although it is possible to track multiple vehicles while driving, driving reduces tracking performance, and tracking compromises headway and lane position maintenance while driving. Modified change-detection paradigms were used to assess whether there were change localization advantages for tracked targets in multiple-vehicle tracking. When changes occurred during a blanking interval, drivers were more accurate (Experiment 2a) and ~250 ms faster (Experiment 2b) at locating the vehicle that changed when it was a target rather than a distractor in tracking. In a more realistic driving task where drivers had to brake in response to the sudden onset of brake lights in one of the lead vehicles, drivers were more accurate at localizing the vehicle that braked if it was a tracking target, although there was no advantage in terms of braking response time. Overall, results suggest that multiple-object tracking is possible while driving and perhaps even advantageous in some situations, but further research is required to determine whether multiple-object tracking is actually used in day-to-day driving.

Planning for Crew Exercise for Future Deep Space Mission Scenarios

NASA Technical Reports Server (NTRS)

Moore, Cherice; Ryder, Jeff

2015-01-01

Providing the necessary exercise capability to protect crew health for deep space missions will bring new sets of engineering and research challenges. Exercise has been found to be a necessary mitigation for maintaining crew health on-orbit and preparing the crew for return to earth's gravity. Health and exercise data from Apollo, Space Lab, Shuttle, and International Space Station missions have provided insight into crew deconditioning and the types of activities that can minimize the impacts of microgravity on the physiological systems. The hardware systems required to implement exercise can be challenging to incorporate into spaceflight vehicles. Exercise system design requires encompassing the hardware required to provide mission specific anthropometrical movement ranges, desired loads, and frequencies of desired movements as well as the supporting control and monitoring systems, crew and vehicle interfaces, and vibration isolation and stabilization subsystems. The number of crew and operational constraints also contribute to defining the what exercise systems will be needed. All of these features require flight vehicle mass and volume integrated with multiple vehicle systems. The International Space Station exercise hardware requires over 1,800 kg of equipment and over 24 m3 of volume for hardware and crew operational space. Improvements towards providing equivalent or better capabilities with a smaller vehicle impact will facilitate future deep space missions. Deep space missions will require more understanding of the physiological responses to microgravity, understanding appropriate mitigations, designing the exercise systems to provide needed mitigations, and integrating effectively into vehicle design with a focus to support planned mission scenarios. Recognizing and addressing the constraints and challenges can facilitate improved vehicle design and exercise system incorporation.

Compensator improvement for multivariable control systems

NASA Technical Reports Server (NTRS)

Mitchell, J. R.; Mcdaniel, W. L., Jr.; Gresham, L. L.

1977-01-01

A theory and the associated numerical technique are developed for an iterative design improvement of the compensation for linear, time-invariant control systems with multiple inputs and multiple outputs. A strict constraint algorithm is used in obtaining a solution of the specified constraints of the control design. The result of the research effort is the multiple input, multiple output Compensator Improvement Program (CIP). The objective of the Compensator Improvement Program is to modify in an iterative manner the free parameters of the dynamic compensation matrix so that the system satisfies frequency domain specifications. In this exposition, the underlying principles of the multivariable CIP algorithm are presented and the practical utility of the program is illustrated with space vehicle related examples.

Impulsive response of an automatic transmission system with multiple clearances: Formulation, simulation and experiment

NASA Astrophysics Data System (ADS)

Crowther, Ashley R.; Singh, Rajendra; Zhang, Nong; Chapman, Chris

2007-10-01

Impulsive responses in geared systems with multiple clearances are studied when the mean torque excitation and system load change abruptly, with application to a vehicle driveline with an automatic transmission. First, torsional lumped-mass models of the planetary and differential gear sets are formulated using matrix elements. The model is then reduced to address tractable nonlinear problems while successfully retaining the main modes of interest. Second, numerical simulations for the nonlinear model are performed for transient conditions and a typical driving situation that induces an impulsive behaviour simulated. However, initial conditions and excitation and load profiles have to be carefully defined before the model can be numerically solved. It is shown that the impacts within the planetary or differential gears may occur under combinations of engine, braking and vehicle load transients. Our analysis shows that the shaping of the engine transient by the torque converter before reaching the clearance locations is more critical. Third, a free vibration experiment is developed for an analogous driveline with multiple clearances and three experiments that excite different response regimes have been carried out. Good correlations validate the proposed methodology.

The Business Case for Spiral Development in Heavy Lift Launch Vehicle Systems

NASA Technical Reports Server (NTRS)

Farr, Rebecca A.; Christensen, David L.; Keith, Edward L.

2005-01-01

Performance capabilities of a specific combination of the Space Shuttle external tank and various liquid engines in an in-line configuration, two-stage core vehicle with multiple redesigned solid rocket motor strap-ons are reexamined. This concept proposes using existing assets, hardware, and capabilities that are already crew-rated, flight certified, being manufactured under existing contracts, have a long history of component and system ground testing, and have been flown for over 20 yr. This paper goes beyond describing potential performance capabilities of specific components to discuss the overall system feasibility-from end to end, start to finish-describing the inherent cost advantages of the Spiral Development concept, which builds on existing capabilities and assets, as opposed to starting up a "fresh sheet" heavy-lift launch vehicle program from scratch.

ASCENT Program

NASA Technical Reports Server (NTRS)

Brown, Richard; Collier, Gary; Heckenlaible, Richard; Dougherty, Edward; Dolenz, James; Ross, Iain

2012-01-01

The ASCENT program solves the three-dimensional motion and attendant structural loading on a flexible vehicle incorporating, optionally, an active analog thrust control system, aerodynamic effects, and staging of multiple bodies. ASCENT solves the technical problems of loads, accelerations, and displacements of a flexible vehicle; staging of the upper stage from the lower stage; effects of thrust oscillations on the vehicle; a payload's relative motion; the effect of fluid sloshing on vehicle; and the effect of winds and gusts on the vehicle (on the ground or aloft) in a continuous analysis. The ATTACH ASCENT Loads program reads output from the ASCENT flexible body loads program, and calculates the approximate load indicators for the time interval under consideration. It calculates the load indicator values from pre-launch to the end of the first stage.

A Robust Mechanical Sensing System for Unmanned Sea Surface Vehicles

NASA Technical Reports Server (NTRS)

Kulczycki, Eric A.; Magnone, Lee J.; Huntsberger, Terrance; Aghazarian, Hrand; Padgett, Curtis W.; Trotz, David C.; Garrett, Michael S.

2009-01-01

The need for autonomous navigation and intelligent control of unmanned sea surface vehicles requires a mechanically robust sensing architecture that is watertight, durable, and insensitive to vibration and shock loading. The sensing system developed here comprises four black and white cameras and a single color camera. The cameras are rigidly mounted to a camera bar that can be reconfigured to mount multiple vehicles, and act as both navigational cameras and application cameras. The cameras are housed in watertight casings to protect them and their electronics from moisture and wave splashes. Two of the black and white cameras are positioned to provide lateral vision. They are angled away from the front of the vehicle at horizontal angles to provide ideal fields of view for mapping and autonomous navigation. The other two black and white cameras are positioned at an angle into the color camera's field of view to support vehicle applications. These two cameras provide an overlap, as well as a backup to the front camera. The color camera is positioned directly in the middle of the bar, aimed straight ahead. This system is applicable to any sea-going vehicle, both on Earth and in space.

Comprehensive and Practical Vision System for Self-Driving Vehicle Lane-Level Localization.

PubMed

Du, Xinxin; Tan, Kok Kiong

2016-05-01

Vehicle lane-level localization is a fundamental technology in autonomous driving. To achieve accurate and consistent performance, a common approach is to use the LIDAR technology. However, it is expensive and computational demanding, and thus not a practical solution in many situations. This paper proposes a stereovision system, which is of low cost, yet also able to achieve high accuracy and consistency. It integrates a new lane line detection algorithm with other lane marking detectors to effectively identify the correct lane line markings. It also fits multiple road models to improve accuracy. An effective stereo 3D reconstruction method is proposed to estimate vehicle localization. The estimation consistency is further guaranteed by a new particle filter framework, which takes vehicle dynamics into account. Experiment results based on image sequences taken under different visual conditions showed that the proposed system can identify the lane line markings with 98.6% accuracy. The maximum estimation error of the vehicle distance to lane lines is 16 cm in daytime and 26 cm at night, and the maximum estimation error of its moving direction with respect to the road tangent is 0.06 rad in daytime and 0.12 rad at night. Due to its high accuracy and consistency, the proposed system can be implemented in autonomous driving vehicles as a practical solution to vehicle lane-level localization.

Affordable multisensor digital video architecture for 360° situational awareness displays

NASA Astrophysics Data System (ADS)

Scheiner, Steven P.; Khan, Dina A.; Marecki, Alexander L.; Berman, David A.; Carberry, Dana

2011-06-01

One of the major challenges facing today's military ground combat vehicle operations is the ability to achieve and maintain full-spectrum situational awareness while under armor (i.e. closed hatch). Thus, the ability to perform basic tasks such as driving, maintaining local situational awareness, surveillance, and targeting will require a high-density array of real time information be processed, distributed, and presented to the vehicle operators and crew in near real time (i.e. low latency). Advances in display and sensor technologies are providing never before seen opportunities to supply large amounts of high fidelity imagery and video to the vehicle operators and crew in real time. To fully realize the advantages of these emerging display and sensor technologies, an underlying digital architecture must be developed that is capable of processing these large amounts of video and data from separate sensor systems and distributing it simultaneously within the vehicle to multiple vehicle operators and crew. This paper will examine the systems and software engineering efforts required to overcome these challenges and will address development of an affordable, integrated digital video architecture. The approaches evaluated will enable both current and future ground combat vehicle systems the flexibility to readily adopt emerging display and sensor technologies, while optimizing the Warfighter Machine Interface (WMI), minimizing lifecycle costs, and improve the survivability of the vehicle crew working in closed-hatch systems during complex ground combat operations.

An Observability Metric for Underwater Vehicle Localization Using Range Measurements

PubMed Central

Arrichiello, Filippo; Antonelli, Gianluca; Aguiar, Antonio Pedro; Pascoal, Antonio

2013-01-01

The paper addresses observability issues related to the general problem of single and multiple Autonomous Underwater Vehicle (AUV) localization using only range measurements. While an AUV is submerged, localization devices, such as Global Navigation Satellite Systems, are ineffective, due to the attenuation of electromagnetic waves. AUV localization based on dead reckoning techniques and the use of affordable motion sensor units is also not practical, due to divergence caused by sensor bias and drift. For these reasons, localization systems often build on trilateration algorithms that rely on the measurements of the ranges between an AUV and a set of fixed transponders using acoustic devices. Still, such solutions are often expensive, require cumbersome calibration procedures and only allow for AUV localization in an area that is defined by the geometrical arrangement of the transponders. A viable alternative for AUV localization that has recently come to the fore exploits the use of complementary information on the distance from the AUV to a single transponder, together with information provided by on-board resident motion sensors, such as, for example, depth, velocity and acceleration measurements. This concept can be extended to address the problem of relative localization between two AUVs equipped with acoustic sensors for inter-vehicle range measurements. Motivated by these developments, in this paper, we show that both the problems of absolute localization of a single vehicle and the relative localization of multiple vehicles can be treated using the same mathematical framework, and tailoring concepts of observability derived for nonlinear systems, we analyze how the performance in localization depends on the types of motion imparted to the AUVs. For this effect, we propose a well-defined observability metric and validate its usefulness, both in simulation and by carrying out experimental tests with a real marine vehicle during which the performance of an Extended Kalman Filter state observer is shown to depend on the types of motion imparted to the vehicle.

Active Thermal Control System Development for Exploration

NASA Technical Reports Server (NTRS)

Westheimer, David

2007-01-01

All space vehicles or habitats require thermal management to maintain a safe and operational environment for both crew and hardware. Active Thermal Control Systems (ATCS) perform the functions of acquiring heat from both crew and hardware within a vehicle, transporting that heat throughout the vehicle, and finally rejecting that energy into space. Almost all of the energy used in a space vehicle eventually turns into heat, which must be rejected in order to maintain an energy balance and temperature control of the vehicle. For crewed vehicles, Active Thermal Control Systems are pumped fluid loops that are made up of components designed to perform these functions. NASA has been actively developing technologies that will enable future missions or will provide significant improvements over the state of the art technologies. These technologies have are targeted for application on the Crew Exploration Vehicle (CEV), or Orion, and a Lunar Surface Access Module (LSAM). The technologies that have been selected and are currently under development include: fluids that enable single loop ATCS architectures, a gravity insensitive vapor compression cycle heat pump, a sublimator with reduced sensitivity to feedwater contamination, an evaporative heat sink that can operate in multiple ambient pressure environments, a compact spray evaporator, and lightweight radiators that take advantage of carbon composites and advanced optical coatings.

Advanced Aero-Propulsive Mid-Lift-to-Drag Ratio Entry Vehicle for Future Exploration Missions

NASA Technical Reports Server (NTRS)

Campbell, C. H.; Stosaric, R. R; Cerimele, C. J.; Wong, K. A.; Valle, G. D.; Garcia, J. A.; Melton, J. E.; Munk, M. M.; Blades, E.; Kuruvila, G.;

Effect of electronic stability control on automobile crash risk.

PubMed

Farmer, Charles

2004-12-01

Per vehicle crash involvement rates were compared for otherwise identical vehicle models with and without electronic stability control (ESC) systems. ESC was found to affect single-vehicle crashes to a greater extent than multiple-vehicle crashes, and crashes with fatal injuries to a greater extent than less severe crashes. Based on all police-reported crashes in 7 states over 2 years, ESC reduced single-vehicle crash involvement risk by approximately 41 percent (95 percent confidence limits 3348) and single-vehicle injury crash involvement risk by 41 percent (2752). This translates to an estimated 7 percent reduction in overall crash involvement risk (310) and a 9 percent reduction in overall injury crash involvement risk (314). Based on all fatal crashes in the United States over 3 years, ESC was found to have reduced single-vehicle fatal crash involvement risk by 56 percent (3968). This translates to an estimated 34 percent reduction in overall fatal crash involvement risk (2145).

Road simulation for four-wheel vehicle whole input power spectral density

NASA Astrophysics Data System (ADS)

Wang, Jiangbo; Qiang, Baomin

2017-05-01

As the vibration of running vehicle mainly comes from road and influence vehicle ride performance. So the road roughness power spectral density simulation has great significance to analyze automobile suspension vibration system parameters and evaluate ride comfort. Firstly, this paper based on the mathematical model of road roughness power spectral density, established the integral white noise road random method. Then in the MATLAB/Simulink environment, according to the research method of automobile suspension frame from simple two degree of freedom single-wheel vehicle model to complex multiple degrees of freedom vehicle model, this paper built the simple single incentive input simulation model. Finally the spectrum matrix was used to build whole vehicle incentive input simulation model. This simulation method based on reliable and accurate mathematical theory and can be applied to the random road simulation of any specified spectral which provides pavement incentive model and foundation to vehicle ride performance research and vibration simulation.

The Profile Envision and Splicing Tool (PRESTO): Developing an Atmospheric Wind Analysis Tool for Space Launch Vehicles Using Python

NASA Technical Reports Server (NTRS)

Orcutt, John M.; Barbre, Robert E., Jr.; Brenton, James C.; Decker, Ryan K.

2017-01-01

Launch vehicle programs require vertically complete atmospheric profiles. Many systems at the ER to make the necessary measurements, but all have different EVR, vertical coverage, and temporal coverage. MSFC Natural Environments Branch developed a tool to create a vertically complete profile from multiple inputs using Python. Forward work: Finish Formal Testing Acceptance Testing, End-to-End Testing. Formal Release

A hierarchical detection method in external communication for self-driving vehicles based on TDMA.

PubMed

Alheeti, Khattab M Ali; Al-Ani, Muzhir Shaban; McDonald-Maier, Klaus

2018-01-01

Security is considered a major challenge for self-driving and semi self-driving vehicles. These vehicles depend heavily on communications to predict and sense their external environment used in their motion. They use a type of ad hoc network termed Vehicular ad hoc networks (VANETs). Unfortunately, VANETs are potentially exposed to many attacks on network and application level. This paper, proposes a new intrusion detection system to protect the communication system of self-driving cars; utilising a combination of hierarchical models based on clusters and log parameters. This security system is designed to detect Sybil and Wormhole attacks in highway usage scenarios. It is based on clusters, utilising Time Division Multiple Access (TDMA) to overcome some of the obstacles of VANETs such as high density, high mobility and bandwidth limitations in exchanging messages. This makes the security system more efficient, accurate and capable of real time detection and quick in identification of malicious behaviour in VANETs. In this scheme, each vehicle log calculates and stores different parameter values after receiving the cooperative awareness messages from nearby vehicles. The vehicles exchange their log data and determine the difference between the parameters, which is utilised to detect Sybil attacks and Wormhole attacks. In order to realize efficient and effective intrusion detection system, we use the well-known network simulator (ns-2) to verify the performance of the security system. Simulation results indicate that the security system can achieve high detection rates and effectively detect anomalies with low rate of false alarms.

Influencing Trust for Human-Automation Collaborative Scheduling of Multiple Unmanned Vehicles.

PubMed

Clare, Andrew S; Cummings, Mary L; Repenning, Nelson P

2015-11-01

We examined the impact of priming on operator trust and system performance when supervising a decentralized network of heterogeneous unmanned vehicles (UVs). Advances in autonomy have enabled a future vision of single-operator control of multiple heterogeneous UVs. Real-time scheduling for multiple UVs in uncertain environments requires the computational ability of optimization algorithms combined with the judgment and adaptability of human supervisors. Because of system and environmental uncertainty, appropriate operator trust will be instrumental to maintain high system performance and prevent cognitive overload. Three groups of operators experienced different levels of trust priming prior to conducting simulated missions in an existing, multiple-UV simulation environment. Participants who play computer and video games frequently were found to have a higher propensity to overtrust automation. By priming gamers to lower their initial trust to a more appropriate level, system performance was improved by 10% as compared to gamers who were primed to have higher trust in the automation. Priming was successful at adjusting the operator's initial and dynamic trust in the automated scheduling algorithm, which had a substantial impact on system performance. These results have important implications for personnel selection and training for futuristic multi-UV systems under human supervision. Although gamers may bring valuable skills, they may also be potentially prone to automation bias. Priming during training and regular priming throughout missions may be one potential method for overcoming this propensity to overtrust automation. © 2015, Human Factors and Ergonomics Society.

Concepts and system design of a space emergency re-entry vehicle.

NASA Technical Reports Server (NTRS)

Huang, C. J.; Dickerson, S. L.

1971-01-01

Discussion of the spectrum of remedial concepts and realistic mission constraints. A vehicle design is presented which is offered as the 'best' solution among a number of alternative designs in terms of its cost effectiveness. The probability of the safe reentry and recovery of one to three stranded astronauts is 0.80. The vehicle is symmetrical and lenticular in shape, and exhibits a modest lift-to-drag ratio of 0.5, allowing it to reenter a two-skip trajectory with minimal gravity forces on the astronauts. Attitude control, voice and beacon communication, and impact attenuation are also provided. The vehicle could be delivered in a docked position on the Apollo Applications Program multiple docking adapter.

Map based navigation for autonomous underwater vehicles

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tuohy, S.T.; Leonard, J.J.; Bellingham, J.G.

1995-12-31

In this work, a map based navigation algorithm is developed wherein measured geophysical properties are matched to a priori maps. The objectives is a complete algorithm applicable to a small, power-limited AUV which performs in real time to a required resolution with bounded position error. Interval B-Splines are introduced for the non-linear representation of two-dimensional geophysical parameters that have measurement uncertainty. Fine-scale position determination involves the solution of a system of nonlinear polynomial equations with interval coefficients. This system represents the complete set of possible vehicle locations and is formulated as the intersection of contours established on each map frommore » the simultaneous measurement of associated geophysical parameters. A standard filter mechanisms, based on a bounded interval error model, predicts the position of the vehicle and, therefore, screens extraneous solutions. When multiple solutions are found, a tracking mechanisms is applied until a unique vehicle location is determined.« less

Effect of vehicular size on chain-reaction crash

NASA Astrophysics Data System (ADS)

Nagatani, Takashi

2015-11-01

We present the dynamic model of the chain-reaction crash to take account of the vehicular size. Drivers brake according to taillights of the forward vehicle. We investigate the effect of the vehicular size on the chain-reaction crash (multiple-vehicle collision) in the traffic flow controlled by taillights. In the multiple-vehicle collision, the first crash induces more collisions. We investigate how the first collision induces the chain-reaction crash numerically. We derive, analytically, the transition points and the region maps for the chain-reaction crash in the traffic flow of vehicles with finite sizes. We clarify the effect of the vehicular size on the multiple-vehicle collision.

Adaptive vehicle motion estimation and prediction

NASA Astrophysics Data System (ADS)

Zhao, Liang; Thorpe, Chuck E.

1999-01-01

Accurate motion estimation and reliable maneuver prediction enable an automated car to react quickly and correctly to the rapid maneuvers of the other vehicles, and so allow safe and efficient navigation. In this paper, we present a car tracking system which provides motion estimation, maneuver prediction and detection of the tracked car. The three strategies employed - adaptive motion modeling, adaptive data sampling, and adaptive model switching probabilities - result in an adaptive interacting multiple model algorithm (AIMM). The experimental results on simulated and real data demonstrate that our tracking system is reliable, flexible, and robust. The adaptive tracking makes the system intelligent and useful in various autonomous driving tasks.

Controlling multiple security robots in a warehouse environment

NASA Technical Reports Server (NTRS)

Everett, H. R.; Gilbreath, G. A.; Heath-Pastore, T. A.; Laird, R. T.

1994-01-01

The Naval Command Control and Ocean Surveillance Center (NCCOSC) has developed an architecture to provide coordinated control of multiple autonomous vehicles from a single host console. The multiple robot host architecture (MRHA) is a distributed multiprocessing system that can be expanded to accommodate as many as 32 robots. The initial application will employ eight Cybermotion K2A Navmaster robots configured as remote security platforms in support of the Mobile Detection Assessment and Response System (MDARS) Program. This paper discusses developmental testing of the MRHA in an operational warehouse environment, with two actual and four simulated robotic platforms.

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.

Computer coordination of limb motion for locomotion of a multiple-armed robot for space assembly

NASA Technical Reports Server (NTRS)

Klein, C. A.; Patterson, M. R.

1982-01-01

Consideration is given to a possible robotic system for the construction of large space structures, which may be described as a multiple general purpose arm manipulator vehicle that can walk over the structure under construction to a given site for further work. A description is presented of the locomotion of such a vehicle, modeling its arms in terms of a currently available industrial manipulator. It is noted that for whatever maximum speed of operation is chosen, rapid changes in robot velocity create situations in which already-selected handholds are no longer practical. A step is added to the 'free gait' walking algorithm in order to solve this problem.

Space Access for Small Satellites on the K-1

NASA Astrophysics Data System (ADS)

Faktor, L.

Affordable access to space remains a major obstacle to realizing the increasing potential of small satellites systems. On a per kilogram basis, small launch vehicles are simply too expensive for the budgets of many small satellite programs. Opportunities for rideshare with larger payloads on larger launch vehicles are still rare, given the complications associated with coordinating delivery schedules and deployment orbits. Existing contractual mechanisms are also often inadequate to facilitate the launch of multiple payload customers on the same flight. Kistler Aerospace Corporation is committed to lowering the price and enhancing the availability of space access for small satellite programs through the fully-reusable K-1 launch vehicle. Kistler has been working with a number of entities, including Astrium Ltd., AeroAstro, and NASA, to develop innovative approaches to small satellite missions. The K-1 has been selected by NASA as a Flight Demonstration Vehicle for the Space Launch Initiative. NASA has purchased the flight results during the first four K-1 launches on the performance of 13 advanced launch vehicle technologies embedded in the K-1 vehicle. On K-1 flights #2-#4, opportunities exist for small satellites to rideshare to low-earth orbit for a low-launch price. Kistler's flight demonstration contract with NASA also includes options to fly Add-on Technology Experiment flights. Opportunities exist for rideshare payloads on these flights as well. Both commercial and government customers may take advantage of the rideshare pricing. Kistler is investigating the feasibility of flying dedicated, multiple small payload missions. Such a mission would launch multiple small payloads from a single customer or small payloads from different customers. The orbit would be selected to be compatible with the requirements of as many small payload customers as possible, and make use of reusable hardware, standard interfaces (such as the existing MPAS) and verification plans. With sufficient demand, Kistler can schedule regular fixed "departures" for small payloads. Kistler and Astrium, Ltd., have initiated an effort to design reusable Multiple Payload Adapter Systems (MPAS) for use on the K-1. These adapters borrow from the heritage and standard interfaces used by Astrium in the Ariane Structure for Auxiliary Payloads (ASAP). One of these dispensers may be used to deploy small satellites during K-1 flights #2-#4.

Sensor Data Quality and Angular Rate Down-Selection Algorithms on SLS EM-1

NASA Technical Reports Server (NTRS)

Park, Thomas; Smith, Austin; Oliver, T. Emerson

2018-01-01

The NASA Space Launch System Block 1 launch vehicle is equipped with an Inertial Navigation System (INS) and multiple Rate Gyro Assemblies (RGA) that are used in the Guidance, Navigation, and Control (GN&C) algorithms. The INS provides the inertial position, velocity, and attitude of the vehicle along with both angular rate and specific force measurements. Additionally, multiple sets of co-located rate gyros supply angular rate data. The collection of angular rate data, taken along the launch vehicle, is used to separate out vehicle motion from flexible body dynamics. Since the system architecture uses redundant sensors, the capability was developed to evaluate the health (or validity) of the independent measurements. A suite of Sensor Data Quality (SDQ) algorithms is responsible for assessing the angular rate data from the redundant sensors. When failures are detected, SDQ will take the appropriate action and disqualify or remove faulted sensors from forward processing. Additionally, the SDQ algorithms contain logic for down-selecting the angular rate data used by the GNC software from the set of healthy measurements. This paper explores the trades and analyses that were performed in selecting a set of robust fault-detection algorithms included in the GN&C flight software. These trades included both an assessment of hardware-provided health and status data as well as an evaluation of different algorithms based on time-to-detection, type of failures detected, and probability of detecting false positives. We then provide an overview of the algorithms used for both fault-detection and measurement down selection. We next discuss the role of trajectory design, flexible-body models, and vehicle response to off-nominal conditions in setting the detection thresholds. Lastly, we present lessons learned from software integration and hardware-in-the-loop testing.

Robust control of a parallel hybrid drivetrain with a CVT

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mayer, T.; Schroeder, D.

1996-09-01

In this paper the design of a robust control system for a parallel hybrid drivetrain is presented. The drivetrain is based on a continuously variable transmission (CVT) and is therefore a highly nonlinear multiple-input-multiple-output system (MIMO-System). Input-Output-Linearization offers the possibility of linearizing and of decoupling the system. Since for example the vehicle mass varies with the load and the efficiency of the gearbox depends strongly on the actual working point, an exact linearization of the plant will mostly fail. Therefore a robust control algorithm based on sliding mode is used to control the drivetrain.

SOLON: An autonomous vehicle mission planner

NASA Technical Reports Server (NTRS)

Dudziak, M. J.

1987-01-01

The State-Operator Logic Machine (SOLON) Planner provides an architecture for effective real-time planning and replanning for an autonomous vehicle. The highlights of the system, which distinguish it from other AI-based planners that have been designed previously, are its hybrid application of state-driven control architecture and the use of both schematic representations and logic programming for the management of its knowledge base. SOLON is designed to provide multiple levels of planning for a single autonomous vehicle which is supplied with a skeletal, partially-specified mission plan at the outset of the vehicle's operations. This mission plan consists of a set of objectives, each of which will be decomposable by the planner into tasks. These tasks are themselves comparatively complex sets of actions which are executable by a conventional real-time control system which does not perform planning but which is capable of making adjustments or modifications to the provided tasks according to constraints and tolerances provided by the Planner. The current implementation of the SOLON is in the form of a real-time simulation of the Planner module of an Intelligent Vehicle Controller (IVC) on-board an autonomous underwater vehicle (AUV). The simulation is embedded within a larger simulator environment known as ICDS (Intelligent Controller Development System) operating on a Symbolics 3645/75 computer.

Fuzzy adaptive interacting multiple model nonlinear filter for integrated navigation sensor fusion.

PubMed

Tseng, Chien-Hao; Chang, Chih-Wen; Jwo, Dah-Jing

2011-01-01

In this paper, the application of the fuzzy interacting multiple model unscented Kalman filter (FUZZY-IMMUKF) approach to integrated navigation processing for the maneuvering vehicle is presented. The unscented Kalman filter (UKF) employs a set of sigma points through deterministic sampling, such that a linearization process is not necessary, and therefore the errors caused by linearization as in the traditional extended Kalman filter (EKF) can be avoided. The nonlinear filters naturally suffer, to some extent, the same problem as the EKF for which the uncertainty of the process noise and measurement noise will degrade the performance. As a structural adaptation (model switching) mechanism, the interacting multiple model (IMM), which describes a set of switching models, can be utilized for determining the adequate value of process noise covariance. The fuzzy logic adaptive system (FLAS) is employed to determine the lower and upper bounds of the system noise through the fuzzy inference system (FIS). The resulting sensor fusion strategy can efficiently deal with the nonlinear problem for the vehicle navigation. The proposed FUZZY-IMMUKF algorithm shows remarkable improvement in the navigation estimation accuracy as compared to the relatively conventional approaches such as the UKF and IMMUKF.

Rapid Development of Orion Structural Test Systems

NASA Astrophysics Data System (ADS)

Baker, Dave

2012-07-01

NASA is currently validating the Orion spacecraft design for human space flight. Three systems developed by G Systems using hardware and software from National Instruments play an important role in the testing of the new Multi- purpose crew vehicle (MPCV). A custom pressurization and venting system enables engineers to apply pressure inside the test article for measuring strain. A custom data acquisition system synchronizes over 1,800 channels of analog data. This data, along with multiple video and audio streams and calculated data, can be viewed, saved, and replayed in real-time on multiple client stations. This paper presents design features and how the system works together in a distributed fashion.

Multisensor interoperability for persistent surveillance and FOB protection with multiple technologies during the TNT exercise at Camp Roberts, California

NASA Astrophysics Data System (ADS)

Murarka, Naveen; Chambers, Jon

2012-06-01

Multiple sensors, providing actionable intelligence to the war fighter, often have difficulty interoperating with each other. Northrop Grumman (NG) is dedicated to solving these problems and providing complete solutions for persistent surveillance. In August, 2011, NG was invited to participate in the Tactical Network Topology (TNT) Capabilities Based Experimentation at Camp Roberts, CA to demonstrate integrated system capabilities providing Forward Operating Base (FOB) protection. This experiment was an opportunity to leverage previous efforts from NG's Rotorcraft Avionics Innovation Laboratory (RAIL) to integrate five prime systems with widely different capabilities. The five systems included a Hostile Fire and Missile Warning Sensor System, SCORPION II Unattended Ground Sensor system, Smart Integrated Vehicle Area Network (SiVAN), STARLite Synthetic Aperture Radar (SAR)/Ground Moving Target Indications (GMTI) radar system, and a vehicle with Target Location Module (TLM) and Laser Designation Module (LDM). These systems were integrated with each other and a Tactical Operations Center (TOC) equipped with RaptorX and Falconview providing a Common Operational Picture (COP) via Cursor on Target (CoT) messages. This paper will discuss this exercise, and the lessons learned, by integrating these five prime systems for persistent surveillance and FOB protection.

Space vehicle chassis

DOE Office of Scientific and Technical Information (OSTI.GOV)

Judd, Stephen; Dallmann, Nicholas; Seitz, Daniel

A modular space vehicle chassis may facilitate convenient access to internal components of the space vehicle. Each module may be removable from the others such that each module may be worked on individually. Multiple panels of at least one of the modules may swing open or otherwise be removable, exposing large portions of the internal components of the space vehicle. Such chassis architectures may reduce the time required for and difficulty of performing maintenance or modifications, may allow multiple space vehicles to take advantage of a common chassis design, and may further allow for highly customizable space vehicles.

A hierarchical detection method in external communication for self-driving vehicles based on TDMA

PubMed Central

Al-ani, Muzhir Shaban; McDonald-Maier, Klaus

2018-01-01

Security is considered a major challenge for self-driving and semi self-driving vehicles. These vehicles depend heavily on communications to predict and sense their external environment used in their motion. They use a type of ad hoc network termed Vehicular ad hoc networks (VANETs). Unfortunately, VANETs are potentially exposed to many attacks on network and application level. This paper, proposes a new intrusion detection system to protect the communication system of self-driving cars; utilising a combination of hierarchical models based on clusters and log parameters. This security system is designed to detect Sybil and Wormhole attacks in highway usage scenarios. It is based on clusters, utilising Time Division Multiple Access (TDMA) to overcome some of the obstacles of VANETs such as high density, high mobility and bandwidth limitations in exchanging messages. This makes the security system more efficient, accurate and capable of real time detection and quick in identification of malicious behaviour in VANETs. In this scheme, each vehicle log calculates and stores different parameter values after receiving the cooperative awareness messages from nearby vehicles. The vehicles exchange their log data and determine the difference between the parameters, which is utilised to detect Sybil attacks and Wormhole attacks. In order to realize efficient and effective intrusion detection system, we use the well-known network simulator (ns-2) to verify the performance of the security system. Simulation results indicate that the security system can achieve high detection rates and effectively detect anomalies with low rate of false alarms. PMID:29315302

A smoke generator system for aerodynamic flight research

NASA Technical Reports Server (NTRS)

Richwine, David M.; Curry, Robert E.; Tracy, Gene V.

1989-01-01

A smoke generator system was developed for in-flight vortex flow studies on the F-18 high alpha research vehicle (HARV). The development process included conceptual design, a survey of existing systems, component testing, detailed design, fabrication, and functional flight testing. Housed in the forebody of the aircraft, the final system consists of multiple pyrotechnic smoke cartridges which can be fired simultaneously or in sequence. The smoke produced is ducted to desired locations on the aircraft surface. The smoke generator system (SGS) has been used successfully to identify vortex core and core breakdown locations as functions of flight condition. Although developed for a specific vehicle, this concept may be useful for other aerodynamic flight research which requires the visualization of local flows.

Three-camera stereo vision for intelligent transportation systems

NASA Astrophysics Data System (ADS)

Bergendahl, Jason; Masaki, Ichiro; Horn, Berthold K. P.

1997-02-01

A major obstacle in the application of stereo vision to intelligent transportation system is high computational cost. In this paper, a PC based three-camera stereo vision system constructed with off-the-shelf components is described. The system serves as a tool for developing and testing robust algorithms which approach real-time performance. We present an edge based, subpixel stereo algorithm which is adapted to permit accurate distance measurements to objects in the field of view using a compact camera assembly. Once computed, the 3D scene information may be directly applied to a number of in-vehicle applications, such as adaptive cruise control, obstacle detection, and lane tracking. Moreover, since the largest computational costs is incurred in generating the 3D scene information, multiple applications that leverage this information can be implemented in a single system with minimal cost. On-road applications, such as vehicle counting and incident detection, are also possible. Preliminary in-vehicle road trial results are presented.

Multi-camera and structured-light vision system (MSVS) for dynamic high-accuracy 3D measurements of railway tunnels.

PubMed

Zhan, Dong; Yu, Long; Xiao, Jian; Chen, Tanglong

2015-04-14

Railway tunnel 3D clearance inspection is critical to guaranteeing railway operation safety. However, it is a challenge to inspect railway tunnel 3D clearance using a vision system, because both the spatial range and field of view (FOV) of such measurements are quite large. This paper summarizes our work on dynamic railway tunnel 3D clearance inspection based on a multi-camera and structured-light vision system (MSVS). First, the configuration of the MSVS is described. Then, the global calibration for the MSVS is discussed in detail. The onboard vision system is mounted on a dedicated vehicle and is expected to suffer from multiple degrees of freedom vibrations brought about by the running vehicle. Any small vibration can result in substantial measurement errors. In order to overcome this problem, a vehicle motion deviation rectifying method is investigated. Experiments using the vision inspection system are conducted with satisfactory online measurement results.

Arcjet Testing of Micro-Meteoroid Impacted Thermal Protection Materials

NASA Technical Reports Server (NTRS)

Agrawal, Parul; Munk, Michelle M.; Glaab, Louis J.

2013-01-01

There are several harsh space environments that could affect thermal protection systems and in turn pose risks to the atmospheric entry vehicles. These environments include micrometeoroid impact, extreme cold temperatures, and ionizing radiation during deep space cruise, all followed by atmospheric entry heating. To mitigate these risks, different thermal protection material samples were subjected to multiple tests, including hyper velocity impact, cold soak, irradiation, and arcjet testing, at various NASA facilities that simulated these environments. The materials included a variety of honeycomb packed ablative materials as well as carbon-based non-ablative thermal protection systems. The present paper describes the results of the multiple test campaign with a focus on arcjet testing of thermal protection materials. The tests showed promising results for ablative materials. However, the carbon-based non-ablative system presented some concerns regarding the potential risks to an entry vehicle. This study provides valuable information regarding the capability of various thermal protection materials to withstand harsh space environments, which is critical to sample return and planetary entry missions.

Cellular-V2X Communications for Platooning: Design and Evaluation.

PubMed

Nardini, Giovanni; Virdis, Antonio; Campolo, Claudia; Molinaro, Antonella; Stea, Giovanni

2018-05-11

Platooning is a cooperative driving application where autonomous/semi-autonomous vehicles move on the same lane in a train-like manner, keeping a small constant inter-vehicle distance, in order to reduce fuel consumption and gas emissions and to achieve safe and efficient transport. To this aim, they may exploit multiple on-board sensors (e.g., radars, LiDARs, positioning systems) and direct vehicle-to-vehicle communications to synchronize their manoeuvres. The main objective of this paper is to discuss the design choices and factors that determine the performance of a platooning application, when exploiting the emerging cellular vehicle-to-everything (C-V2X) communication technology and considering the scheduled mode, specified by 3GPP for communications over the sidelink assisted by the eNodeB. Since no resource management algorithm is currently mandated by 3GPP for this new challenging context, we focus on analyzing the feasibility and performance of the dynamic scheduling approach, with platoon members asking for radio resources on a per-packet basis. We consider two ways of implementing dynamic scheduling, currently unspecified by 3GPP: the sequential mode, that is somehow reminiscent of time division multiple access solutions based on IEEE 802.11p-till now the only investigated access technology for platooning-and the simultaneous mode with spatial frequency reuse enabled by the eNodeB. The evaluation conducted through system-level simulations provides helpful insights about the proposed configurations and C-V2X parameter settings that mainly affect the reliability and latency performance of data exchange in platoons, under different load settings. Achieved results show that the proposed simultaneous mode succeeds in reducing the latency in the update cycle in each vehicle's controller, thus enabling future high-density platooning scenarios.

Slippery road detection and evaluation.

DOT National Transportation Integrated Search

2012-05-31

The key project objectives were: 1) the demonstration and evaluation of a low cost data acquisition system that would provide a rich data set accumulated from multiple vehicles, and 2) establish how this data, coupled with situational data from other...

Low thrust vehicle concept study

NASA Technical Reports Server (NTRS)

1980-01-01

Low thrust chemical (hydrogen-oxygen) propulsion systems configured specifically for low acceleration orbit transfer of large space systems were defined. Results indicate that it is cost effective and least risk to combine the OTV and stowed spacecraft in a single 65 K Shuttle. The study shows that the engine for an optimized low thrust stage (1) does not require very low thrust; (2) 1-3 K thrust range appears optimum; (3) thrust transient is not a concern; (4) throttling probably not worthwhile; and (5) multiple thrusters complicate OTV/LSS design and aggravate LSS loads. Regarding the optimum vehicle for low acceleration missions, the single shuttle launch (LSS and expendable OTV) is most cost effective and least risky. Multiple shuttles increase diameter 20%. The space based radar structure short OTV (which maximizes space available for packaged LSS) favors use of torus tank. Propellant tank pressures/vapor residuals are little affected by engine thrust level or number of burns.

Cooperative Control of Multiple Unmanned Autonomous Vehicles

DTIC Science & Technology

2005-06-03

I I Final Report 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS Cooperative Control of Multiple Unmanned Autonomous Vehicles F49620-01-1-0337 6. AUTHOR(S... Autonomous Vehicles Final Report Kendall E. Nygard Department of Computer Science and Operations Research North Dakota State University Fargo, ND 58105-5164

Planning assistance for the 30/20 GHz program, volume 2

NASA Technical Reports Server (NTRS)

Al-Kinani, G.; Frankfort, M.; Kaushal, D.; Markham, R.; Siperko, C.; Wall, M.

1981-01-01

In the baseline concept development the communications payload on Flight 1 was specified to consist of on-board trunking and emergency communications systems (ECS). On Flight 2 the communications payloads consisted of trunking and CPS on-board systems, the CPS capability replacing the Flight 1 ECS. No restriction was placed on the launch vehicle size. Constraints placed on multiple concept development effort were that launch vehicle size for Concept 1 was restricted to SUSS-D and for Concept 2 a SUSS-A. The design concept development was based on satisfying the baseline requirements set forth in the SOW for a single demonstration flight system. Key constraints on contractors were cost and launch vehicle size. Five major areas of new technology development were reviewed: (1) 30 GHz low noise receivers; (2) 20 GHz Power Amplifiers; (3) SS-TDMA switch; (4) Baseband Processor; (5) Multibeam Antennas.

Research of maneuvering target prediction and tracking technology based on IMM algorithm

NASA Astrophysics Data System (ADS)

Cao, Zheng; Mao, Yao; Deng, Chao; Liu, Qiong; Chen, Jing

2016-09-01

Maneuvering target prediction and tracking technology is widely used in both military and civilian applications, the study of those technologies is all along the hotspot and difficulty. In the Electro-Optical acquisition-tracking-pointing system (ATP), the primary traditional maneuvering targets are ballistic target, large aircraft and other big targets. Those targets have the features of fast velocity and a strong regular trajectory and Kalman Filtering and polynomial fitting have good effects when they are used to track those targets. In recent years, the small unmanned aerial vehicles developed rapidly for they are small, nimble and simple operation. The small unmanned aerial vehicles have strong maneuverability in the observation system of ATP although they are close-in, slow and small targets. Moreover, those vehicles are under the manual operation, therefore, the acceleration of them changes greatly and they move erratically. So the prediction and tracking precision is low when traditional algorithms are used to track the maneuvering fly of those targets, such as speeding up, turning, climbing and so on. The interacting multiple model algorithm (IMM) use multiple models to match target real movement trajectory, there are interactions between each model. The IMM algorithm can switch model based on a Markov chain to adapt to the change of target movement trajectory, so it is suitable to solve the prediction and tracking problems of the small unmanned aerial vehicles because of the better adaptability of irregular movement. This paper has set up model set of constant velocity model (CV), constant acceleration model (CA), constant turning model (CT) and current statistical model. And the results of simulating and analyzing the real movement trajectory data of the small unmanned aerial vehicles show that the prediction and tracking technology based on the interacting multiple model algorithm can get relatively lower tracking error and improve tracking precision comparing with traditional algorithms.

Inflatable Re-Entry Vehicle Experiment (IRVE) Design Overview

NASA Technical Reports Server (NTRS)

Hughes, Stephen J.; Dillman, Robert A.; Starr, Brett R.; Stephan, Ryan A.; Lindell, Michael C.; Player, Charles J.; Cheatwood, F. McNeil

2005-01-01

Inflatable aeroshells offer several advantages over traditional rigid aeroshells for atmospheric entry. Inflatables offer increased payload volume fraction of the launch vehicle shroud and the possibility to deliver more payload mass to the surface for equivalent trajectory constraints. An inflatable s diameter is not constrained by the launch vehicle shroud. The resultant larger drag area can provide deceleration equivalent to a rigid system at higher atmospheric altitudes, thus offering access to higher landing sites. When stowed for launch and cruise, inflatable aeroshells allow access to the payload after the vehicle is integrated for launch and offer direct access to vehicle structure for structural attachment with the launch vehicle. They also offer an opportunity to eliminate system duplication between the cruise stage and entry vehicle. There are however several potential technical challenges for inflatable aeroshells. First and foremost is the fact that they are flexible structures. That flexibility could lead to unpredictable drag performance or an aerostructural dynamic instability. In addition, durability of large inflatable structures may limit their application. They are susceptible to puncture, a potentially catastrophic insult, from many possible sources. Finally, aerothermal heating during planetary entry poses a significant challenge to a thin membrane. NASA Langley Research Center and NASA's Wallops Flight Facility are jointly developing inflatable aeroshell technology for use on future NASA missions. The technology will be demonstrated in the Inflatable Re-entry Vehicle Experiment (IRVE). This paper will detail the development of the initial IRVE inflatable system to be launched on a Terrier/Orion sounding rocket in the fourth quarter of CY2005. The experiment will demonstrate achievable packaging efficiency of the inflatable aeroshell for launch, inflation, leak performance of the inflatable system throughout the flight regime, structural integrity when exposed to a relevant dynamic pressure and aerodynamic stability of the inflatable system. Structural integrity and structural response of the inflatable will be verified with photogrammetric measurements of the back side of the aeroshell in flight. Aerodynamic stability as well as drag performance will be verified with on board inertial measurements and radar tracking from multiple ground radar stations. The experiment will yield valuable information about zero-g vacuum deployment dynamics of the flexible inflatable structure with both inertial and photographic measurements. In addition to demonstrating inflatable technology, IRVE will validate structural, aerothermal, and trajectory modeling techniques for the inflatable. Structural response determined from photogrammetrics will validate structural models, skin temperature measurements and additional in-depth temperature measurements will validate material thermal performance models, and on board inertial measurements along with radar tracking from multiple ground radar stations will validate trajectory simulation models.

Concordance of motor vehicle crash, emergency department, and inpatient hospitalization data sets in the identification of drugs in injured drivers.

PubMed

Bunn, T; Singleton, M; Nicholson, V; Slavova, S

2013-01-01

Prescription drug overdoses, abuse, and sales have increased dramatically in the United States in the last decade. The purpose of the present study was to link crash data with emergency department (ED) and inpatient hospitalization data to assess the concordance between the data sets in the identification of the presence of drugs among injured motor vehicle drivers (passenger cars, passenger trucks, light trucks, and semi-trucks) in Kentucky. Kentucky CRASH data were probabilistically linked to ED data sets for years 2008-2010 and to inpatient hospitalization data sets for years 2000-2010. Statistical analyses were performed. Of the 72,529 linked crash/ED visits, there were 473 drivers with an associated nondependent abuse of drugs diagnosis in the ED, and 930 drivers had drug involvement recorded in the CRASH data (only 163 cases overlapped with drug involvement both recorded in CRASH data and coded as nondependent abuse of drugs in the ED); 64 drivers had multiple drug types present in their system. Of the 20,860 total linked crash/inpatient hospitalization cases, there were 973 drivers diagnosed with nondependent abuse of drugs in the inpatient hospitalization record and 499 drivers had drug involvement recorded in the CRASH data (only 207 overlapped); 250 drivers were diagnosed with multiple drugs in their system. Surveillance data from multiple public health data sets is necessary to identify the presence of drugs in injured drivers involved in motor vehicle crashes. The use of a single surveillance data set alone may significantly underreport the number of drugged drivers who were injured in a motor vehicle collision.

A trajectory design method via target practice for air-breathing hypersonic vehicle

NASA Astrophysics Data System (ADS)

Kong, Xue; Yang, Ming; Ning, Guodong; Wang, Songyan; Chao, Tao

2017-11-01

There are strong coupling interactions between aerodynamics and scramjet, this kind of aircraft also has multiple restrictions, such as the range and difference of dynamic pressure, airflow, and fuel. On the one hand, we need balance the requirement between maneuverability of vehicle and stabilization of scramjet. On the other hand, we need harmonize the change of altitude and the velocity. By describing aircraft's index system of climbing capability, acceleration capability, the coupling degree in aerospace, this paper further propose a rapid design method which based on target practice. This method aimed for reducing the coupling degree, it depresses the coupling between aircraft and engine in navigation phase, satisfy multiple restriction conditions to leave some control buffer and create good condition for control implementation. According to the simulation, this method could be used for multiple typical fly commissions such as climbing, acceleration or both.

Markov logic network based complex event detection under uncertainty

NASA Astrophysics Data System (ADS)

Lu, Jingyang; Jia, Bin; Chen, Genshe; Chen, Hua-mei; Sullivan, Nichole; Pham, Khanh; Blasch, Erik

2018-05-01

In a cognitive reasoning system, the four-stage Observe-Orient-Decision-Act (OODA) reasoning loop is of interest. The OODA loop is essential for the situational awareness especially in heterogeneous data fusion. Cognitive reasoning for making decisions can take advantage of different formats of information such as symbolic observations, various real-world sensor readings, or the relationship between intelligent modalities. Markov Logic Network (MLN) provides mathematically sound technique in presenting and fusing data at multiple levels of abstraction, and across multiple intelligent sensors to conduct complex decision-making tasks. In this paper, a scenario about vehicle interaction is investigated, in which uncertainty is taken into consideration as no systematic approaches can perfectly characterize the complex event scenario. MLNs are applied to the terrestrial domain where the dynamic features and relationships among vehicles are captured through multiple sensors and information sources regarding the data uncertainty.

Modeling and simulation of an unmanned ground vehicle power system

NASA Astrophysics Data System (ADS)

Broderick, John; Hartner, Jack; Tilbury, Dawn M.; Atkins, Ella M.

2014-06-01

Long-duration missions challenge ground robot systems with respect to energy storage and efficient conversion to power on demand. Ground robot systems can contain multiple power sources such as fuel cell, battery and/or ultra-capacitor. This paper presents a hybrid systems framework for collectively modeling the dynamics and switching between these different power components. The hybrid system allows modeling power source on/off switching and different regimes of operation, together with continuous parameters such as state of charge, temperature, and power output. We apply this modeling framework to a fuel cell/battery power system applicable to unmanned ground vehicles such as Packbot or TALON. A simulation comparison of different control strategies is presented. These strategies are compared based on maximizing energy efficiency and meeting thermal constraints.

Cocaine Self-Administration Alters the Relative Effectiveness of Multiple Memory Systems during Extinction

ERIC Educational Resources Information Center

Gabriele, Amanda; Setlow, Barry; Packard, Mark G.

2009-01-01

Rats were trained to run a straight-alley maze for an oral cocaine or sucrose vehicle solution reward, followed by either response or latent extinction training procedures that engage neuroanatomically dissociable "habit" and "cognitive" memory systems, respectively. In the response extinction condition, rats performed a runway approach response…

Centralized versus distributed propulsion

NASA Technical Reports Server (NTRS)

Clark, J. P.

1982-01-01

The functions and requirements of auxiliary propulsion systems are reviewed. None of the three major tasks (attitude control, stationkeeping, and shape control) can be performed by a collection of thrusters at a single central location. If a centralized system is defined as a collection of separated clusters, made up of the minimum number of propulsion units, then such a system can provide attitude control and stationkeeping for most vehicles. A distributed propulsion system is characterized by more numerous propulsion units in a regularly distributed arrangement. Various proposed large space systems are reviewed and it is concluded that centralized auxiliary propulsion is best suited to vehicles with a relatively rigid core. These vehicles may carry a number of flexible or movable appendages. A second group, consisting of one or more large flexible flat plates, may need distributed propulsion for shape control. There is a third group, consisting of vehicles built up from multiple shuttle launches, which may be forced into a distributed system because of the need to add additional propulsion units as the vehicles grow. The effects of distributed propulsion on a beam-like structure were examined. The deflection of the structure under both translational and rotational thrusts is shown as a function of the number of equally spaced thrusters. When two thrusters only are used it is shown that location is an important parameter. The possibility of using distributed propulsion to achieve minimum overall system weight is also examined. Finally, an examination of the active damping by distributed propulsion is described.

Relationship between Objectively Measured Transportation Behaviors and Health Characteristics in Older Adults.

PubMed

Takemoto, Michelle; Carlson, Jordan A; Moran, Kevin; Godbole, Suneeta; Crist, Katie; Kerr, Jacqueline

2015-10-30

This study used objective Global Positioning Systems (GPS) to investigate the relationship between pedestrian and vehicle trips to physical, cognitive, and psychological functioning in older adults living in retirement communities. Older adults (N = 279; mean age = 83 ± 6 years) wore a GPS and accelerometer for 6 days. Participants completed standard health measures. The Personal Activity and Location Measurement System (PALMS) was used to calculate the average daily number of trips, distance, and minutes traveled for pedestrian and vehicle trips from the combined GPS and accelerometer data. Linear mixed effects regression models explored relationships between these transportation variables and physical, psychological and cognitive functioning. Number, distance, and minutes of pedestrian trips were positively associated with physical and psychological functioning but not cognitive functioning. Number of vehicle trips was negatively associated with fear of falls; there were no other associations between the vehicle trip variables and functioning. Vehicle travel did not appear to be related to functioning in older adults in retirement communities except that fear of falling was related to number of vehicle trips. Pedestrian trips had moderate associations with multiple physical and psychological functioning measures, supporting a link between walking and many aspects of health in older adults.

Occupant Protection during Orion Crew Exploration Vehicle Landings

NASA Technical Reports Server (NTRS)

Gernhardt, Michael L.; Jones, J. A.; Granderson, B. K.; Somers, J. T.

2009-01-01

The constellation program is evaluating current vehicle design capabilities for nominal water landings and contingency land landings of the Orion Crew Exploration vehicle. The Orion Landing Strategy tiger team was formed to lead the technical effort for which associated activities include the current vehicle design, susceptibility to roll control and tip over, reviewing methods for assessing occupant injury during ascent / aborts /landings, developing an alternate seat/attenuation design solution which improves occupant protection and operability, and testing the seat/attenuation system designs to ensure valid results. The EVA physiology, systems and Performance (EPSP) project is leading the effort under the authority of the Tiger Team Steering committee to develop, verify, validate and accredit biodynamics models using a variety of crash and injury databases including NASCAR, Indy Car and military aircraft. The validated biodynamics models will be used by the Constellation program to evaluate a variety of vehicle, seat and restraint designs in the context of multiple nominal and off-nominal landing scenarios. The models will be used in conjunction with Acceptable Injury Risk definitions to provide new occupant protection requirements for the Constellation Program.

An adaptable, low cost test-bed for unmanned vehicle systems research

NASA Astrophysics Data System (ADS)

Goppert, James M.

2011-12-01

An unmanned vehicle systems test-bed has been developed. The test-bed has been designed to accommodate hardware changes and various vehicle types and algorithms. The creation of this test-bed allows research teams to focus on algorithm development and employ a common well-tested experimental framework. The ArduPilotOne autopilot was developed to provide the necessary level of abstraction for multiple vehicle types. The autopilot was also designed to be highly integrated with the Mavlink protocol for Micro Air Vehicle (MAV) communication. Mavlink is the native protocol for QGroundControl, a MAV ground control program. Features were added to QGroundControl to accommodate outdoor usage. Next, the Mavsim toolbox was developed for Scicoslab to allow hardware-in-the-loop testing, control design and analysis, and estimation algorithm testing and verification. In order to obtain linear models of aircraft dynamics, the JSBSim flight dynamics engine was extended to use a probabilistic Nelder-Mead simplex method. The JSBSim aircraft dynamics were compared with wind-tunnel data collected. Finally, a structured methodology for successive loop closure control design is proposed. This methodology is demonstrated along with the rest of the test-bed tools on a quadrotor, a fixed wing RC plane, and a ground vehicle. Test results for the ground vehicle are presented.

X-wing fly-by-wire vehicle management system

NASA Technical Reports Server (NTRS)

Fischer, Jr., William C. (Inventor)

1990-01-01

A complete, computer based, vehicle management system (VMS) for X-Wing aircraft using digital fly-by-wire technology controlling many subsystems and providing functions beyond the classical aircraft flight control system. The vehicle management system receives input signals from a multiplicity of sensors and provides commands to a large number of actuators controlling many subsystems. The VMS includes--segregating flight critical and mission critical factors and providing a greater level of back-up or redundancy for the former; centralizing the computation of functions utilized by several subsystems (e.g. air data, rotor speed, etc.); integrating the control of the flight control functions, the compressor control, the rotor conversion control, vibration alleviation by higher harmonic control, engine power anticipation and self-test, all in the same flight control computer (FCC) hardware units. The VMS uses equivalent redundancy techniques to attain quadruple equivalency levels; includes alternate modes of operation and recovery means to back-up any functions which fail; and uses back-up control software for software redundancy.

A Personnel Launch System for safe and efficient manned operations

NASA Astrophysics Data System (ADS)

Petro, Andrew J.; Andrews, Dana G.; Wetzel, Eric D.

1990-10-01

Several Conceptual designs for a simple, rugged Personnel Launch System (PLS) are presented. This system could transport people to and from Low Earth Orbit (LEO) starting in the late 1990's using a new modular Advanced Launch System (ALS) developed for the Space Exploration Initiative (SEI). The PLS is designed to be one element of a new space transportation architecture including heavy-lift cargo vehicles, lunar transfer vehicles, and multiple-role spcecraft such as the current Space Shuttle. The primary role of the PLS would be to deliver crews embarking on lunar or planetary missions to the Space Station, but it would also be used for earth-orbit sortie missions, space rescue missions, and some satellite servicing missions. The PLS design takes advantage of emerging electronic and structures technologies to offer a robust vehicle with autonomous operating and quick turnaround capabilities. Key features include an intact abort capability anywhere in the operating envelope, and elimination of all toxic propellants to streamline ground operations.

New Help for MS Patients

NASA Technical Reports Server (NTRS)

1993-01-01

The Mark VII MicroClimate Medical Personal Cooling system enables multiple sclerosis' victims, as well as cerebral palsy, spinabifida patients and others to lower their body temperatures. Although this is not a cure, cooling can produce a dramatic improvement in symptoms. The Multiple Sclerosis Association of America has placed cool suits in MS research care centers. This technology originated in the need for cooling systems in spa@esuits. "Cool Suits" are now used by hazardous materials workers, armored vehicle crews, firefighters and crop dusters. A surgical personal cooling system has also been developed for medical personnel working in hot operating room environments.

Maritime Tactical Unmanned Aerial Systems (TUAS) in Navy Strike Groups Can Improve Maritime Domain Awareness for the Operational Commander

DTIC Science & Technology

2008-10-31

Proposal, staff study, 5 September 2007. 4 Thomas H. Kean, and Lee Hamilton. The 9/11 Commission Report: Final Report of the National...January 2008. http://www.cnaf.navy.mil/nae/main.asp?ItemID=12.   41  Tim Dunigan, “Vertical Take-off and Landing Tactical Unmanned Air Vehicle...September 2007. Berner , Robert A. The Effective Use of Multiple Unmanned Aerial Vehicles in Surface Search and Control. Ft. Belvoir: Defense

Investigation of Inner Loop Flight Control Strategies for High-Speed Research

NASA Technical Reports Server (NTRS)

Newman, Brett; Kassem, Ayman

1999-01-01

This report describes the activities and findings conducted under contract NAS1-19858 with NASA Langley Research Center. Subject matter is the investigation of suitable flight control design methodologies and solutions for large, flexible high-speed vehicles. Specifically, methodologies are to address the inner control loops used for stabilization and augmentation of a highly coupled airframe system possibly involving rigid-body motion, structural vibrations, unsteady aerodynamics, and actuator dynamics. Techniques considered in this body of work are primarily conventional-based, and the vehicle of interest is the High-Speed Civil Transport (HSCT). Major findings include 1) current aeroelastic vehicle modeling procedures require further emphasis and refinement, 2) traditional and nontraditional inner loop flight control strategies employing a single feedback loop do not appear sufficient for highly flexible HSCT class vehicles, 3) inner loop flight control systems will, in all likelihood, require multiple interacting feedback loops, and 4) Ref. H HSCT configuration presents major challenges to designing acceptable closed-loop flight dynamics.

Safety Effects of the Conversion of Rural Two-Lane Roadways to Four-Lane Roadways

DOT National Transportation Integrated Search

2012-08-01

This report presents the analyses and conclusions from work focused on analyzing multiple options for organizational and operational models for certificate management entities (CMEs) within the connected vehicle system. The report discusses all funct...

Formation Flight of Multiple UAVs via Onboard Sensor Information Sharing.

PubMed

Park, Chulwoo; Cho, Namhoon; Lee, Kyunghyun; Kim, Youdan

2015-07-17

To monitor large areas or simultaneously measure multiple points, multiple unmanned aerial vehicles (UAVs) must be flown in formation. To perform such flights, sensor information generated by each UAV should be shared via communications. Although a variety of studies have focused on the algorithms for formation flight, these studies have mainly demonstrated the performance of formation flight using numerical simulations or ground robots, which do not reflect the dynamic characteristics of UAVs. In this study, an onboard sensor information sharing system and formation flight algorithms for multiple UAVs are proposed. The communication delays of radiofrequency (RF) telemetry are analyzed to enable the implementation of the onboard sensor information sharing system. Using the sensor information sharing, the formation guidance law for multiple UAVs, which includes both a circular and close formation, is designed. The hardware system, which includes avionics and an airframe, is constructed for the proposed multi-UAV platform. A numerical simulation is performed to demonstrate the performance of the formation flight guidance and control system for multiple UAVs. Finally, a flight test is conducted to verify the proposed algorithm for the multi-UAV system.

Formation Flight of Multiple UAVs via Onboard Sensor Information Sharing

PubMed Central

Park, Chulwoo; Cho, Namhoon; Lee, Kyunghyun; Kim, Youdan

2015-01-01

To monitor large areas or simultaneously measure multiple points, multiple unmanned aerial vehicles (UAVs) must be flown in formation. To perform such flights, sensor information generated by each UAV should be shared via communications. Although a variety of studies have focused on the algorithms for formation flight, these studies have mainly demonstrated the performance of formation flight using numerical simulations or ground robots, which do not reflect the dynamic characteristics of UAVs. In this study, an onboard sensor information sharing system and formation flight algorithms for multiple UAVs are proposed. The communication delays of radiofrequency (RF) telemetry are analyzed to enable the implementation of the onboard sensor information sharing system. Using the sensor information sharing, the formation guidance law for multiple UAVs, which includes both a circular and close formation, is designed. The hardware system, which includes avionics and an airframe, is constructed for the proposed multi-UAV platform. A numerical simulation is performed to demonstrate the performance of the formation flight guidance and control system for multiple UAVs. Finally, a flight test is conducted to verify the proposed algorithm for the multi-UAV system. PMID:26193281

Development of a vehicle-track model assembly and numerical method for simulation of wheel-rail dynamic interaction due to unsupported sleepers

NASA Astrophysics Data System (ADS)

Zhu, Jian Jun; Ahmed, A. K. W.; Rakheja, Subhash; Khajepour, Amir

2010-12-01

In practice, it is not very uncommon to find railway track systems with unsupported sleepers due to the uneven settlement of a ballasted track system. These unsupported sleepers are among the major vibration excitations for a train and track system when a train moves forwards on a track. The vibration induced by unsupported sleepers can cause a large dynamic contact force between wheels and rails. For heavily loaded high-speed trains, the deteriorated sleeper support may lead to accelerated degradation of the railway track and vehicle components, and may thus impose safety risk to the operation. This paper presents analyses of a coupled vehicle-track assembly consisting of a roll plane vehicle model, a continuous track system model and an adaptive wheel-rail contact model. In order to improve the simulation efficiency, a numerical approach based on the central finite difference method is proposed in this investigation. The developed model assembly and proposed simulation method are utilised to simulate the vehicle-track dynamic interaction in the presence of unsupported sleepers. The dynamic response in terms of the dynamic wheel-rail interaction force due to one or multiple unsupported sleepers is studied. Important factors influencing the dynamic wheel-rail interaction force in the presence of sleeper voids are also investigated. The results show that the vehicle speed, the gap size and the number of unsupported sleepers primarily dictate the magnitude of impact load which can be significant.

Robust Sensing of Approaching Vehicles Relying on Acoustic Cues

PubMed Central

Mizumachi, Mitsunori; Kaminuma, Atsunobu; Ono, Nobutaka; Ando, Shigeru

2014-01-01

The latest developments in automobile design have allowed them to be equipped with various sensing devices. Multiple sensors such as cameras and radar systems can be simultaneously used for active safety systems in order to overcome blind spots of individual sensors. This paper proposes a novel sensing technique for catching up and tracking an approaching vehicle relying on an acoustic cue. First, it is necessary to extract a robust spatial feature from noisy acoustical observations. In this paper, the spatio-temporal gradient method is employed for the feature extraction. Then, the spatial feature is filtered out through sequential state estimation. A particle filter is employed to cope with a highly non-linear problem. Feasibility of the proposed method has been confirmed with real acoustical observations, which are obtained by microphones outside a cruising vehicle. PMID:24887038

Robust, Practical Adaptive Control for Launch Vehicles

NASA Technical Reports Server (NTRS)

Orr, Jeb. S.; VanZwieten, Tannen S.

2012-01-01

A modern mechanization of a classical adaptive control concept is presented with an application to launch vehicle attitude control systems. Due to a rigorous flight certification environment, many adaptive control concepts are infeasible when applied to high-risk aerospace systems; methods of stability analysis are either intractable for high complexity models or cannot be reconciled in light of classical requirements. Furthermore, many adaptive techniques appearing in the literature are not suitable for application to conditionally stable systems with complex flexible-body dynamics, as is often the case with launch vehicles. The present technique is a multiplicative forward loop gain adaptive law similar to that used for the NASA X-15 flight research vehicle. In digital implementation with several novel features, it is well-suited to application on aerodynamically unstable launch vehicles with thrust vector control via augmentation of the baseline attitude/attitude-rate feedback control scheme. The approach is compatible with standard design features of autopilots for launch vehicles, including phase stabilization of lateral bending and slosh via linear filters. In addition, the method of assessing flight control stability via classical gain and phase margins is not affected under reasonable assumptions. The algorithm s ability to recover from certain unstable operating regimes can in fact be understood in terms of frequency-domain criteria. Finally, simulation results are presented that confirm the ability of the algorithm to improve performance and robustness in realistic failure scenarios.

Space Shuttle Propulsion Systems Plume Modeling and Simulation for the Lift-Off Computational Fluid Dynamics Model

NASA Technical Reports Server (NTRS)

Strutzenberg, L. L.; Dougherty, N. S.; Liever, P. A.; West, J. S.; Smith, S. D.

2007-01-01

This paper details advances being made in the development of Reynolds-Averaged Navier-Stokes numerical simulation tools, models, and methods for the integrated Space Shuttle Vehicle at launch. The conceptual model and modeling approach described includes the development of multiple computational models to appropriately analyze the potential debris transport for critical debris sources at Lift-Off. The conceptual model described herein involves the integration of propulsion analysis for the nozzle/plume flow with the overall 3D vehicle flowfield at Lift-Off. Debris Transport Analyses are being performed using the Shuttle Lift-Off models to assess the risk to the vehicle from Lift-Off debris and appropriately prioritized mitigation of potential debris sources to continue to reduce vehicle risk. These integrated simulations are being used to evaluate plume-induced debris environments where the multi-plume interactions with the launch facility can potentially accelerate debris particles toward the vehicle.

Formation stability analysis of unmanned multi-vehicles under interconnection topologies

NASA Astrophysics Data System (ADS)

Yang, Aolei; Naeem, Wasif; Fei, Minrui

2015-04-01

In this paper, the overall formation stability of an unmanned multi-vehicle is mathematically presented under interconnection topologies. A novel definition of formation error is first given and followed by the proposed formation stability hypothesis. Based on this hypothesis, a unique extension-decomposition-aggregation scheme is then employed to support the stability analysis for the overall multi-vehicle formation under a mesh topology. It is proved that the overall formation control system consisting of N number of nonlinear vehicles is not only asymptotically stable, but also exponentially stable in the sense of Lyapunov within a neighbourhood of the desired formation. This technique is shown to be applicable for a mesh topology but is equally applicable for other topologies. A simulation study of the formation manoeuvre of multiple Aerosonde UAVs (unmanned aerial vehicles), in 3-D space, is finally carried out verifying the achieved formation stability result.

Fourth-generation Mars vehicle concepts

NASA Astrophysics Data System (ADS)

Sherwood, Brent

1994-09-01

Conceptual designs for fourth-generation crew-carrying Mars transfer and excursion vehicles, fully integrated to state-of-the-art standards, are presented. The resulting vehicle concepts are sized for six crew members, and can support all opposition and conjunction opportunities in or after 2014. The modular, reusable transfer ship is launched to Earth orbit on six 185-ton-class boosters and assembled there robotically. Its dual nuclear-thermal rocket engines use liquid hydrogen propollant. The payload consists of a microgravity habitation system and an expendable lift-to-drag = 1.6 lander capable of aeromaneuvering to sites within +/- 20 deg of the equator. This lander can deliver either an expendable, storable-bipropellant crew-carrying ascent vehicle, or 40 tons of cargo, and it is capable of limited surface mobility to support base buildup. Multiple cargo landers sent ahead on robotic transfer vehicles deliver the supplies and equipment required for long-duration surface missions.

Smart Sensors for Launch Vehicles

NASA Astrophysics Data System (ADS)

Ray, Sabooj; Mathews, Sheeja; Abraham, Sheena; Pradeep, N.; Vinod, P.

2017-12-01

Smart Sensors bring a paradigm shift in the data acquisition mechanism adopted for launch vehicle telemetry system. The sensors integrate signal conditioners, digitizers and communication systems to give digital output from the measurement location. Multiple sensors communicate with a centralized node over a common digital data bus. An in-built microcontroller gives the sensor embedded intelligence to carry out corrective action for sensor inaccuracies. A smart pressure sensor has been realized and flight-proven to increase the reliability as well as simplicity in integration so as to obtain improved data output. Miniaturization is achieved by innovative packaging. This work discusses the construction, working and flight performance of such a sensor.

An Overview of the Characterization of the Space Launch Vehicle Aerodynamic Environments

NASA Technical Reports Server (NTRS)

Blevins, John A.; Campbell, John R., Jr.; Bennett, David W.; Rausch, Russ D.; Gomez, Reynaldo J.; Kiris, Cetin C.

2014-01-01

Aerodynamic environments are some of the rst engineering data products that are needed to design a space launch vehicle. These products are used in performance predic- tions, vehicle control algorithm design, as well as determing loads on primary and secondary structures in multiple discipline areas. When the National Aeronautics and Space Admin- istration (NASA) Space Launch System (SLS) Program was established with the goal of designing a new, heavy-lift launch vehicle rst capable of lifting the Orion Program Multi- Purpose Crew Vehicle (MPCV) to low-earth orbit and preserving the potential to evolve the design to a 200 metric ton cargo launcher, the data needs were no di erent. Upon commencement of the new program, a characterization of aerodynamic environments were immediately initiated. In the time since, the SLS Aerodynamics Team has produced data describing the majority of the aerodynamic environment de nitions needed for structural design and vehicle control under nominal ight conditions. This paper provides an overview of select SLS aerodynamic environments completed to date.

A method for determining optimum phasing of a multiphase propulsion system for a single-stage vehicle with linearized inert weight

NASA Technical Reports Server (NTRS)

Martin, J. A.

1974-01-01

A general analytical treatment is presented of a single-stage vehicle with multiple propulsion phases. A closed-form solution for the cost and for the performance and a derivation of the optimal phasing of the propulsion are included. Linearized variations in the inert weight elements are included, and the function to be minimized can be selected. The derivation of optimal phasing results in a set of nonlinear algebraic equations for optimal fuel volumes, for which a solution method is outlined. Three specific example cases are analyzed: minimum gross lift-off weight, minimum inert weight, and a minimized general function for a two-phase vehicle. The results for the two-phase vehicle are applied to the dual-fuel rocket. Comparisons with single-fuel vehicles indicate that dual-fuel vehicles can have lower inert weight either by development of a dual-fuel engine or by parallel burning of separate engines from lift-off.

Integrated Design and Engineering Analysis (IDEA) Environment - Propulsion Related Module Development and Vehicle Integration

NASA Technical Reports Server (NTRS)

Kamhawi, Hilmi N.

2013-01-01

This report documents the work performed during the period from May 2011 - October 2012 on the Integrated Design and Engineering Analysis (IDEA) environment. IDEA is a collaborative environment based on an object-oriented, multidisciplinary, distributed framework using the Adaptive Modeling Language (AML). This report will focus on describing the work done in the areas of: (1) Integrating propulsion data (turbines, rockets, and scramjets) in the system, and using the data to perform trajectory analysis; (2) Developing a parametric packaging strategy for a hypersonic air breathing vehicles allowing for tank resizing when multiple fuels and/or oxidizer are part of the configuration; and (3) Vehicle scaling and closure strategies.

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.

Multiagent Work Practice Simulation: Progress and Challenges

NASA Technical Reports Server (NTRS)

Clancey, William J.; Sierhuis, Maarten; Shaffe, Michael G. (Technical Monitor)

2001-01-01

Modeling and simulating complex human-system interactions requires going beyond formal procedures and information flows to analyze how people interact with each other. Such work practices include conversations, modes of communication, informal assistance, impromptu meetings, workarounds, and so on. To make these social processes visible, we have developed a multiagent simulation tool, called Brahms, for modeling the activities of people belonging to multiple groups, situated in a physical environment (geographic regions, buildings, transport vehicles, etc.) consisting of tools, documents, and a computer system. We are finding many useful applications of Brahms for system requirements analysis, instruction, implementing software agents, and as a workbench for relating cognitive and social theories of human behavior. Many challenges remain for representing work practices, including modeling: memory over multiple days, scheduled activities combining physical objects, groups, and locations on a timeline (such as a Space Shuttle mission), habitat vehicles with trajectories (such as the Shuttle), agent movement in 3D space (e.g., inside the International Space Station), agent posture and line of sight, coupled movements (such as carrying objects), and learning (mimicry, forming habits, detecting repetition, etc.).

Multiagent Work Practice Simulation: Progress and Challenges

NASA Technical Reports Server (NTRS)

Clancey, William J.; Sierhuis, Maarten

2002-01-01

Modeling and simulating complex human-system interactions requires going beyond formal procedures and information flows to analyze how people interact with each other. Such work practices include conversations, modes of communication, informal assistance, impromptu meetings, workarounds, and so on. To make these social processes visible, we have developed a multiagent simulation tool, called Brahms, for modeling the activities of people belonging to multiple groups, situated in a physical environment (geographic regions, buildings, transport vehicles, etc.) consisting of tools, documents, and computer systems. We are finding many useful applications of Brahms for system requirements analysis, instruction, implementing software agents, and as a workbench for relating cognitive and social theories of human behavior. Many challenges remain for representing work practices, including modeling: memory over multiple days, scheduled activities combining physical objects, groups, and locations on a timeline (such as a Space Shuttle mission), habitat vehicles with trajectories (such as the Shuttle), agent movement in 3d space (e.g., inside the International Space Station), agent posture and line of sight, coupled movements (such as carrying objects), and learning (mimicry, forming habits, detecting repetition, etc.).

Cellular-V2X Communications for Platooning: Design and Evaluation

PubMed Central

2018-01-01

Platooning is a cooperative driving application where autonomous/semi-autonomous vehicles move on the same lane in a train-like manner, keeping a small constant inter-vehicle distance, in order to reduce fuel consumption and gas emissions and to achieve safe and efficient transport. To this aim, they may exploit multiple on-board sensors (e.g., radars, LiDARs, positioning systems) and direct vehicle-to-vehicle communications to synchronize their manoeuvres. The main objective of this paper is to discuss the design choices and factors that determine the performance of a platooning application, when exploiting the emerging cellular vehicle-to-everything (C-V2X) communication technology and considering the scheduled mode, specified by 3GPP for communications over the sidelink assisted by the eNodeB. Since no resource management algorithm is currently mandated by 3GPP for this new challenging context, we focus on analyzing the feasibility and performance of the dynamic scheduling approach, with platoon members asking for radio resources on a per-packet basis. We consider two ways of implementing dynamic scheduling, currently unspecified by 3GPP: the sequential mode, that is somehow reminiscent of time division multiple access solutions based on IEEE 802.11p—till now the only investigated access technology for platooning—and the simultaneous mode with spatial frequency reuse enabled by the eNodeB. The evaluation conducted through system-level simulations provides helpful insights about the proposed configurations and C-V2X parameter settings that mainly affect the reliability and latency performance of data exchange in platoons, under different load settings. Achieved results show that the proposed simultaneous mode succeeds in reducing the latency in the update cycle in each vehicle’s controller, thus enabling future high-density platooning scenarios. PMID:29751690

Underwater Multi-Vehicle Trajectory Alignment and Mapping Using Acoustic and Optical Constraints

PubMed Central

Campos, Ricard; Gracias, Nuno; Ridao, Pere

2016-01-01

Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL) systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. The aim of this paper is two-fold. First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between vehicles. Second, we focus on the optical mapping application of these types of formations and extend the optimization framework to allow for multi-vehicle geo-referenced optical 3D mapping using monocular cameras. The inclusion of optical constraints is not performed using the common bundle adjustment techniques, but in a form improving the computational efficiency of the resulting optimization problem and presenting a generic process to fuse optical reconstructions with navigation data. We show the performance of the proposed method on real datasets collected within the Morph EU-FP7 project. PMID:26999144

Multi-sensor field trials for detection and tracking of multiple small unmanned aerial vehicles flying at low altitude

NASA Astrophysics Data System (ADS)

Laurenzis, Martin; Hengy, Sebastien; Hommes, Alexander; Kloeppel, Frank; Shoykhetbrod, Alex; Geibig, Thomas; Johannes, Winfried; Naz, Pierre; Christnacher, Frank

2017-05-01

Small unmanned aerial vehicles (UAV) flying at low altitude are becoming more and more a serious threat in civilian and military scenarios. In recent past, numerous incidents have been reported where small UAV were flying in security areas leading to serious danger to public safety or privacy. The detection and tracking of small UAV is a widely discussed topic. Especially, small UAV flying at low altitude in urban environment or near background structures and the detection of multiple UAV at the same time is challenging. Field trials were carried out to investigate the detection and tracking of multiple UAV flying at low altitude with state of the art detection technologies. Here, we present results which were achieved using a heterogeneous sensor network consisting of acoustic antennas, small frequency modulated continuous wave (FMCW) RADAR systems and optical sensors. While acoustics, RADAR and LiDAR were applied to monitor a wide azimuthal area (360°) and to simultaneously track multiple UAV, optical sensors were used for sequential identification with a very narrow field of view.

Distributed Propulsion Vehicles

NASA Technical Reports Server (NTRS)

Kim, Hyun Dae

2010-01-01

Since the introduction of large jet-powered transport aircraft, the majority of these vehicles have been designed by placing thrust-generating engines either under the wings or on the fuselage to minimize aerodynamic interactions on the vehicle operation. However, advances in computational and experimental tools along with new technologies in materials, structures, and aircraft controls, etc. are enabling a high degree of integration of the airframe and propulsion system in aircraft design. The National Aeronautics and Space Administration (NASA) has been investigating a number of revolutionary distributed propulsion vehicle concepts to increase aircraft performance. The concept of distributed propulsion is to fully integrate a propulsion system within an airframe such that the aircraft takes full synergistic benefits of coupling of airframe aerodynamics and the propulsion thrust stream by distributing thrust using many propulsors on the airframe. Some of the concepts are based on the use of distributed jet flaps, distributed small multiple engines, gas-driven multi-fans, mechanically driven multifans, cross-flow fans, and electric fans driven by turboelectric generators. This paper describes some early concepts of the distributed propulsion vehicles and the current turboelectric distributed propulsion (TeDP) vehicle concepts being studied under the NASA s Subsonic Fixed Wing (SFW) Project to drastically reduce aircraft-related fuel burn, emissions, and noise by the year 2030 to 2035.

A linear complementarity method for the solution of vertical vehicle-track interaction

NASA Astrophysics Data System (ADS)

Zhang, Jian; Gao, Qiang; Wu, Feng; Zhong, Wan-Xie

2018-02-01

A new method is proposed for the solution of the vertical vehicle-track interaction including a separation between wheel and rail. The vehicle is modelled as a multi-body system using rigid bodies, and the track is treated as a three-layer beam model in which the rail is considered as an Euler-Bernoulli beam and both the sleepers and the ballast are represented by lumped masses. A linear complementarity formulation is directly established using a combination of the wheel-rail normal contact condition and the generalised-α method. This linear complementarity problem is solved using the Lemke algorithm, and the wheel-rail contact force can be obtained. Then the dynamic responses of the vehicle and the track are solved without iteration based on the generalised-α method. The same equations of motion for the vehicle and track are adopted at the different wheel-rail contact situations. This method can remove some restrictions, that is, time-dependent mass, damping and stiffness matrices of the coupled system, multiple equations of motion for the different contact situations and the effect of the contact stiffness. Numerical results demonstrate that the proposed method is effective for simulating the vehicle-track interaction including a separation between wheel and rail.

Effectiveness of a program using a vehicle tracking system, incentives, and disincentives to reduce the speeding behavior of drivers with ADHD.

PubMed

Markham, Paula T; Porter, Bryan E; Ball, J D

2013-04-01

In this article, the authors investigated the effectiveness of a behavior modification program using global positioning system (GPS) vehicle tracking devices with contingency incentives and disincentives to reduce the speeding behavior of drivers with ADHD. Using an AB multiple-baseline design, six participants drove a 5-mile stable driving route weekly while GPS devices recorded speeds. The dependent variable was percentage of feet speeding. Following an initial baseline period, five participants received treatment. One participant remained at baseline. Visual inspection of individual participant graphs, reductions in mean percentages of speeding from baseline to treatment across participants (M = 82%), C-statistic analyses, and visual graphs with applied binomial formula supported a treatment effect. The between-participant analysis using R n Test of Ranks was significant, R n = 6, p < .01, and complemented a clean multiple-baseline result. Results indicated that this treatment program was effective in reducing speeding by drivers with ADHD and warrants replication.

MiniAERCam Ranging

NASA Technical Reports Server (NTRS)

Talley, Tom

2003-01-01

Johnson Space Center (JSC) is designing a small, remotely controlled vehicle that will carry two color and one black and white video cameras in space. The device will launch and retrieve from the Space Vehicle and be used for remote viewing. Off the shelf cellular technology is being used as the basis for communication system design. Existing plans include using multiple antennas to make simultaneous estimates of the azimuth of the MiniAERCam from several sites on the Space Station and use triangulation to find the location of the device. Adding range detection capability to each of the nodes on the Space Vehicle would allow an estimate of the location of the MiniAERCam to be made at each Communication And Telemetry Box (CATBox) independent of all the other communication nodes. This project will investigate the techniques used by the Global Positioning System (GPS) to achieve accurate positioning information and adapt those strategies that are appropriate to the design of the CATBox range determination system.

Mid-sized omnidirectional robot with hydraulic drive and steering

NASA Astrophysics Data System (ADS)

Wood, Carl G.; Perry, Trent; Cook, Douglas; Maxfield, Russell; Davidson, Morgan E.

2003-09-01

Through funding from the US Army-Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program, Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS) has developed the T-series of omni-directional robots based on the USU omni-directional vehicle (ODV) technology. The ODV provides independent computer control of steering and drive in a single wheel assembly. By putting multiple omni-directional (OD) wheels on a chassis, a vehicle is capable of uncoupled translational and rotational motion. Previous robots in the series, the T1, T2, T3, ODIS, ODIS-T, and ODIS-S have all used OD wheels based on electric motors. The T4 weighs approximately 1400 lbs and features a 4-wheel drive wheel configuration. Each wheel assembly consists of a hydraulic drive motor and a hydraulic steering motor. A gasoline engine is used to power both the hydraulic and electrical systems. The paper presents an overview of the mechanical design of the vehicle as well as potential uses of this technology in fielded systems.

Composite video and graphics display for multiple camera viewing system in robotics and teleoperation

NASA Technical Reports Server (NTRS)

Diner, Daniel B. (Inventor); Venema, Steven C. (Inventor)

1991-01-01

A system for real-time video image display for robotics or remote-vehicle teleoperation is described that has at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting element. The system has at least one television monitor for display of a television image from a selected camera and the ability to select one of the cameras for image display. Graphics are generated with icons of cameras and lighting elements for display surrounding the television image to provide the operator information on: the location and orientation of each camera and lighting element; the region of illumination of each lighting element; the viewed region and range of focus of each camera; which camera is currently selected for image display for each monitor; and when the controller coordinate for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera.

Electric Propulsion System Selection Process for Interplanetary Missions

NASA Technical Reports Server (NTRS)

Landau, Damon; Chase, James; Kowalkowski, Theresa; Oh, David; Randolph, Thomas; Sims, Jon; Timmerman, Paul

2008-01-01

The disparate design problems of selecting an electric propulsion system, launch vehicle, and flight time all have a significant impact on the cost and robustness of a mission. The effects of these system choices combine into a single optimization of the total mission cost, where the design constraint is a required spacecraft neutral (non-electric propulsion) mass. Cost-optimal systems are designed for a range of mass margins to examine how the optimal design varies with mass growth. The resulting cost-optimal designs are compared with results generated via mass optimization methods. Additional optimizations with continuous system parameters address the impact on mission cost due to discrete sets of launch vehicle, power, and specific impulse. The examined mission set comprises a near-Earth asteroid sample return, multiple main belt asteroid rendezvous, comet rendezvous, comet sample return, and a mission to Saturn.

Predicted performance of an integrated modular engine system

NASA Technical Reports Server (NTRS)

Binder, Michael; Felder, James L.

1993-01-01

Space vehicle propulsion systems are traditionally comprised of a cluster of discrete engines, each with its own set of turbopumps, valves, and a thrust chamber. The Integrated Modular Engine (IME) concept proposes a vehicle propulsion system comprised of multiple turbopumps, valves, and thrust chambers which are all interconnected. The IME concept has potential advantages in fault-tolerance, weight, and operational efficiency compared with the traditional clustered engine configuration. The purpose of this study is to examine the steady-state performance of an IME system with various components removed to simulate fault conditions. An IME configuration for a hydrogen/oxygen expander cycle propulsion system with four sets of turbopumps and eight thrust chambers has been modeled using the Rocket Engine Transient Simulator (ROCETS) program. The nominal steady-state performance is simulated, as well as turbopump thrust chamber and duct failures. The impact of component failures on system performance is discussed in the context of the system's fault tolerant capabilities.

Design, Integration, Certification and Testing of the Orion Crew Module Propulsion System

NASA Technical Reports Server (NTRS)

McKay, Heather; Freeman, Rich; Cain, George; Albright, John D.; Schoenberg, Rich; Delventhal, Rex

2014-01-01

The Orion Multipurpose Crew Vehicle (MPCV) is NASA's next generation spacecraft for human exploration of deep space. Lockheed Martin is the prime contractor for the design, development, qualification and integration of the vehicle. A key component of the Orion Crew Module (CM) is the Propulsion Reaction Control System, a high-flow hydrazine system used during re-entry to orient the vehicle for landing. The system consists of a completely redundant helium (GHe) pressurization system and hydrazine fuel system with monopropellant thrusters. The propulsion system has been designed, integrated, and qualification tested in support of the Orion program's first orbital flight test, Exploration Flight Test One (EFT-1), scheduled for 2014. A subset of the development challenges and lessons learned from this first flight test campaign will be discussed in this paper for consideration when designing future spacecraft propulsion systems. The CONOPS and human rating requirements of the CM propulsion system are unique when compared with a typical satellite propulsion reaction control system. The system requires a high maximum fuel flow rate. It must operate at both vacuum and sea level atmospheric pressure conditions. In order to meet Orion's human rating requirements, multiple parts of the system must be redundant, and capable of functioning after spacecraft system fault events.

Electric Propulsion for Low Earth Orbit Constellations

NASA Technical Reports Server (NTRS)

Oleson, Steven R.; Sankovic, John M.

1998-01-01

Hall Effect electric propulsion was evaluated for orbit insertion, satellite repositioning, orbit maintenance and de-orbit applications for a sample low earth orbit satellite constellation. Since the low masses of these satellites enable multiple spacecraft per launch, the ability to add spacecraft to a given launch was used as a figure of merit. When compared to chemical propulsion, the Hall thruster system can add additional spacecraft per launch using planned payload power levels. One satellite can be added to the assumed four satellite baseline chemical launch without additional mission times. Two or three satellites may be added by providing part of the orbit insertion with the Hall system. In these cases orbit insertion times were found to be 35 and 62 days. Depending on the electric propulsion scenario, the resulting launch vehicle savings is nearly two, three or four Delta 7920 launch vehicles out of the chemical baseline scenarios eight Delta 7920 launch vehicles.

Electric Propulsion for Low Earth Orbit Constellations

NASA Technical Reports Server (NTRS)

Oleson, Steven R.; Sankovic, John M.

1998-01-01

Hall effect electric propulsion was evaluated for orbit insertion, satellite repositioning, orbit maintenance and de-orbit applications for a sample low earth orbit satellite constellation. Since the low masses of these satellites enable multiple spacecraft per launch, the ability to add spacecraft to a given launch was used as a figure of merit. When compared to chemical propulsion, the Hall thruster system can add additional spacecraft per launch using planned payload power levels. One satellite can be added to the assumed four satellite baseline chemical launch without additional mission times. Two or three satellites may be added by providing part of the orbit insertion with the Hall system. In these cases orbit insertion times were found to be 35 and 62 days. Depending, on the electric propulsion scenario, the resulting launch vehicle savings is nearly two, three or four Delta 7920 launch vehicles out of the chemical baseline scenario's eight Delta 7920 launch vehicles.

A Conceptual Aerospace Vehicle Structural System Modeling, Analysis and Design Process

NASA Technical Reports Server (NTRS)

Mukhopadhyay, Vivek

2007-01-01

A process for aerospace structural concept analysis and design is presented, with examples of a blended-wing-body fuselage, a multi-bubble fuselage concept, a notional crew exploration vehicle, and a high altitude long endurance aircraft. Aerospace vehicle structures must withstand all anticipated mission loads, yet must be designed to have optimal structural weight with the required safety margins. For a viable systems study of advanced concepts, these conflicting requirements must be imposed and analyzed early in the conceptual design cycle, preferably with a high degree of fidelity. In this design process, integrated multidisciplinary analysis tools are used in a collaborative engineering environment. First, parametric solid and surface models including the internal structural layout are developed for detailed finite element analyses. Multiple design scenarios are generated for analyzing several structural configurations and material alternatives. The structural stress, deflection, strain, and margins of safety distributions are visualized and the design is improved. Over several design cycles, the refined vehicle parts and assembly models are generated. The accumulated design data is used for the structural mass comparison and concept ranking. The present application focus on the blended-wing-body vehicle structure and advanced composite material are also discussed.

Decentralized operating procedures for orchestrating data and behavior across distributed military systems and assets

NASA Astrophysics Data System (ADS)

Peach, Nicholas

2011-06-01

In this paper, we present a method for a highly decentralized yet structured and flexible approach to achieve systems interoperability by orchestrating data and behavior across distributed military systems and assets with security considerations addressed from the beginning. We describe an architecture of a tool-based design of business processes called Decentralized Operating Procedures (DOP) and the deployment of DOPs onto run time nodes, supporting the parallel execution of each DOP at multiple implementation nodes (fixed locations, vehicles, sensors and soldiers) throughout a battlefield to achieve flexible and reliable interoperability. The described method allows the architecture to; a) provide fine grain control of the collection and delivery of data between systems; b) allow the definition of a DOP at a strategic (or doctrine) level by defining required system behavior through process syntax at an abstract level, agnostic of implementation details; c) deploy a DOP into heterogeneous environments by the nomination of actual system interfaces and roles at a tactical level; d) rapidly deploy new DOPs in support of new tactics and systems; e) support multiple instances of a DOP in support of multiple missions; f) dynamically add or remove run-time nodes from a specific DOP instance as missions requirements change; g) model the passage of, and business reasons for the transmission of each data message to a specific DOP instance to support accreditation; h) run on low powered computers with lightweight tactical messaging. This approach is designed to extend the capabilities of existing standards, such as the Generic Vehicle Architecture (GVA).

Flight Test Evaluation of an Unmanned Aircraft System Traffic Management (UTM) Concept for Multiple Beyond-Visual-Line-of-Sight (BVLOS) Operations

NASA Technical Reports Server (NTRS)

Johnson, Marcus; Jung, Jaewoo; Rios, Joseph; Mercer, Joey; Homola, Jeffrey; Prevot, Thomas; Mulfinger, Daniel; Kopardekar, Parimal

2017-01-01

This study evaluates a traffic management concept designed to enable simultaneous operations of multiple small unmanned aircraft systems (UAS) in the national airspace system (NAS). A five-day flight-test activity is described that examined the feasibility of operating multiple UAS beyond visual line of sight (BVLOS) of their respective operators in the same airspace. Over the five-day campaign, three groups of five flight crews operated a total of eleven different aircraft. Each group participated in four flight scenarios involving five simultaneous missions. Each vehicle was operated BVLOS up to 1.5 miles from the pilot in command. Findings and recommendations are presented to support the feasibility and safety of routine BVLOS operations for small UAS.

Flight Test Evaluation of an Unmanned Aircraft System Traffic Management (UTM) Concept for Multiple Beyond-Visual-Line-of-Sight Operations

NASA Technical Reports Server (NTRS)

Johnson, Marcus; Jung, Jaewoo; Rios, Joseph; Mercer, Joey; Homola, Jeffrey; Prevot, Thomas; Mulfinger, Daniel; Kopardekar, Parimal

2017-01-01

This study evaluates a traffic management concept designed to enable simultaneous operations of multiple small unmanned aircraft systems (UAS) in the national airspace system (NAS). A five-day flight-test activity is described that examined the feasibility of operating multiple UAS beyond visual line of sight (BVLOS) of their respective operators in the same airspace. Over the five-day campaign, three groups of five flight crews operated a total of eleven different aircraft. Each group participated in four flight scenarios involving five simultaneous missions. Each vehicle was operated BVLOS up to 1.5 miles from the pilot in command. Findings and recommendations are presented to support the feasibility and safety of routine BVLOS operations for small UAS.

Charging system with galvanic isolation and multiple operating modes

DOEpatents

Kajouke, Lateef A.; Perisic, Milun; Ransom, Ray M.

2013-01-08

Systems and methods are provided for operating a charging system with galvanic isolation adapted for multiple operating modes. A vehicle charging system comprises a DC interface, an AC interface, a first conversion module coupled to the DC interface, and a second conversion module coupled to the AC interface. An isolation module is coupled between the first conversion module and the second conversion module. The isolation module comprises a transformer and a switching element coupled between the transformer and the second conversion module. The transformer and the switching element are cooperatively configured for a plurality of operating modes, wherein each operating mode of the plurality of operating modes corresponds to a respective turns ratio of the transformer.

Dynamic interactions between hypersonic vehicle aerodynamics and propulsion system performance

NASA Technical Reports Server (NTRS)

Flandro, G. A.; Roach, R. L.; Buschek, H.

1992-01-01

Described here is the development of a flexible simulation model for scramjet hypersonic propulsion systems. The primary goal is determination of sensitivity of the thrust vector and other system parameters to angle of attack changes of the vehicle. Such information is crucial in design and analysis of control system performance for hypersonic vehicles. The code is also intended to be a key element in carrying out dynamic interaction studies involving the influence of vehicle vibrations on propulsion system/control system coupling and flight stability. Simple models are employed to represent the various processes comprising the propulsion system. A method of characteristics (MOC) approach is used to solve the forebody and external nozzle flow fields. This results in a very fast computational algorithm capable of carrying out the vast number of simulation computations needed in guidance, stability, and control studies. The three-dimensional fore- and aft body (nozzle) geometry is characterized by the centerline profiles as represented by a series of coordinate points and body cross-section curvature. The engine module geometry is represented by an adjustable vertical grid to accommodate variations of the field parameters throughout the inlet and combustor. The scramjet inlet is modeled as a two-dimensional supersonic flow containing adjustable sidewall wedges and multiple fuel injection struts. The inlet geometry including the sidewall wedge angles, the number of injection struts, their sweepback relative to the vehicle reference line, and strut cross-section are user selectable. Combustion is currently represented by a Rayleigh line calculation including corrections for variable gas properties; improved models are being developed for this important element of the propulsion flow field. The program generates (1) variation of thrust magnitude and direction with angle of attack, (2) pitching moment and line of action of the thrust vector, (3) pressure and temperature distributions throughout the system, and (4) performance parameters such as thrust coefficient, specific impulse, mass flow rates, and equivalence ratio. Preliminary results are in good agreement with available performance data for systems resembling the NASP vehicle configuration.

An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System.

PubMed

Yao, Yiqing; Xu, Xiaosu; Xu, Xiang

2017-09-05

Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.

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.

AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

NASA Astrophysics Data System (ADS)

Gothard, Benny M.

2002-02-01

One of the main tall poles that must be overcome to develop a fully autonomous vehicle is the inability of the computer to understand its surrounding environment to a level that is required for the intended task. The military mission scenario requires a robot to interact in a complex, unstructured, dynamic environment. Reference A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation The Mobile Autonomous Robot Software Self Composing Adaptive Programming Environment (MarsScape) perception research addresses three aspects of the problem; sensor system design, processing architectures, and algorithm enhancements. A prototype perception system has been demonstrated on robotic High Mobility Multi-purpose Wheeled Vehicle and All Terrain Vehicle testbeds. This paper addresses the tall pole of processing requirements and the performance improvements based on the selected MarsScape Processing Architecture. The processor chosen is the Motorola Altivec-G4 Power PC(PPC) (1998 Motorola, Inc.), a highly parallized commercial Single Instruction Multiple Data processor. Both derived perception benchmarks and actual perception subsystems code will be benchmarked and compared against previous Demo II-Semi-autonomous Surrogate Vehicle processing architectures along with desktop Personal Computers(PC). Performance gains are highlighted with progress to date, and lessons learned and future directions are described.

Influence of a multiple emulsion, liposomes and a microemulsion gel on sebum, skin hydration and TEWL.

PubMed

Mahrhauser, D; Nagelreiter, C; Baierl, A; Skipiol, J; Valenta, C

2015-04-01

In this study, the influence of three cosmetically relevant, priorly characterized vehicles on skin hydration, sebum content and transepidermal water loss was investigated. The chosen vehicles included a liposomal pre-formulation, a multiple W/O/W emulsion and a microemulsion gel. The in vivo effects of these vehicles were demonstrated and compared among them. The stability of the prepared vehicles was determined visually, microscopically, rheologically by pH measurements and particle size. Interactions with skin were assessed by non-invasive biophysical techniques using the Corneometer(®), Aqua Flux(®) and Sebumeter, measuring skin hydration, TEWL and skin sebum content, respectively. All vehicles remained stable over an observation period of 6 weeks. The multiple emulsion increased sebum content and skin hydration. In case of the liposomes, each monitored parameter remained almost constant. In contrast, the microemulsion gel lowered skin hydration and increased TEWL values, but even 1 week after termination of the treatment TEWL decreased almost close to control levels. All produced vehicles were proven to remain physically stable over the duration of this study. The used multiple emulsion showed very skin-friendly properties by increasing sebum and skin hydration. Likewise, the liposomal pre-formulation exhibited no negative effects. On the contrary, the investigated microemulsion gel seemed to have skin dehydrating and TEWL increasing features. However, the multiple emulsion as well as liposomes was identified to be well-tolerated vehicles for skin which might qualify them for the use in cosmetic formulations. © 2014 Society of Cosmetic Scientists and the Société Française de Cosmétologie.

KENNEDY SPACE CENTER, FLA. - One of the world’s highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data (shown here) in preparation for the shuttle fleet’s return to flight, is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. The system, developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

NASA Image and Video Library

2004-02-04

KENNEDY SPACE CENTER, FLA. - One of the world’s highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data (shown here) in preparation for the shuttle fleet’s return to flight, is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. The system, developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

Systems engineering and integration of control centers in support of multiple programs. [ground control for STS payloads and unmanned vehicles

NASA Technical Reports Server (NTRS)

Miller, David N.

1989-01-01

The NASA Johnson Space Center's new Multiprogram Control Center (MPCC) addresses the control requirements of complex STS payloads as well as unmanned vehicles. An account is given of the relationship of the MPCC to the STS Mission Control Center, with a view to significant difficulties that may be encountered and solutions thus far devised for generic problems. Examples of MPCC workstation applications encompass telemetry decommutation, engineering unit conversion, data-base management, trajectory processing, and flight design.

Multi-criteria decision aid approach for the selection of the best compromise management scheme for ELVs: the case of Cyprus.

PubMed

Mergias, I; Moustakas, K; Papadopoulos, A; Loizidou, M

2007-08-25

Each alternative scheme for treating a vehicle at its end of life has its own consequences from a social, environmental, economic and technical point of view. Furthermore, the criteria used to determine these consequences are often contradictory and not equally important. In the presence of multiple conflicting criteria, an optimal alternative scheme never exists. A multiple-criteria decision aid (MCDA) method to aid the Decision Maker (DM) in selecting the best compromise scheme for the management of End-of-Life Vehicles (ELVs) is presented in this paper. The constitution of a set of alternatives schemes, the selection of a list of relevant criteria to evaluate these alternative schemes and the choice of an appropriate management system are also analyzed in this framework. The proposed procedure relies on the PROMETHEE method which belongs to the well-known family of multiple criteria outranking methods. For this purpose, level, linear and Gaussian functions are used as preference functions.

The Integrated Safety-Critical Advanced Avionics Communication and Control (ISAACC) System Concept: Infrastructure for ISHM

NASA Technical Reports Server (NTRS)

Gwaltney, David A.; Briscoe, Jeri M.

2005-01-01

Integrated System Health Management (ISHM) architectures for spacecraft will include hard real-time, critical subsystems and soft real-time monitoring subsystems. Interaction between these subsystems will be necessary and an architecture supporting multiple criticality levels will be required. Demonstration hardware for the Integrated Safety-Critical Advanced Avionics Communication & Control (ISAACC) system has been developed at NASA Marshall Space Flight Center. It is a modular system using a commercially available time-triggered protocol, ?Tp/C, that supports hard real-time distributed control systems independent of the data transmission medium. The protocol is implemented in hardware and provides guaranteed low-latency messaging with inherent fault-tolerance and fault-containment. Interoperability between modules and systems of modules using the TTP/C is guaranteed through definition of messages and the precise message schedule implemented by the master-less Time Division Multiple Access (TDMA) communications protocol. "Plug-and-play" capability for sensors and actuators provides automatically configurable modules supporting sensor recalibration and control algorithm re-tuning without software modification. Modular components of controlled physical system(s) critical to control algorithm tuning, such as pumps or valve components in an engine, can be replaced or upgraded as "plug and play" components without modification to the ISAACC module hardware or software. ISAACC modules can communicate with other vehicle subsystems through time-triggered protocols or other communications protocols implemented over Ethernet, MIL-STD- 1553 and RS-485/422. Other communication bus physical layers and protocols can be included as required. In this way, the ISAACC modules can be part of a system-of-systems in a vehicle with multi-tier subsystems of varying criticality. The goal of the ISAACC architecture development is control and monitoring of safety critical systems of a manned spacecraft. These systems include spacecraft navigation and attitude control, propulsion, automated docking, vehicle health management and life support. ISAACC can integrate local critical subsystem health management with subsystems performing long term health monitoring. The ISAACC system and its relationship to ISHM will be presented.

European type-approval test procedure for evaporative emissions from passenger cars against real-world mobility data from two Italian provinces.

PubMed

Martini, Giorgio; Paffumi, Elena; De Gennaro, Michele; Mellios, Giorgos

2014-07-15

This paper presents an evaluation of the European type-approval test procedure for evaporative emissions from passenger cars based on real-world mobility data. The study relies on two large databases of driving patterns from conventional fuel vehicles collected by means of on-board GPS systems in the Italian provinces of Modena and Firenze. Approximately 28,000 vehicles were monitored, corresponding to approximately 36 million kilometres over a period of one month. The driving pattern of each vehicle was processed to derive the relation between trip length and parking duration, and the rate of occurrence of parking events against multiple evaporative cycles, defined on the basis of the type-approval test procedure as 12-hour diurnal time windows. These results are used as input for an emission simulation model, which calculates the total evaporative emissions given the characteristics of the evaporative emission control system of the vehicle and the ambient temperature conditions. The results suggest that the evaporative emission control system, fitted to the vehicles from Euro 3 step and optimised for the current type-approval test procedure, could not efficiently work under real-world conditions, resulting in evaporative emissions well above the type-approval limit, especially for small size vehicles and warm climate conditions. This calls for a revision of the type-approval test procedure in order to address real-world evaporative emissions. Copyright © 2014. Published by Elsevier B.V.

Sensor Data Qualification System (SDQS) Implementation Study

NASA Technical Reports Server (NTRS)

Wong, Edmond; Melcher, Kevin; Fulton, Christopher; Maul, William

2009-01-01

The Sensor Data Qualification System (SDQS) is being developed to provide a sensor fault detection capability for NASA s next-generation launch vehicles. In addition to traditional data qualification techniques (such as limit checks, rate-of-change checks and hardware redundancy checks), SDQS can provide augmented capability through additional techniques that exploit analytical redundancy relationships to enable faster and more sensitive sensor fault detection. This paper documents the results of a study that was conducted to determine the best approach for implementing a SDQS network configuration that spans multiple subsystems, similar to those that may be implemented on future vehicles. The best approach is defined as one that most minimizes computational resource requirements without impacting the detection of sensor failures.

Decoupling suspension controller based on magnetic flux feedback.

PubMed

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced.

Decoupling Suspension Controller Based on Magnetic Flux Feedback

PubMed Central

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced. PMID:23844415

A knowledge based application of the extended aircraft interrogation and display system

NASA Technical Reports Server (NTRS)

Glover, Richard D.; Larson, Richard R.

1991-01-01

A family of multiple-processor ground support test equipment was used to test digital flight-control systems on high-performance research aircraft. A unit recently built for the F-18 high alpha research vehicle project is the latest model in a series called the extended aircraft interrogation and display system. The primary feature emphasized monitors the aircraft MIL-STD-1553B data buses and provides real-time engineering units displays of flight-control parameters. A customized software package was developed to provide real-time data interpretation based on rules embodied in a highly structured knowledge database. The configuration of this extended aircraft interrogation and display system is briefly described, and the evolution of the rule based package and its application to failure modes and effects testing on the F-18 high alpha research vehicle is discussed.

Preliminary design for a maglev development facility

DOE Office of Scientific and Technical Information (OSTI.GOV)

Coffey, H.T.; He, J.L.; Chang, S.L.

1992-04-01

A preliminary design was made of a national user facility for evaluating magnetic-levitation (maglev) technologies in sizes intermediate between laboratory experiments and full-scale systems. A technical advisory committee was established and a conference was held to obtain advice on the potential requirements of operational systems and how the facility might best be configured to test these requirements. The effort included studies of multiple concepts for levitating, guiding, and propelling maglev vehicles, as well as the controls, communications, and data-acquisition and -reduction equipment that would be required in operating the facility. Preliminary designs for versatile, dual 2-MVA power supplies capable ofmore » powering attractive or repulsive systems were developed. Facility site requirements were identified. Test vehicles would be about 7.4 m (25 ft) long, would weigh form 3 to 7 metric tons, and would operate at speeds up to 67 m/s (150 mph) on a 3.3-km (2.05-mi) elevated guideway. The facility would utilize modular vehicles and guideways, permitting the substitution of levitation, propulsion, and guideway components of different designs and materials for evaluation. The vehicle would provide a test cell in which individual suspension or propulsion components or subsystems could be tested under realistic conditions. The system would allow economical evaluation of integrated systems under varying weather conditions and in realistic geometries.« less

Intelligent autonomy for unmanned naval systems

NASA Astrophysics Data System (ADS)

Steinberg, Marc

2006-05-01

This paper provides an overview of the development and demonstration of intelligent autonomy technologies for control of heterogeneous unmanned naval air and sea vehicles and describes some of the current limitations of such technologies. The focus is on modular technologies that support highly automated retasking and fully autonomous dynamic replanning for up to ten heterogeneous unmanned systems based on high-level mission objectives, priorities, constraints, and Rules-of-Engagement. A key aspect of the demonstrations is incorporating frequent naval operator evaluations in order to gain better understanding of the integrated man/machine system and its tactical utility. These evaluations help ensure that the automation can provide information to the user in a meaningful way and that the user has a sufficient level of control and situation awareness to task the system as needed to complete complex mission tasks. Another important aspect of the program is examination of the interactions of higher-level autonomy algorithms with other relevant components that would be needed within the decision-making and control loops. Examples of these are vision and other sensor processing algorithms, sensor fusion, obstacle avoidance, and other lower level vehicle autonomous navigation, guidance, and control functions. Initial experiments have been completed using medium and high-fidelity vehicle simulations in a virtual warfare environment and inexpensive surrogate vehicles in flight and in-water demonstrations. Simulation experiments included integration of multi-vehicle task allocation, dynamic replanning under constraints, lower level autonomous vehicle control, automatic assessment of the impact of contingencies on plans, management of situation awareness data, operator alert management, and a mixed-initiative operator interface. In-water demonstrations of a maritime situation awareness capability were completed in both a river and a harbor environment using unmanned surface vehicles and a buoy as surrogate platforms. In addition, a multiple heterogeneous vehicle demonstration was performed using five different types of small unmanned air and ground vehicles. This provided some initial experimentation with specifying tasking for high-level mission objectives and then mapping those objectives onto heterogeneous unmanned vehicles that each have different lower-level autonomy software. Finally, this paper will discuss lessons learned.

Systems implications of L-band fade data statistics for LEO mobile systems

NASA Technical Reports Server (NTRS)

Devieux, Carrie L.

1993-01-01

This paper examines and analyzes research data on the role of foliage attenuation in signal fading between a satellite transmitter and a terrestrial vehicle-mounted receiver. The frequency band of measurement, called L-Band, includes the region 1610.0 to 1626.5 MHz. Data from tests involving various combinations of foliage and vehicle movement conditions clearly show evidence of fast fading (in excess of 0.5 dB per millisecond) and fade depths as great or greater than 16 dB. As a result, the design of a communications link power control that provides the level of accuracy necessary for power sensitive systems could be significantly impacted. Specific examples of this include the communications links that employ Code Division Multiple Access (CDMA) as a modulation technique.

Systems implications of L-band fade data statistics for LEO mobile systems

NASA Astrophysics Data System (ADS)

Devieux, Carrie L.

This paper examines and analyzes research data on the role of foliage attenuation in signal fading between a satellite transmitter and a terrestrial vehicle-mounted receiver. The frequency band of measurement, called L-Band, includes the region 1610.0 to 1626.5 MHz. Data from tests involving various combinations of foliage and vehicle movement conditions clearly show evidence of fast fading (in excess of 0.5 dB per millisecond) and fade depths as great or greater than 16 dB. As a result, the design of a communications link power control that provides the level of accuracy necessary for power sensitive systems could be significantly impacted. Specific examples of this include the communications links that employ Code Division Multiple Access (CDMA) as a modulation technique.

KENNEDY SPACE CENTER, FLA. - These towers are part of one of the world’s highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data in preparation for the shuttle fleet’s return to flight. The system is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. Developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., the system allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

NASA Image and Video Library

2004-02-04

KENNEDY SPACE CENTER, FLA. - These towers are part of one of the world’s highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data in preparation for the shuttle fleet’s return to flight. The system is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. Developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., the system allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

Real-time object detection, tracking and occlusion reasoning

DOE Office of Scientific and Technical Information (OSTI.GOV)

Divakaran, Ajay; Yu, Qian; Tamrakar, Amir

A system for object detection and tracking includes technologies to, among other things, detect and track moving objects, such as pedestrians and/or vehicles, in a real-world environment, handle static and dynamic occlusions, and continue tracking moving objects across the fields of view of multiple different cameras.

Target Acquisition Involving Multiple Unmanned Air Vehicles: Interfaces for Small Unmanned Air Systems (ISUS) Program

DTIC Science & Technology

2009-03-01

model locations, time of day, and video size. The models in the scene consisted of three-dimensional representations of common civilian automobiles in...oats, wheat). Identify automobiles as sedans or station wagons. Identify individual telephone/electric poles in residential neighborhoods. Detect

Engine-Out Capabilities Assessment of Heavy Lift Launch Vehicles

NASA Technical Reports Server (NTRS)

Holladay, Jon; Baggett, Keithe; Thrasher, Chad; Bellamy, K. Scott; Feldman, Stuart

2012-01-01

Engine-out (EO) is a condition that might occur during flight due to the failure of one or more engines. Protection against this occurrence can be called engine-out capability (EOC) whereupon significantly improved loss of mission may occur, in addition to reduction in performance and increased cost. A standardized engine-out capability has not been studied exhaustively as it pertains to space launch systems. This work presents results for a specific vehicle design with specific engines, but also uniquely provides an approach to realizing the necessity of EOC for any launch vehicle system design. A derived top-level approach to engine-out philosophy for a heavy lift launch vehicle is given herein, based on an historical assessment of launch vehicle capabilities. The methodology itself is not intended to present a best path forward, but instead provides three parameters for assessment of a particular vehicle. Of the several parameters affected by this EOC, the three parameters of interest in this research are reliability (Loss of Mission (LOM) and Loss of Crew (LOC)), vehicle performance, and cost. The intent of this effort is to provide insight into the impacts of EO capability on these parameters. The effects of EOC on reliability, performance and cost are detailed, including how these important launch vehicle metrics can be combined to assess what could be considered overall launch vehicle affordability. In support of achieving the first critical milestone (Mission Concept Review) in the development of the Space Launch System (SLS), a team assessed two-stage, large-diameter vehicles that utilized liquid oxygen (LOX)-RP propellants in the First Stage and LOX/LH2 propellant in the Upper Stage. With multiple large thrust-class engines employed on the stages, engine-out capability could be a significant driver to mission success. It was determined that LOM results improve by a factor of five when assuming EOC for both Core Stage (CS) (first stage) and Upper Stage (US) EO, assuming a reference launch vehicle with 5 RP engines on the CS and 3 LOX/LH2 engines on the US. The benefit of adding both CS and US engine-out capability is significant. When adding EOC for either first or second stages, there is less than a 20% benefit. Performance analysis has shown that if the vehicle is not protected for EO during the first part of the flight and only protected in the later part of the flight, there is a diminishing performance penalty, as indicated by failures occurring in the first stage at different times. This work did not consider any options to abort. While adding an engine for EOC drives cost upward, the impact depends on the number of needed engines manufactured per year and the launch manifest. There is a significant cost savings if multiple flights occur within one year. Flying two flights per year would cost approximately $4,000 per pound less than the same configuration with one flight per year, assuming both CS and US EOC. The cost is within 15% of the cost of one flight per year with no engine-out capability for the same vehicle. This study can be extended to other launch vehicles. While the numbers given in this paper are specific to a certain vehicle configuration, the process requires only a high level of data to allow an analyst to draw conclusions. The weighting of each of the identified parameters will determine the optimization of each launch vehicle. The results of this engine-out assessment provide a means to understand this optimization while maintaining an unbiased perspective.

Land Mobile Satellite Service (LMSS): A conceptual system design and identification of the critical technologies. Part 1: Executive summary

NASA Technical Reports Server (NTRS)

Naderi, F. (Editor)

1982-01-01

A system design for a satellite aided land mobile service is described. The advanced system is based on a geostationary satellite which employs a large UHF reflector to communicate with small user antennas on mobile vehicles. It is shown that the system through multiple beam antennas and frequency reuse provides for radiotelephone and dispatch channels. It is concluded that the system is technologically feasible to provide service to rural and remote regions.

Sensor Technologies for Intelligent Transportation Systems

PubMed Central

Guerrero-Ibáñez, Juan; Zeadally, Sherali

2018-01-01

Modern society faces serious problems with transportation systems, including but not limited to traffic congestion, safety, and pollution. Information communication technologies have gained increasing attention and importance in modern transportation systems. Automotive manufacturers are developing in-vehicle sensors and their applications in different areas including safety, traffic management, and infotainment. Government institutions are implementing roadside infrastructures such as cameras and sensors to collect data about environmental and traffic conditions. By seamlessly integrating vehicles and sensing devices, their sensing and communication capabilities can be leveraged to achieve smart and intelligent transportation systems. We discuss how sensor technology can be integrated with the transportation infrastructure to achieve a sustainable Intelligent Transportation System (ITS) and how safety, traffic control and infotainment applications can benefit from multiple sensors deployed in different elements of an ITS. Finally, we discuss some of the challenges that need to be addressed to enable a fully operational and cooperative ITS environment. PMID:29659524

Knowledge representation in space flight operations

NASA Technical Reports Server (NTRS)

Busse, Carl

1989-01-01

In space flight operations rapid understanding of the state of the space vehicle is essential. Representation of knowledge depicting space vehicle status in a dynamic environment presents a difficult challenge. The NASA Jet Propulsion Laboratory has pursued areas of technology associated with the advancement of spacecraft operations environment. This has led to the development of several advanced mission systems which incorporate enhanced graphics capabilities. These systems include: (1) Spacecraft Health Automated Reasoning Prototype (SHARP); (2) Spacecraft Monitoring Environment (SME); (3) Electrical Power Data Monitor (EPDM); (4) Generic Payload Operations Control Center (GPOCC); and (5) Telemetry System Monitor Prototype (TSM). Knowledge representation in these systems provides a direct representation of the intrinsic images associated with the instrument and satellite telemetry and telecommunications systems. The man-machine interface includes easily interpreted contextual graphic displays. These interactive video displays contain multiple display screens with pop-up windows and intelligent, high resolution graphics linked through context and mouse-sensitive icons and text.

Sensor Technologies for Intelligent Transportation Systems.

PubMed

Guerrero-Ibáñez, Juan; Zeadally, Sherali; Contreras-Castillo, Juan

2018-04-16

Modern society faces serious problems with transportation systems, including but not limited to traffic congestion, safety, and pollution. Information communication technologies have gained increasing attention and importance in modern transportation systems. Automotive manufacturers are developing in-vehicle sensors and their applications in different areas including safety, traffic management, and infotainment. Government institutions are implementing roadside infrastructures such as cameras and sensors to collect data about environmental and traffic conditions. By seamlessly integrating vehicles and sensing devices, their sensing and communication capabilities can be leveraged to achieve smart and intelligent transportation systems. We discuss how sensor technology can be integrated with the transportation infrastructure to achieve a sustainable Intelligent Transportation System (ITS) and how safety, traffic control and infotainment applications can benefit from multiple sensors deployed in different elements of an ITS. Finally, we discuss some of the challenges that need to be addressed to enable a fully operational and cooperative ITS environment.

Advanced Manned Launch System (AMLS) study

NASA Technical Reports Server (NTRS)

Ehrlich, Carl F., Jr.; Potts, Jack; Brown, Jerry; Schell, Ken; Manley, Mary; Chen, Irving; Earhart, Richard; Urrutia, Chuck; Randolph, Ray; Morris, Jim

1992-01-01

To assure national leadership in space operations and exploration in the future, NASA must be able to provide cost effective and operationally efficient space transportation. Several NASA studies and the joint NASA/DoD Space Transportation Architecture Studies (STAS) have shown the need for a multi-vehicle space transportation system with designs driven by enhanced operations and low costs. NASA is currently studying an advanced manned launch system (AMLS) approach to transport crew and cargo to the Space Station Freedom. Several single and multiple stage systems from air-breathing to all-rocket concepts are being examined in a series of studies potential replacements for the Space Shuttle launch system in the 2000-2010 time frame. Rockwell International Corporation, under contract to the NASA Langley Research Center, has analyzed a two-stage all-rocket concept to determine whether this class of vehicles is appropriate for the AMLS function. The results of the pre-phase A study are discussed.

Passive isolation/damping system for the Hubble space telescope reaction wheels

NASA Technical Reports Server (NTRS)

Hasha, Martin D.

1987-01-01

NASA's Hubble Space Telescope contain large, diffraction limited optics with extraordinary resolution and performance for surpassing existing observatories. The need to reduce structural borne vibration and resultant optical jitter from critical Pointing Control System components, Reaction Wheels, prompted the feasibility investigation and eventual development of a passive isolation system. Alternative design concepts considered were required to meet a host of stringent specifications and pass rigid tests to be successfully verified and integrated into the already built flight vehicle. The final design employs multiple arrays of fluid damped springs that attenuate over a wide spectrum, while confining newly introduced resonances to benign regions of vehicle dynamic response. Overall jitter improvement of roughly a factor of 2 to 3 is attained with this system. The basis, evolution, and performance of the isolation system, specifically discussing design concepts considered, optimization studies, development lessons learned, innovative features, and analytical and ground test verified results are presented.

State Machine Modeling of the Space Launch System Solid Rocket Boosters

NASA Technical Reports Server (NTRS)

Harris, Joshua A.; Patterson-Hine, Ann

2013-01-01

The Space Launch System is a Shuttle-derived heavy-lift vehicle currently in development to serve as NASA's premiere launch vehicle for space exploration. The Space Launch System is a multistage rocket with two Solid Rocket Boosters and multiple payloads, including the Multi-Purpose Crew Vehicle. Planned Space Launch System destinations include near-Earth asteroids, the Moon, Mars, and Lagrange points. The Space Launch System is a complex system with many subsystems, requiring considerable systems engineering and integration. To this end, state machine analysis offers a method to support engineering and operational e orts, identify and avert undesirable or potentially hazardous system states, and evaluate system requirements. Finite State Machines model a system as a finite number of states, with transitions between states controlled by state-based and event-based logic. State machines are a useful tool for understanding complex system behaviors and evaluating "what-if" scenarios. This work contributes to a state machine model of the Space Launch System developed at NASA Ames Research Center. The Space Launch System Solid Rocket Booster avionics and ignition subsystems are modeled using MATLAB/Stateflow software. This model is integrated into a larger model of Space Launch System avionics used for verification and validation of Space Launch System operating procedures and design requirements. This includes testing both nominal and o -nominal system states and command sequences.

Planning For Multiple NASA Missions With Use Of Enabling Radioisotope Power

DOE Office of Scientific and Technical Information (OSTI.GOV)

S.G. Johnson; K.L. Lively; C.C. Dwight

Since the early 1960’s the Department of Energy (DOE) and its predecessor agencies have provided radioisotope power systems (RPS) to NASA as an enabling technology for deep space and various planetary missions. They provide reliable power in situations where solar and/or battery power sources are either untenable or would place an undue mass burden on the mission. In the modern era of the past twenty years there has been no time that multiple missions have been considered for launching from Kennedy Space Center (KSC) during the same year. The closest proximity of missions that involved radioisotope power systems would bemore » that of Galileo (October 1989) and Ulysses (October 1990). The closest that involved radioisotope heater units would be the small rovers Spirit and Opportunity (May and July 2003) used in the Mars Exploration Rovers (MER) mission. It can be argued that the rovers sent to Mars in 2003 were essentially a special case since they staged in the same facility and used a pair of small launch vehicles (Delta II). This paper examines constraints on the frequency of use of radioisotope power systems with regard to launching them from Kennedy Space Center using currently available launch vehicles. This knowledge may be useful as NASA plans for its future deep space or planetary missions where radioisotope power systems are used as an enabling technology. Previous descriptions have focused on single mission chronologies and not analyzed the timelines with an emphasis on multiple missions.« less

Retrofits Convert Gas Vehicles into Hybrids

NASA Technical Reports Server (NTRS)

2012-01-01

Successful space missions can rarely be attributed to a single thing. Rather, they are the result of a system of systems: integrated elements functioning effectively in their individual roles and together with related components, then those systems interacting with and supporting other systems to form a collaborative whole - from the spacecraft itself to the engineering and research teams that design and build it. An example is found in spacecraft power systems. Unlike a gas-powered car or a battery-powered laptop, most spacecraft are powered by multiple energy sources - such as photovoltaic panels, fuel cells, and batteries - working in tandem to ensure the spacecraft functions throughout the course of a mission. As with any system, the appropriate combination of elements and the method of their management are key to high performance and efficiency. One initiative at Glenn Research Center, the Hybrid Power Management (HPM) program, focused on joining new and mature technologies for optimal power systems applications in space and on Earth, with the goal not only to develop ultra-efficient space power systems, but to advance HPM to address global energy issues. The HPM program emerged from Glenn s long history of electric vehicle research dating back to the 1970s, including the NASA Hybrid Electric Transit Bus (HETB) project in the 1990s, which was the largest vehicle to use supercapacitor energy storage.

Homogenization of Vehicle Fleet Frontal Crash Pulses from 2000–2010

PubMed Central

Locey, Caitlin M.; Garcia-Espana, J. Felipe; Toh, Akira; Belwadi, Aditya; Arbogast, Kristy B.; Maltese, Matthew R.

2012-01-01

Full-scale vehicle crash tests are performed globally to assess vehicle structure and restraint system performance. The crash pulse, captured by accelerometers mounted within the occupant compartment, measures the motion of the vehicle during the impact event. From an occupant’s perspective, the crash pulse is the inertial event to which the vehicle’s restraint systems must respond in order to mitigate the forces and accelerations that act on a passenger, and thus reduce injury risk. The objective of this study was to quantify the characteristics of crash pulses for different vehicle types in the contemporary North American fleet, and delineate current trends in crash pulse evolution. NHTSA and Transport Canada crash test databases were queried for full-frontal rigid barrier crash tests of passenger vehicles model year 2000–2010 with impact angle equaling zero degrees. Acceleration-time histories were analyzed for all accelerometers attached to the vehicle structure within the occupant compartment. Custom software calculated the following crash pulse characteristics (CPCs): peak deceleration, time of peak deceleration, onset rate, pulse duration, and change in velocity. Vehicle body types were classified by adapting the Highway Loss Data Institute (HLDI) methodology, and vehicles were assigned a generation start year in place of model year in order to more accurately represent structural change over time. 1094 vehicle crash tests with 2795 individual occupant compartment-mounted accelerometers were analyzed. We found greater peak decelerations and and shorter pulse durations across multiple vehicle types in newer model years as compared to older. For midsize passenger cars, large passenger cars, and large SUVs in 56 km/h rigid barrier tests, maximum deceleration increased by 0.40, 0.96, and 1.57 g/year respectively, and pulse duration decreased by 0.74, 1.87, and 2.51 ms/year. We also found that the crash pulse characteristics are becoming more homogeneous in the modern vehicle fleet; the range of peak deceleration values for all vehicle classes decreased from 17.1 g in 1997–1999 generation start years to 10.7 g in 2009–2010 generation years, and the pulse duration range decreased from 39.5 ms to 13.4 ms for the same generation year groupings. This latter finding suggests that the designs of restraint systems may become more universally applicable across vehicle body types, since the occupant compartment accelerations are not as divergent for newer vehicles. PMID:23169139

Preliminary Investigation of Impact on Multiple-Sheet Structures and an Evaluation of the Meteoroid Hazard to Space Vehicles

NASA Technical Reports Server (NTRS)

Nysmith, C. Robert; Summers, James L.

1961-01-01

Small pyrex glass spheres, representative of stoney meteoroids, were fired into 2024-T3 aluminum alclad multiple-sheet structures at velocities to 11,000 feet per second to evaluate the effectiveness of multisheet hull construction as a means of increasing the resistance of a spacecraft to meteoroid penetrations. The results of these tests indicate that increasing the number of sheets in a structure while keeping the total sheet thickness constant and increasing the spacing between sheets both tend to increase the penetration resistance of a structure of constant weight per unit area. In addition, filling the space between the sheets with a light filler material was found to substantially increase structure penetration resistance with a small increase in weight. An evaluation of the meteoroid hazard to space vehicles is presented in the form of an illustrative-example for two specific lunar mission vehicles, a single-sheet, monocoque hull vehicle and a glass-wool filled, double-sheet hull vehicle. The evaluation is presented in terms of the "best" and the "worst" conditions that might be expected as determined from astronomical and satellite measurements, high-speed impact data, and hypothesized meteoroid structures and compositions. It was observed that the vehicle flight time without penetration can be increased significantly by use of multiple-sheet rather than single-sheet hull construction with no increase in hull weight. Nevertheless, it is evident that a meteoroid hazard exists, even for the vehicle with the selected multiple-sheet hull.

ARL participation in the C4ISR OTM experiment: integration and performance results

NASA Astrophysics Data System (ADS)

Zong, Lei; O'Brien, Barry J.

2007-04-01

The Command, Control, Communication, Computers, Intelligence, Surveillance and Reconnaissance (C4ISR) On-The- Move (OTM) demonstration is an annual showcase of how innovative technologies can help modern troops increase their situational awareness (SA) in battlefield environments. To evaluate the effectiveness these new technologies have on the soldiers' abilities to gather situational information, the demonstration involves United States Army National Guard troops in realistic war game scenarios at an Army Reserve training ground. The Army Research Laboratory (ARL) was invited to participate in the event, with the objective demonstrating system-level integration of disparate technologies developed for gathering SA information in small unit combat operations. ARL provided expertise in Unattended Ground Sensing (UGS) technology, Unmanned Ground Vehicle (UGV) technology, information processing and wireless mobile ad hoc communication. The ARL C4ISR system included a system of multimodal sensors (MMS), a trip wire imager, a man-portable robotic vehicle (PackBot), and low power sensor radios for communication between an ARL system and a hosting platoon vehicle. This paper will focus on the integration effort of bringing the multiple families of sensor assets together into a working system.

Integrated G and C Implementation within IDOS: A Simulink Based Reusable Launch Vehicle Simulation

NASA Technical Reports Server (NTRS)

Fisher, Joseph E.; Bevacqua, Tim; Lawrence, Douglas A.; Zhu, J. Jim; Mahoney, Michael

2003-01-01

The implementation of multiple Integrated Guidance and Control (IG&C) algorithms per flight phase within a vehicle simulation poses a daunting task to coordinate algorithm interactions with the other G&C components and with vehicle subsystems. Currently being developed by Universal Space Lines LLC (USL) under contract from NASA, the Integrated Development and Operations System (IDOS) contains a high fidelity Simulink vehicle simulation, which provides a means to test cutting edge G&C technologies. Combining the modularity of this vehicle simulation and Simulink s built-in primitive blocks provide a quick way to implement algorithms. To add discrete-event functionality to the unfinished IDOS simulation, Vehicle Event Manager (VEM) and Integrated Vehicle Health Monitoring (IVHM) subsystems were created to provide discrete-event and pseudo-health monitoring processing capabilities. Matlab's Stateflow is used to create the IVHM and Event Manager subsystems and to implement a supervisory logic controller referred to as the Auto-commander as part of the IG&C to coordinate the control system adaptation and reconfiguration and to select the control and guidance algorithms for a given flight phase. Manual creation of the Stateflow charts for all of these subsystems is a tedious and time-consuming process. The Stateflow Auto-builder was developed as a Matlab based software tool for the automatic generation of a Stateflow chart from information contained in a database. This paper describes the IG&C, VEM and IVHM implementations in IDOS. In addition, this paper describes the Stateflow Auto-builder.

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 standard repairs need to be in-place as well as easily added. Many routine inspections and maintenance can be like an aircraft overhaul. Modifications and technology upgrades should be expected. Another factor affecting ground operations efficiency is trending. It is essential for RLV's, and also useful for ELV's which fly the same or similar models again. Good data analysis of technical and processing performance will determine fixes and improvements needed for safety, design, and future processing. Collecting such data on new or low-frequency vehicles is a challenge. Lessons can be learned from the Space Shuttle, or even the Concorde aircraft. For all of the above topics, efficient business systems must be established for comprehensive program management and good throughput. Drawings, specifications, and manuals for an entire launch vehicle are often in different formats from multiple vendors, plus they have proprietary constraints. Nonetheless, the integration team must ensure that all data needed is compatible and visible to each appropriate team member. Ground processing systems for scheduling, tracking, problem resolution, etc. must be well laid-out. The balance between COTS (commercial off the shelf) and custom software is difficult. Multiple customers, vendors, launch sites, and landing sites add to the complexity of efficient IT (Information Technology) tools.

Modeling and deadlock avoidance of automated manufacturing systems with multiple automated guided vehicles.

PubMed

Wu, Naiqi; Zhou, MengChu

2005-12-01

An automated manufacturing system (AMS) contains a number of versatile machines (or workstations), buffers, an automated material handling system (MHS), and is computer-controlled. An effective and flexible alternative for implementing MHS is to use automated guided vehicle (AGV) system. The deadlock issue in AMS is very important in its operation and has extensively been studied. The deadlock problems were separately treated for parts in production and transportation and many techniques were developed for each problem. However, such treatment does not take the advantage of the flexibility offered by multiple AGVs. In general, it is intractable to obtain maximally permissive control policy for either problem. Instead, this paper investigates these two problems in an integrated way. First we model an AGV system and part processing processes by resource-oriented Petri nets, respectively. Then the two models are integrated by using macro transitions. Based on the combined model, a novel control policy for deadlock avoidance is proposed. It is shown to be maximally permissive with computational complexity of O (n2) where n is the number of machines in AMS if the complexity for controlling the part transportation by AGVs is not considered. Thus, the complexity of deadlock avoidance for the whole system is bounded by the complexity in controlling the AGV system. An illustrative example shows its application and power.

Detection of vehicle parts based on Faster R-CNN and relative position information

NASA Astrophysics Data System (ADS)

Zhang, Mingwen; Sang, Nong; Chen, Youbin; Gao, Changxin; Wang, Yongzhong

2018-03-01

Detection and recognition of vehicles are two essential tasks in intelligent transportation system (ITS). Currently, a prevalent method is to detect vehicle body, logo or license plate at first, and then recognize them. So the detection task is the most basic, but also the most important work. Besides the logo and license plate, some other parts, such as vehicle face, lamp, windshield and rearview mirror, are also key parts which can reflect the characteristics of vehicle and be used to improve the accuracy of recognition task. In this paper, the detection of vehicle parts is studied, and the work is novel. We choose Faster R-CNN as the basic algorithm, and take the local area of an image where vehicle body locates as input, then can get multiple bounding boxes with their own scores. If the box with maximum score is chosen as final result directly, it is often not the best one, especially for small objects. This paper presents a method which corrects original score with relative position information between two parts. Then we choose the box with maximum comprehensive score as the final result. Compared with original output strategy, the proposed method performs better.

Analyzing the Impacts of Natural Environments on Launch and Landing Availability for NASA's Exploration Systems Development Programs

NASA Technical Reports Server (NTRS)

Altino, Karen M.; Burns, K. Lee; Barbre, Robert E., Jr.; Leahy, Frank B.

2014-01-01

The National Aeronautics and Space Administration (NASA) is developing new capabilities for human and scientific exploration beyond Earth orbit. Natural environments information is an important asset for NASA's development of the next generation space transportation system as part of the Exploration Systems Development (ESD) Programs, which includes the Space Launch System (SLS) and Multi-Purpose Crew Vehicle (MPCV) Programs. Natural terrestrial environment conditions - such as wind, lightning and sea states - can affect vehicle safety and performance during multiple mission phases ranging from pre-launch ground processing to landing and recovery operations, including all potential abort scenarios. Space vehicles are particularly sensitive to these environments during the launch/ascent and the entry/landing phases of mission operations. The Marshall Space Flight Center (MSFC) Natural Environments Branch provides engineering design support for NASA space vehicle projects and programs by providing design engineers and mission planners with natural environments definitions as well as performing custom analyses to help characterize the impacts the natural environment may have on vehicle performance. One such analysis involves assessing the impact of natural environments to operational availability. Climatological time series of operational surface weather observations are used to calculate probabilities of meeting/exceeding various sets of hypothetical vehicle-specific parametric constraint thresholds. Outputs are tabulated by month and hour of day to show both seasonal and diurnal variation. This paper will discuss how climate analyses are performed by the MSFC Natural Environments Branch to support the ESD Launch Availability (LA) Technical Performance Measure (TPM), the SLS Launch Availability due to Natural Environments TPM, and several MPCV (Orion) launch and landing availability analyses - including the 2014 Orion Exploration Flight Test 1 (EFT-1) mission.

Continuous Acoustic Sensing With an Unmanned Aerial Vehicle System for Anti-Submarine Warfare in a High-Threat Area

DTIC Science & Technology

2015-12-01

strive in multiple warfare areas. This research benefits not only the Navy, through enhancement of offensive warfighting by testing the next...multiple warfare areas. This research benefits not only the Navy, through enhancement of offensive warfighting by testing the next generation of...produce and definitely worth the research and testing to be a positive asset for the Navy. It not only can stay on station for an exponential amount of

SLS EM-1 Launch Animation

NASA Image and Video Library

2017-10-31

Animation depicting NASA’s Space Launch System, the world's most powerful rocket for a new era of human exploration beyond Earth’s orbit. With its unprecedented capabilities, SLS will launch astronauts in the agency’s Orion spacecraft on missions to explore multiple, deep-space destinations, including Mars. Traveling to deep space requires a large vehicle that can carry huge payloads, and future evolutions of SLS with the exploration upper stage and advanced boosters will increase the rocket’s lift capability and flexibility for multiple types of mission needs.

Railway vehicle body structures

DOE Office of Scientific and Technical Information (OSTI.GOV)

Not Available

1985-01-01

The strength and durability of railway vehicle structures is a major topic of engineering research and design. To reflect this importance the Railway Division of the Institution of Mechanical Engineers organised a conference to discuss all matters relating to railway vehicle design. This book presents the papers discussed in that conference. The contents include: Vehicle body design and the UIC's international contribution; LUL prototype 1986 stock - body structure; vehicle structure for the intermediate capacity transmit system vehicles; car body technology of advanced light rapid transit vehicles; concepts, techniques and experience in the idealization of car body structures for finitemore » element analysis; Calcutta metropolitan railway; design for a lightweight diesel multiple unit body; the design of lightweight inter-city coal structures; the BREL international coach body shell structure; new concepts and design techniques versus material standards; structures of BR diesel electric freight locomotives; structural design philosophy for electric locomotives; suspension design for a locomotive with low structural frequencies; freight wagon structures; a finite element study of coal bodyside panels including the effects of joint flexibility; a fresh approach to the problem of car body design strength; energy absorption in automatic couplings and draw gear; passenger vehicle design loads and structural crashworthiness; design of the front part of railway vehicles (in case of frontal impact); the development of a theoretical technique for rail vehicle structural crashworthiness.« less

Power control apparatus and methods for electric vehicles

DOEpatents

Gadh, Rajit; Chung, Ching-Yen; Chu, Chi-Cheng; Qiu, Li

2016-03-22

Electric vehicle (EV) charging apparatus and methods are described which allow the sharing of charge current between multiple vehicles connected to a single source of charging energy. In addition, this charge sharing can be performed in a grid-friendly manner by lowering current supplied to EVs when necessary in order to satisfy the needs of the grid, or building operator. The apparatus and methods can be integrated into charging stations or can be implemented with a middle-man approach in which a multiple EV charging box, which includes an EV emulator and multiple pilot signal generation circuits, is coupled to a single EV charge station.

Multi-Mode Estimation for Small Fixed Wing Unmanned Aerial Vehicle Localization Based on a Linear Matrix Inequality Approach

PubMed Central

Elzoghby, Mostafa; Li, Fu; Arafa, Ibrahim. I.; Arif, Usman

2017-01-01

Information fusion from multiple sensors ensures the accuracy and robustness of a navigation system, especially in the absence of global positioning system (GPS) data which gets degraded in many cases. A way to deal with multi-mode estimation for a small fixed wing unmanned aerial vehicle (UAV) localization framework is proposed, which depends on utilizing a Luenberger observer-based linear matrix inequality (LMI) approach. The proposed estimation technique relies on the interaction between multiple measurement modes and a continuous observer. The state estimation is performed in a switching environment between multiple active sensors to exploit the available information as much as possible, especially in GPS-denied environments. Luenberger observer-based projection is implemented as a continuous observer to optimize the estimation performance. The observer gain might be chosen by solving a Lyapunov equation by means of a LMI algorithm. Convergence is achieved by utilizing the linear matrix inequality (LMI), based on Lyapunov stability which keeps the dynamic estimation error bounded by selecting the observer gain matrix (L). Simulation results are presented for a small UAV fixed wing localization problem. The results obtained using the proposed approach are compared with a single mode Extended Kalman Filter (EKF). Simulation results are presented to demonstrate the viability of the proposed strategy. PMID:28420214

NASA Space Flight Vehicle Fault Isolation Challenges

NASA Technical Reports Server (NTRS)

Bramon, Christopher; Inman, Sharon K.; Neeley, James R.; Jones, James V.; Tuttle, Loraine

2016-01-01

The Space Launch System (SLS) is the new NASA heavy lift launch vehicle and is scheduled for its first mission in 2017. The goal of the first mission, which will be uncrewed, is to demonstrate the integrated system performance of the SLS rocket and spacecraft before a crewed flight in 2021. SLS has many of the same logistics challenges as any other large scale program. Common logistics concerns for SLS include integration of discrete programs geographically separated, multiple prime contractors with distinct and different goals, schedule pressures and funding constraints. However, SLS also faces unique challenges. The new program is a confluence of new hardware and heritage, with heritage hardware constituting seventy-five percent of the program. This unique approach to design makes logistics concerns such as testability of the integrated flight vehicle especially problematic. The cost of fully automated diagnostics can be completely justified for a large fleet, but not so for a single flight vehicle. Fault detection is mandatory to assure the vehicle is capable of a safe launch, but fault isolation is another issue. SLS has considered various methods for fault isolation which can provide a reasonable balance between adequacy, timeliness and cost. This paper will address the analyses and decisions the NASA Logistics engineers are making to mitigate risk while providing a reasonable testability solution for fault isolation.

Moving Towards a Common Ground and Flight Data Systems Architecture for NASA's Exploration Missions

NASA Technical Reports Server (NTRS)

Rader. Steve; Kearney, Mike; McVittie, Thom; Smith, Dan

2006-01-01

The National Aeronautics and Space Administration has embarked on an ambitious effort to return man to the moon and then on to Mars. The Exploration Vision requires development of major new space and ground assets and poses challenges well beyond those faced by many of NASA's recent programs. New crewed vehicles must be developed. Compatible supply vehicles, surface mobility modules and robotic exploration capabilities will supplement the manned exploration vehicle. New launch systems will be developed as well as a new ground communications and control infrastructure. The development must take place in a cost-constrained environment and must advance along an aggressive schedule. Common solutions and system interoperability and will be critical to the successful development of the Exploration data systems for this wide variety of flight and ground elements. To this end, NASA has assembled a team of engineers from across the agency to identify the key challenges for Exploration data systems and to establish the most beneficial strategic approach to be followed. Key challenges and the planned NASA approach for flight and ground systems will be discussed in the paper. The described approaches will capitalize on new technologies, and will result in cross-program interoperability between spacecraft and ground systems, from multiple suppliers and agencies.

Chain-reaction crash on a highway in high visibility

NASA Astrophysics Data System (ADS)

Nagatani, Takashi

2016-05-01

We study the chain-reaction crash (multiple-vehicle collision) in high-visibility condition on a highway. In the traffic situation, drivers control their vehicles by both gear-changing and braking. Drivers change the gears according to the headway and brake according to taillights of the forward vehicle. We investigate whether or not the first collision induces the chain-reaction crash numerically. It is shown that dynamic transitions occur from no collisions, through a single collision, to multiple collisions with decreasing the headway. Also, we find that the dynamic transition occurs from the finite chain reaction to the infinite chain reaction when the headway is less than the critical value. We compare the multiple-vehicle collisions in high-visibility with that in low-visibility. We derive the transition points and the region maps for the chain-reaction crash in high visibility.

Monitoring wildlife-vehicle collisions in the information age: how smartphones can improve data collection.

PubMed

Olson, Daniel D; Bissonette, John A; Cramer, Patricia C; Green, Ashley D; Davis, Scott T; Jackson, Patrick J; Coster, Daniel C

2014-01-01

Currently there is a critical need for accurate and standardized wildlife-vehicle collision data, because it is the underpinning of mitigation projects that protect both drivers and wildlife. Gathering data can be challenging because wildlife-vehicle collisions occur over broad areas, during all seasons of the year, and in large numbers. Collecting data of this magnitude requires an efficient data collection system. Presently there is no widely adopted system that is both efficient and accurate. Our objective was to develop and test an integrated smartphone-based system for reporting wildlife-vehicle collision data. The WVC Reporter system we developed consisted of a mobile web application for data collection, a database for centralized storage of data, and a desktop web application for viewing data. The smartphones that we tested for use with the application produced accurate locations (median error = 4.6-5.2 m), and reduced location error 99% versus reporting only the highway/marker. Additionally, mean times for data entry using the mobile web application (22.0-26.5 s) were substantially shorter than using the pen/paper method (52 s). We also found the pen/paper method had a data entry error rate of 10% and those errors were virtually eliminated using the mobile web application. During the first year of use, 6,822 animal carcasses were reported using WVC Reporter. The desktop web application improved access to WVC data and allowed users to easily visualize wildlife-vehicle collision patterns at multiple scales. The WVC Reporter integrated several modern technologies into a seamless method for collecting, managing, and using WVC data. As a result, the system increased efficiency in reporting, improved accuracy, and enhanced visualization of data. The development costs for the system were minor relative to the potential benefits of having spatially accurate and temporally current wildlife-vehicle collision data.

Monitoring Wildlife-Vehicle Collisions in the Information Age: How Smartphones Can Improve Data Collection

PubMed Central

Olson, Daniel D.; Bissonette, John A.; Cramer, Patricia C.; Green, Ashley D.; Davis, Scott T.; Jackson, Patrick J.; Coster, Daniel C.

2014-01-01

Background Currently there is a critical need for accurate and standardized wildlife-vehicle collision data, because it is the underpinning of mitigation projects that protect both drivers and wildlife. Gathering data can be challenging because wildlife-vehicle collisions occur over broad areas, during all seasons of the year, and in large numbers. Collecting data of this magnitude requires an efficient data collection system. Presently there is no widely adopted system that is both efficient and accurate. Methodology/Principal Findings Our objective was to develop and test an integrated smartphone-based system for reporting wildlife-vehicle collision data. The WVC Reporter system we developed consisted of a mobile web application for data collection, a database for centralized storage of data, and a desktop web application for viewing data. The smartphones that we tested for use with the application produced accurate locations (median error = 4.6–5.2 m), and reduced location error 99% versus reporting only the highway/marker. Additionally, mean times for data entry using the mobile web application (22.0–26.5 s) were substantially shorter than using the pen/paper method (52 s). We also found the pen/paper method had a data entry error rate of 10% and those errors were virtually eliminated using the mobile web application. During the first year of use, 6,822 animal carcasses were reported using WVC Reporter. The desktop web application improved access to WVC data and allowed users to easily visualize wildlife-vehicle collision patterns at multiple scales. Conclusions/Significance The WVC Reporter integrated several modern technologies into a seamless method for collecting, managing, and using WVC data. As a result, the system increased efficiency in reporting, improved accuracy, and enhanced visualization of data. The development costs for the system were minor relative to the potential benefits of having spatially accurate and temporally current wildlife-vehicle collision data. PMID:24897502

Gyro-based Maximum-Likelihood Thruster Fault Detection and Identification

NASA Technical Reports Server (NTRS)

Wilson, Edward; Lages, Chris; Mah, Robert; Clancy, Daniel (Technical Monitor)

2002-01-01

When building smaller, less expensive spacecraft, there is a need for intelligent fault tolerance vs. increased hardware redundancy. If fault tolerance can be achieved using existing navigation sensors, cost and vehicle complexity can be reduced. A maximum likelihood-based approach to thruster fault detection and identification (FDI) for spacecraft is developed here and applied in simulation to the X-38 space vehicle. The system uses only gyro signals to detect and identify hard, abrupt, single and multiple jet on- and off-failures. Faults are detected within one second and identified within one to five accords,

Low-thrust roundtrip trajectories to Mars with one-synodic-period repeat time

NASA Astrophysics Data System (ADS)

Okutsu, Masataka; Landau, Damon F.; Rogers, Blake A.; Longuski, James M.

2015-05-01

Cycler trajectories-both ballistic and powered-are reported in the literature in which there are two-vehicle, three-vehicle, and four-vehicle cases. Such trajectories permit the installation of cycler vehicles which provide safe and comfortable living conditions for human space travel between Earth and Mars during every synodic opportunity. The question the present paper answers is a logical, obvious one: Does a single-vehicle, one-synodic-period cycler exist? The answer is yes: such a trajectory can be flown-but only with a high-power electric propulsion system. In our example, it is found that "stopover" trajectories that spend 30 days in orbit about Earth and 30 days about Mars, and return astronauts to Earth in one synodic period require a 90-t power generator with a power level of 11 MWe. Fortuitously, and in lieu of using chemical propulsion, the high power level of the electric propulsion system would also be effective in hauling the cargo payload via a spiral trajectory about the Earth. But because one synodic period is not enough for the cycler vehicle to fly both the interplanetary trajectories and the Earth-spiral trajectories, we suggest developing two nuclear power generators, which could alternate flying the interplanetary trajectories and the Earth-spiral trajectories. Once these power generators are launched and begin operating in space, the mass requirement in seven subsequent missions (over a period of 15 years beginning in 2022) would be modest at 250-300 metric tons to low-Earth orbit per mission. Thus two cargo launches of NASA's Space Launch System and one crew launch of the Falcon Heavy, for example, would be adequate to maintain support for each consecutive mission. Although we propose developing two sets of electric propulsion systems to account for the Earth-spiral phases, only one vehicle is flown on a heliocentric trajectory at any given time. Thus, our low-thrust stopover cycler with zero encounter velocities falls into a category of a "one-vehicle cycler," which completes the gap in the literature, where we have already seen multiple-vehicle cycler concepts.

Inviscid and Viscous CFD Analysis of Booster Separation for the Space Launch System Vehicle

NASA Technical Reports Server (NTRS)

Dalle, Derek J.; Rogers, Stuart E.; Chan, William M.; Lee, Henry C.

2016-01-01

This paper presents details of Computational Fluid Dynamic (CFD) simulations of the Space Launch System during solid-rocket booster separation using the Cart3D inviscid and Overflow viscous CFD codes. The discussion addresses the use of multiple data sources of computational aerodynamics, experimental aerodynamics, and trajectory simulations for this critical phase of flight. Comparisons are shown between Cart3D simulations and a wind tunnel test performed at NASA Langley Research Center's Unitary Plan Wind Tunnel, and further comparisons are shown between Cart3D and viscous Overflow solutions for the flight vehicle. The Space Launch System (SLS) is a new exploration-class launch vehicle currently in development that includes two Solid Rocket Boosters (SRBs) modified from Space Shuttle hardware. These SRBs must separate from the SLS core during a phase of flight where aerodynamic loads are nontrivial. The main challenges for creating a separation aerodynamic database are the large number of independent variables (including orientation of the core, relative position and orientation of the boosters, and rocket thrust levels) and the complex flow caused by exhaust plumes of the booster separation motors (BSMs), which are small rockets designed to push the boosters away from the core by firing partially in the direction opposite to the motion of the vehicle.

An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System

PubMed Central

Yao, Yiqing

2017-01-01

Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified. PMID:28872602

Effects of vehicle-ride exposure on cervical pathology: a meta-analysis

PubMed Central

KOLLOCK, Roger; GAMES, Kenneth; WILSON, Alan E.; SEFTON, JoEllen M.

2015-01-01

Research to date on the effect vehicle-ride exposure has on the development of cervical pathologies in mounted Warfighters is conflicting. The purpose of this study was to determine if the literature suggests a definite effect of vehicle-ride exposure on cervical pathology. Databases were searched using multiple combinations of select terms. Twelve studies meeting the inclusion criteria were included in the meta-analysis. The results of the meta-analysis revealed that overall vehicle-ride exposure was likely to increase cervical pathology (p=0.01, odds ratio=1.59, 95% CI=1.16−2.17). Using vehicle type as a moderator it was found that vehicle-ride exposure in ground-based vehicles (p=0.01, odds ratio=2.33, 95% CI=1.41−3.85) and fixed-wing aircraft (p=0.01, odds ratio =1.59, 95% CI=1.13−2.23) were likely to increase cervical pathology. Using operator/other personnel moderator it was found that in the populations tested, fighter pilots or fighter jet weapons systems operators were more likely to develop a cervical pathology (p<0.001, odds ratio=1.78, 95% CI=1.26−2.50). The available studies indicate an increase in cervical pathology for personnel exposed to ground-based vehicles and fixed-wing aircraft. PMID:25739897

Launch Vehicle Propulsion Design with Multiple Selection Criteria

NASA Technical Reports Server (NTRS)

Shelton, Joey D.; Frederick, Robert A.; Wilhite, Alan W.

2005-01-01

The approach and techniques described herein define an optimization and evaluation approach for a liquid hydrogen/liquid oxygen single-stage-to-orbit system. The method uses Monte Carlo simulations, genetic algorithm solvers, a propulsion thermo-chemical code, power series regression curves for historical data, and statistical models in order to optimize a vehicle system. The system, including parameters for engine chamber pressure, area ratio, and oxidizer/fuel ratio, was modeled and optimized to determine the best design for seven separate design weight and cost cases by varying design and technology parameters. Significant model results show that a 53% increase in Design, Development, Test and Evaluation cost results in a 67% reduction in Gross Liftoff Weight. Other key findings show the sensitivity of propulsion parameters, technology factors, and cost factors and how these parameters differ when cost and weight are optimized separately. Each of the three key propulsion parameters; chamber pressure, area ratio, and oxidizer/fuel ratio, are optimized in the seven design cases and results are plotted to show impacts to engine mass and overall vehicle mass.

Map Matching and Real World Integrated Sensor Data Warehousing (Presentation)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Burton, E.

2014-02-01

The inclusion of interlinked temporal and spatial elements within integrated sensor data enables a tremendous degree of flexibility when analyzing multi-component datasets. The presentation illustrates how to warehouse, process, and analyze high-resolution integrated sensor datasets to support complex system analysis at the entity and system levels. The example cases presented utilizes in-vehicle sensor system data to assess vehicle performance, while integrating a map matching algorithm to link vehicle data to roads to demonstrate the enhanced analysis possible via interlinking data elements. Furthermore, in addition to the flexibility provided, the examples presented illustrate concepts of maintaining proprietary operational information (Fleet DNA)more » and privacy of study participants (Transportation Secure Data Center) while producing widely distributed data products. Should real-time operational data be logged at high resolution across multiple infrastructure types, map matched to their associated infrastructure, and distributed employing a similar approach; dependencies between urban environment infrastructures components could be better understood. This understanding is especially crucial for the cities of the future where transportation will rely more on grid infrastructure to support its energy demands.« less

Human-Vehicle Interface for Semi-Autonomous Operation of Uninhabited Aero Vehicles

NASA Technical Reports Server (NTRS)

Jones, Henry L.; Frew, Eric W.; Woodley, Bruce R.; Rock, Stephen M.

2001-01-01

The robustness of autonomous robotic systems to unanticipated circumstances is typically insufficient for use in the field. The many skills of human user often fill this gap in robotic capability. To incorporate the human into the system, a useful interaction between man and machine must exist. This interaction should enable useful communication to be exchanged in a natural way between human and robot on a variety of levels. This report describes the current human-robot interaction for the Stanford HUMMINGBIRD autonomous helicopter. In particular, the report discusses the elements of the system that enable multiple levels of communication. An intelligent system agent manages the different inputs given to the helicopter. An advanced user interface gives the user and helicopter a method for exchanging useful information. Using this human-robot interaction, the HUMMINGBIRD has carried out various autonomous search, tracking, and retrieval missions.

Evolution of Requirements and Assumptions for Future Exploration Missions

NASA Technical Reports Server (NTRS)

Anderson, Molly; Sargusingh, Miriam; Perry, Jay

2017-01-01

NASA programs are maturing technologies, systems, and architectures to enabling future exploration missions. To increase fidelity as technologies mature, developers must make assumptions that represent the requirements of a future program. Multiple efforts have begun to define these requirements, including team internal assumptions, planning system integration for early demonstrations, and discussions between international partners planning future collaborations. For many detailed life support system requirements, existing NASA documents set limits of acceptable values, but a future vehicle may be constrained in other ways, and select a limited range of conditions. Other requirements are effectively set by interfaces or operations, and may be different for the same technology depending on whether the hard-ware is a demonstration system on the International Space Station, or a critical component of a future vehicle. This paper highlights key assumptions representing potential life support requirements and explanations of the driving scenarios, constraints, or other issues that drive them.

Using Fluid Dynamics and Field Experiments to Improve Vehicle-based Wind Measurements for Environmental Monitoring

NASA Astrophysics Data System (ADS)

Hanlon, T.; Bourlon, E.; Jensen, N.; Risk, D. A.

2017-12-01

Vehicle-based measurements of wind speed and direction are presently used for a range of applications, including gas plume detection. Theoretically, vehicle-based measurements could also be integrated with fixed-site measurements to add spatial richness in weather and atmospheric observing systems, but the quality and accuracy of such measurements is currently not well understood. Our research objective for this field-simulation study was to understand how anemometer placement and the vehicle's external air flow field affect measurement accuracy of vehicle-mounted anemometers. We used a truck-mounted anemometer to investigate wind measurements at different vehicle speeds and anemometer placements. We conducted field tests on a square 3.2 km route in flat, treeless terrain and positioned stationary sonic anemometers at each corner. We drove the route in replicate under varying wind conditions and vehicle speeds, and with multiple sonic anemometer placements on the vehicle. The vehicle-based anemometer measurements were corrected to remove the vehicle speed and course vector. In the lab, Computational Fluid Dynamic (CFD) simulations were generated in Ansys FLUENT to model the external flow fields at the locations of measurement under varying vehicle speed and yaw angle. In field trials we observed that vehicle-based measurements differed from stationary measurements by a different magnitude in each of the upwind, downwind and crosswind directions. The difference from stationary anemometers increased with vehicle speed, suggesting the vehicle's flow field does indeed impact the accuracy of vehicle-based anemometer measurements. We used the CFD simulations to develop a quantitative understanding of fluid flow around the vehicle, and to develop speed-based corrections that were applied to the field data. We were also able to make recommendations for anemometer placement. This study demonstrates the importance of applying aerodynamics-based correction factors to vehicle based wind measurements.

Vehicle-Level Oxygen/Methane Propulsion System Hotfire Testing at Thermal Vacuum Conditions

NASA Technical Reports Server (NTRS)

Morehead, Robert L.; Melcher, J. C.; Atwell, Matthew J.; Hurlbert, Eric A.; Desai, Pooja; Werlink, Rudy

2017-01-01

A prototype integrated liquid oxygen/liquid methane propulsion system was hot-fire tested at a variety of simulated altitude and thermal conditions in the NASA Glenn Research Center Plum Brook Station In-Space Propulsion Thermal Vacuum Chamber (formerly B2). This test campaign served two purposes: 1) Characterize the performance of the Plum Brook facility in vacuum accumulator mode and 2) Collect the unique data set of an integrated LOX/Methane propulsion system operating in high altitude and thermal vacuum environments (a first). Data from this propulsion system prototype could inform the design of future spacecraft in-space propulsion systems, including landers. The test vehicle for this campaign was the Integrated Cryogenic Propulsion Test Article (ICPTA), which was constructed for this project using assets from the former Morpheus Project rebuilt and outfitted with additional new hardware. The ICPTA utilizes one 2,800 lbf main engine, two 28 lbf and two 7 lbf reaction control engines mounted in two pods, four 48-inch propellant tanks (two each for liquid oxygen and liquid methane), and a cold helium system for propellant tank pressurization. Several hundred sensors on the ICPTA and many more in the test cell collected data to characterize the operation of the vehicle and facility. Multiple notable experiments were performed during this test campaign, many for the first time, including pressure-fed cryogenic reaction control system characterization over a wide range of conditions, coil-on-plug ignition system demonstration at the vehicle level, integrated main engine/RCS operation, and a non-intrusive propellant mass gauging system. The test data includes water-hammer and thermal heat leak data critical to validating models for use in future vehicle design activities. This successful test campaign demonstrated the performance of the updated Plum Brook In-Space Propulsion thermal vacuum chamber and incrementally advanced the state of LOX/Methane propulsion technology through numerous system-level and subsystem experiments.

Evaluation Of Model Based Systems Engineering Processes For Integration Into Rapid Acquisition Programs

DTIC Science & Technology

2016-09-01

Failure MTBCF Mean Time Between Critical Failure MIRV Multiple Independently-targetable Reentry Vehicle MK6LE MK6 Guidance System Life Extension...programs were the MK54 Lightweight Torpedo program, a Raytheon Radar program, and the Life Extension of the MK6 Guidance System (MK6LE) of the...activities throughout the later life -cycle phases. MBSE allowed the programs to manage the evolution of simulation capabilities, as well as to assess the

Algorithms for Heterogeneous, Multiple Depot, Multiple Unmanned Vehicle Path Planning Problems

DOE PAGES

Sundar, Kaarthik; Rathinam, Sivakumar

2016-12-26

Unmanned vehicles, both aerial and ground, are being used in several monitoring applications to collect data from a set of targets. This article addresses a problem where a group of heterogeneous aerial or ground vehicles with different motion constraints located at distinct depots visit a set of targets. The vehicles also may be equipped with different sensors, and therefore, a target may not be visited by any vehicle. The objective is to find an optimal path for each vehicle starting and ending at its respective depot such that each target is visited at least once by some vehicle, the vehicle–targetmore » constraints are satisfied, and the sum of the length of the paths for all the vehicles is minimized. Two variants of this problem are formulated (one for ground vehicles and another for aerial vehicles) as mixed-integer linear programs and a branchand- cut algorithm is developed to compute an optimal solution to each of the variants. Computational results show that optimal solutions for problems involving 100 targets and 5 vehicles can be obtained within 300 seconds on average, further corroborating the effectiveness of the proposed approach.« less

Calibration and Extension of a Discrete Event Operations Simulation Modeling Multiple Un-Manned Aerial Vehicles Controlled by a Single Operator

DTIC Science & Technology

2013-03-01

within systems of UAVs and between UAVs and the operators that use them. The next step for small UAVs in this direction is for one operator to be able...Team’s testing efforts, both in the planning and execution stages. The flight tests would never have taken place without the tremendous assistance...1 1.2 Unmanned Aerial Systems

Integration of Diagnostics into Ground Equipment Study. Volume 2

DTIC Science & Technology

2003-10-21

systems forum comprised of a consortium of companies that use or supply CBM technology-Machinery Information Management Open Systems Alliance (MIMOSA...maintenance Tele-maintenance, which means collecting of on-board vehicle health data and transrritting it via long-range corrmunication media to a...level are B2C (e-business) and B2B . Middleware offers transparency across networks, applications, and platforms by enabling linkages among multiple

Nuclear thermal rockets using indigenous extraterrestrial propellants

NASA Technical Reports Server (NTRS)

Zubrin, Robert M.

1990-01-01

A preliminary examination of a concept for a Mars and outer solar system exploratory vehicle is presented. Propulsion is provided by utilizing a nuclear thermal reactor to heat a propellant volatile indigenous to the destination world to form a high thrust rocket exhaust. Candidate propellants, whose performance, materials compatibility, and ease of acquisition are examined and include carbon dioxide, water, methane, nitrogen, carbon monoxide, and argon. Ballistics and winged supersonic configurations are discussed. It is shown that the use of this method of propulsion potentially offers high payoff to a manned Mars mission. This is accomplished by sharply reducing the initial mission mass required in low earth orbit, and by providing Mars explorers with greatly enhanced mobility in traveling about the planet through the use of a vehicle that can refuel itself each time it lands. Thus, the nuclear landing craft is utilized in combination with a hydrogen-fueled nuclear-thermal interplanetary launch. By utilizing such a system in the outer solar system, a low level aerial reconnaissance of Titan combined with a multiple sample return from nearly every satellite of Saturn can be accomplished in a single launch of a Titan 4 or the Space Transportation System (STS). Similarly a multiple sample return from Callisto, Ganymede, and Europa can also be accomplished in one launch of a Titan 4 or the STS.

40 CFR 86.1806-04 - On-board diagnostics.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 2002). (vii) As an alternative to the above standards, heavy-duty vehicles may conform to the... standards shall utilize multiplicative factors from the California vehicle type (i.e. LEV II, ULEV II... standards shall utilize the Tier 2 Bin 4 emission standards and the CARB ULEV II multiplicative factors to...

Integrated Vehicle Thermal Management - Combining Fluid Loops in Electric Drive Vehicles (Presentation)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rugh, J. P.

2013-07-01

Plug-in hybrid electric vehicles and electric vehicles have increased vehicle thermal management complexity, using separate coolant loop for advanced power electronics and electric motors. Additional thermal components result in higher costs. Multiple cooling loops lead to reduced range due to increased weight. Energy is required to meet thermal requirements. This presentation for the 2013 Annual Merit Review discusses integrated vehicle thermal management by combining fluid loops in electric drive vehicles.

Thermal-Structural Evaluation of TD Ni-20Cr Thermal Protection System Panels

NASA Technical Reports Server (NTRS)

Eidinoff, H. L.; Rose, L.

1974-01-01

The results of a thermal-structural test program to verify the performance of a metallic/radiative Thermal Protection System (TPS) under reentry conditions are presented. This TPS panel is suitable for multiple reentry, high L/D space vehicles, such as the NASA space shuttle, having surface temperatures up to 1200 C (2200 F). The TPS panel tested consists of a corrugation-stiffened, beaded-skin TD Ni-20Cr metallic heat shield backed by a flexible fibrous quartz and radiative shield insulative system. Test conditions simulated the critical heating and aerodynamic pressure environments expected during 100 repeated missions of a reentry vehicle. Temperatures were measured during each reentry cycle; heat-shield flatness surveys to measure permanent set of the metallic components were made every 10 cycles. The TPS panel, in spite of localized surface failures, performed its designated function.

Distributed Scene Analysis For Autonomous Road Vehicle Guidance

NASA Astrophysics Data System (ADS)

Mysliwetz, Birger D.; Dickmanns, E. D.

1987-01-01

An efficient distributed processing scheme has been developed for visual road boundary tracking by 'VaMoRs', a testbed vehicle for autonomous mobility and computer vision. Ongoing work described here is directed to improving the robustness of the road boundary detection process in the presence of shadows, ill-defined edges and other disturbing real world effects. The system structure and the techniques applied for real-time scene analysis are presented along with experimental results. All subfunctions of road boundary detection for vehicle guidance, such as edge extraction, feature aggregation and camera pointing control, are executed in parallel by an onboard multiprocessor system. On the image processing level local oriented edge extraction is performed in multiple 'windows', tighly controlled from a hierarchically higher, modelbased level. The interpretation process involving a geometric road model and the observer's relative position to the road boundaries is capable of coping with ambiguity in measurement data. By using only selected measurements to update the model parameters even high noise levels can be dealt with and misleading edges be rejected.

Analyzing the multiple-target-multiple-agent scenario using optimal assignment algorithms

NASA Astrophysics Data System (ADS)

Kwok, Kwan S.; Driessen, Brian J.; Phillips, Cynthia A.; Tovey, Craig A.

1997-09-01

This work considers the problem of maximum utilization of a set of mobile robots with limited sensor-range capabilities and limited travel distances. The robots are initially in random positions. A set of robots properly guards or covers a region if every point within the region is within the effective sensor range of at least one vehicle. We wish to move the vehicles into surveillance positions so as to guard or cover a region, while minimizing the maximum distance traveled by any vehicle. This problem can be formulated as an assignment problem, in which we must optimally decide which robot to assign to which slot of a desired matrix of grid points. The cost function is the maximum distance traveled by any robot. Assignment problems can be solved very efficiently. Solution times for one hundred robots took only seconds on a silicon graphics crimson workstation. The initial positions of all the robots can be sampled by a central base station and their newly assigned positions communicated back to the robots. Alternatively, the robots can establish their own coordinate system with the origin fixed at one of the robots and orientation determined by the compass bearing of another robot relative to this robot. This paper presents example solutions to the multiple-target-multiple-agent scenario using a matching algorithm. Two separate cases with one hundred agents in each were analyzed using this method. We have found these mobile robot problems to be a very interesting application of network optimization methods, and we expect this to be a fruitful area for future research.

Modeling relief demands in an emergency supply chain system under large-scale disasters based on a queuing network.

PubMed

He, Xinhua; Hu, Wenfa

2014-01-01

This paper presents a multiple-rescue model for an emergency supply chain system under uncertainties in large-scale affected area of disasters. The proposed methodology takes into consideration that the rescue demands caused by a large-scale disaster are scattered in several locations; the servers are arranged in multiple echelons (resource depots, distribution centers, and rescue center sites) located in different places but are coordinated within one emergency supply chain system; depending on the types of rescue demands, one or more distinct servers dispatch emergency resources in different vehicle routes, and emergency rescue services queue in multiple rescue-demand locations. This emergency system is modeled as a minimal queuing response time model of location and allocation. A solution to this complex mathematical problem is developed based on genetic algorithm. Finally, a case study of an emergency supply chain system operating in Shanghai is discussed. The results demonstrate the robustness and applicability of the proposed model.

Modeling Relief Demands in an Emergency Supply Chain System under Large-Scale Disasters Based on a Queuing Network

PubMed Central

He, Xinhua

2014-01-01

This paper presents a multiple-rescue model for an emergency supply chain system under uncertainties in large-scale affected area of disasters. The proposed methodology takes into consideration that the rescue demands caused by a large-scale disaster are scattered in several locations; the servers are arranged in multiple echelons (resource depots, distribution centers, and rescue center sites) located in different places but are coordinated within one emergency supply chain system; depending on the types of rescue demands, one or more distinct servers dispatch emergency resources in different vehicle routes, and emergency rescue services queue in multiple rescue-demand locations. This emergency system is modeled as a minimal queuing response time model of location and allocation. A solution to this complex mathematical problem is developed based on genetic algorithm. Finally, a case study of an emergency supply chain system operating in Shanghai is discussed. The results demonstrate the robustness and applicability of the proposed model. PMID:24688367

Overcoming urban GPS navigation challenges through the use of MEMS inertial sensors and proper verification of navigation system performance

NASA Astrophysics Data System (ADS)

Vinande, Eric T.

This research proposes several means to overcome challenges in the urban environment to ground vehicle global positioning system (GPS) receiver navigation performance through the integration of external sensor information. The effects of narrowband radio frequency interference and signal attenuation, both common in the urban environment, are examined with respect to receiver signal tracking processes. Low-cost microelectromechanical systems (MEMS) inertial sensors, suitable for the consumer market, are the focus of receiver augmentation as they provide an independent measure of motion and are independent of vehicle systems. A method for estimating the mounting angles of an inertial sensor cluster utilizing typical urban driving maneuvers is developed and is able to provide angular measurements within two degrees of truth. The integration of GPS and MEMS inertial sensors is developed utilizing a full state navigation filter. Appropriate statistical methods are developed to evaluate the urban environment navigation improvement due to the addition of MEMS inertial sensors. A receiver evaluation metric that combines accuracy, availability, and maximum error measurements is presented and evaluated over several drive tests. Following a description of proper drive test techniques, record and playback systems are evaluated as the optimal way of testing multiple receivers and/or integrated navigation systems in the urban environment as they simplify vehicle testing requirements.

The effect of different operations modes on science capabilities during the 2010 Desert RATS test: Insights from the geologist crewmembers

NASA Astrophysics Data System (ADS)

Bleacher, Jacob E.; Hurtado, José M.; Young, Kelsey E.; Rice, James W.; Garry, W. Brent

2013-10-01

The 2010 Desert RATS field test utilized two Space Exploration Vehicles (prototype planetary rovers) and four crewmembers (2 per rover) to conduct a geologic traverse across northern Arizona while testing continuous and twice-per-day communications paired with operation modes of separating and exploring individually (Divide & Conquer) and exploring together (Lead & Follow), respectively. This report provides qualitative conclusions from the geologist crewmembers involved in this test as to how these modes of communications and operations affected our ability to conduct field geology. Each mode of communication and operation provided beneficial capabilities that might be further explored for future Human Spaceflight Missions to other solar system objects. We find that more frequent interactions between crews and an Apollo-style Science Team on the Earth best enables scientific progress during human exploration. However, during multiple vehicle missions, this communication with an Earth-based team of scientists, who represent "more minds on the problem", should not come at the exclusion of (or significantly decrease) communication between the crewmembers in different vehicles who have the "eyes on the ground". Inter-crew communications improved when discussions with a backroom were infrequent. Both aspects are critical and cannot be mutually exclusive. Increased vehicle separation distances best enable encounters with multiple geologic units. However, seemingly redundant visits by multiple vehicles to the same feature can be utilized to provide improved process-related observations about the development and modification of the local terrain. We consider the value of data management, transfer, and accessibility to be the most important lesson learned. Crews and backrooms should have access to all data and related interpretations within the mission in as close to real-time conditions as possible. This ensures that while on another planetary surface, crewmembers are as educated as possible with respect to the observations and data they will need to collect at any moment.

The Effect of Different Operations Modes on Science Capabilities During the 2010 Desert-RATS Test: Insights from the Geologist Crewmembers

NASA Technical Reports Server (NTRS)

Bleacher, Jacob E.; Hurtado, Jose M., Jr.; Young, Kelsey E.; Rice, James W., Jr.; Garry, W. Brent

2011-01-01

The 2010 Desert RATS field test utilized two Space Exploration Vehicles (prototype planetary rovers) and four crewmembers (2 per rover) to conduct a geologic traverse across northern Arizona while testing continuous and twice-per-day communications paired with operation modes of separating and exploring individually (Divide & Conquer) and exploring together (Lead & Follow), respectively. This report provides qualitative conclusions from the geologist crewmembers involved in this test as to how these modes of communications and operations affected our ability to conduct field geology. Each mode of communication and operation provided beneficial capabilities that might be further explored for future Human Spaceflight Missions to other solar system objects. We find that more frequent interactions between crews and an Apollo-style Science Team on the Earth best enables scientific progress during human exploration. However, during multiple vehicle missions, this communication with an Earth-based team of scientists, who represent "more minds on the problem", should not come at the exclusion of (or significantly decrease) communication between the crewmembers in different vehicles who have the "eyes on the ground". Inter-crew communications improved when discussions with a backroom were infrequent. Both aspects are critical and cannot be mutually exclusive. Increased vehicle separation distances best enable encounters with multiple geologic units. However, seemingly redundant visits by multiple vehicles to the same feature can be utilized to provide improved process-related observations about the development and modification of the local terrain. We consider the value of data management, transfer, and accessibility to be the most important lesson learned. Crews and backrooms should have access to all data and related interpretations within the mission in as close to real-time conditions as possible. This ensures that while on another planetary surface, crewmembers are as educated as possible with respect to the observations and data they will need to collect at any moment.

Real-time acquisition and tracking system with multiple Kalman filters

NASA Astrophysics Data System (ADS)

Beard, Gary C.; McCarter, Timothy G.; Spodeck, Walter; Fletcher, James E.

1994-07-01

The design of a real-time, ground-based, infrared tracking system with proven field success in tracking boost vehicles through burnout is presented with emphasis on the software design. The system was originally developed to deliver relative angular positions during boost, and thrust termination time to a sensor fusion station in real-time. Autonomous target acquisition and angle-only tracking features were developed to ensure success under stressing conditions. A unique feature of the system is the incorporation of multiple copies of a Kalman filter tracking algorithm running in parallel in order to minimize run-time. The system is capable of updating the state vector for an object at measurement rates approaching 90 Hz. This paper will address the top-level software design, details of the algorithms employed, system performance history in the field, and possible future upgrades.

Multi-modal assessment of on-road demand of voice and manual phone calling and voice navigation entry across two embedded vehicle systems.

PubMed

Mehler, Bruce; Kidd, David; Reimer, Bryan; Reagan, Ian; Dobres, Jonathan; McCartt, Anne

2016-03-01

One purpose of integrating voice interfaces into embedded vehicle systems is to reduce drivers' visual and manual distractions with 'infotainment' technologies. However, there is scant research on actual benefits in production vehicles or how different interface designs affect attentional demands. Driving performance, visual engagement, and indices of workload (heart rate, skin conductance, subjective ratings) were assessed in 80 drivers randomly assigned to drive a 2013 Chevrolet Equinox or Volvo XC60. The Chevrolet MyLink system allowed completing tasks with one voice command, while the Volvo Sensus required multiple commands to navigate the menu structure. When calling a phone contact, both voice systems reduced visual demand relative to the visual-manual interfaces, with reductions for drivers in the Equinox being greater. The Equinox 'one-shot' voice command showed advantages during contact calling but had significantly higher error rates than Sensus during destination address entry. For both secondary tasks, neither voice interface entirely eliminated visual demand. Practitioner Summary: The findings reinforce the observation that most, if not all, automotive auditory-vocal interfaces are multi-modal interfaces in which the full range of potential demands (auditory, vocal, visual, manipulative, cognitive, tactile, etc.) need to be considered in developing optimal implementations and evaluating drivers' interaction with the systems. Social Media: In-vehicle voice-interfaces can reduce visual demand but do not eliminate it and all types of demand need to be taken into account in a comprehensive evaluation.

Multi-modal assessment of on-road demand of voice and manual phone calling and voice navigation entry across two embedded vehicle systems

PubMed Central

Mehler, Bruce; Kidd, David; Reimer, Bryan; Reagan, Ian; Dobres, Jonathan; McCartt, Anne

2016-01-01

Abstract One purpose of integrating voice interfaces into embedded vehicle systems is to reduce drivers’ visual and manual distractions with ‘infotainment’ technologies. However, there is scant research on actual benefits in production vehicles or how different interface designs affect attentional demands. Driving performance, visual engagement, and indices of workload (heart rate, skin conductance, subjective ratings) were assessed in 80 drivers randomly assigned to drive a 2013 Chevrolet Equinox or Volvo XC60. The Chevrolet MyLink system allowed completing tasks with one voice command, while the Volvo Sensus required multiple commands to navigate the menu structure. When calling a phone contact, both voice systems reduced visual demand relative to the visual–manual interfaces, with reductions for drivers in the Equinox being greater. The Equinox ‘one-shot’ voice command showed advantages during contact calling but had significantly higher error rates than Sensus during destination address entry. For both secondary tasks, neither voice interface entirely eliminated visual demand. Practitioner Summary: The findings reinforce the observation that most, if not all, automotive auditory–vocal interfaces are multi-modal interfaces in which the full range of potential demands (auditory, vocal, visual, manipulative, cognitive, tactile, etc.) need to be considered in developing optimal implementations and evaluating drivers’ interaction with the systems. Social Media: In-vehicle voice-interfaces can reduce visual demand but do not eliminate it and all types of demand need to be taken into account in a comprehensive evaluation. PMID:26269281

Simulink-Based Simulation Architecture for Evaluating Controls for Aerospace Vehicles (SAREC-ASV)

NASA Technical Reports Server (NTRS)

Christhilf, David m.; Bacon, Barton J.

2006-01-01

The Simulation Architecture for Evaluating Controls for Aerospace Vehicles (SAREC-ASV) is a Simulink-based approach to providing an engineering quality desktop simulation capability for finding trim solutions, extracting linear models for vehicle analysis and control law development, and generating open-loop and closed-loop time history responses for control system evaluation. It represents a useful level of maturity rather than a finished product. The layout is hierarchical and supports concurrent component development and validation, with support from the Concurrent Versions System (CVS) software management tool. Real Time Workshop (RTW) is used to generate pre-compiled code for substantial component modules, and templates permit switching seamlessly between original Simulink and code compiled for various platforms. Two previous limitations are addressed. Turn around time for incorporating tabular model components was improved through auto-generation of required Simulink diagrams based on data received in XML format. The layout was modified to exploit a Simulink "compile once, evaluate multiple times" capability for zero elapsed time for use in trimming and linearizing. Trim is achieved through a Graphical User Interface (GUI) with a narrow, script definable interface to the vehicle model which facilitates incorporating new models.

Surface Landing Site Weather Analysis for NASA's Constellation Program

NASA Technical Reports Server (NTRS)

Altino, Karen M.; Burns, K. L.

2008-01-01

Weather information is an important asset for NASA's Constellation Program in developing the next generation space transportation system to fly to the International Space Station, the Moon and, eventually, to Mars. Weather conditions can affect vehicle safety and performance during multiple mission phases ranging from pre-launch ground processing of the Ares vehicles to landing and recovery operations, including all potential abort scenarios. Meteorological analysis is art important contributor, not only to the development and verification of system design requirements but also to mission planning and active ground operations. Of particular interest are the surface weather conditions at both nominal and abort landing sites for the manned Orion capsule. Weather parameters such as wind, rain, and fog all play critical roles in the safe landing of the vehicle and subsequent crew and vehicle recovery. The Marshall Space Flight Center (MSFC) Natural Environments Branch has been tasked by the Constellation Program with defining the natural environments at potential landing zones. This paper wiI1 describe the methodology used for data collection and quality control, detail the types of analyses performed, and provide a sample of the results that cab be obtained.

Experiences of model year 2011 Dodge and Jeep owners with collision avoidance and related technologies.

PubMed

Cicchino, Jessica B; McCartt, Anne T

2015-01-01

Crash avoidance technologies have the potential to prevent or mitigate many crashes, but their effectiveness depends on drivers' acceptance and proper use. Owners of 2011 Dodge Charger, Dodge Durango, and Jeep Grand Cherokee vehicles were interviewed about their experiences with their vehicles' technologies. Interviews were conducted in April 2013 with 215 owners of Dodge and Jeep vehicles with adaptive cruise control and forward collision warning and 215 owners with blind spot monitoring and rear cross-path detection. Most owners said that they always keep each collision avoidance technology turned on, and more than 90% of owners with each system would want the technology again on their next vehicle. The majority believed that the systems had helped prevent a collision; this ranged from 54% of drivers with forward collision warning to more than three-quarters with blind spot monitoring and rear cross-path detection. Some owners reported behavioral changes with the systems, but over-reliance on them is not prevalent. Reported use of the systems varied by the age and gender of the driver and duration of vehicle ownership to a greater degree than in previous surveys of luxury Volvo and Infiniti vehicles with collision avoidance technologies. Notably, drivers aged 40 and younger were most likely to report that forward collision warning had alerted them multiple times and that it had prevented a collision and that they follow the vehicle ahead less closely with adaptive cruise control. Reports of waiting for the alert from forward collision warning before braking were infrequent but increased with duration of ownership. However, these reports could reflect confusion of the system with adaptive cruise control, which alerts drivers when braking is necessary to maintain a preset speed or following distance but a crash is not imminent. Consistent with previous surveys of luxury vehicle owners with collision avoidance technologies, acceptance and use remains high among owners of more mainstream vehicles. Varying experiences with the technologies by driver age and gender suggest that safety benefits are not uniform for all drivers, and differential benefits may become increasingly apparent as collision avoidance technologies become available to a more heterogeneous population of drivers. The potential for over-reliance on the technologies should continue to be monitored, especially as drivers gain more experience with them.

The telesupervised adaptive ocean sensor fleet

NASA Astrophysics Data System (ADS)

Elfes, Alberto; Podnar, Gregg W.; Dolan, John M.; Stancliff, Stephen; Lin, Ellie; Hosler, Jeffrey C.; Ames, Troy J.; Moisan, John; Moisan, Tiffany A.; Higinbotham, John; Kulczycki, Eric A.

2007-09-01

We are developing a multi-robot science exploration architecture and system called the Telesupervised Adaptive Ocean Sensor Fleet (TAOSF). TAOSF uses a group of robotic boats (the OASIS platforms) to enable in-situ study of ocean surface and sub-surface phenomena. The OASIS boats are extended-deployment autonomous ocean surface vehicles, whose development is funded separately by the National Oceanic and Atmospheric Administration (NOAA). The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. It allows multiple mobile sensing assets to function in a cooperative fashion, and the operating mode of the vessels to range from autonomous control to teleoperated control. In this manner, TAOSF increases data-gathering effectiveness and science return while reducing demands on scientists for tasking, control, and monitoring. It combines and extends prior related work done by the authors and their institutions. The TAOSF architecture is applicable to other areas where multiple sensing assets are needed, including ecological forecasting, water management, carbon management, disaster management, coastal management, homeland security, and planetary exploration. The first field application chosen for TAOSF is the characterization of Harmful Algal Blooms (HABs). Several components of the TAOSF system have been tested, including the OASIS boats, the communications and control interfaces between the various hardware and software subsystems, and an airborne sensor validation system. Field tests in support of future HAB characterization were performed under controlled conditions, using rhodamine dye as a HAB simulant that was dispersed in a pond. In this paper, we describe the overall TAOSF architecture and its components, discuss the initial tests conducted and outline the next steps.

Surface Landing Site Weather Analysis for Constellation Program

NASA Technical Reports Server (NTRS)

Altino, Karen M.; Burns, K. Lee

2008-01-01

Weather information is an important asset for NASA's Constellation Program in developing the next generation space transportation system to fly to the International Space Station, the Moon and, eventually, to Mars. Weather conditions can affect vehicle safety and performance during multiple mission phases ranging from pre-launch ground processing to landing and recovery operations, including all potential abort scenarios. Meteorological analysis is an important contributor, not only to the development and verification of system design requirements but also to mission planning and active ground operations. Of particular interest are the surface atmospheric conditions at both nominal and abort landing sites for the manned Orion capsule. Weather parameters such as wind, rain, and fog all play critical roles in the safe landing of the vehicle and subsequent crew and vehicle recovery. The Marshall Space Flight Center Natural Environments Branch has been tasked by the Constellation Program with defining the natural environments at potential landing zones. Climatological time series of operational surface weather observations are used to calculate probabilities of occurrence of various sets of hypothetical vehicle constraint thresholds, Data are available for numerous geographical locations such that statistical analysis can be performed for single sites as well as multiple-site network configurations. Results provide statistical descriptions of how often certain weather conditions are observed at the site(s) and the percentage that specified criteria thresholds are matched or exceeded. Outputs are tabulated by month and hour of day to show both seasonal and diurnal variation. This paper will describe the methodology used for data collection and quality control, detail the types of analyses performed, and provide a sample of the results that can be obtained,

The Profile Envision and Splice Tool (PRESTO): Developing an Atmospheric Wind Analysis Tool for Space Launch Vehicles Using Python

NASA Technical Reports Server (NTRS)

Orcutt, John M.; Barbre, Robert E., Jr.; Brenton, James C.; Decker, Ryan K.

2017-01-01

Tropospheric winds are an important driver of the design and operation of space launch vehicles. Multiple types of weather balloons and Doppler Radar Wind Profiler (DRWP) systems exist at NASA's Kennedy Space Center (KSC), co-located on the United States Air Force's (USAF) Eastern Range (ER) at the Cape Canaveral Air Force Station (CCAFS), that are capable of measuring atmospheric winds. Meteorological data gathered by these instruments are being used in the design of NASA's Space Launch System (SLS) and other space launch vehicles, and will be used during the day-of-launch (DOL) of SLS to aid in loads and trajectory analyses. For the purpose of SLS day-of-launch needs, the balloons have the altitude coverage needed, but take over an hour to reach the maximum altitude and can drift far from the vehicle's path. The DRWPs have the spatial and temporal resolutions needed, but do not provide complete altitude coverage. Therefore, the Natural Environments Branch (EV44) at Marshall Space Flight Center (MSFC) developed the Profile Envision and Splice Tool (PRESTO) to combine balloon profiles and profiles from multiple DRWPs, filter the spliced profile to a common wavelength, and allow the operator to generate output files as well as to visualize the inputs and the spliced profile for SLS DOL operations. PRESTO was developed in Python taking advantage of NumPy and SciPy for the splicing procedure, matplotlib for the visualization, and Tkinter for the execution of the graphical user interface (GUI). This paper describes in detail the Python coding implementation for the splicing, filtering, and visualization methodology used in PRESTO.

Modeling municipal solid waste collection: A generalized vehicle routing model with multiple transfer stations, gather sites and inhomogeneous vehicles in time windows.

PubMed

Son, Le Hoang; Louati, Amal

2016-06-01

Municipal Solid Waste (MSW) collection is a necessary process in any municipality resulting in the quality-of-life, economic aspects and urban structuralization. The intrinsic nature of MSW collection relates to the development of effective vehicle routing models that optimize the total traveling distances of vehicles, the environmental emission and the investment costs. In this article, we propose a generalized vehicle routing model including multiple transfer stations, gather sites and inhomogeneous vehicles in time windows for MSW collection. It takes into account traveling in one-way routes, the number of vehicles per m(2) and waiting time at traffic stops for reduction of operational time. The proposed model could be used for scenarios having similar node structures and vehicles' characteristics. A case study at Danang city, Vietnam is given to illustrate the applicability of this model. The experimental results have clearly shown that the new model reduces both total traveling distances and operational hours of vehicles in comparison with those of practical scenarios. Optimal routes of vehicles on streets and markets at Danang are given. Those results are significant to practitioners and local policy makers. Copyright © 2016 Elsevier Ltd. All rights reserved.

Relative Attitude Determination of Earth Orbiting Formations Using GPS Receivers

NASA Technical Reports Server (NTRS)

Lightsey, E. Glenn

2004-01-01

Satellite formation missions require the precise determination of both the position and attitude of multiple vehicles to achieve the desired objectives. In order to support the mission requirements for these applications, it is necessary to develop techniques for representing and controlling the attitude of formations of vehicles. A generalized method for representing the attitude of a formation of vehicles has been developed. The representation may be applied to both absolute and relative formation attitude control problems. The technique is able to accommodate formations of arbitrarily large number of vehicles. To demonstrate the formation attitude problem, the method is applied to the attitude determination of a simple leader-follower along-track orbit formation. A multiplicative extended Kalman filter is employed to estimate vehicle attitude. In a simulation study using GPS receivers as the attitude sensors, the relative attitude between vehicles in the formation is determined 3 times more accurately than the absolute attitude.

Recent research and applications of numerical simulation for dynamic response of long-span bridges subjected to multiple loads.

PubMed

Chen, Zhiwei; Chen, Bo

2014-01-01

Many long-span bridges have been built throughout the world in recent years but they are often subject to multiple types of dynamic loads, especially those located in wind-prone regions and carrying both trains and road vehicles. To ensure the safety and functionality of these bridges, dynamic responses of long-span bridges are often required for bridge assessment. Given that there are several limitations for the assessment based on field measurement of dynamic responses, a promising approach is based on numerical simulation technologies. This paper provides a detailed review of key issues involved in dynamic response analysis of long-span multiload bridges based on numerical simulation technologies, including dynamic interactions between running trains and bridge, between running road vehicles and bridge, and between wind and bridge, and in the wind-vehicle-bridge coupled system. Then a comprehensive review is conducted for engineering applications of newly developed numerical simulation technologies to safety assessment of long-span bridges, such as assessment of fatigue damage and assessment under extreme events. Finally, the existing problems and promising research efforts for the numerical simulation technologies and their applications to assessment of long-span multiload bridges are explored.

Recent Research and Applications of Numerical Simulation for Dynamic Response of Long-Span Bridges Subjected to Multiple Loads

PubMed Central

Chen, Zhiwei; Chen, Bo

2014-01-01

Many long-span bridges have been built throughout the world in recent years but they are often subject to multiple types of dynamic loads, especially those located in wind-prone regions and carrying both trains and road vehicles. To ensure the safety and functionality of these bridges, dynamic responses of long-span bridges are often required for bridge assessment. Given that there are several limitations for the assessment based on field measurement of dynamic responses, a promising approach is based on numerical simulation technologies. This paper provides a detailed review of key issues involved in dynamic response analysis of long-span multiload bridges based on numerical simulation technologies, including dynamic interactions between running trains and bridge, between running road vehicles and bridge, and between wind and bridge, and in the wind-vehicle-bridge coupled system. Then a comprehensive review is conducted for engineering applications of newly developed numerical simulation technologies to safety assessment of long-span bridges, such as assessment of fatigue damage and assessment under extreme events. Finally, the existing problems and promising research efforts for the numerical simulation technologies and their applications to assessment of long-span multiload bridges are explored. PMID:25006597

Psychiatric consequences of stress after a vehicle accident.

PubMed

Dickov, Aleksandra; Martinović-Mitrović, Sladjana; Vucković, Nikola; Siladji-Mladenović, Djendji; Mitrović, Dragan; Jovicević, Mirjana; Misić-Pavkov, Gordana

2009-12-01

Vehicle accidents are a common cause of disease and death among people over 30 years of age. Essentially, reaction to stress due to the vehicle accident does not differ from the reaction to other stress factors. There are still no uniform viewpoints about the kind of sequels and their percentage representation after vehicle accidents. The research was provided as a prospective study, included 150 subjects who had vehicle accident minimum 2 years prior to the examination. A questionnaire adjusted to the needs of the research and a battery of psychological tests was used. Affective disorders occurred in 35.33% of subjects, 65% of persons suffer from travel anxiety, 9% of the total number of examinees doesn't drive any more, 65% have somatisational dysfunctions of the vegetative nervous system, while the posttraumatic stress disorder is present in 36% of subjects. In 87.4% of persons psychiatric consequences last over two years. Long term consequences in 60% of subjects occur as a combination of multiple psychiatric disorders, so the posttraumatic stress disorder and affective disorders never occur one at a time.

Calculation of Supersonic Combustion Using Implicit Schemes

NASA Technical Reports Server (NTRS)

Yoon, Seokkwan; Kwak, Dochan (Technical Monitor)

2003-01-01

One of the technology goals of NASA for advanced space transportation is to develop highly efficient propulsion systems to reduce the cost of payload for space missions. Developments of rockets for the second generation Reusable Launch Vehicle (RLV) in the past several years have been focused on low-cost versions of conventional engines. However, recent changes in the Integrated Space Transportation Program to build a crew transportation vehicle to extend the life of the Space Shuttle fleet might suggest that air-breathing rockets could reemerge as a possible propulsion system for the third generation RLV to replace the Space Shuttle after 2015. The weight of the oxygen tank exceeds thirty percent of the total weight of the Space Shuttle at launch while the payload is only one percent of the total weight. The air-breathing rocket propulsion systems, which consume oxygen in the air, offer clear advantages by making vehicles lighter and more efficient. Experience in the National Aerospace Plane Program in the late 1980s indicates that scramjet engines can achieve high specific impulse for low hypersonic vehicle speeds. Whether taking a form of Rocket Based Combined Cycle (RBCC) or Turbine Based Combined Cycle (TBCC), the scramjet is an essential mode of operation for air-breathing rockets. It is well known that fuel-air mixing and rapid combustion are of crucial importance for the success of scramjet engines since the spreading rate of the supersonic mixing layer decreases as the Mach number increases. A factored form of the Gauss-Seidel relaxation method has been widely used in hypersonic flow research since its first application to non-equilibrium flows. However, difficulties in stability and convergence have been encountered when there is strong interaction between fluid motion and chemical reaction, such as multiple fuel injection problems. The present paper reports the results from investigation of the effect of modifications to the original algorithm on the performance for multiple injectors.

Land Mobile Satellite Service (LMSS): A conceptual system design and identification of the critical technologies: Part 2: Technical report

NASA Technical Reports Server (NTRS)

Naderi, F. (Editor)

1982-01-01

A conceptual system design for a satellite-aided land mobile service is described. A geostationary satellite which employs a large (55-m) UHF reflector to communicate with small inexpensive user antennas on mobile vehicles is discussed. It is shown that such a satellite system through multiple beam antennas and frequency reuse can provide thousands of radiotelephone and dispatch channels serving hundreds of thousands of users throughout the U.S.

Multiple-source multiple-harmonic active vibration control of variable section cylindrical structures: A numerical study

NASA Astrophysics Data System (ADS)

Liu, Jinxin; Chen, Xuefeng; Gao, Jiawei; Zhang, Xingwu

2016-12-01

Air vehicles, space vehicles and underwater vehicles, the cabins of which can be viewed as variable section cylindrical structures, have multiple rotational vibration sources (e.g., engines, propellers, compressors and motors), making the spectrum of noise multiple-harmonic. The suppression of such noise has been a focus of interests in the field of active vibration control (AVC). In this paper, a multiple-source multiple-harmonic (MSMH) active vibration suppression algorithm with feed-forward structure is proposed based on reference amplitude rectification and conjugate gradient method (CGM). An AVC simulation scheme called finite element model in-loop simulation (FEMILS) is also proposed for rapid algorithm verification. Numerical studies of AVC are conducted on a variable section cylindrical structure based on the proposed MSMH algorithm and FEMILS scheme. It can be seen from the numerical studies that: (1) the proposed MSMH algorithm can individually suppress each component of the multiple-harmonic noise with an unified and improved convergence rate; (2) the FEMILS scheme is convenient and straightforward for multiple-source simulations with an acceptable loop time. Moreover, the simulations have similar procedure to real-life control and can be easily extended to physical model platform.

Heavy-Duty Vehicle Port Drayage Drive Cycle Characterization and Development

DOE Office of Scientific and Technical Information (OSTI.GOV)

Prohaska, Robert; Konan, Arnaud; Kelly, Kenneth

In an effort to better understand the operational requirements of port drayage vehicles and their potential for adoption of advanced technologies, National Renewable Energy Laboratory (NREL) researchers collected over 36,000 miles of in-use duty cycle data from 30 Class 8 drayage trucks operating at the Port of Long Beach and Port of Los Angeles in Southern California. These data include 1-Hz global positioning system location and SAE J1939 high-speed controller area network information. Researchers processed the data through NREL's Drive-Cycle Rapid Investigation, Visualization, and Evaluation tool to examine vehicle kinematic and dynamic patterns across the spectrum of operations. Using themore » k-medoids clustering method, a repeatable and quantitative process for multi-mode drive cycle segmentation, the analysis led to the creation of multiple drive cycles representing four distinct modes of operation that can be used independently or in combination. These drive cycles are statistically representative of real-world operation of port drayage vehicles. When combined with modeling and simulation tools, these representative test cycles allow advanced vehicle or systems developers to efficiently and accurately evaluate vehicle technology performance requirements to reduce cost and development time while ultimately leading to the commercialization of advanced technologies that meet the performance requirements of the port drayage vocation. The drive cycles, which are suitable for chassis dynamometer testing, were compared to several existing test cycles. This paper presents the clustering methodology, accompanying results of the port drayage duty cycle analysis and custom drive cycle creation.« less

Heavy-Duty Vehicle Port Drayage Drive Cycle Characterization and Development: Preprint

DOE Office of Scientific and Technical Information (OSTI.GOV)

Prohaska, Robert; Konan, Arnaud; Kelly, Kenneth

In an effort to better understand the operational requirements of port drayage vehicles and their potential for adoption of advanced technologies, National Renewable Energy Laboratory (NREL) researchers collected over 36,000 miles of in-use duty cycle data from 30 Class 8 drayage trucks operating at the Port of Long Beach and Port of Los Angeles in Southern California. These data include 1-Hz global positioning system location and SAE J1939 high-speed controller area network information. Researchers processed the data through NREL's Drive-Cycle Rapid Investigation, Visualization, and Evaluation tool to examine vehicle kinematic and dynamic patterns across the spectrum of operations. Using themore » k-medoids clustering method, a repeatable and quantitative process for multi-mode drive cycle segmentation, the analysis led to the creation of multiple drive cycles representing four distinct modes of operation that can be used independently or in combination. These drive cycles are statistically representative of real-world operation of port drayage vehicles. When combined with modeling and simulation tools, these representative test cycles allow advanced vehicle or systems developers to efficiently and accurately evaluate vehicle technology performance requirements to reduce cost and development time while ultimately leading to the commercialization of advanced technologies that meet the performance requirements of the port drayage vocation. The drive cycles, which are suitable for chassis dynamometer testing, were compared to several existing test cycles. This paper presents the clustering methodology, accompanying results of the port drayage duty cycle analysis and custom drive cycle creation.« less

Heavy-Duty Vehicle Port Drayage Drive Cycle Characterization and Development

DOE Office of Scientific and Technical Information (OSTI.GOV)

Prohaska, Robert; Konan, Arnaud; Kelly, Kenneth

2016-05-02

In an effort to better understand the operational requirements of port drayage vehicles and their potential for adoption of advanced technologies, National Renewable Energy Laboratory (NREL) researchers collected over 36,000 miles of in-use duty cycle data from 30 Class 8 drayage trucks operating at the Port of Long Beach and Port of Los Angeles in Southern California. These data include 1-Hz global positioning system location and SAE J1939 high-speed controller area network information. Researchers processed the data through NREL's Drive-Cycle Rapid Investigation, Visualization, and Evaluation tool to examine vehicle kinematic and dynamic patterns across the spectrum of operations. Using themore » k-medoids clustering method, a repeatable and quantitative process for multi-mode drive cycle segmentation, the analysis led to the creation of multiple drive cycles representing four distinct modes of operation that can be used independently or in combination. These drive cycles are statistically representative of real-world operation of port drayage vehicles. When combined with modeling and simulation tools, these representative test cycles allow advanced vehicle or systems developers to efficiently and accurately evaluate vehicle technology performance requirements to reduce cost and development time while ultimately leading to the commercialization of advanced technologies that meet the performance requirements of the port drayage vocation. The drive cycles, which are suitable for chassis dynamometer testing, were compared to several existing test cycles. This paper presents the clustering methodology, accompanying results of the port drayage duty cycle analysis and custom drive cycle creation.« less

Variability in Light-Duty Gasoline Vehicle Emission Factors from Trip-Based Real-World Measurements.

PubMed

Liu, Bin; Frey, H Christopher

2015-10-20

Using data obtained with portable emissions measurements systems (PEMS) on multiple routes for 100 gasoline vehicles, including passenger cars (PCs), passenger trucks (PTs), and hybrid electric vehicles (HEVs), variability in tailpipe emission rates was evaluated. Tier 2 emission standards are shown to be effective in lowering NOx, CO, and HC emission rates. Although PTs are larger, heavier vehicles that consume more fuel and produce more CO2 emissions, they do not necessarily produce more emissions of regulated pollutants compared to PCs. HEVs have very low emission rates compared to tier 2 vehicles under real-world driving. Emission factors vary with cycle average speed and road type, reflecting the combined impact of traffic control and traffic congestion. Compared to the slowest average speed and most congested cycles, optimal emission rates could be 50% lower for CO2, as much as 70% lower for NOx, 40% lower for CO, and 50% lower for HC. There is very high correlation among vehicles when comparing driving cycles. This has implications for how many cycles are needed to conduct comparisons between vehicles, such as when comparing fuels or technologies. Concordance between empirical and predicted emission rates using the U.S. Environmental Protection Agency's MOVES model was also assessed.

Coordinated path following of multiple underacutated marine surface vehicles along one curve.

PubMed

Liu, Lu; Wang, Dan; Peng, Zhouhua

2016-09-01

This paper investigates the coordinated path following problem for a fleet of underactuated marine surface vehicles (MSVs) along one curve. The dedicated control design is divided into two tasks. One is to steer individual underactuated MSV to track the given spatial path, and the other is to force the vehicles dispersed on a parameterized path subject to the constraints of a communication network. Specifically, a robust individual path following controller is developed based on a line-of-sight (LOS) guidance law and a reduced-order extended state observer (ESO). The vehicle sideslip angle due to environmental disturbances can be exactly identified. Then, the vehicle coordination is achieved by a path variable containment approach, under which the path variables are evenly dispersed between two virtual leaders. Another reduced-order ESO is developed to identify the composite disturbance related to the speed of virtual leaders and neighboring vehicles. The proposed coordination design is distributed since the reference speed does not need to be known by all vehicles as a priori. The input-to-state stability of the closed-loop network system is established via cascade theory. Simulation results demonstrate the effectiveness of the proposed design method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Automated design and optimization of flexible booster autopilots via linear programming, volume 1

NASA Technical Reports Server (NTRS)

Hauser, F. D.

1972-01-01

A nonlinear programming technique was developed for the automated design and optimization of autopilots for large flexible launch vehicles. This technique, which resulted in the COEBRA program, uses the iterative application of linear programming. The method deals directly with the three main requirements of booster autopilot design: to provide (1) good response to guidance commands; (2) response to external disturbances (e.g. wind) to minimize structural bending moment loads and trajectory dispersions; and (3) stability with specified tolerances on the vehicle and flight control system parameters. The method is applicable to very high order systems (30th and greater per flight condition). Examples are provided that demonstrate the successful application of the employed algorithm to the design of autopilots for both single and multiple flight conditions.

Vision-Based 3D Motion Estimation for On-Orbit Proximity Satellite Tracking and Navigation

DTIC Science & Technology

2015-06-01

Multiple-Purpose Crew Vehicle (MPVC), which will be provided with a LIDAR sensor as primary relative navigation system [26, 33, 34]. A drawback of LIDAR...328–352, 2009. [63] C. Luigini and M. Romano, “A ballistic- pendulum test stand to characterize small cold-gas thruster nozzles,” Acta

Vehicle-to-Grid Integration | Energy Systems Integration Facility | NREL

Science.gov Websites

energy sources. We work with automakers, charging station manufacturers, and utilities to test control powertrain engineering, and [I] have the ability to do that. But I don't necessarily want to test the hose on . Capabilities Electrolyzer stack test bed (up to 1 megawatt) Multiple hydrogen compression and storage stages

Integrating LPR with CCTV systems: problems and solutions

NASA Astrophysics Data System (ADS)

Bissessar, David; Gorodnichy, Dmitry O.

2011-06-01

A new generation of high-resolution surveillance cameras makes it possible to apply video processing and recognition techniques on live video feeds for the purpose of automatically detecting and identifying objects and events of interest. This paper addresses a particular application of detecting and identifying vehicles passing through a checkpoint. This application is of interest to border services agencies and is also related to many other applications. With many commercial automated License Plate Recognition (LPR) systems available on the market, some of which are available as a plug-in for surveillance systems, this application still poses many unresolved technological challenges, the main two of which are: i) multiple and often noisy license plate readings generated for the same vehicle, and ii) failure to detect a vehicle or license plate altogether when the license plate is occluded or not visible. This paper presents a solution to both of these problems. A data fusion technique based on the Levenshtein distance is used to resolve the first problem. An integration of a commercial LPR system with the in-house built Video Analytic Platform is used to solve the latter. The developed solution has been tested in field environments and has been shown to yield a substantial improvement over standard off-the-shelf LPR systems.

System design in an evolving system-of-systems architecture and concept of operations

NASA Astrophysics Data System (ADS)

Rovekamp, Roger N., Jr.

Proposals for space exploration architectures have increased in complexity and scope. Constituent systems (e.g., rovers, habitats, in-situ resource utilization facilities, transfer vehicles, etc) must meet the needs of these architectures by performing in multiple operational environments and across multiple phases of the architecture's evolution. This thesis proposes an approach for using system-of-systems engineering principles in conjunction with system design methods (e.g., Multi-objective optimization, genetic algorithms, etc) to create system design options that perform effectively at both the system and system-of-systems levels, across multiple concepts of operations, and over multiple architectural phases. The framework is presented by way of an application problem that investigates the design of power systems within a power sharing architecture for use in a human Lunar Surface Exploration Campaign. A computer model has been developed that uses candidate power grid distribution solutions for a notional lunar base. The agent-based model utilizes virtual control agents to manage the interactions of various exploration and infrastructure agents. The philosophy behind the model is based both on lunar power supply strategies proposed in literature, as well as on the author's own approaches for power distribution strategies of future lunar bases. In addition to proposing a framework for system design, further implications of system-of-systems engineering principles are briefly explored, specifically as they relate to producing more robust cross-cultural system-of-systems architecture solutions.

The Use of Gamma-Ray Imaging to Improve Portal Monitor Performance

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ziock, Klaus-Peter; Collins, Jeff; Fabris, Lorenzo

2008-01-01

We have constructed a prototype, rapid-deployment portal monitor that uses visible-light and gamma-ray imaging to allow simultaneous monitoring of multiple lanes of traffic from the side of a roadway. Our Roadside Tracker uses automated target acquisition and tracking (TAT) software to identify and track vehicles in visible light images. The field of view of the visible camera overlaps with and is calibrated to that of a one-dimensional gamma-ray imager. The TAT code passes information on when vehicles enter and exit the system field of view and when they cross gamma-ray pixel boundaries. Based on this in-formation, the gamma-ray imager "harvests"more » the gamma-ray data specific to each vehicle, integrating its radiation signature for the entire time that it is in the field of view. In this fashion we are able to generate vehicle-specific radiation signatures and avoid source confusion problems that plague nonimaging approaches to the same problem.« less

NASA Affordable Vehicle Avionics (AVA): Common Modular Avionics System for Nano-Launchers Offering Affordable Access to Space

NASA Technical Reports Server (NTRS)

Cockrell, James

2015-01-01

Small satellites are becoming ever more capable of performing valuable missions for both government and commercial customers. However, currently these satellites can only be launched affordably as secondary payloads. This makes it difficult for the small satellite mission to launch when needed, to the desired orbit, and with acceptable risk. NASA Ames Research Center has developed and tested a prototype low-cost avionics package for space launch vehicles that provides complete GNC functionality in a package smaller than a tissue box with a mass less than 0.84 kg. AVA takes advantage of commercially available, low-cost, mass-produced, miniaturized sensors, filtering their more noisy inertial data with realtime GPS data. The goal of the Advanced Vehicle Avionics project is to produce and flight-verify a common suite of avionics and software that deliver affordable, capable GNC and telemetry avionics with application to multiple nano-launch vehicles at 1 the cost of current state-of-the-art avionics.

Development of Production-Intent Plug-In Hybrid Vehicle Using Advanced Lithium-Ion Battery Packs with Deployment to a Demonstration Fleet

DOE Office of Scientific and Technical Information (OSTI.GOV)

No, author

2013-09-29

The primary goal of this project was to speed the development of one of the first commercially available, OEM-produced plug-in hybrid electric vehicles (PHEV). The performance of the PHEV was expected to double the fuel economy of the conventional hybrid version. This vehicle program incorporated a number of advanced technologies, including advanced lithium-ion battery packs and an E85-capable flex-fuel engine. The project developed, fully integrated, and validated plug-in specific systems and controls by using GM’s Global Vehicle Development Process (GVDP) for production vehicles. Engineering Development related activities included the build of mule vehicles and integration vehicles for Phases I &more » II of the project. Performance data for these vehicles was shared with the U.S. Department of Energy (DOE). The deployment of many of these vehicles was restricted to internal use at GM sites or restricted to assigned GM drivers. Phase III of the project captured the first half or Alpha phase of the Engineering tasks for the development of a new thermal management design for a second generation battery module. The project spanned five years. It included six on-site technical reviews with representatives from the DOE. One unique aspect of the GM/DOE collaborative project was the involvement of the DOE throughout the OEM vehicle development process. The DOE gained an understanding of how an OEM develops vehicle efficiency and FE performance, while balancing many other vehicle performance attributes to provide customers well balanced and fuel efficient vehicles that are exciting to drive. Many vehicle content and performance trade-offs were encountered throughout the vehicle development process to achieve product cost and performance targets for both the OEM and end customer. The project team completed two sets of PHEV development vehicles with fully integrated PHEV systems. Over 50 development vehicles were built and operated for over 180,000 development miles. The team also completed four GM engineering development Buy-Off rides/milestones. The project included numerous engineering vehicle and systems development trips including extreme hot, cold and altitude exposure. The final fuel economy performance demonstrated met the objectives of the PHEV collaborative GM/DOE project. Charge depletion fuel economy of twice that of the non-PHEV model was demonstrated. The project team also designed, developed and tested a high voltage battery module concept that appears to be feasible from a manufacturability, cost and performance standpoint. The project provided important product development and knowledge as well as technological learnings and advancements that include multiple U.S. patent applications.« less

Multi-terminal remote monitoring and warning system using Micro Air Vehicle for dangerous environment

NASA Astrophysics Data System (ADS)

Yu, Yanan; Wang, Xiaoxun; He, Chengcheng; Lai, Chenlong; Liu, Yuanchao

2015-11-01

For overcoming the problems such as remote operation and dangerous tasks, multi-terminal remote monitoring and warning system based on STC89C52 Micro Control Unit and wireless communication technique was proposed. The system with MCU as its core adopted multiple sets of sensor device to monitor environment parameters of different locations, such as temperature, humidity, smoke other harmful gas concentration. Data information collected was transmitted remotely by wireless transceiver module, and then multi-channel data parameter was processed and displayed through serial communication protocol between the module and PC. The results of system could be checked in the form of web pages within a local network which plays a wireless monitoring and warning role. In a remote operation, four-rotor micro air vehicle which fixed airborne data acquisition device was utilized as a middleware between collecting terminal and PC to increase monitoring scope. Whole test system has characteristics of simple construction, convenience, real time ability and high reliability, which could meet the requirements of actual use.

The development of a biomimetic acoustic direction finding system for use on multiple platforms

NASA Astrophysics Data System (ADS)

Deligeorges, Socrates; Anderson, David; Browning, Cassandra A.; Cohen, Howard; Freedman, David; Gore, Tyler; Karl, Christian; Kelsall, Sarah; Mountain, David; Nourzad, Marianne; Pu, Yirong; Sandifer, Matt; Xue, Shuwan; Ziph-Schatzberg, Leah; Hubbard, Allyn

2008-04-01

This paper describes the flow of scientific and technological achievements beginning with a stationary "small, smart, biomimetic acoustic processor" designed for DARPA that led to a program aimed at acoustic characterization and direction finding for multiple, mobile platforms. ARL support and collaboration has allowed us to adapt the core technology to multiple platforms including a Packbot robotic platform, a soldier worn platform, as well as a vehicle platform. Each of these has varying size and power requirements, but miniaturization is an important component of the program for creating practical systems which we address further in companion papers. We have configured the system to detect and localize gunfire and tested system performance with live fire from numerous weapons such as the AK47, the Dragunov, and the AR15. The ARL-sponsored work has led to connections with Natick Labs and the Future Force Warrior program, and in addition, the work has many and obvious applications to homeland defense, police, and civilian needs.

Wide-Baseline Stereo-Based Obstacle Mapping for Unmanned Surface Vehicles

PubMed Central

Mou, Xiaozheng; Wang, Han

2018-01-01

This paper proposes a wide-baseline stereo-based static obstacle mapping approach for unmanned surface vehicles (USVs). The proposed approach eliminates the complicated calibration work and the bulky rig in our previous binocular stereo system, and raises the ranging ability from 500 to 1000 m with a even larger baseline obtained from the motion of USVs. Integrating a monocular camera with GPS and compass information in this proposed system, the world locations of the detected static obstacles are reconstructed while the USV is traveling, and an obstacle map is then built. To achieve more accurate and robust performance, multiple pairs of frames are leveraged to synthesize the final reconstruction results in a weighting model. Experimental results based on our own dataset demonstrate the high efficiency of our system. To the best of our knowledge, we are the first to address the task of wide-baseline stereo-based obstacle mapping in a maritime environment. PMID:29617293

Environmental Control and Life Support (ECLS) Integrated Roadmap Development

NASA Technical Reports Server (NTRS)

Metcalf, Jordan L.; Carrasquillo, Robyn; Bagdigian, Bob; Peterson, Laurie

2011-01-01

This white paper documents a roadmap for development of Environmental Control and Life Support (ECLS) Systems (ECLSS) capabilities required to enable beyond-Low Earth Orbit (LEO) Exploration missions. In many cases, the execution of this Exploration-based roadmap will directly benefit International Space Station (ISS) operational capability by resolving known issues and/or improving overall system reliability. In addition, many of the resulting products will be applicable across multiple Exploration elements such as Multi-Purpose Crew Vehicle (MPCV), Multi-Mission Space Exploration Vehicle (MMSEV), Deep Space Habitat (DSH), and Landers. Within the ECLS community, this white paper will be a unifying tool that will improve coordination of resources, common hardware, and technologies. It will help to align efforts to focus on the highest priority needs that will produce life support systems for future human exploration missions that will simply run in the background, requiring minimal crew interaction.

Understanding the Lunar System Architecture Design Space

NASA Technical Reports Server (NTRS)

Arney, Dale C.; Wilhite, Alan W.; Reeves, David M.

2013-01-01

Based on the flexible path strategy and the desire of the international community, the lunar surface remains a destination for future human exploration. This paper explores options within the lunar system architecture design space, identifying performance requirements placed on the propulsive system that performs Earth departure within that architecture based on existing and/or near-term capabilities. The lander crew module and ascent stage propellant mass fraction are primary drivers for feasibility in multiple lander configurations. As the aggregation location moves further out of the lunar gravity well, the lunar lander is required to perform larger burns, increasing the sensitivity to these two factors. Adding an orbit transfer stage to a two-stage lunar lander and using a large storable stage for braking with a one-stage lunar lander enable higher aggregation locations than Low Lunar Orbit. Finally, while using larger vehicles enables a larger feasible design space, there are still feasible scenarios that use three launches of smaller vehicles.

Failure detection and fault management techniques for flush airdata sensing systems

NASA Technical Reports Server (NTRS)

Whitmore, Stephen A.; Moes, Timothy R.; Leondes, Cornelius T.

1992-01-01

A high-angle-of-attack flush airdata sensing system was installed and flight tested on the F-18 High Alpha Research Vehicle at NASA-Dryden. This system uses a matrix of pressure orifices arranged in concentric circles on the nose of the vehicle to determine angles of attack, angles of sideslip, dynamic pressure, and static pressure as well as other airdata parameters. Results presented use an arrangement of 11 symmetrically distributed ports on the aircraft nose. Experience with this sensing system data indicates that the primary concern for real-time implementation is the detection and management of overall system and individual pressure sensor failures. The multiple port sensing system is more tolerant to small disturbances in the measured pressure data than conventional probe-based intrusive airdata systems. However, under adverse circumstances, large undetected failures in individual pressure ports can result in algorithm divergence and catastrophic failure of the entire system. How system and individual port failures may be detected using chi sq. analysis is shown. Once identified, the effects of failures are eliminated using weighted least squares.

Loosely Coupled GPS-Aided Inertial Navigation System for Range Safety

NASA Technical Reports Server (NTRS)

Heatwole, Scott; Lanzi, Raymond J.

2010-01-01

The Autonomous Flight Safety System (AFSS) aims to replace the human element of range safety operations, as well as reduce reliance on expensive, downrange assets for launches of expendable launch vehicles (ELVs). The system consists of multiple navigation sensors and flight computers that provide a highly reliable platform. It is designed to ensure that single-event failures in a flight computer or sensor will not bring down the whole system. The flight computer uses a rules-based structure derived from range safety requirements to make decisions whether or not to destroy the rocket.

Dynamic analysis of evolutive conservative systems. Discussion of eigenmode crossings

NASA Technical Reports Server (NTRS)

Morand, H. J. P.

1984-01-01

After an analysis of the close connection between the symmetries of a dynamical system and the multiplicity of its vibrational natural frequencies, it is proved by variational arguments that for a system of invariable symmetry the eigenfrequencies associated with the eigenmodes of a given symmetry type do not cross, in general, during the evolution of this system. The theory is implemented by some numerical calculations applied to the analysis of the evolution of the axisymmetric hydroelastic modes of the Ariane launch vehicle during burning of the first stage.

On the multiple depots vehicle routing problem with heterogeneous fleet capacity and velocity

NASA Astrophysics Data System (ADS)

Hanum, F.; Hartono, A. P.; Bakhtiar, T.

2018-03-01

This current manuscript concerns with the optimization problem arising in a route determination of products distribution. The problem is formulated in the form of multiple depots and time windowed vehicle routing problem with heterogeneous capacity and velocity of fleet. Model includes a number of constraints such as route continuity, multiple depots availability and serving time in addition to generic constraints. In dealing with the unique feature of heterogeneous velocity, we generate a number of velocity profiles along the road segments, which then converted into traveling-time tables. An illustrative example of rice distribution among villages by bureau of logistics is provided. Exact approach is utilized to determine the optimal solution in term of vehicle routes and starting time of service.

Motor vehicle seat belt restraint system analysis during rollover.

PubMed

Meyer, Steven E; Hock, Davis; Forrest, Stephen; Herbst, Brian; Sances, Anthony; Kumaresan, Srirangam

2003-01-01

The multi-planar and multiple impact long duration accident sequence of a real world rollover results in multidirectional vehicle acceleration pulses and multiplanar occupant motions not typically seen in a planar crash sequence. Various researchers have documented that, while contemporary production emergency locking seatbelt retractors (ELRs) have been found to be extremely effective in the planar crashes in which they are extensively evaluated, when subjected to multi-planar acceleration environments their response may be different than expected. Specifically, accelerations in the vertical plane have been shown to substantially affect the timeliness of the retractors inertial sensor moving out of its neutral position and locking the seat belt. An analysis of the vehicle occupant motions relative to the acceleration pulses sensed at the retractor location indicates a time phase shift that, under certain circumstances, can result in unexpected seat belt spool out and occupant excursions in these multi-planar, multiple impact crash sequences. This paper will review the various previous studies focusing on the retractors response to these multidirectional, including vertical, acceleration environments and review statistical studies based upon U.S. government collected data indicating a significant difference in belt usage rates in rollover accidents as compared to all other planar accident modes. A significant number of real world accident case studies will be reviewed wherein the performance of ELR equipped seatbelt systems spooled out. Finally, the typical occupant injury and the associated mechanism due to belt spool out in real world accidents will be delineated.

Delegation control of multiple unmanned systems

NASA Astrophysics Data System (ADS)

Flaherty, Susan R.; Shively, Robert J.

2010-04-01

Maturing technologies and complex payloads coupled with a future objective to reduce the logistics burden of current unmanned aerial systems (UAS) operations require a change to the 2-crew employment paradigm. Increased automation and operator supervisory control of unmanned systems have been advocated to meet the objective of reducing the crew requirements, while managing future technologies. Specifically, a delegation control employment strategy has resulted in reduced workload and higher situation awareness for single operators controlling multiple unmanned systems in empirical studies1,2. Delegation control is characterized by the ability for an operator to call a single "play" that initiates prescribed default actions for each vehicle and associated sensor related to a common mission goal. Based upon the effectiveness of delegation control in simulation, the U.S. Army Aeroflightdynamics Directorate (AFDD) developed a Delegation Control (DelCon) operator interface with voice recognition implementation for play selection, real-time play modification, and play status with automation transparency to enable single operator control of multiple unmanned systems in flight. AFDD successfully demonstrated delegation control in a Troops-in-Contact mission scenario at Ft. Ord in 2009. This summary showcases the effort as a beneficial advance in single operator control of multiple UAS.

Space transfer vehicle concepts and requirements. Volume 1: Executive summary

NASA Astrophysics Data System (ADS)

1991-04-01

The objectives of the Space Transfer Vehicle (STV) Concepts and Requirements studies were to provide sensitivity data on usage, economics, and technology associated with new space transportation systems. The study was structured to utilize data on the emerging launch vehicles, the latest mission scenarios, and Space Exploration Initiative (SEI) payload manifesting and schedules, to define a flexible, high performance, cost effective, evolutionary space transportation system for NASA. Initial activities were to support the MSFC effort in the preparation of inputs to the 90 Day Report to the National Space Council (NSC). With the results of this study establishing a point-of-departure for continuing the STV studies in 1990, additional options and mission architectures were defined. The continuing studies will update and expand the parametrics, assess new cargo and manned ETO vehicles, determine impacts on the redefined Phase 0 Space Station Freedom, and to develop a design that encompasses adequate configuration flexibility to ensure compliance with on-going NASA study recommendations with major system disconnects. In terms of general requirements, the objectives of the STV system and its mission profiles will address crew safety and mission success through a failure-tolerant and forgiving design approach. These objectives were addressed through the following: engine-out capability for all mission phases; built-in-test for vehicle health monitoring to allow testing of all critical functions such as, verification of lunar landing and ascent engines before initiating the landing sequence; critical subsystems will have multiple strings for redundancy plus adequate supplies of onboard spares for removal and replacement of failed items; crew radiation protection; and trajectories that optimize lunar and Mars performance and flyby abort capabilities.

Space transfer vehicle concepts and requirements. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

1991-01-01

The objectives of the Space Transfer Vehicle (STV) Concepts and Requirements studies were to provide sensitivity data on usage, economics, and technology associated with new space transportation systems. The study was structured to utilize data on the emerging launch vehicles, the latest mission scenarios, and Space Exploration Initiative (SEI) payload manifesting and schedules, to define a flexible, high performance, cost effective, evolutionary space transportation system for NASA. Initial activities were to support the MSFC effort in the preparation of inputs to the 90 Day Report to the National Space Council (NSC). With the results of this study establishing a point-of-departure for continuing the STV studies in 1990, additional options and mission architectures were defined. The continuing studies will update and expand the parametrics, assess new cargo and manned ETO vehicles, determine impacts on the redefined Phase 0 Space Station Freedom, and to develop a design that encompasses adequate configuration flexibility to ensure compliance with on-going NASA study recommendations with major system disconnects. In terms of general requirements, the objectives of the STV system and its mission profiles will address crew safety and mission success through a failure-tolerant and forgiving design approach. These objectives were addressed through the following: engine-out capability for all mission phases; built-in-test for vehicle health monitoring to allow testing of all critical functions such as, verification of lunar landing and ascent engines before initiating the landing sequence; critical subsystems will have multiple strings for redundancy plus adequate supplies of onboard spares for removal and replacement of failed items; crew radiation protection; and trajectories that optimize lunar and Mars performance and flyby abort capabilities.

Damping-tunable energy-harvesting vehicle damper with multiple controlled generators: Design, modeling and experiments

NASA Astrophysics Data System (ADS)

Xie, Longhan; Li, Jiehong; Li, Xiaodong; Huang, Ledeng; Cai, Siqi

2018-01-01

Hydraulic dampers are used to decrease the vibration of a vehicle, where vibration energy is dissipated as heat. In addition to resulting in energy waste, the damping coefficient in hydraulic dampers cannot be changed during operation. In this paper, an energy-harvesting vehicle damper was proposed to replace traditional hydraulic dampers. The goal is not only to recover kinetic energy from suspension vibration but also to change the damping coefficient during operation according to road conditions. The energy-harvesting damper consists of multiple generators that are independently controlled by switches. One of these generators connects to a tunable resistor for fine tuning the damping coefficient, while the other generators are connected to a control and rectifying circuit, each of which both regenerates electricity and provides a constant damping coefficient. A mathematical model was built to investigate the performance of the energy-harvesting damper. By controlling the number of switched-on generators and adjusting the value of the external tunable resistor, the damping can be fine tuned according to the requirement. In addition to the capability of damping tuning, the multiple controlled generators can output a significant amount of electricity. A prototype was built to test the energy-harvesting damper design. Experiments on an MTS testing system were conducted, with results that validated the theoretical analysis. Experiments show that changing the number of switched-on generators can obviously tune the damping coefficient of the damper and simultaneously produce considerable electricity.

49 CFR 214.336 - On-track safety procedures for certain roadway work groups and adjacent tracks.

Code of Federal Regulations, 2013 CFR

2013-10-01

...) A hi-rail vehicle (other than a catenary maintenance tower vehicle) being used for inspection or minor correction purposes, provided that such hi-rail vehicle is not coupled to one or more railroad cars. In accordance with § 214.315(a), where multiple hi-rail vehicles being used for inspection or...

49 CFR 214.336 - On-track safety procedures for certain roadway work groups and adjacent tracks.

Code of Federal Regulations, 2012 CFR

2012-10-01

...) A hi-rail vehicle (other than a catenary maintenance tower vehicle) being used for inspection or minor correction purposes, provided that such hi-rail vehicle is not coupled to one or more railroad cars. In accordance with § 214.315(a), where multiple hi-rail vehicles being used for inspection or...

Tractor-trailers, other commercial vehicles are in more multiple-vehicle crashes on most toll roads : single-vehicle crash rate is lower for commercials

DOT National Transportation Integrated Search

1999-07-17

Article discusses the findings of a study that compared data on commercial and passenger motor vehicle crashes on toll roads. This analysis is based on data from toll roads in Florida, Illinois, Indiana, Kansas, New York, Ohio, and Pennsylvania. In a...

Multi-Year On-Road Emission Factor Trends of Two Heavy-Duty California Fleets

NASA Astrophysics Data System (ADS)

Haugen, M.; Bishop, G.

2017-12-01

New heavy-duty vehicle emission regulations have resulted in the development of advanced exhaust after-treatment systems that specifically target particulate matter (PM) and nitrogen oxides (NOx = NO + NO2). This has resulted in significant decreases in the emissions of these species. The University of Denver has collected three data sets of on-road gaseous (CO, HC, NO and NOx) and PM (particle mass, black carbon and particle number) emission measurements from heavy-duty vehicles (HDVs) in the spring of 2013, 2015 and 2017 at two different locations in California. One site is located at the Port of Los Angeles, CA (1,150 HDVs measured in 2017) and the other site is located at a weigh station in Northern California near Cottonwood, CA (780 HDVs measured in 2017). The On-Road Heavy-Duty Measurement Setup measures individual HDV's fuel specific emissions (DOI: 10.1021/acs.est.6b06172). Vehicles drive under a tent-like structure that encapsulates vehicle exhaust and 15 seconds of data collection is integrated to give fuel specific information. The measurements obtained from these campaigns contain real-world emissions affected by different driving modes, after-treatment systems and location. The Port of Los Angeles contributes a fleet that is fully equipped with diesel particulate filters (DPFs) as a result of the San Pedro Ports Clean Air Action Plan enforced since 2010 that allows only vehicles model year 2007 or newer on the premises. This fleet, although comprised with relatively new HDVs with lower PM emissions, has increased PM emissions as it has aged. Cottonwood's fleet contains vehicles with and without after-treatment systems, a result of a gradual turnover rate, and fleet PM has decreased at a slower rate than at the Port of Los Angeles. The decrease in PM emissions is a result of more HDVs being newer model years as well as older model years being retrofit with DPFs. The complimentary fleets, studied over multiple years, have given the University of Denver an extensive data repository to quantify on-road vehicle emission trends on individual vehicles as well as categories of vehicles. Here, the 2017 campaign results will be discussed and compared to previous campaigns.

A Safe Cooperative Framework for Atmospheric Science Missions with Multiple Heterogeneous UAS using Piecewise Bezier Curves

NASA Technical Reports Server (NTRS)

Mehdi, S. Bilal; Puig-Navarro, Javier; Choe, Ronald; Cichella, Venanzio; Hovakimyan, Naira; Chandarana, Meghan; Trujillo, Anna; Rothhaar, Paul M.; Tran, Loc; Neilan, James H.;

Fibre optic portable rail vehicle detector

NASA Astrophysics Data System (ADS)

Kepak, Stanislav; Cubik, Jakub; Zavodny, Petr; Hejduk, Stanislav; Nedoma, Jan; Davidson, Alan; Vasinek, Vladimir

2016-12-01

During track maintenance operations, the early detection of oncoming rail vehicles is critical for the safety of maintenance personnel. In addition, the detection system should be simple to install at the trackside by minimally qualified personnel. Fibre optic based sensor systems have the inherent advantages of being passive, unaffected by radio frequency interference (RFI) and suffering very low signal attenuation. Such a system therefore represents a good alternative to conventional approaches such as ultrasonic based sensor systems. The proposed system consists of one or more passive fibre trackside sensors and an x86 processing unit located at the work site. The solid fibre connection between sensors and processing unit eliminates the risk of RFI. In addition, the detection system sensors are easy to install with no requirement for electrical power at the sensor site. The system was tested on a tram line in Ostrava with the results obtained indicating the successful detection of all the trams in the monitoring windows using a single sensor. However, the platform allows flexibility in configuring multiple sensors where required by system users.

FY13 Annual Report: PHEV Advanced Series Gen-set Development/Demonstration Activity

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chambon, Paul H.

2013-12-01

The objective of this project is to integrate ORNL advancements in vehicle technologies to properly design, and size a gen-set for various vehicle applications and then simulate multiple advanced series hybrid (HEV/PHEV) vehicles with the genset models.

The NASA MLAS Flight Demonstration - A Review of a Highly Successful Test

NASA Technical Reports Server (NTRS)

Taylor, Anthony P.; Kelley, Christopher; Magner, Eldred; Peterson, David; Hahn, Jeffrey; Yuchnovicz, Daniel

2010-01-01

NASA has tested the Max Launch Abort System (MLAS) as a risk-mitigation design should problems arise with the baseline Orion spacecraft launch abort design. The Max in MLAS is not Maximum, but rather dedicated to Max Faget, The renowned NASA Spacecraft designer. In the fall of 2009, the mission was flown, with great success, from the NASA Wallops Flight Facility. The MLAS flight test vehicle prototype consists of a boost ring, coast ring, and the MLAS fairing itself, which houses an Orion Command Module (CM) boilerplate. The objective of the MLAS flight test is to reorient the fairing with the CM, weighing approximately 29,000 lbs and traveling 290 fps, 180 degrees to an orientation suitable for the release of the CM during a pad abort and low altitude abort. Although multiple parachute deployments are used in the MLAS flight test vehicle to complete its objective, there are only two parachute types employed in the flight test. Five of the nine parachutes used for MLAS are 27.6 ft DO ribbon parachutes, and the remaining four are standard G-12 cargo parachutes. This paper presents an overview of the 27.6 ft DO ribbon parachute system employed on the MLAS flight test vehicle for coast ring separation, fairing reorientation, and as drogue parachutes for the CM after separation from the fairing. Discussion will include: the process used to select this design, previously proven as a spin/stall recovery parachute; descriptions of all components of the parachute system; the minor modifications necessary to adapt the parachute to the MLAS program; the techniques used to analyze the parachute for the multiple roles it performs; a discussion of the rigging techniques used to interface the parachute system to the vehicle; a brief description of how the evolution of the program affected parachute usage and analysis; and a summary of the results of the flight test, including video of the flight test and subsequent summary analysis. . A discussion of the flight test which was highly successful as well as the flight test observations will be a significant portion of the review.

Design of Dual-Road Transportable Portal Monitoring System for Visible Light and Gamma-Ray Imaging

DOE Office of Scientific and Technical Information (OSTI.GOV)

Karnowski, Thomas Paul; Cunningham, Mark F; Goddard Jr, James Samuel

2010-01-01

The use of radiation sensors as portal monitors is increasing due to heightened concerns over the smuggling of fissile material. Transportable systems that can detect significant quantities of fissile material that might be present in vehicular traffic are of particular interest, especially if they can be rapidly deployed to different locations. To serve this application, we have constructed a rapid-deployment portal monitor that uses visible-light and gamma-ray imaging to allow simultaneous monitoring of multiple lanes of traffic from the side of a roadway. The system operation uses machine vision methods on the visible-light images to detect vehicles as they entermore » and exit the field of view and to measure their position in each frame. The visible-light and gamma-ray cameras are synchronized which allows the gamma-ray imager to harvest gamma-ray data specific to each vehicle, integrating its radiation signature for the entire time that it is in the field of view. Thus our system creates vehicle-specific radiation signatures and avoids source confusion problems that plague non-imaging approaches to the same problem. Our current prototype instrument was designed for measurement of upto five lanes of freeway traffic with a pair of instruments, one on either side of the roadway. Stereoscopic cameras are used with a third alignment camera for motion compensation and are mounted on a 50 deployable mast. In this paper we discuss the design considerations for the machine-vision system, the algorithms used for vehicle detection and position estimates, and the overall architecture of the system. We also discuss system calibration for rapid deployment. We conclude with notes on preliminary performance and deployment.« less

Design of dual-road transportable portal monitoring system for visible light and gamma-ray imaging

NASA Astrophysics Data System (ADS)

Karnowski, Thomas P.; Cunningham, Mark F.; Goddard, James S.; Cheriyadat, Anil M.; Hornback, Donald E.; Fabris, Lorenzo; Kerekes, Ryan A.; Ziock, Klaus-Peter; Bradley, E. Craig; Chesser, J.; Marchant, W.

2010-04-01

The use of radiation sensors as portal monitors is increasing due to heightened concerns over the smuggling of fissile material. Transportable systems that can detect significant quantities of fissile material that might be present in vehicular traffic are of particular interest, especially if they can be rapidly deployed to different locations. To serve this application, we have constructed a rapid-deployment portal monitor that uses visible-light and gamma-ray imaging to allow simultaneous monitoring of multiple lanes of traffic from the side of a roadway. The system operation uses machine vision methods on the visible-light images to detect vehicles as they enter and exit the field of view and to measure their position in each frame. The visible-light and gamma-ray cameras are synchronized which allows the gamma-ray imager to harvest gamma-ray data specific to each vehicle, integrating its radiation signature for the entire time that it is in the field of view. Thus our system creates vehicle-specific radiation signatures and avoids source confusion problems that plague non-imaging approaches to the same problem. Our current prototype instrument was designed for measurement of upto five lanes of freeway traffic with a pair of instruments, one on either side of the roadway. Stereoscopic cameras are used with a third "alignment" camera for motion compensation and are mounted on a 50' deployable mast. In this paper we discuss the design considerations for the machine-vision system, the algorithms used for vehicle detection and position estimates, and the overall architecture of the system. We also discuss system calibration for rapid deployment. We conclude with notes on preliminary performance and deployment.

Real-Time Simulation of Ares I Launch Vehicle

NASA Technical Reports Server (NTRS)

Tobbe, Patrick; Matras, Alex; Wilson, Heath; Alday, Nathan; Walker, David; Betts, Kevin; Hughes, Ryan; Turbe, Michael

2009-01-01

The Ares Real-Time Environment for Modeling, Integration, and Simulation (ARTEMIS) has been developed for use by the Ares I launch vehicle System Integration Laboratory (SIL) at the Marshall Space Flight Center (MSFC). The primary purpose of the Ares SIL is to test the vehicle avionics hardware and software in a hardware-in-the-loop (HWIL) environment to certify that the integrated system is prepared for flight. ARTEMIS has been designed to be the real-time software backbone to stimulate all required Ares components through high-fidelity simulation. ARTEMIS has been designed to take full advantage of the advances in underlying computational power now available to support HWIL testing. A modular real-time design relying on a fully distributed computing architecture has been achieved. Two fundamental requirements drove ARTEMIS to pursue the use of high-fidelity simulation models in a real-time environment. First, ARTEMIS must be used to test a man-rated integrated avionics hardware and software system, thus requiring a wide variety of nominal and off-nominal simulation capabilities to certify system robustness. The second driving requirement - derived from a nationwide review of current state-of-the-art HWIL facilities - was that preserving digital model fidelity significantly reduced overall vehicle lifecycle cost by reducing testing time for certification runs and increasing flight tempo through an expanded operational envelope. These two driving requirements necessitated the use of high-fidelity models throughout the ARTEMIS simulation. The nature of the Ares mission profile imposed a variety of additional requirements on the ARTEMIS simulation. The Ares I vehicle is composed of multiple elements, including the First Stage Solid Rocket Booster (SRB), the Upper Stage powered by the J- 2X engine, the Orion Crew Exploration Vehicle (CEV) which houses the crew, the Launch Abort System (LAS), and various secondary elements that separate from the vehicle. At launch, the integrated vehicle stack is composed of these stages, and throughout the mission, various elements separate from the integrated stack and tumble back towards the earth. ARTEMIS must be capable of simulating the integrated stack through the flight as well as propagating each individual element after separation. In addition, abort sequences can lead to other unique configurations of the integrated stack as the timing and sequence of the stage separations are altered.

Continued Development of a Global Heat Transfer Measurement System at AEDC Hypervelocity Wind Tunnel 9

NASA Technical Reports Server (NTRS)

Kurits, Inna; Lewis, M. J.; Hamner, M. P.; Norris, Joseph D.

2007-01-01

Heat transfer rates are an extremely important consideration in the design of hypersonic vehicles such as atmospheric reentry vehicles. This paper describes the development of a data reduction methodology to evaluate global heat transfer rates using surface temperature-time histories measured with the temperature sensitive paint (TSP) system at AEDC Hypervelocity Wind Tunnel 9. As a part of this development effort, a scale model of the NASA Crew Exploration Vehicle (CEV) was painted with TSP and multiple sequences of high resolution images were acquired during a five run test program. Heat transfer calculation from TSP data in Tunnel 9 is challenging due to relatively long run times, high Reynolds number environment and the desire to utilize typical stainless steel wind tunnel models used for force and moment testing. An approach to reduce TSP data into convective heat flux was developed, taking into consideration the conditions listed above. Surface temperatures from high quality quantitative global temperature maps acquired with the TSP system were then used as an input into the algorithm. Preliminary comparison of the heat flux calculated using the TSP surface temperature data with the value calculated using the standard thermocouple data is reported.

Fully decentralized estimation and control for a modular wheeled mobile robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mutambara, A.G.O.; Durrant-Whyte, H.F.

2000-06-01

In this paper, the problem of fully decentralized data fusion and control for a modular wheeled mobile robot (WMR) is addressed. This is a vehicle system with nonlinear kinematics, distributed multiple sensors, and nonlinear sensor models. The problem is solved by applying fully decentralized estimation and control algorithms based on the extended information filter. This is achieved by deriving a modular, decentralized kinematic model by using plane motion kinematics to obtain the forward and inverse kinematics for a generalized simple wheeled vehicle. This model is then used in the decentralized estimation and control algorithms. WMR estimation and control is thusmore » obtained locally using reduced order models with reduced communication of information between nodes is carried out after every measurement (full rate communication), the estimates and control signals obtained at each node are equivalent to those obtained by a corresponding centralized system. Transputer architecture is used as the basis for hardware and software design as it supports the extensive communication and concurrency requirements that characterize modular and decentralized systems. The advantages of a modular WMR vehicle include scalability, application flexibility, low prototyping costs, and high reliability.« less

Air Vehicle Integration and Technology Research (AVIATR). Task Order 0003: Condition-Based Maintenance Plus Structural Integrity (CBM+SI) Demonstration (April 2011 to August 2011)

DTIC Science & Technology

2011-08-01

investigated. Implementation of this technology into the maintenance framework depends on several factors, including safety of the structural system, cost... Maintenance Parameters The F-15 Program has indicated that, in practice , maintenance actions are generally performed on flight hour multiples of 200...Risk Analysis or the Perform Cost Benefit Analysis sections of the flowchart. 4.6. Determine System Configurations The current maintenance practice

Multi-point contact of the high-speed vehicle-turnout system dynamics

NASA Astrophysics Data System (ADS)

Ren, Zunsong

2013-05-01

The wheel-rail contact problems, such as the number, location and the track of contact patches, are very important for optimizing the spatial structure of the rails and lowering the vehicle-turnout system dynamics. However, the above problems are not well solved currently because of having the difficulties in how to determine the multi-contact, to preciously present the changeable profiles of the rails and to establish an accurate spatial turnout system dynamics model. Based on a high-speed vehicle-turnout coupled model in which the track is modeled as flexible with rails and sleepers represented by beams, the line tracing extreme point method is introduced to investigate the wheel-rail multiple contact conditions and the key sections of the blade rail, longer nose rail, shorter rail in the switch and nose rail area are discretized to represent the varying profiles of rails in the turnout. The dynamic interaction between the vehicle and turnout is simulated for cases of the vehicle divergently passing the turnout and the multi-point contact is obtained. The tracks of the contact patches on the top of the rails are presented and the wheel-rail impact forces are offered in comparison with the contact patches transference on the rails. The numerical simulation results indicate that the length of two-point contact occurrence of a worn wheel profile and rails is longer than that of the new wheel profile and rails; The two-point contact definitely occurs in the switch and crossing area. Generally, three-point contact doesn't occur for the new rail profile, which is testified by the wheel-rails interpolation distance and the first order derivative function of the tracing line extreme points. The presented research is not only helpful to optimize the structure of the turnout, but also useful to lower the dynamics of the high speed vehicle-turnout system.

Building oceanographic and atmospheric observation networks by composition: unmanned vehicles, communication networks, and planning and execution control frameworks

NASA Astrophysics Data System (ADS)

Sousa, J. T.; Pinto, J.; Martins, R.; Costa, M.; Ferreira, F.; Gomes, R.

2014-12-01

The problem of developing mobile oceanographic and atmospheric observation networks (MOAO) with coordinated air and ocean vehicles is discussed in the framework of the communications and control software tool chain developed at Underwater Systems and Technologies Laboratory (LSTS) from Porto University. This is done with reference to field experiments to illustrate key capabilities and to assess future MOAO operations. First, the motivation for building MOAO by "composition" of air and ocean vehicles, communication networks, and planning and execution control frameworks is discussed - in networked vehicle systems information and commands are exchanged among multiple vehicles and operators, and the roles, relative positions, and dependencies of these vehicles and operators change during operations. Second, the planning and execution control framework developed at LSTS for multi-vehicle systems is discussed with reference to key concepts such as autonomy, mixed-initiative interactions, and layered organization. Third, the LSTS tool software tool chain is presented to show how to develop MOAO by composition. The tool chain comprises the Neptus command and control framework for mixed initiative interactions, the underlying IMC messaging protocol, and the DUNE on-board software. Fourth, selected LSTS operational deployments illustrate MOAO capability building. In 2012 we demonstrated the use of UAS to "ferry" data from UUVs located beyond line of sight (BLOS). In 2013 we demonstrated coordinated observations of coastal fronts with small UAS and UUVs, "bent" BLOS through the use of UAS as communication relays, and UAS tracking of juvenile hammer-head sharks. In 2014 we demonstrated UUV adaptive sampling with the closed loop controller of the UUV residing on a UAS; this was done with the help of a Wave Glider ASV with a communications gateway. The results from these experiments provide a background for assessing potential future UAS operations in a compositional MOAO.

An Orientation Sensor-Based Head Tracking System for Driver Behaviour Monitoring.

PubMed

Zhao, Yifan; Görne, Lorenz; Yuen, Iek-Man; Cao, Dongpu; Sullman, Mark; Auger, Daniel; Lv, Chen; Wang, Huaji; Matthias, Rebecca; Skrypchuk, Lee; Mouzakitis, Alexandros

2017-11-22

Although at present legislation does not allow drivers in a Level 3 autonomous vehicle to engage in a secondary task, there may become a time when it does. Monitoring the behaviour of drivers engaging in various non-driving activities (NDAs) is crucial to decide how well the driver will be able to take over control of the vehicle. One limitation of the commonly used face-based head tracking system, using cameras, is that sufficient features of the face must be visible, which limits the detectable angle of head movement and thereby measurable NDAs, unless multiple cameras are used. This paper proposes a novel orientation sensor based head tracking system that includes twin devices, one of which measures the movement of the vehicle while the other measures the absolute movement of the head. Measurement error in the shaking and nodding axes were less than 0.4°, while error in the rolling axis was less than 2°. Comparison with a camera-based system, through in-house tests and on-road tests, showed that the main advantage of the proposed system is the ability to detect angles larger than 20° in the shaking and nodding axes. Finally, a case study demonstrated that the measurement of the shaking and nodding angles, produced from the proposed system, can effectively characterise the drivers' behaviour while engaged in the NDAs of chatting to a passenger and playing on a smartphone.

Multiple-Vehicle Resource-Constrained Navigation in the Deep Ocean

DTIC Science & Technology

2011-09-01

Kalman filtering is often used in practice with intermit - tent observations, which uses the simple intuitive result that the optimal method for...trajectory? This level is concerned with fast vehicle dynamics, which are highly dependent on the particular vehicle design and hydrodynamics. Some

Effect of perception irregularity on chain-reaction crash in low visibility

NASA Astrophysics Data System (ADS)

Nagatani, Takashi

2015-06-01

We present the dynamic model of the chain-reaction crash to take into account the irregularity of the perception-reaction time. When a driver brakes according to taillights of the forward vehicle, the perception-reaction time varies from driver to driver. We study the effect of the perception irregularity on the chain-reaction crash (multiple-vehicle collision) in low-visibility condition. The first crash may induce more collisions. We investigate how the first collision induces the chain-reaction crash numerically. We derive, analytically, the transition points and the region maps for the chain-reaction crash in traffic flow of vehicles with irregular perception times. We clarify the effect of the perception irregularity on the multiple-vehicle collision.

Indoor imagery with a 3D through-wall synthetic aperture radar

NASA Astrophysics Data System (ADS)

Sévigny, Pascale; DiFilippo, David J.; Laneve, Tony; Fournier, Jonathan

2012-06-01

Through-wall radar imaging is an emerging technology with great interest to military and police forces operating in an urban environment. A through-wall imaging radar can potentially provide interior room layouts as well as detection and localization of targets of interest within a building. In this paper, we present our through-wall radar system mounted on the side of a vehicle and driven along a path in front of a building of interest. The vehicle is equipped with a LIDAR (Light Detection and Ranging) and motion sensors that provide auxiliary information. The radar uses an ultra wideband frequency-modulated continuous wave (FMCW) waveform to obtain high range resolution. Our system is composed of a vertical linear receive array to discriminate targets in elevation, and two transmit elements operated in a slow multiple-input multiple output (MIMO) configuration to increase the achievable elevation resolution. High resolution in the along-track direction is obtained through synthetic aperture radar (SAR) techniques. We present experimental results that demonstrate the 3-D capability of the radar. We further demonstrate target detection behind challenging walls, and imagery of internal wall features. Finally, we discuss future work.

LightDenseYOLO: A Fast and Accurate Marker Tracker for Autonomous UAV Landing by Visible Light Camera Sensor on Drone.

PubMed

Nguyen, Phong Ha; Arsalan, Muhammad; Koo, Ja Hyung; Naqvi, Rizwan Ali; Truong, Noi Quang; Park, Kang Ryoung

2018-05-24

Autonomous landing of an unmanned aerial vehicle or a drone is a challenging problem for the robotics research community. Previous researchers have attempted to solve this problem by combining multiple sensors such as global positioning system (GPS) receivers, inertial measurement unit, and multiple camera systems. Although these approaches successfully estimate an unmanned aerial vehicle location during landing, many calibration processes are required to achieve good detection accuracy. In addition, cases where drones operate in heterogeneous areas with no GPS signal should be considered. To overcome these problems, we determined how to safely land a drone in a GPS-denied environment using our remote-marker-based tracking algorithm based on a single visible-light-camera sensor. Instead of using hand-crafted features, our algorithm includes a convolutional neural network named lightDenseYOLO to extract trained features from an input image to predict a marker's location by visible light camera sensor on drone. Experimental results show that our method significantly outperforms state-of-the-art object trackers both using and not using convolutional neural network in terms of both accuracy and processing time.

Radar based autonomous sensor module

NASA Astrophysics Data System (ADS)

Styles, Tim

2016-10-01

Most surveillance systems combine camera sensors with other detection sensors that trigger an alert to a human operator when an object is detected. The detection sensors typically require careful installation and configuration for each application and there is a significant burden on the operator to react to each alert by viewing camera video feeds. A demonstration system known as Sensing for Asset Protection with Integrated Electronic Networked Technology (SAPIENT) has been developed to address these issues using Autonomous Sensor Modules (ASM) and a central High Level Decision Making Module (HLDMM) that can fuse the detections from multiple sensors. This paper describes the 24 GHz radar based ASM, which provides an all-weather, low power and license exempt solution to the problem of wide area surveillance. The radar module autonomously configures itself in response to tasks provided by the HLDMM, steering the transmit beam and setting range resolution and power levels for optimum performance. The results show the detection and classification performance for pedestrians and vehicles in an area of interest, which can be modified by the HLDMM without physical adjustment. The module uses range-Doppler processing for reliable detection of moving objects and combines Radar Cross Section and micro-Doppler characteristics for object classification. Objects are classified as pedestrian or vehicle, with vehicle sub classes based on size. Detections are reported only if the object is detected in a task coverage area and it is classified as an object of interest. The system was shown in a perimeter protection scenario using multiple radar ASMs, laser scanners, thermal cameras and visible band cameras. This combination of sensors enabled the HLDMM to generate reliable alerts with improved discrimination of objects and behaviours of interest.

Data-based fault-tolerant control of high-speed trains with traction/braking notch nonlinearities and actuator failures.

PubMed

Song, Qi; Song, Yong-Duan

2011-12-01

This paper investigates the position and velocity tracking control problem of high-speed trains with multiple vehicles connected through couplers. A dynamic model reflecting nonlinear and elastic impacts between adjacent vehicles as well as traction/braking nonlinearities and actuation faults is derived. Neuroadaptive fault-tolerant control algorithms are developed to account for various factors such as input nonlinearities, actuator failures, and uncertain impacts of in-train forces in the system simultaneously. The resultant control scheme is essentially independent of system model and is primarily data-driven because with the appropriate input-output data, the proposed control algorithms are capable of automatically generating the intermediate control parameters, neuro-weights, and the compensation signals, literally producing the traction/braking force based upon input and response data only--the whole process does not require precise information on system model or system parameter, nor human intervention. The effectiveness of the proposed approach is also confirmed through numerical simulations.

Time-Coordination Strategies and Control Laws for Multi-Agent Unmanned Systems

NASA Technical Reports Server (NTRS)

Puig-Navarro, Javier; Hovakimyan, Naira; Allen, B. Danette

2017-01-01

Time-critical coordination tools for unmanned systems can be employed to enforce the type of temporal constraints required in terminal control areas, ensure minimum distance requirements among vehicles are satisfied, and successfully perform coordinated missions. In comparison with previous literature, this paper presents an ampler spectrum of coordination and temporal specifications for unmanned systems, and proposes a general control law that can enforce this range of constraints. The constraint classification presented con- siders the nature of the desired arrival window and the permissible coordination errors to define six different types of time-coordination strategies. The resulting decentralized coordination control law allows the vehicles to negotiate their speeds along their paths in response to information exchanged over the communication network. This control law organizes the different members in the fleet hierarchically per their behavior and informational needs as reference agent, leaders, and followers. Examples and simulation results for all the coordination strategies presented demonstrate the applicability and efficacy of the coordination control law for multiple unmanned systems.

Mapping Nearby Terrain in 3D by Use of a Grid of Laser Spots

NASA Technical Reports Server (NTRS)

Padgett, Curtis; Liebe, Carl; Chang, Johnny; Brown, Kenneth

2007-01-01

A proposed optoelectronic system, to be mounted aboard an exploratory robotic vehicle, would be used to generate a three-dimensional (3D) map of nearby terrain and obstacles for purposes of navigating the vehicle across the terrain and avoiding the obstacles. The difference between this system and the other systems would lie in the details of implementation. In this system, the illumination would be provided by a laser. The beam from the laser would pass through a two-dimensional diffraction grating, which would divide the beam into multiple beams propagating in different, fixed, known directions. These beams would form a grid of bright spots on the nearby terrain and obstacles. The centroid of each bright spot in the image would be computed. For each such spot, the combination of (1) the centroid, (2) the known direction of the light beam that produced the spot, and (3) the known baseline would constitute sufficient information for calculating the 3D position of the spot.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tsai, H.; Chen, K.; Jusko, M.

The Packaging Certification Program (PCP) of the U.S. Department of Energy (DOE) Environmental Management (EM), Office of Packaging and Transportation (EM-14), has developed a radio frequency identification (RFID) tracking and monitoring system for the management of nuclear materials during storage and transportation. The system, developed by the PCP team at Argonne National Laboratory, consists of hardware (Mk-series sensor tags, fixed and handheld readers, form factor for multiple drum types, seal integrity sensors, and enhanced battery management), software (application programming interface, ARG-US software for local and remote/web applications, secure server and database management), and cellular/satellite communication interfaces for vehicle tracking andmore » item monitoring during transport. The ability of the above system to provide accurate, real-time tracking and monitoring of the status of multiple, certified containers of nuclear materials has been successfully demonstrated in a week-long, 1,700-mile DEMO performed in April 2008. While the feedback from the approximately fifty (50) stakeholders who participated in and/or observed the DEMO progression were very positive and encouraging, two major areas of further improvements - system integration and web application enhancement - were identified in the post-DEMO evaluation. The principal purpose of the MiniDemo described in this report was to verify these two specific improvements. The MiniDemo was conducted on August 28, 2009. In terms of system integration, a hybrid communication interface - combining the RFID item-monitoring features and a commercial vehicle tracking system by Qualcomm - was developed and implemented. In the MiniDemo, the new integrated system worked well in reporting tag status and vehicle location accurately and promptly. There was no incompatibility of components. The robust commercial communication gear, as expected, helped improve system reliability. The MiniDemo confirmed that system integration is technically feasible and reliable with the existing RFID and Qualcomm satellite equipment. In terms of web application, improvements in mapping, tracking, data presentation, and post-incident spatial query reporting were implemented in ARG-US, the application software that manages the dataflow among the RFID tags, readers, and servers. These features were tested in the MiniDemo and found to be satisfactory. The resulting web application is both informative and user-friendly. A joint developmental project is being planned between the PCP and the DOE TRANSCOM that uses the Qualcomm gear in vehicles for tracking and communication of radioactive material shipments across the country. Adding an RFID interface to TRANSCOM is a significant enhancement to the DOE infrastructure for tracking and monitoring shipments of radioactive materials.« less

Space Launch System Complex Decision-Making Process

NASA Technical Reports Server (NTRS)

Lyles, Garry; Flores, Tim; Hundley, Jason; Monk, Timothy; Feldman,Stuart

2012-01-01

The Space Shuttle program has ended and elements of the Constellation Program have either been cancelled or transitioned to new NASA exploration endeavors. The National Aeronautics and Space Administration (NASA) has worked diligently to select an optimum configuration for the Space Launch System (SLS), a heavy lift vehicle that will provide the foundation for future beyond low earth orbit (LEO) large-scale missions for the next several decades. From Fall 2010 until Spring 2011, an SLS decision-making framework was formulated, tested, fully documented, and applied to multiple SLS vehicle concepts at NASA from previous exploration architecture studies. This was a multistep process that involved performing figure of merit (FOM)-based assessments, creating Pass/Fail gates based on draft threshold requirements, performing a margin-based assessment with supporting statistical analyses, and performing sensitivity analysis on each. This paper focuses on the various steps and methods of this process (rather than specific data) that allowed for competing concepts to be compared across a variety of launch vehicle metrics in support of the successful completion of the SLS Mission Concept Review (MCR) milestone.

Localization and Mapping Using Only a Rotating FMCW Radar Sensor

PubMed Central

Vivet, Damien; Checchin, Paul; Chapuis, Roland

2013-01-01

Rotating radar sensors are perception systems rarely used in mobile robotics. This paper is concerned with the use of a mobile ground-based panoramic radar sensor which is able to deliver both distance and velocity of multiple targets in its surrounding. The consequence of using such a sensor in high speed robotics is the appearance of both geometric and Doppler velocity distortions in the collected data. These effects are, in the majority of studies, ignored or considered as noise and then corrected based on proprioceptive sensors or localization systems. Our purpose is to study and use data distortion and Doppler effect as sources of information in order to estimate the vehicle's displacement. The linear and angular velocities of the mobile robot are estimated by analyzing the distortion of the measurements provided by the panoramic Frequency Modulated Continuous Wave (FMCW) radar, called IMPALA. Without the use of any proprioceptive sensor, these estimates are then used to build the trajectory of the vehicle and the radar map of outdoor environments. In this paper, radar-only localization and mapping results are presented for a ground vehicle moving at high speed. PMID:23567523

Localization and mapping using only a rotating FMCW radar sensor.

PubMed

Vivet, Damien; Checchin, Paul; Chapuis, Roland

2013-04-08

Rotating radar sensors are perception systems rarely used in mobile robotics. This paper is concerned with the use of a mobile ground-based panoramic radar sensor which is able to deliver both distance and velocity of multiple targets in its surrounding. The consequence of using such a sensor in high speed robotics is the appearance of both geometric and Doppler velocity distortions in the collected data. These effects are, in the majority of studies, ignored or considered as noise and then corrected based on proprioceptive sensors or localization systems. Our purpose is to study and use data distortion and Doppler effect as sources of information in order to estimate the vehicle's displacement. The linear and angular velocities of the mobile robot are estimated by analyzing the distortion of the measurements provided by the panoramic Frequency Modulated Continuous Wave (FMCW) radar, called IMPALA. Without the use of any proprioceptive sensor, these estimates are then used to build the trajectory of the vehicle and the radar map of outdoor environments. In this paper, radar-only localization and mapping results are presented for a ground vehicle moving at high speed.

The Evaluation of Developing Vehicle Technologies on the Fuel Economy of Long-Haul Trucks

DOE PAGES

Gao, Zhiming; Smith, David E.; Daw, C. Stuart; ...

2015-12-01

We present fuel savings estimates resulting from the combined implementation of multiple advanced energy management technologies in both conventional and parallel hybrid class 8 diesel trucks. The energy management technologies considered here have been specifically targeted by the 21st Century Truck Partnership (21 CTP) between the U.S. Department of Energy and U.S. industry and include advanced combustion engines, waste heat recovery, and reductions in auxiliary loads, rolling resistance, aerodynamic drag, and gross vehicle weight. Furthermore, we estimated that combined use of all these technologies in hybrid trucks has the potential to improve fuel economy by more than 60% compared tomore » current conventional trucks, but this requires careful system integration to avoid non-optimal interactions. Major factors to be considered in system integration are discussed.« less

Finite element method for optimal guidance of an advanced launch vehicle

NASA Technical Reports Server (NTRS)

Hodges, Dewey H.; Bless, Robert R.; Calise, Anthony J.; Leung, Martin

1992-01-01

A temporal finite element based on a mixed form of Hamilton's weak principle is summarized for optimal control problems. The resulting weak Hamiltonian finite element method is extended to allow for discontinuities in the states and/or discontinuities in the system equations. An extension of the formulation to allow for control inequality constraints is also presented. The formulation does not require element quadrature, and it produces a sparse system of nonlinear algebraic equations. To evaluate its feasibility for real-time guidance applications, this approach is applied to the trajectory optimization of a four-state, two-stage model with inequality constraints for an advanced launch vehicle. Numerical results for this model are presented and compared to results from a multiple-shooting code. The results show the accuracy and computational efficiency of the finite element method.

Space Shuttle guidance for multiple main engine failures during first stage

NASA Technical Reports Server (NTRS)

Sponaugle, Steven J.; Fernandes, Stanley T.

1987-01-01

This paper presents contingency abort guidance schemes recently developed for multiple Space Shuttle main engine failures during the first two minutes of flight (first stage). The ascent and entry guidance schemes greatly improve the possibility of the crew and/or the Orbiter surviving a first stage contingency abort. Both guidance schemes were required to meet certain structural and controllability constraints. In addition, the systems were designed with the flexibility to allow for seasonal variations in the atmosphere and wind. The ascent scheme guides the vehicle to a desirable, lofted state at solid rocket booster burnout while reducing the structural loads on the vehicle. After Orbiter separation from the solid rockets and the external tank, the entry scheme guides the Orbiter through one of two possible entries. If the proper altitude/range/velocity conditions have been met, a return-to-launch-site 'Split-S' maneuver may be attempted. Otherwise, a down-range abort to an equilibrium glide and subsequent crew bailout is performed.

Formation Learning Control of Multiple Autonomous Underwater Vehicles With Heterogeneous Nonlinear Uncertain Dynamics.

PubMed

Yuan, Chengzhi; Licht, Stephen; He, Haibo

2017-09-26

In this paper, a new concept of formation learning control is introduced to the field of formation control of multiple autonomous underwater vehicles (AUVs), which specifies a joint objective of distributed formation tracking control and learning/identification of nonlinear uncertain AUV dynamics. A novel two-layer distributed formation learning control scheme is proposed, which consists of an upper-layer distributed adaptive observer and a lower-layer decentralized deterministic learning controller. This new formation learning control scheme advances existing techniques in three important ways: 1) the multi-AUV system under consideration has heterogeneous nonlinear uncertain dynamics; 2) the formation learning control protocol can be designed and implemented by each local AUV agent in a fully distributed fashion without using any global information; and 3) in addition to the formation control performance, the distributed control protocol is also capable of accurately identifying the AUVs' heterogeneous nonlinear uncertain dynamics and utilizing experiences to improve formation control performance. Extensive simulations have been conducted to demonstrate the effectiveness of the proposed results.

Multiple Discipline science assessment. [considering astronomy, astrophysics, cosmology, gravitation and geophysics when planning planetary missions

NASA Technical Reports Server (NTRS)

Wells, W. C.

1978-01-01

Various science disciplines were examined to determine where and when it is appropriate to include their objectives in the planning of planetary missions. The disciplines considered are solar astronomy, stellar and galactic astronomy, solar physics, cosmology and gravitational physics, the geosciences and the applied sciences. For each discipline, science objectives are identified which could provide a multiple discipline opportunity utilizing either a single spacecraft or two spacecraft delivered by a single launch vehicle. Opportunities using a common engineering system are also considered. The most promising opportunities identified include observations of solar images and relativistic effects using the Mercury orbiter; collection of samples exposed to solar radiation using the Mars surface sample return; studies of interstellar neutral H and He, magnetic fields, cosmic rays, and solar physics during Pluto or Neptune flybys; using the Mars orbiter to obtain solar images from 0.2 AU synchronous or from 90 deg orbit; and the study of the structure and composition of the atmosphere using atmospheric probes and remotely piloted vehicles.

Comparisons of MOVES Light-duty Gasoline NOx Emission Rates with Real-world Measurements

NASA Astrophysics Data System (ADS)

Choi, D.; Sonntag, D.; Warila, J.

2017-12-01

Recent studies have shown differences between air quality model estimates and monitored values for nitrogen oxides. Several studies have suggested that the discrepancy between monitored and modeled values is due to an overestimation of NOx from mobile sources in EPA's emission inventory, particularly for light-duty gasoline vehicles. EPA's MOtor Vehicle Emission Simulator (MOVES) is an emission modeling system that estimates emissions for cars, trucks and other mobile sources at the national, county, and project level for criteria pollutants, greenhouse gases, and air toxics. Studies that directly measure vehicle emissions provide useful data for evaluating MOVES when the measurement conditions are properly accounted for in modeling. In this presentation, we show comparisons of MOVES2014 to thousands of real-world NOx emissions measurements from individual light-duty gasoline vehicles. The comparison studies include in-use vehicle emissions tests conducted on chassis dynamometer tests in support of Denver, Colorado's Vehicle Inspection & Maintenance Program and remote sensing data collected using road-side instruments in multiple locations and calendar years in the United States. In addition, we conduct comparisons of MOVES predictions to fleet-wide emissions measured from tunnels. We also present details on the methodology used to conduct the MOVES model runs in comparing to the independent data.

An Airborne Parachute Compartment Test Bed for the Orion Parachute Test Program

NASA Technical Reports Server (NTRS)

Moore, James W.; Romero, Leah M.

2013-01-01

The test program developing parachutes for the Orion/MPCV includes drop tests with parachutes deployed from an Orion-like parachute compartment at a wide range of dynamic pressures. Aircraft and altitude constraints precluded the use of an Orion boilerplate capsule for several test points. Therefore, a dart-shaped test vehicle with a hi-fidelity mock-up of the Orion parachute compartment has been developed. The available aircraft options imposed constraints on the test vehicle development and concept of operations. Delivery of this test vehicle to the desired velocity, altitude, and orientation required for the test is a di cult problem involving multiple engineering disciplines. This paper describes the development of the test technique. The engineering challenges include extraction from an aircraft, reposition of the extraction parachute, and mid-air separation of two vehicles, neither of which has an active attitude control system. The desired separation behavior is achieved by precisely controlling the release point using on-board monitoring of the motion. The design of the test vehicle is also described. The trajectory simulations and other analyses used to develop this technique and predict the behavior of the test vehicle are reviewed in detail. The application of the technique on several successful drop tests is summarized.

A Hybrid Positioning Strategy for Vehicles in a Tunnel Based on RFID and In-Vehicle Sensors

PubMed Central

Song, Xiang; Li, Xu; Tang, Wencheng; Zhang, Weigong; Li, Bin

2014-01-01

Many intelligent transportation system applications require accurate, reliable, and continuous vehicle positioning. How to achieve such positioning performance in extended GPS-denied environments such as tunnels is the main challenge for land vehicles. This paper proposes a hybrid multi-sensor fusion strategy for vehicle positioning in tunnels. First, the preliminary positioning algorithm is developed. The Radio Frequency Identification (RFID) technology is introduced to achieve preliminary positioning in the tunnel. The received signal strength (RSS) is used as an indicator to calculate the distances between the RFID tags and reader, and then a Least Mean Square (LMS) federated filter is designed to provide the preliminary position information for subsequent global fusion. Further, to improve the positioning performance in the tunnel, an interactive multiple model (IMM)-based global fusion algorithm is developed to fuse the data from preliminary positioning results and low-cost in-vehicle sensors, such as electronic compasses and wheel speed sensors. In the actual implementation of IMM, the strong tracking extended Kalman filter (STEKF) algorithm is designed to replace the conventional extended Kalman filter (EKF) to achieve model individual filtering. Finally, the proposed strategy is evaluated through experiments. The results validate the feasibility and effectiveness of the proposed strategy. PMID:25490581

A hybrid positioning strategy for vehicles in a tunnel based on RFID and in-vehicle sensors.

PubMed

Song, Xiang; Li, Xu; Tang, Wencheng; Zhang, Weigong; Li, Bin

2014-12-05

Many intelligent transportation system applications require accurate, reliable, and continuous vehicle positioning. How to achieve such positioning performance in extended GPS-denied environments such as tunnels is the main challenge for land vehicles. This paper proposes a hybrid multi-sensor fusion strategy for vehicle positioning in tunnels. First, the preliminary positioning algorithm is developed. The Radio Frequency Identification (RFID) technology is introduced to achieve preliminary positioning in the tunnel. The received signal strength (RSS) is used as an indicator to calculate the distances between the RFID tags and reader, and then a Least Mean Square (LMS) federated filter is designed to provide the preliminary position information for subsequent global fusion. Further, to improve the positioning performance in the tunnel, an interactive multiple model (IMM)-based global fusion algorithm is developed to fuse the data from preliminary positioning results and low-cost in-vehicle sensors, such as electronic compasses and wheel speed sensors. In the actual implementation of IMM, the strong tracking extended Kalman filter (STEKF) algorithm is designed to replace the conventional extended Kalman filter (EKF) to achieve model individual filtering. Finally, the proposed strategy is evaluated through experiments. The results validate the feasibility and effectiveness of the proposed strategy.

Cargo Commercial Orbital Transportation Services Environmental Control and Life Support Integration

NASA Technical Reports Server (NTRS)

Duchesne, Stephanie; Thacker, Karen; Williams, Dave

2012-01-01

The International Space Station s (ISS) largest crew and cargo resupply vehicle, the Space Shuttle, retired in 2011. To help augment ISS resupply and return capability, NASA announced a project to promote the development of Commercial Orbital Transportation Services (COTS) for the ISS in January of 2006. By December of 2008, NASA entered into space act agreements with SpaceX and Orbital Sciences Corporation for COTS development and ISS Commercial Resupply Services (CRS). The intent of CRS is to fly multiple resupply missions each year to ISS with SpaceX s Dragon vehicle providing resupply and return capabilities and Orbital Science Corporation s Cygnus vehicle providing resupply capability to ISS. The ISS program launched an integration effort to ensure that these new commercial vehicles met the requirements of the ISS vehicle and ISS program needs. The Environmental Control and Life Support System (ECLSS) requirements cover basic cargo vehicle needs including maintaining atmosphere, providing atmosphere circulation, and fire detection and suppression. The ISS-COTS integration effort brought unique challenges combining NASA s established processes and design knowledge with the commercial companies new initiatives and limited experience with human space flight. This paper will discuss the ISS ECLS COTS integration effort including challenges, successes, and lessons learned.

Commercial Orbital Transportation Cargo Services Environmental Control and Life Support Integration

NASA Technical Reports Server (NTRS)

Duchesne, Stephanie; Williams, Dave; Orozco, Nicole; Philistine, Cynthia

2010-01-01

The International Space Station s (ISS) largest crew and cargo resupply vehicle, the Space Shuttle, will retire in 2011. To help augment ISS resupply and return capability, NASA announced a project to promote the development of Commercial Orbital Transportation Services (COTS) for the ISS in January of 2006. By December of 2008, NASA entered into space act agreements with SpaceX and Orbital Sciences Corporation for COTS development and ISS Commercial Resupply Services (CRS). The intent of CRS is to fly multiple resupply missions each year to ISS with SpaceX s Dragon vehicle providing resupply and return capabilities and Orbital Science Corporation s Cygnus vehicle providing resupply capability to ISS. The ISS program launched an integration effort to ensure that these new commercial vehicles met the requirements of the ISS vehicle and ISS program needs. The Environmental Control and Life Support System (ECLSS) requirements cover basic cargo vehicle needs including maintaining atmosphere, providing atmosphere circulation, and fire detection and suppression. The ISS-COTS integration effort brought unique challenges combining NASA s established processes and design knowledge with the commercial companies new initiatives and limited experience with human space flight. This paper will discuss the ISS ECLS COTS integration effort including challenges, successes, and lessons learned.

Radiation exposure and performance of multiple burn LEO-GEO orbit transfer trajectories

NASA Technical Reports Server (NTRS)

Gorland, S. H.

1985-01-01

Many potential strategies exist for the transfer of spacecraft from low Earth orbit (LEO) to geosynchronous (GEO) orbit. One strategy has generally been utilized, that being a single impulsive burn at perigee and a GEO insertion burn at apogee. Multiple burn strategies were discussed for orbit transfer vehicles (OTVs) but the transfer times and radiation exposure, particularly for potentially manned missions, were used as arguments against those options. Quantitative results concerning the trip time and radiation encountered by multiple burn orbit transfer missions in order to establish the feasibility of manned missions, the vulnerability of electronics, and the shielding requirements are presented. The performance of these multiple burn missions is quantified in terms of the payload and propellant variances from the minimum energy mission transfer. The missions analyzed varied from one to eight perigee burns and ranged from a high thrust, 1 g acceleration, cryogenic hydrogen-oxygen chemical prpulsion system to a continuous burn, 0.001 g acceleration, hydrogen fueled resistojet propulsion system with a trip time of 60 days.

The blackboard model - A framework for integrating multiple cooperating expert systems

NASA Technical Reports Server (NTRS)

Erickson, W. K.

1985-01-01

The use of an artificial intelligence (AI) architecture known as the blackboard model is examined as a framework for designing and building distributed systems requiring the integration of multiple cooperating expert systems (MCXS). Aerospace vehicles provide many examples of potential systems, ranging from commercial and military aircraft to spacecraft such as satellites, the Space Shuttle, and the Space Station. One such system, free-flying, spaceborne telerobots to be used in construction, servicing, inspection, and repair tasks around NASA's Space Station, is examined. The major difficulties found in designing and integrating the individual expert system components necessary to implement such a robot are outlined. The blackboard model, a general expert system architecture which seems to address many of the problems found in designing and building such a system, is discussed. A progress report on a prototype system under development called DBB (Distributed BlackBoard model) is given. The prototype will act as a testbed for investigating the feasibility, utility, and efficiency of MCXS-based designs developed under the blackboard model.

Revolutionary Aeropropulsion Concept for Sustainable Aviation: Turboelectric Distributed Propulsion

NASA Technical Reports Server (NTRS)

Kim, Hyun Dae; Felder, James L.; Tong, Michael. T.; Armstrong, Michael

2013-01-01

In response to growing aviation demands and concerns about the environment and energy usage, a team at NASA proposed and examined a revolutionary aeropropulsion concept, a turboelectric distributed propulsion system, which employs multiple electric motor-driven propulsors that are distributed on a large transport vehicle. The power to drive these electric propulsors is generated by separately located gas-turbine-driven electric generators on the airframe. This arrangement enables the use of many small-distributed propulsors, allowing a very high effective bypass ratio, while retaining the superior efficiency of large core engines, which are physically separated but connected to the propulsors through electric power lines. Because of the physical separation of propulsors from power generating devices, a new class of vehicles with unprecedented performance employing such revolutionary propulsion system is possible in vehicle design. One such vehicle currently being investigated by NASA is called the "N3-X" that uses a hybrid-wing-body for an airframe and superconducting generators, motors, and transmission lines for its propulsion system. On the N3-X these new degrees of design freedom are used (1) to place two large turboshaft engines driving generators in freestream conditions to minimize total pressure losses and (2) to embed a broad continuous array of 14 motor-driven fans on the upper surface of the aircraft near the trailing edge of the hybrid-wing-body airframe to maximize propulsive efficiency by ingesting thick airframe boundary layer flow. Through a system analysis in engine cycle and weight estimation, it was determined that the N3-X would be able to achieve a reduction of 70% or 72% (depending on the cooling system) in energy usage relative to the reference aircraft, a Boeing 777-200LR. Since the high-power electric system is used in its propulsion system, a study of the electric power distribution system was performed to identify critical dynamic and safety issues. This paper presents some of the features and issues associated with the turboelectric distributed propulsion system and summarizes the recent study results, including the high electric power distribution, in the analysis of the N3-X vehicle.

40 CFR 86.132-96 - Vehicle preconditioning.

Code of Federal Regulations, 2013 CFR

2013-07-01

... outdoors awaiting testing, to prevent unusual loading of the canisters. During this time care must be taken... idle again for 1 minute. (H) After the vehicle is turned off the last time, it may be tested for... preconditioned according to the following procedure. For vehicles with multiple canisters in a series...

Vehicle coordinated transportation dispatching model base on multiple crisis locations

NASA Astrophysics Data System (ADS)

Tian, Ran; Li, Shanwei; Yang, Guoying

2018-05-01

Many disastrous events are often caused after unconventional emergencies occur, and the requirements of disasters are often different. It is difficult for a single emergency resource center to satisfy such requirements at the same time. Therefore, how to coordinate the emergency resources stored by multiple emergency resource centers to various disaster sites requires the coordinated transportation of emergency vehicles. In this paper, according to the problem of emergency logistics coordination scheduling, based on the related constraints of emergency logistics transportation, an emergency resource scheduling model based on multiple disasters is established.

Example Solar Electric Propulsion System asteroid tours using variational calculus

NASA Technical Reports Server (NTRS)

Burrows, R. R.

1985-01-01

Exploration of the asteroid belt with a vehicle utilizing a Solar Electric Propulsion System has been proposed in past studies. Some of those studies illustrated multiple asteroid rendezvous with trajectories obtained using approximate methods. Most of the inadequacies of those approximations are overcome in this paper, which uses the calculus of variations to calculate the trajectories and associated payloads of four asteroid tours. The modeling, equations, and solution techniques are discussed, followed by a presentation of the results.

Space vehicle field unit and ground station system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Judd, Stephen; Dallmann, Nicholas; Delapp, Jerry

A field unit and ground station may use commercial off-the-shelf (COTS) components and share a common architecture, where differences in functionality are governed by software. The field units and ground stations may be easy to deploy, relatively inexpensive, and be relatively easy to operate. A novel file system may be used where datagrams of a file may be stored across multiple drives and/or devices. The datagrams may be received out of order and reassembled at the receiving device.

Space vehicle field unit and ground station system

DOEpatents

Judd, Stephen; Dallmann, Nicholas; Delapp, Jerry; Proicou, Michael; Seitz, Daniel; Michel, John; Enemark, Donald

2016-10-25

A field unit and ground station may use commercial off-the-shelf (COTS) components and share a common architecture, where differences in functionality are governed by software. The field units and ground stations may be easy to deploy, relatively inexpensive, and be relatively easy to operate. A novel file system may be used where datagrams of a file may be stored across multiple drives and/or devices. The datagrams may be received out of order and reassembled at the receiving device.

A Lunar Surface Operations Simulator

NASA Technical Reports Server (NTRS)

Nayar, H.; Balaram, J.; Cameron, J.; Jain, A.; Lim, C.; Mukherjee, R.; Peters, S.; Pomerantz, M.; Reder, L.; Shakkottai, P.;

Example Solar Electric Propulsion System asteroid tours using variational calculus

NASA Astrophysics Data System (ADS)

Burrows, R. R.

1985-06-01

Exploration of the asteroid belt with a vehicle utilizing a Solar Electric Propulsion System has been proposed in past studies. Some of those studies illustrated multiple asteroid rendezvous with trajectories obtained using approximate methods. Most of the inadequacies of those approximations are overcome in this paper, which uses the calculus of variations to calculate the trajectories and associated payloads of four asteroid tours. The modeling, equations, and solution techniques are discussed, followed by a presentation of the results.

Computations on Wings With Full-Span Oscillating Control Surfaces Using Navier-Stokes Equations

NASA Technical Reports Server (NTRS)

Guruswamy, Guru P.

2013-01-01

A dual-level parallel procedure is presented for computing large databases to support aerospace vehicle design. This procedure has been developed as a single Unix script within the Parallel Batch Submission environment utilizing MPIexec and runs MPI based analysis software. It has been developed to provide a process for aerospace designers to generate data for large numbers of cases with the highest possible fidelity and reasonable wall clock time. A single job submission environment has been created to avoid keeping track of multiple jobs and the associated system administration overhead. The process has been demonstrated for computing large databases for the design of typical aerospace configurations, a launch vehicle and a rotorcraft.

Launch Vehicles

NASA Image and Video Library

2007-09-09

Under the goals of the Vision for Space Exploration, Ares I is a chief component of the cost-effective space transportation infrastructure being developed by NASA's Constellation Program. This transportation system will safely and reliably carry human explorers back to the moon, and then onward to Mars and other destinations in the solar system. The Ares I effort includes multiple project element teams at NASA centers and contract organizations around the nation, and is managed by the Exploration Launch Projects Office at NASA's Marshall Space Flight Center (MFSC). ATK Launch Systems near Brigham City, Utah, is the prime contractor for the first stage booster. ATK's subcontractor, United Space Alliance of Houston, is designing, developing and testing the parachutes at its facilities at NASA's Kennedy Space Center in Florida. NASA's Johnson Space Center in Houston hosts the Constellation Program and Orion Crew Capsule Project Office and provides test instrumentation and support personnel. Together, these teams are developing vehicle hardware, evolving proven technologies, and testing components and systems. Their work builds on powerful, reliable space shuttle propulsion elements and nearly a half-century of NASA space flight experience and technological advances. Ares I is an inline, two-stage rocket configuration topped by the Crew Exploration Vehicle, its service module, and a launch abort system. In this HD video image, the first stage reentry 1/2% model is undergoing pressure measurements inside the wind tunnel testing facility at MSFC. (Highest resolution available)

Crash test rating and likelihood of major thoracoabdominal injury in motor vehicle crashes: the new car assessment program side-impact crash test, 1998-2010.

PubMed

Figler, Bradley D; Mack, Christopher D; Kaufman, Robert; Wessells, Hunter; Bulger, Eileen; Smith, Thomas G; Voelzke, Bryan

2014-03-01

The National Highway Traffic Safety Administration's New Car Assessment Program (NCAP) implemented side-impact crash testing on all new vehicles since 1998 to assess the likelihood of major thoracoabdominal injuries during a side-impact crash. Higher crash test rating is intended to indicate a safer car, but the real-world applicability of these ratings is unknown. Our objective was to determine the relationship between a vehicle's NCAP side-impact crash test rating and the risk of major thoracoabdominal injury among the vehicle's occupants in real-world side-impact motor vehicle crashes. The National Automotive Sampling System Crashworthiness Data System contains detailed crash and injury data in a sample of major crashes in the United States. For model years 1998 to 2010 and crash years 1999 to 2010, 68,124 occupants were identified in the Crashworthiness Data System database. Because 47% of cases were missing crash severity (ΔV), multiple imputation was used to estimate the missing values. The primary predictor of interest was the occupant vehicle's NCAP side-impact crash test rating, and the outcome of interest was the presence of major (Abbreviated Injury Scale [AIS] score ≥ 3) thoracoabdominal injury. In multivariate analysis, increasing NCAP crash test rating was associated with lower likelihood of major thoracoabdominal injury at high (odds ratio [OR], 0.8; 95% confidence interval [CI], 0.7-0.9; p < 0.01) and medium (OR, 0.9; 95% CI, 0.8-1.0; p < 0.05) crash severity (ΔV), but not at low ΔV (OR, 0.95; 95% CI, 0.8-1.2; p = 0.55). In our model, older age and absence of seat belt use were associated with greater likelihood of major thoracoabdominal injury at low and medium ΔV (p < 0.001), but not at high ΔV (p ≥ 0.09). Among adults in model year 1998 to 2010 vehicles involved in medium and high severity motor vehicle crashes, a higher NCAP side-impact crash test rating is associated with a lower likelihood of major thoracoabdominal trauma. Epidemiologic study, level III.

Distributed data fusion across multiple hard and soft mobile sensor platforms

NASA Astrophysics Data System (ADS)

Sinsley, Gregory

One of the biggest challenges currently facing the robotics field is sensor data fusion. Unmanned robots carry many sophisticated sensors including visual and infrared cameras, radar, laser range finders, chemical sensors, accelerometers, gyros, and global positioning systems. By effectively fusing the data from these sensors, a robot would be able to form a coherent view of its world that could then be used to facilitate both autonomous and intelligent operation. Another distinct fusion problem is that of fusing data from teammates with data from onboard sensors. If an entire team of vehicles has the same worldview they will be able to cooperate much more effectively. Sharing worldviews is made even more difficult if the teammates have different sensor types. The final fusion challenge the robotics field faces is that of fusing data gathered by robots with data gathered by human teammates (soft sensors). Humans sense the world completely differently from robots, which makes this problem particularly difficult. The advantage of fusing data from humans is that it makes more information available to the entire team, thus helping each agent to make the best possible decisions. This thesis presents a system for fusing data from multiple unmanned aerial vehicles, unmanned ground vehicles, and human observers. The first issue this thesis addresses is that of centralized data fusion. This is a foundational data fusion issue, which has been very well studied. Important issues in centralized fusion include data association, classification, tracking, and robotics problems. Because these problems are so well studied, this thesis does not make any major contributions in this area, but does review it for completeness. The chapter on centralized fusion concludes with an example unmanned aerial vehicle surveillance problem that demonstrates many of the traditional fusion methods. The second problem this thesis addresses is that of distributed data fusion. Distributed data fusion is a younger field than centralized fusion. The main issues in distributed fusion that are addressed are distributed classification and distributed tracking. There are several well established methods for performing distributed fusion that are first reviewed. The chapter on distributed fusion concludes with a multiple unmanned vehicle collaborative test involving an unmanned aerial vehicle and an unmanned ground vehicle. The third issue this thesis addresses is that of soft sensor only data fusion. Soft-only fusion is a newer field than centralized or distributed hard sensor fusion. Because of the novelty of the field, the chapter on soft only fusion contains less background information and instead focuses on some new results in soft sensor data fusion. Specifically, it discusses a novel fuzzy logic based soft sensor data fusion method. This new method is tested using both simulations and field measurements. The biggest issue addressed in this thesis is that of combined hard and soft fusion. Fusion of hard and soft data is the newest area for research in the data fusion community; therefore, some of the largest theoretical contributions in this thesis are in the chapter on combined hard and soft fusion. This chapter presents a novel combined hard and soft data fusion method based on random set theory, which processes random set data using a particle filter. Furthermore, the particle filter is designed to be distributed across multiple robots and portable computers (used by human observers) so that there is no centralized failure point in the system. After laying out a theoretical groundwork for hard and soft sensor data fusion the thesis presents practical applications for hard and soft sensor data fusion in simulation. Through a series of three progressively more difficult simulations, some important hard and soft sensor data fusion capabilities are demonstrated. The first simulation demonstrates fusing data from a single soft sensor and a single hard sensor in order to track a car that could be driving normally or erratically. The second simulation adds the extra complication of classifying the type of target to the simulation. The third simulation uses multiple hard and soft sensors, with a limited field of view, to track a moving target and classify it as a friend, foe, or neutral. The final chapter builds on the work done in previous chapters by performing a field test of the algorithms for hard and soft sensor data fusion. The test utilizes an unmanned aerial vehicle, an unmanned ground vehicle, and a human observer with a laptop. The test is designed to mimic a collaborative human and robot search and rescue problem. This test makes some of the most important practical contributions of the thesis by showing that the algorithms that have been developed for hard and soft sensor data fusion are capable of running in real time on relatively simple hardware.

Operational effectiveness of a Multiple Aquila Control System (MACS)

NASA Technical Reports Server (NTRS)

Brown, R. W.; Flynn, J. D.; Frey, M. R.

1983-01-01

The operational effectiveness of a multiple aquila control system (MACS) was examined under a variety of remotely piloted vehicle (RPV) mission configurations. The set of assumptions and inputs used to form the rules under which a computerized simulation of MACS was run is given. The characteristics that are to govern MACS operations include: the battlefield environment that generates the requests for RPV missions, operating time-lines of the RPV-peculiar equipment, maintenance requirements, and vulnerability to enemy fire. The number of RPV missions and the number of operation days are discussed. Command, control, and communication data rates are estimated by determining how many messages are passed and what information is necessary in them to support ground coordination between MACS sections.

Rendezvous Integration Complexities of NASA Human Flight Vehicles

NASA Technical Reports Server (NTRS)

Brazzel, Jack P.; Goodman, John L.

2009-01-01

Propellant-optimal trajectories, relative sensors and navigation, and docking/capture mechanisms are rendezvous disciplines that receive much attention in the technical literature. However, other areas must be considered. These include absolute navigation, maneuver targeting, attitude control, power generation, software development and verification, redundancy management, thermal control, avionics integration, robotics, communications, lighting, human factors, crew timeline, procedure development, orbital debris risk mitigation, structures, plume impingement, logistics, and in some cases extravehicular activity. While current and future spaceflight programs will introduce new technologies and operations concepts, the complexity of integrating multiple systems on multiple spacecraft will remain. The systems integration task may become more difficult as increasingly complex software is used to meet current and future automation, autonomy, and robotic operation requirements.

Performance Characteristics For The Orbiter Camera Payload System's Large Format Camera (LFC)

NASA Astrophysics Data System (ADS)

MoIIberg, Bernard H.

1981-11-01

The Orbiter Camera Payload System, the OCPS, is an integrated photographic system which is carried into Earth orbit as a payload in the Shuttle Orbiter vehicle's cargo bay. The major component of the OCPS is a Large Format Camera (LFC) which is a precision wide-angle cartographic instrument that is capable of produc-ing high resolution stereophotography of great geometric fidelity in multiple base to height ratios. The primary design objective for the LFC was to maximize all system performance characteristics while maintaining a high level of reliability compatible with rocket launch conditions and the on-orbit environment.

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.

A numerical study of sensory-guided multiple views for improved object identification

NASA Astrophysics Data System (ADS)

Blakeslee, B. A.; Zelnio, E. G.; Koditschek, D. E.

2014-06-01

We explore the potential on-line adjustment of sensory controls for improved object identification and discrimination in the context of a simulated high resolution camera system carried onboard a maneuverable robotic platform that can actively choose its observational position and pose. Our early numerical studies suggest the significant efficacy and enhanced performance achieved by even very simple feedback-driven iteration of the view in contrast to identification from a fixed pose, uninformed by any active adaptation. Specifically, we contrast the discriminative performance of the same conventional classification system when informed by: a random glance at a vehicle; two random glances at a vehicle; or a random glance followed by a guided second look. After each glance, edge detection algorithms isolate the most salient features of the image and template matching is performed through the use of the Hausdor↵ distance, comparing the simulated sensed images with reference images of the vehicles. We present initial simulation statistics that overwhelmingly favor the third scenario. We conclude with a sketch of our near-future steps in this study that will entail: the incorporation of more sophisticated image processing and template matching algorithms; more complex discrimination tasks such as distinguishing between two similar vehicles or vehicles in motion; more realistic models of the observers mobility including platform dynamics and eventually environmental constraints; and expanding the sensing task beyond the identification of a specified object selected from a pre-defined library of alternatives.

A 3/2-Approximation Algorithm for Multiple Depot Multiple Traveling Salesman Problem

NASA Astrophysics Data System (ADS)

Xu, Zhou; Rodrigues, Brian

As an important extension of the classical traveling salesman problem (TSP), the multiple depot multiple traveling salesman problem (MDMTSP) is to minimize the total length of a collection of tours for multiple vehicles to serve all the customers, where each vehicle must start or stay at its distinct depot. Due to the gap between the existing best approximation ratios for the TSP and for the MDMTSP in literature, which are 3/2 and 2, respectively, it is an open question whether or not a 3/2-approximation algorithm exists for the MDMTSP. We have partially addressed this question by developing a 3/2-approximation algorithm, which runs in polynomial time when the number of depots is a constant.

Extensible Adaptable Simulation Systems: Supporting Multiple Fidelity Simulations in a Common Environment

NASA Technical Reports Server (NTRS)

McLaughlin, Brian J.; Barrett, Larry K.

2012-01-01

Common practice in the development of simulation systems is meeting all user requirements within a single instantiation. The Joint Polar Satellite System (JPSS) presents a unique challenge to establish a simulation environment that meets the needs of a diverse user community while also spanning a multi-mission environment over decades of operation. In response, the JPSS Flight Vehicle Test Suite (FVTS) is architected with an extensible infrastructure that supports the operation of multiple observatory simulations for a single mission and multiple mission within a common system perimeter. For the JPSS-1 satellite, multiple fidelity flight observatory simulations are necessary to support the distinct user communities consisting of the Common Ground System development team, the Common Ground System Integration & Test team, and the Mission Rehearsal Team/Mission Operations Team. These key requirements present several challenges to FVTS development. First, the FVTS must ensure all critical user requirements are satisfied by at least one fidelity instance of the observatory simulation. Second, the FVTS must allow for tailoring of the system instances to function in diverse operational environments from the High-security operations environment at NOAA Satellite Operations Facility (NSOF) to the ground system factory floor. Finally, the FVTS must provide the ability to execute sustaining engineering activities on a subset of the system without impacting system availability to parallel users. The FVTS approach of allowing for multiple fidelity copies of observatory simulations represents a unique concept in simulator capability development and corresponds to the JPSS Ground System goals of establishing a capability that is flexible, extensible, and adaptable.

Predicting Ares I Reaction Control System Performance by Utilizing Analysis Anchored with Development Test Data

NASA Technical Reports Server (NTRS)

Stein, William B.; Holt, K.; Holton, M.; Williams, J. H.; Butt, A.; Dervan, M.; Sharp, D.

2010-01-01

The Ares I launch vehicle is an integral part of NASA s Constellation Program, providing a foundation for a new era of space access. The Ares I is designed to lift the Orion Crew Module and will enable humans to return to the Moon as well as explore Mars.1 The Ares I is comprised of two inline stages: a Space Shuttle-derived five-segment Solid Rocket Booster (SRB) First Stage (FS) and an Upper Stage (US) powered by a Saturn V-derived J-2X engine. A dedicated Roll Control System (RoCS) located on the connecting interstage provides roll control prior to FS separation. Induced yaw and pitch moments are handled by the SRB nozzle vectoring. The FS SRB operates for approximately two minutes after which the US separates from the vehicle and the US Reaction Control System (ReCS) continues to provide reaction control for the remainder of the mission. A representation of the Ares I launch vehicle in the stacked configuration and including the Orion Crew Exploration Vehicle (CEV) is shown in Figure 1. Each Reaction Control System (RCS) design incorporates a Gaseous Helium (GHe) pressurization system combined with a monopropellant Hydrazine (N2H4) propulsion system. Both systems have two diametrically opposed thruster modules. This architecture provides one failure tolerance for function and prevention of catastrophic hazards such as inadvertent thruster firing, bulk propellant leakage, and over-pressurization. The pressurization system on the RoCS includes two ambient pressure-referenced regulators on parallel strings in order to attain the required system level single Fault Tolerant (FT) design for function while the ReCS utilizes a blow-down approach. A single burst disk and relief valve assembly is also included on the RoCS to ensure single failure tolerance for must-not-occur catastrophic hazards. The Reaction Control Systems are designed to support simultaneously firing multiple thrusters as required

Impact of Active Climate Control Seats on Energy Use, Fuel Use, and CO2 Emissions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kreutzer, Cory J; Rugh, John P; Titov, Eugene V

A project was developed through collaboration between Gentherm and NREL to determine the impact of climate control seats for light-duty vehicles in the United States. The project used a combination of experimentation and analysis, with experimental results providing critical input to the analysis process. First, outdoor stationary vehicle testing was performed at NREL's facility in Golden, CO using multiple occupants. Two pre-production Ford Focus electric vehicles were used for testing; one containing a standard inactive seat and the second vehicle containing a Gentherm climate control seat. Multiple maximum cool-down and steady-state cooling tests were performed in late summer conditions. Themore » two vehicles were used to determine the increase in cabin temperature when using the climate control seat in comparison to the baseline vehicle cabin temperature with a standard seat at the equivalent occupant whole-body sensation. The experiments estimated that on average, the climate control seats allowed for a 2.61 degrees Celsius increase in vehicle cabin temperature at equivalent occupant body sensation compared to the baseline vehicle. The increased cabin air temperature along with their measured energy usage were then used as inputs to the national analysis process. The national analysis process was constructed from full vehicle cabin, HVAC, and propulsion models previously developed by NREL. In addition, three representative vehicle platforms, vehicle usage patterns, and vehicle registration weighted environmental data were integrated into the analysis process. Both the baseline vehicle and the vehicle with climate control seats were simulated, using the experimentally determined cabin temperature offset of 2.61degrees Celsius and added seat energy as inputs to the climate control seat vehicle model. The U.S. composite annual fuel use savings for the climate control seats over the baseline A/C system was determined to be 5.1 gallons of gasoline per year per vehicle, corresponding to 4.0 grams of CO2/mile savings. Finally, the potential impact of 100 percent adoption of climate control seats on U.S. light-duty fleet A/C fuel use was calculated to be 1.3 billion gallons of gasoline annually with a corresponding CO2 emissions reduction of 12.7 million tons. Direct comparison of the impact of the CCS to the ventilated seat off-cycle credit was not possible because the NREL analysis calculated a combined car/truck savings and the baseline A/C CO2 emissions were higher than EPA. To enable comparison, the CCS national A/C CO2 emissions were split into car/truck components and the ventilated seat credit was scaled up. The split CO2 emissions savings due to the CCS were 3.5 g/mi for a car and 4.4 g/mi for a truck. The CCS saved an additional 2.0 g/mi and 2.5 g/mi over the adjusted ventilated seat credit for a car and truck, respectively.« less

Using GOMS and Bayesian plan recognition to develop recognition models of operator behavior

NASA Astrophysics Data System (ADS)

Zaientz, Jack D.; DeKoven, Elyon; Piegdon, Nicholas; Wood, Scott D.; Huber, Marcus J.

2006-05-01

Trends in combat technology research point to an increasing role for uninhabited vehicles in modern warfare tactics. To support increased span of control over these vehicles human responsibilities need to be transformed from tedious, error-prone and cognition intensive operations into tasks that are more supervisory and manageable, even under intensely stressful conditions. The goal is to move away from only supporting human command of low-level system functions to intention-level human-system dialogue about the operator's tasks and situation. A critical element of this process is developing the means to identify when human operators need automated assistance and to identify what assistance they need. Toward this goal, we are developing an unmanned vehicle operator task recognition system that combines work in human behavior modeling and Bayesian plan recognition. Traditionally, human behavior models have been considered generative, meaning they describe all possible valid behaviors. Basing behavior recognition on models designed for behavior generation can offers advantages in improved model fidelity and reuse. It is not clear, however, how to reconcile the structural differences between behavior recognition and behavior modeling approaches. Our current work demonstrates that by pairing a cognitive psychology derived human behavior modeling approach, GOMS, with a Bayesian plan recognition engine, ASPRN, we can translate a behavior generation model into a recognition model. We will discuss the implications for using human performance models in this manner as well as suggest how this kind of modeling may be used to support the real-time control of multiple, uninhabited battlefield vehicles and other semi-autonomous systems.

Robust object matching for persistent tracking with heterogeneous features.

PubMed

Guo, Yanlin; Hsu, Steve; Sawhney, Harpreet S; Kumar, Rakesh; Shan, Ying

2007-05-01

This paper addresses the problem of matching vehicles across multiple sightings under variations in illumination and camera poses. Since multiple observations of a vehicle are separated in large temporal and/or spatial gaps, thus prohibiting the use of standard frame-to-frame data association, we employ features extracted over a sequence during one time interval as a vehicle fingerprint that is used to compute the likelihood that two or more sequence observations are from the same or different vehicles. Furthermore, since our domain is aerial video tracking, in order to deal with poor image quality and large resolution and quality variations, our approach employs robust alignment and match measures for different stages of vehicle matching. Most notably, we employ a heterogeneous collection of features such as lines, points, and regions in an integrated matching framework. Heterogeneous features are shown to be important. Line and point features provide accurate localization and are employed for robust alignment across disparate views. The challenges of change in pose, aspect, and appearances across two disparate observations are handled by combining a novel feature-based quasi-rigid alignment with flexible matching between two or more sequences. However, since lines and points are relatively sparse, they are not adequate to delineate the object and provide a comprehensive matching set that covers the complete object. Region features provide a high degree of coverage and are employed for continuous frames to provide a delineation of the vehicle region for subsequent generation of a match measure. Our approach reliably delineates objects by representing regions as robust blob features and matching multiple regions to multiple regions using Earth Mover's Distance (EMD). Extensive experimentation under a variety of real-world scenarios and over hundreds of thousands of Confirmatory Identification (CID) trails has demonstrated about 95 percent accuracy in vehicle reacquisition with both visible and Infrared (IR) imaging cameras.

Impact of Fast Charging on Life of EV Batteries

DOE Office of Scientific and Technical Information (OSTI.GOV)

Neubauer, Jeremy; Wood, Eric; Burton, Evan

2015-05-03

Utilization of public charging infrastructure is heavily dependent on user-specific travel behavior. The availability of fast chargers can positively affect the utility of battery electric vehicles, even given infrequent use. Estimated utilization rates do not appear frequent enough to significantly impact battery life. Battery thermal management systems are critical in mitigating dangerous thermal conditions on long distance tours with multiple fast charge events.

Integrated mobile robot control

NASA Technical Reports Server (NTRS)

Amidi, Omead; Thorpe, Charles

1991-01-01

This paper describes the structure, implementation, and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation, path specification and tracking, human interfaces, fast communication, and multiple client support. The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Navlab autonomous vehicle. In addition, performance results from positioning and tracking systems are reported and analyzed.

Space vehicle engine and heat shield environment review. Volume 1: Engineering analysis

NASA Technical Reports Server (NTRS)

Mcanelly, W. B.; Young, C. T. K.

1973-01-01

Methods for predicting the base heating characteristics of a multiple rocket engine installation are discussed. The environmental data is applied to the design of adequate protection system for the engine components. The methods for predicting the base region thermal environment are categorized as: (1) scale model testing, (2) extrapolation of previous and related flight test results, and (3) semiempirical analytical techniques.

A Testbed Processor for Embedded Multicomputing

DTIC Science & Technology

1990-04-01

Gajski 85]. These two problems of parallel expression and performance impact the real-time response of a vehicle system and, consequently, what models...and memory access. The following discussion of these problems is primarily from Gajski and Peir [ Gajski 85]. Multi-computers are Multiple Instruction...International Symposium on Unmanned Untethered Submersible Technology, University of New Hampshire, Durham, NH, June 22-24 1987, pp. 33-43. [ Gajski 85

Integrated mobile robot control

NASA Astrophysics Data System (ADS)

Amidi, Omead; Thorpe, Chuck E.

1991-03-01

This paper describes the strucwre implementation and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation path specification and hacking human interfaces fast communication and multiple client support The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Naviab autonomous vehicle. In addition performance results from positioning and tracking systems are reported and analyzed.

Use of car crashes resulting in fatal and serious injuries to analyze a safe road transport system model and to identify system weaknesses.

PubMed

Stigson, Helena; Hill, Julian

2009-10-01

The objective of this study was to evaluate a model for a safe road transport system, based on some safety performance indicators regarding the road user, the vehicle, and the road, by using crashes with fatally and seriously injured car occupants. The study also aimed to evaluate whether the model could be used to identify system weaknesses and components (road user, vehicles, and road) where improvements would yield the highest potential for further reductions in serious injuries. Real-life car crashes with serious injury outcomes (Maximum Abbreviated Injury Scale 2+) were classified according to the vehicle's safety rating by Euro NCAP (European New Car Assessment Programme) and whether the vehicle was fitted with ESC (Electronic Stability Control). For each crash, the road was also classified according to EuroRAP (European Road Assessment Programme) criteria, and human behavior in terms of speeding, seat belt use, and driving under the influence of alcohol/drugs. Each crash was compared and classified according to the model criteria. Crashes where the safety criteria were not met in more than one of the 3 components were reclassified to identify whether all the components were correlated to the injury outcome. In-depth crash injury data collected by the UK On The Spot (OTS) accident investigation project was used in this study. All crashes in the OTS database occurring between 2000 and 2005 with a car occupant with injury rated MAIS2+ were included, for a total of 101 crashes with 120 occupants. It was possible to classify 90 percent of the crashes according to the model. Eighty-six percent of the occupants were injured when more than one of the 3 components were noncompliant with the safety criteria. These cases were reclassified to identify whether all of the components were correlated to the injury outcome. In 39 of the total 108 cases, at least two components were still seen to interact. The remaining cases were only related to one of the safety criteria, namely, the road user (26), the vehicle (19), and the road (24). The criteria for the road and the vehicle did not address multiple event crashes, rear-end crashes, hitting stationary/parked vehicles, or trailers. The model for a safe road transport system was found useful to classify fatal and serious road vehicle crashes. It was possible to classify 90 percent of the crashes according to the safety road transport model. For all these cases it was possible to identify weaknesses and parts of the road transport system with the highest potential to prevent fatal and serious injuries. Injury outcomes were mostly related to an interaction between the 3 components: the road, the vehicle, and the road user.

Simultaneous Deep-Ocean Operations With Autonomous and Remotely Operated Vehicles

NASA Astrophysics Data System (ADS)

Yoerger, D. R.; Bowen, A. D.; Bradley, A. M.

2005-12-01

The complimentary capabilities of autonomous and remotely vehicles can be obtained more efficiently if two or more vehicles can be deployed simultaneously from a single vessel. Simultaneous operations make better use of ship time and personnel. However, such operations require specific technical capabilities and careful scheduling. We recently demonstrated several key capabilities on the VISIONS05 cruise to the Juan de Fuca Ridge, where the Autonomous Benthic Explorer (ABE) and the ROV Jason 2 were operated simultaneously. The cruise featured complex ROV operations ranging from servicing seismic instruments, water sampling, drilling, and installation of in-situ experiments. The AUV provided detailed near-bottom bathymetry of the Endeavour segment while concurrently providing a cable route survey for a primary Canadian Neptune node. To meet these goals, we had to operate both vehicles at the same time. In previous efforts, we have operated ABE in a coordinated fashion with either the submersible Alvin or Jason 2. But the vehicles were either deployed sequentially or they were operated in separate acoustic transponder nets with the restriction that the vessel recover the AUV within a reasonable period after it reached the surface to avoid loss of the AUV. During the VISIONS05 cruise, we operated both vehicles at the same time and demonstrated several key capabilities to make simultaneous operations more efficient. These include the ability of the AUV to anchor to the seafloor after its batteries were expended or if a fault occurred, allowing complex ROV operations to run to completion without the constraint of retrieving the AUV at a specific time. The anchoring system allowed the vehicle to rest near the seafloor on a short mooring in a low power state. The AUV returned to the surface either through an acoustic command from the vessel or when a preassigned time was reached. We also tested an experimental acoustic beacon system that can allow multiple vehicles to determine their position without interfering with each other.

Identification and validation of a logistic regression model for predicting serious injuries associated with motor vehicle crashes.

PubMed

Kononen, Douglas W; Flannagan, Carol A C; Wang, Stewart C

2011-01-01

A multivariate logistic regression model, based upon National Automotive Sampling System Crashworthiness Data System (NASS-CDS) data for calendar years 1999-2008, was developed to predict the probability that a crash-involved vehicle will contain one or more occupants with serious or incapacitating injuries. These vehicles were defined as containing at least one occupant coded with an Injury Severity Score (ISS) of greater than or equal to 15, in planar, non-rollover crash events involving Model Year 2000 and newer cars, light trucks, and vans. The target injury outcome measure was developed by the Centers for Disease Control and Prevention (CDC)-led National Expert Panel on Field Triage in their recent revision of the Field Triage Decision Scheme (American College of Surgeons, 2006). The parameters to be used for crash injury prediction were subsequently specified by the National Expert Panel. Model input parameters included: crash direction (front, left, right, and rear), change in velocity (delta-V), multiple vs. single impacts, belt use, presence of at least one older occupant (≥ 55 years old), presence of at least one female in the vehicle, and vehicle type (car, pickup truck, van, and sport utility). The model was developed using predictor variables that may be readily available, post-crash, from OnStar-like telematics systems. Model sensitivity and specificity were 40% and 98%, respectively, using a probability cutpoint of 0.20. The area under the receiver operator characteristic (ROC) curve for the final model was 0.84. Delta-V (mph), seat belt use and crash direction were the most important predictors of serious injury. Due to the complexity of factors associated with rollover-related injuries, a separate screening algorithm is needed to model injuries associated with this crash mode. Copyright © 2010 Elsevier Ltd. All rights reserved.

Launch Vehicles

NASA Image and Video Library

2007-09-09

Under the goals of the Vision for Space Exploration, Ares I is a chief component of the cost-effective space transportation infrastructure being developed by NASA's Constellation Program. This transportation system will safely and reliably carry human explorers back to the moon, and then onward to Mars and other destinations in the solar system. The Ares I effort includes multiple project element teams at NASA centers and contract organizations around the nation, and is managed by the Exploration Launch Projects Office at NASA's Marshall Space Flight Center (MFSC). ATK Launch Systems near Brigham City, Utah, is the prime contractor for the first stage booster. ATK's subcontractor, United Space Alliance of Houston, is designing, developing and testing the parachutes at its facilities at NASA's Kennedy Space Center in Florida. NASA's Johnson Space Center in Houston hosts the Constellation Program and Orion Crew Capsule Project Office and provides test instrumentation and support personnel. Together, these teams are developing vehicle hardware, evolving proven technologies, and testing components and systems. Their work builds on powerful, reliable space shuttle propulsion elements and nearly a half-century of NASA space flight experience and technological advances. Ares I is an inline, two-stage rocket configuration topped by the Crew Exploration Vehicle, its service module, and a launch abort system. The launch vehicle's first stage is a single, five-segment reusable solid rocket booster derived from the Space Shuttle Program's reusable solid rocket motor that burns a specially formulated and shaped solid propellant called polybutadiene acrylonitrile (PBAN). The second or upper stage will be propelled by a J-2X main engine fueled with liquid oxygen and liquid hydrogen. This HD video image depicts a test firing of a 40k subscale J2X injector at MSFC's test stand 115. (Highest resolution available)

Passive Sensor Integration for Vehicle Self-Localization in Urban Traffic Environment †

PubMed Central

Gu, Yanlei; Hsu, Li-Ta; Kamijo, Shunsuke

2015-01-01

This research proposes an accurate vehicular positioning system which can achieve lane-level performance in urban canyons. Multiple passive sensors, which include Global Navigation Satellite System (GNSS) receivers, onboard cameras and inertial sensors, are integrated in the proposed system. As the main source for the localization, the GNSS technique suffers from Non-Line-Of-Sight (NLOS) propagation and multipath effects in urban canyons. This paper proposes to employ a novel GNSS positioning technique in the integration. The employed GNSS technique reduces the multipath and NLOS effects by using the 3D building map. In addition, the inertial sensor can describe the vehicle motion, but has a drift problem as time increases. This paper develops vision-based lane detection, which is firstly used for controlling the drift of the inertial sensor. Moreover, the lane keeping and changing behaviors are extracted from the lane detection function, and further reduce the lateral positioning error in the proposed localization system. We evaluate the integrated localization system in the challenging city urban scenario. The experiments demonstrate the proposed method has sub-meter accuracy with respect to mean positioning error. PMID:26633420

Vehicle dynamic prediction systems with on-line identification of vehicle parameters and road conditions.

PubMed

Hsu, Ling-Yuan; Chen, Tsung-Lin

2012-11-13

This paper presents a vehicle dynamics prediction system, which consists of a sensor fusion system and a vehicle parameter identification system. This sensor fusion system can obtain the six degree-of-freedom vehicle dynamics and two road angles without using a vehicle model. The vehicle parameter identification system uses the vehicle dynamics from the sensor fusion system to identify ten vehicle parameters in real time, including vehicle mass, moment of inertial, and road friction coefficients. With above two systems, the future vehicle dynamics is predicted by using a vehicle dynamics model, obtained from the parameter identification system, to propagate with time the current vehicle state values, obtained from the sensor fusion system. Comparing with most existing literatures in this field, the proposed approach improves the prediction accuracy both by incorporating more vehicle dynamics to the prediction system and by on-line identification to minimize the vehicle modeling errors. Simulation results show that the proposed method successfully predicts the vehicle dynamics in a left-hand turn event and a rollover event. The prediction inaccuracy is 0.51% in a left-hand turn event and 27.3% in a rollover event.

Vehicle Dynamic Prediction Systems with On-Line Identification of Vehicle Parameters and Road Conditions

PubMed Central

Hsu, Ling-Yuan; Chen, Tsung-Lin

2012-01-01

This paper presents a vehicle dynamics prediction system, which consists of a sensor fusion system and a vehicle parameter identification system. This sensor fusion system can obtain the six degree-of-freedom vehicle dynamics and two road angles without using a vehicle model. The vehicle parameter identification system uses the vehicle dynamics from the sensor fusion system to identify ten vehicle parameters in real time, including vehicle mass, moment of inertial, and road friction coefficients. With above two systems, the future vehicle dynamics is predicted by using a vehicle dynamics model, obtained from the parameter identification system, to propagate with time the current vehicle state values, obtained from the sensor fusion system. Comparing with most existing literatures in this field, the proposed approach improves the prediction accuracy both by incorporating more vehicle dynamics to the prediction system and by on-line identification to minimize the vehicle modeling errors. Simulation results show that the proposed method successfully predicts the vehicle dynamics in a left-hand turn event and a rollover event. The prediction inaccuracy is 0.51% in a left-hand turn event and 27.3% in a rollover event. PMID:23202231

Into the Deep Black Sea: The Icefin Modular AUV for Ice-Covered Ocean Exploration

NASA Astrophysics Data System (ADS)

Meister, M. R.; Schmidt, B. E.; West, M. E.; Walker, C. C.; Buffo, J.; Spears, A.

2015-12-01

The Icefin autonomous underwater vehicle (AUV) was designed to enable long-range oceanographic exploration of physical and biological ocean environments in ice-covered regions. The vehicle is capable of surveying under-ice geometry, ice and ice-ocean interface properties, as well as water column conditions beneath the ice interface. It was developed with both cryospheric and planetary-analog exploration in mind. The first Icefin prototype was successfully operated in Antarctica in Austral summer 2014. The vehicle was deployed through a borehole in the McMurdo Ice Shelf near Black Island and successfully collected sonar, imaging, video and water column data down to 450 m depth. Icefin was developed using a modular design. Each module is designed to perform specific tasks, dependent on the mission objective. Vehicle control and data systems can be stably developed, and power modules added or subtracted for mission flexibility. Multiple sensor bays can be developed in parallel to serve multiple science objectives. This design enables the vehicle to have greater depth capability as well as improved operational simplicity compared to larger vehicles with equivalent capabilities. As opposed to those vehicles that require greater logistics and associated costs, Icefin can be deployed through boreholes drilled in the ice. Thus, Icefin satisfies the demands of achieving sub-ice missions while maintaining a small form factor and easy deployment necessary for repeated, low-logistical impact field programs. The current Icefin prototype is 10.5 inches in diameter by 10 feet long and weighs 240 pounds. It is comprised of two thruster modules with hovering capabilities, an oceanographic sensing module, main control module and a forward-sensing module for obstacle avoidance. The oceanographic sensing module is fitted with a side scan sonar (SSS), CT sensor, altimetry profiler and Doplar Velocity Log (DVL) with current profiling. Icefin is depth-rated to 1500 m and is equipped with 3.5 km of fiber optic, Kevlar reinforced cable, which provides point-to-point communications as well as a stable recovery platform between missions. SUPPORT: Icefin was designed and built at Georgia Tech, under Dr. Britney Schmidt's startup funds with effort contributed from Georgia Tech Research Institute (GTRI).

A meta-analysis of in-vehicle and nomadic voice-recognition system interaction and driving performance.

PubMed

Simmons, Sarah M; Caird, Jeff K; Steel, Piers

2017-09-01

Driver distraction is a growing and pervasive issue that requires multiple solutions. Voice-recognition (V-R) systems may decrease the visual-manual (V-M) demands of a wide range of in-vehicle system and smartphone interactions. However, the degree that V-R systems integrated into vehicles or available in mobile phone applications affect driver distraction is incompletely understood. A comprehensive meta-analysis of experimental studies was conducted to address this knowledge gap. To meet study inclusion criteria, drivers had to interact with a V-R system while driving and doing everyday V-R tasks such as dialing, initiating a call, texting, emailing, destination entry or music selection. Coded dependent variables included detection, reaction time, lateral position, speed and headway. Comparisons of V-R systems with baseline driving and/or a V-M condition were also coded. Of 817 identified citations, 43 studies involving 2000 drivers and 183 effect sizes (r) were analyzed in the meta-analysis. Compared to baseline, driving while interacting with a V-R system is associated with increases in reaction time and lane positioning, and decreases in detection. When V-M systems were compared to V-R systems, drivers had slightly better performance with the latter system on reaction time, lane positioning and headway. Although V-R systems have some driving performance advantages over V-M systems, they have a distraction cost relative to driving without any system at all. The pattern of results indicates that V-R systems impose moderate distraction costs on driving. In addition, drivers minimally engage in compensatory performance adjustments such as reducing speed and increasing headway while using V-R systems. Implications of the results for theory, design guidelines and future research are discussed. Copyright © 2017 Elsevier Ltd. All rights reserved.

Improving land vehicle situational awareness using a distributed aperture system

NASA Astrophysics Data System (ADS)

Fortin, Jean; Bias, Jason; Wells, Ashley; Riddle, Larry; van der Wal, Gooitzen; Piacentino, Mike; Mandelbaum, Robert

2005-05-01

U.S. Army Research, Development, and Engineering Command (RDECOM) Communications Electronics Research, Development and Engineering Center (CERDEC) Night Vision and Electronic Sensors Directorate (NVESD) has performed early work to develop a Distributed Aperture System (DAS). The DAS aims at improving the situational awareness of armored fighting vehicle crews under closed-hatch conditions. The concept is based on a plurality of sensors configured to create a day and night dome of surveillance coupled with heads up displays slaved to the operator's head to give a "glass turret" feel. State-of-the-art image processing is used to produce multiple seamless hemispherical views simultaneously available to the vehicle commander, crew members and dismounting infantry. On-the-move automatic cueing of multiple moving/pop-up low silhouette threats is also done with the possibility to save/revisit/share past events. As a first step in this development program, a contract was awarded to United Defense to further develop the Eagle VisionTM system. The second-generation prototype features two camera heads, each comprising four high-resolution (2048x1536) color sensors, and each covering a field of view of 270°hx150°v. High-bandwidth digital links interface the camera heads with a field programmable gate array (FPGA) based custom processor developed by Sarnoff Corporation. The processor computes the hemispherical stitch and warp functions required for real-time, low latency, immersive viewing (360°hx120°v, 30° down) and generates up to six simultaneous extended graphics array (XGA) video outputs for independent display either on a helmet-mounted display (with associated head tracking device) or a flat panel display (and joystick). The prototype is currently in its last stage of development and will be integrated on a vehicle for user evaluation and testing. Near-term improvements include the replacement of the color camera heads with a pixel-level fused combination of uncooled long wave infrared (LWIR) and low light level intensified imagery. It is believed that the DAS will significantly increase situational awareness by providing the users with a day and night, wide area coverage, immersive visualization capability.

Improvements To Progressive Wave Tube Performance Through Closed-Loop Control

NASA Technical Reports Server (NTRS)

Rizzi, Stephen A.

2000-01-01

This report documents recent improvements to the acoustic and thermal control systems of the Thermal Acoustic Fatigue Apparatus (TAFA), a progressive wave tube test facility at the NASA Langley Research Center, Hampton, Virginia. A brief summary of past acoustic performance is given first to serve as a basis for comparison with the new performance data using a multiple-input, closed-loop, narrow-band controller. Performance data in the form of test section acoustic power spectral densities and coherence are presented in three of six facility configurations for a variety of input spectra. Tested spectra include uniform, two cases of pink noise, three cases of narrow-band random, a simulated launch payload bay environment for an expendable launch vehicle, and a simulated external acoustic load for the aft section of a reusable launch vehicle. In addition, a new closed-loop temperature controller and thermocouple data acquisition system are described.

Protection from Induced Space Environments Effects on the International Space Station

NASA Technical Reports Server (NTRS)

Soares, Carlos; Mikatarian, Ron; Stegall, Courtney; Schmidl, Danny; Huang, Alvin; Olsen, Randy; Koontz, Steven

2010-01-01

The International Space Station (ISS) is one of the largest, most complex multinational scientific projects in history and protection from induced space environments effects is critical to its long duration mission as well as to the health of the vehicle and safety of on-orbit operations. This paper discusses some of the unique challenges that were encountered during the design, assembly and operation of the ISS and how they were resolved. Examples are provided to illustrate the issues and the risk mitigation strategies that were developed to resolve these issues. Of particular importance are issues related with the interaction of multiple spacecraft as in the case of ISS and Visiting Vehicles transporting crew, hardware elements, cargo and scientific payloads. These strategies are applicable to the development of future long duration space systems, not only during design, but also during assembly and operation of these systems.

Multiple pedestrian detection using IR LED stereo camera

NASA Astrophysics Data System (ADS)

Ling, Bo; Zeifman, Michael I.; Gibson, David R. P.

2007-09-01

As part of the U.S. Department of Transportations Intelligent Vehicle Initiative (IVI) program, the Federal Highway Administration (FHWA) is conducting R&D in vehicle safety and driver information systems. There is an increasing number of applications where pedestrian monitoring is of high importance. Visionbased pedestrian detection in outdoor scenes is still an open challenge. People dress in very different colors that sometimes blend with the background, wear hats or carry bags, and stand, walk and change directions unpredictably. The background is various, containing buildings, moving or parked cars, bicycles, street signs, signals, etc. Furthermore, existing pedestrian detection systems perform only during daytime, making it impossible to detect pedestrians at night. Under FHWA funding, we are developing a multi-pedestrian detection system using IR LED stereo camera. This system, without using any templates, detects the pedestrians through statistical pattern recognition utilizing 3D features extracted from the disparity map. A new IR LED stereo camera is being developed, which can help detect pedestrians during daytime and night time. Using the image differencing and denoising, we have also developed new methods to estimate the disparity map of pedestrians in near real time. Our system will have a hardware interface with the traffic controller through wireless communication. Once pedestrians are detected, traffic signals at the street intersections will change phases to alert the drivers of approaching vehicles. The initial test results using images collected at a street intersection show that our system can detect pedestrians in near real time.

An Orientation Sensor-Based Head Tracking System for Driver Behaviour Monitoring

PubMed Central

Görne, Lorenz; Yuen, Iek-Man; Cao, Dongpu; Sullman, Mark; Auger, Daniel; Lv, Chen; Wang, Huaji; Matthias, Rebecca; Skrypchuk, Lee; Mouzakitis, Alexandros

2017-01-01

Although at present legislation does not allow drivers in a Level 3 autonomous vehicle to engage in a secondary task, there may become a time when it does. Monitoring the behaviour of drivers engaging in various non-driving activities (NDAs) is crucial to decide how well the driver will be able to take over control of the vehicle. One limitation of the commonly used face-based head tracking system, using cameras, is that sufficient features of the face must be visible, which limits the detectable angle of head movement and thereby measurable NDAs, unless multiple cameras are used. This paper proposes a novel orientation sensor based head tracking system that includes twin devices, one of which measures the movement of the vehicle while the other measures the absolute movement of the head. Measurement error in the shaking and nodding axes were less than 0.4°, while error in the rolling axis was less than 2°. Comparison with a camera-based system, through in-house tests and on-road tests, showed that the main advantage of the proposed system is the ability to detect angles larger than 20° in the shaking and nodding axes. Finally, a case study demonstrated that the measurement of the shaking and nodding angles, produced from the proposed system, can effectively characterise the drivers’ behaviour while engaged in the NDAs of chatting to a passenger and playing on a smartphone. PMID:29165331

Antennas for mobile satellite communications

NASA Technical Reports Server (NTRS)

Huang, John

1991-01-01

A NASA sponsored program, called the Mobile Satellite (MSAT) system, has prompted the development of several innovative antennas at L-band frequencies. In the space segment of the MSAT system, an efficient, light weight, circularly polarized microstrip array that uses linearly polarized elements was developed as a multiple beam reflector feed system. In the ground segment, a low-cost, low-profile, and very efficient microstrip Yagi array was developed as a medium-gain mechanically steered vehicle antenna. Circularly shaped microstrip patches excited at higher-order modes were also developed as low-gain vehicle antennas. A more recent effort called for the development of a 20/30 GHz mobile terminal antenna for future-generation mobile satellite communications. To combat the high insertion loss encountered at 20/30 GHz, series-fed Monolithic Microwave Integrated Circuit (MMIC) microstrip array antennas are currently being developed. These MMIC arrays may lead to the development of several small but high-gain Ka-band antennas for the Personal Access Satellite Service planned for the 2000s.

NASA Space Launch System: A Cornerstone Capability for Exploration

NASA Technical Reports Server (NTRS)

Creech, Stephen D.; Robinson, Kimberly F.

2014-01-01

Under construction today, the National Aeronautics and Space Administration's (NASA) Space Launch System (SLS), managed at the Marshall Space Flight Center, will provide a robust new capability for human and robotic exploration beyond Earth orbit. The vehicle's initial configuration, sched will enable human missions into lunar space and beyond, as well as provide game-changing benefits for space science missions, including offering substantially reduced transit times for conventionally designed spacecraft. From there, the vehicle will undergo a series of block upgrades via an evolutionary development process designed to expedite mission capture as capability increases. The Space Launch System offers multiple benefits for a variety of utilization areas. From a mass-lift perspective, the initial configuration of the vehicle, capable of delivering 70 metric tons (t) to low Earth orbit (LEO), will be the world's most powerful launch vehicle. Optimized for missions beyond Earth orbit, it will also be the world's only exploration-class launch vehicle capable of delivering 25 t to lunar orbit. The evolved configuration, with a capability of 130 t to LEO, will be the most powerful launch vehicle ever flown. From a volume perspective, SLS will be compatible with the payload envelopes of contemporary launch vehicles, but will also offer options for larger fairings with unprecedented volume-lift capability. The vehicle's mass-lift capability also means that it offers extremely high characteristic energy for missions into deep space. This paper will discuss the impacts that these factors - mass-lift, volume, and characteristic energy - have on a variety of mission classes, particularly human exploration and space science. It will address the vehicle's capability to enable existing architectures for deep-space exploration, such as those documented in the Global Exploration Roadmap, a capabilities-driven outline for future deep-space voyages created by the International Space Exploration Coordination Group, which represents 14 of the world's space agencies. In addition, this paper will detail this new rocket's capability to support missions beyond the human exploration roadmap, including robotic precursor missions to other worlds or uniquely high-mass space operation facilities in Earth orbit. As this paper will explain, the SLS Program is currently building a global infrastructure asset that will provide robust space launch capability to deliver sustainable solutions for exploration.

NASA's Space Launch System: A Cornerstone Capability for Exploration

NASA Technical Reports Server (NTRS)

Creech, Stephen D.

2014-01-01

Under construction today, the National Aeronautics and Space Administration's (NASA) Space Launch System (SLS), managed at the Marshall Space Flight Center, will provide a robust new capability for human and robotic exploration beyond Earth orbit. The vehicle's initial configuration, scheduled for first launch in 2017, will enable human missions into lunar space and beyond, as well as provide game-changing benefits for space science missions, including offering substantially reduced transit times for conventionally designed spacecraft. From there, the vehicle will undergo a series of block upgrades via an evolutionary development process designed to expedite mission capture as capability increases. The Space Launch System offers multiple benefits for a variety of utilization areas. From a mass-lift perspective, the initial configuration of the vehicle, capable of delivering 70 metric tons (t) to low Earth orbit (LEO), will be the world's most powerful launch vehicle. Optimized for missions beyond Earth orbit, it will also be the world's only exploration-class launch vehicle capable of delivering 25 t to lunar orbit. The evolved configuration, with a capability of 130 t to LEO, will be the most powerful launch vehicle ever flown. From a volume perspective, SLS will be compatible with the payload envelopes of contemporary launch vehicles, but will also offer options for larger fairings with unprecedented volume-lift capability. The vehicle's mass-lift capability also means that it offers extremely high characteristic energy for missions into deep space. This paper will discuss the impacts that these factors - mass-lift, volume, and characteristic energy - have on a variety of mission classes, particularly human exploration and space science. It will address the vehicle's capability to enable existing architectures for deep-space exploration, such as those documented in the Global Exploration Roadmap, a capabilities-driven outline for future deep-space voyages created by the International Space Exploration Coordination Group, which represents 12 of the world's space agencies. In addition, this paper will detail this new rocket's capability to support missions beyond the human exploration roadmap, including robotic precursor missions to other worlds or uniquely high-mass space operation facilities in Earth orbit. As this paper will explain, the SLS Program is currently building a global infrastructure asset that will provide robust space launch capability to deliver sustainable solutions for exploration.

Complex multidisciplinary system composition for aerospace vehicle conceptual design

NASA Astrophysics Data System (ADS)

Gonzalez, Lex

Although, there exists a vast amount of work concerning the analysis, design, integration of aerospace vehicle systems, there is no standard for how this data and knowledge should be combined in order to create a synthesis system. Each institution creating a synthesis system has in house vehicle and hardware components they are attempting to model and proprietary methods with which to model them. This leads to the fact that synthesis systems begin as one-off creations meant to answer a specific problem. As the scope of the synthesis system grows to encompass more and more problems, so does its size and complexity; in order for a single synthesis system to answer multiple questions the number of methods and method interface must increase. As a means to curtail the requirement that the increase of an aircraft synthesis systems capability leads to an increase in its size and complexity, this research effort focuses on the idea that each problem in aerospace requires its own analysis framework. By focusing on the creation of a methodology which centers on the matching of an analysis framework towards the problem being solved, the complexity of the analysis framework is decoupled from the complexity of the system that creates it. The derived methodology allows for the composition of complex multi-disciplinary systems (CMDS) through the automatic creation and implementation of system and disciplinary method interfaces. The CMDS Composition process follows a four step methodology meant to take a problem definition and progress towards the creation of an analysis framework meant to answer said problem. The unique implementation of the CMDS Composition process take user selected disciplinary analysis methods and automatically integrates them, together in order to create a syntactically composable analysis framework. As a means of assessing the validity of the CMDS Composition process a prototype system (AVDDBMS) has been developed. AVD DBMS has been used to model the Generic Hypersonic Vehicle (GHV), an open source family of hypersonic vehicles originating from the Air Force Research Laboratory. AVDDBMS has been applied in three different ways in order to assess its validity: Verification using GHV disciplinary data, Validation using selected disciplinary analysis methods, and Application of the CMDS Composition Process to assess the design solution space for the GHV hardware. The research demonstrates the holistic effect that selection of individual disciplinary analysis methods has on the structure and integration of the analysis framework.

Crash-Related Mortality and Model Year: Are Newer Vehicles Safer?

PubMed Central

Ryb, Gabriel E; Dischinger, Patricia C; McGwin, Gerald; Griffin, Russell L

2011-01-01

Objective: The objective of this study was to determine whether occupants of newer vehicles experience a lower risk of crash-related mortality. Methods: The occurrence of death was studied in relation to vehicle model year (MY) among front seat vehicular occupants, age ≥ 16 captured in the National Automotive Sampling System Crashworthiness Data System (NASS-CDS) between 2000 and 2008. The associations between death and other occupant, vehicular and crash characteristics were also explored. Multiple logistic regression models for the prediction of death were built with model year as the independent variable and other characteristics linked to death as covariates. Imputation was used for missing data; weighted data was used. Results: A total of 70,314 cases representing 30,514,372 weighted cases were available for analysis. Death occurred in 0.6% of the weighted population. Death was linked to age>60, male gender, higher BMI, near lateral direction of impact, high delta v, rollover, ejection and vehicle mismatch, and negatively associated with seatbelt use and rear and far lateral direction of impact. Mortality decreased with later model year groups (MY<94 0.78%, MY 94–97 0.53%, MY 98-04 0.51% and MY 05–08 0.38%, p=<0.0001). After adjustment for confounders, MY 94–97, MY 98-04 and MY 05–08 showed decreased odds of death [OR 0.80 (0.69–0.94), 0.82 (0.70–0.97), and 0.67 (0.47–0.96), respectively] when compared to MY <94. Conclusion: Newer vehicles are associated with lower crash-related mortality. Their introduction into the vehicle fleet may explain, at least in part, the decrease in mortality rates in the past two decades. PMID:22105389

Crash-related mortality and model year: are newer vehicles safer?

PubMed

Ryb, Gabriel E; Dischinger, Patricia C; McGwin, Gerald; Griffin, Russell L

2011-01-01

The objective of this study was to determine whether occupants of newer vehicles experience a lower risk of crash-related mortality. The occurrence of death was studied in relation to vehicle model year (MY) among front seat vehicular occupants, age ≥ 16 captured in the National Automotive Sampling System Crashworthiness Data System (NASS-CDS) between 2000 and 2008. The associations between death and other occupant, vehicular and crash characteristics were also explored. Multiple logistic regression models for the prediction of death were built with model year as the independent variable and other characteristics linked to death as covariates. Imputation was used for missing data; weighted data was used. A total of 70,314 cases representing 30,514,372 weighted cases were available for analysis. Death occurred in 0.6% of the weighted population. Death was linked to age>60, male gender, higher BMI, near lateral direction of impact, high delta v, rollover, ejection and vehicle mismatch, and negatively associated with seatbelt use and rear and far lateral direction of impact. Mortality decreased with later model year groups (MY<94 0.78%, MY 94-97 0.53%, MY 98-04 0.51% and MY 05-08 0.38%, p=<0.0001). After adjustment for confounders, MY 94-97, MY 98-04 and MY 05-08 showed decreased odds of death [OR 0.80 (0.69-0.94), 0.82 (0.70-0.97), and 0.67 (0.47-0.96), respectively] when compared to MY <94. Newer vehicles are associated with lower crash-related mortality. Their introduction into the vehicle fleet may explain, at least in part, the decrease in mortality rates in the past two decades.

Path Planning Algorithms for Autonomous Border Patrol Vehicles

NASA Astrophysics Data System (ADS)

Lau, George Tin Lam

This thesis presents an online path planning algorithm developed for unmanned vehicles in charge of autonomous border patrol. In this Pursuit-Evasion game, the unmanned vehicle is required to capture multiple trespassers on its own before any of them reach a target safe house where they are safe from capture. The problem formulation is based on Isaacs' Target Guarding problem, but extended to the case of multiple evaders. The proposed path planning method is based on Rapidly-exploring random trees (RRT) and is capable of producing trajectories within several seconds to capture 2 or 3 evaders. Simulations are carried out to demonstrate that the resulting trajectories approach the optimal solution produced by a nonlinear programming-based numerical optimal control solver. Experiments are also conducted on unmanned ground vehicles to show the feasibility of implementing the proposed online path planning algorithm on physical applications.

Multiple-Agent Air/Ground Autonomous Exploration Systems

NASA Technical Reports Server (NTRS)

Fink, Wolfgang; Chao, Tien-Hsin; Tarbell, Mark; Dohm, James M.

2007-01-01

Autonomous systems of multiple-agent air/ground robotic units for exploration of the surfaces of remote planets are undergoing development. Modified versions of these systems could be used on Earth to perform tasks in environments dangerous or inaccessible to humans: examples of tasks could include scientific exploration of remote regions of Antarctica, removal of land mines, cleanup of hazardous chemicals, and military reconnaissance. A basic system according to this concept (see figure) would include a unit, suspended by a balloon or a blimp, that would be in radio communication with multiple robotic ground vehicles (rovers) equipped with video cameras and possibly other sensors for scientific exploration. The airborne unit would be free-floating, controlled by thrusters, or tethered either to one of the rovers or to a stationary object in or on the ground. Each rover would contain a semi-autonomous control system for maneuvering and would function under the supervision of a control system in the airborne unit. The rover maneuvering control system would utilize imagery from the onboard camera to navigate around obstacles. Avoidance of obstacles would also be aided by readout from an onboard (e.g., ultrasonic) sensor. Together, the rover and airborne control systems would constitute an overarching closed-loop control system to coordinate scientific exploration by the rovers.

Small Body Hopper Mobility Concepts

NASA Technical Reports Server (NTRS)

Howe, A. Scott; Gernhardt, Michael L.; Lee, Dave E.; Crues, E. Zack; Dexter, Dan E.; Abercromby, Andrew F. J.; Chappell, Steve P.; Nguyen, Hung T.

2015-01-01

A propellant-saving hopper mobility system was studied that could help facilitate the exploration of small bodies such as Phobos for long-duration human missions. The NASA Evolvable Mars Campaign (EMC) has proposed a mission to the moons of Mars as a transitional step for eventual Mars surface exploration. While a Mars transit habitat would be parked in High-Mars Orbit (HMO), crew members would visit the surface of Phobos multiple times for up to 14 days duration (up to 50 days at a time with logistics support). This paper describes a small body surface mobility concept that is capable of transporting a small, two-person Pressurized Exploration Vehicle (PEV) cabin to various sites of interest in the low-gravity environment. Using stored kinetic energy between bounces, a propellant-saving hopper mobility system can release the energy to vector the vehicle away from the surface in a specified direction. Alternatively, the stored energy can be retained for later use while the vehicle is stationary in respect to the surface. The hopper actuation was modeled using a variety of launch velocities, and the hopper mobility was evaluated using NASA Exploration Systems Simulations (NExSyS) for transit between surface sites of interest. A hopper system with linear electromagnetic motors and mechanical spring actuators coupled with Control Moment Gyroscope (CMG) for attitude control will use renewable electrical power, resulting in a significant propellant savings.

Investigating methods for determining mismatch in near side vehicle impacts - biomed 2009.

PubMed

Loftis, Kathryn; Martin, R Shayn; Meredith, J Wayne; Stitzel, Joel

2009-01-01

This study investigates vehicle mismatch in severe side-impact motor vehicle collisions. Research conducted by the Insurance Institute for Highway Safety has determined that vehicle mismatch often leads to very severe injuries for occupants in the struck vehicle, because the larger striking vehicle does not engage the lower sill upon impact, resulting in severe intrusions into the occupant compartment. Previous studies have analyzed mismatched collisions according to vehicle type, not by the difference in vehicle height and weight. It is hypothesized that the combination of a heavier striking vehicle at a taller height results in more intrusion for the struck vehicle and severe injury for the near side occupant. By analyzing Crash Injury Research and Engineering Network (CIREN) data and occupant injury severity, it is possible to study intrusion and injuries that occur due to vehicle mismatch. CIREN enrolls seriously injured occupants involved in motor vehicle crashes (MVC) across the United States. From the Toyota-Wake Forest University CIREN center, 23 near side impact cases involving two vehicles were recorded. Only 3 of these seriously injured occupant cases were not considered mismatched according to vehicle curb weight, and only 2 were not considered vehicle mismatched according to height differences. The mismatched CIREN cases had an average difference in vehicle curb weight of 737.0 kg (standard deviation of 646.8) and an average difference in vehicle height of 16.38 cm (standard deviation of 7.186). There were 13 occupants with rib fractures, 12 occupants with pelvic fractures, 9 occupants with pulmonary contusion, and 5 occupants with head injuries, among other multiple injuries. The average Injury Severity Score (ISS) for these occupants was 27, with a standard deviation of 16. The most serious injuries resulted in an Abbreviated Injury Scale (AIS) of 5, which included 3 occupants. Each of these AIS 5 injuries were to different body regions on different occupants. By analyzing the vehicle information and occupant injuries, it was found that the vehicle mismatch problem involves differences in vehicle weights and heights and also results in severe injuries to multiple body regions for the near side occupant involved. There was a low correlation of vehicle height difference to occupant ISS.

Ares V and Future Very Large Launch Vehicles to Enable Major Astronomical Missions

NASA Technical Reports Server (NTRS)

Thronson, Harley A.; Lester, Daniel F.; Langhoff, Stephanie R.; Corell, Randy; Stahl, H. Philip

2008-01-01

The current NASA architecture intended to return humans to the lunar surface includes the Ares V cargo launch vehicle, which is planned to be available within a decade. The capabilities designed for Ares V would permit an 8.8-m diameter, 55 mT payload to be carried to Sun-Earth L1,2 locations. That is, this vehicle could launch very large optical systems to achieve major scientific goals that would otherwise be very difficult. For example, an 8-m monolith UV/visual/IR telescope appears able to be launched to a Sun-Earth L2 location. Even larger apertures that are deployed or assembled seem possible. Alternatively, multiple elements of a spatial array or two or three astronomical observatories might be launched simultaneously. Over the years, scientists and engineers have been evaluating concepts for astronomical observatories that use future large launch vehicles. In this presentation, we report on results of a recent workshop held at NASA Ames Research Center that have improved understanding of the science goals that can be achieved using Ares V. While such a vehicle uniquely enables few of the observatory concepts considered at the workshop, most have a baseline mission that can be flown on existing or near-future vehicles. However, the performance of the Ares V permits design concepts (e.g., large monolithic mirrors) that reduce complexity and risk.

Semi autonomous mine detection system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Douglas Few; Roelof Versteeg; Herman Herman

2010-04-01

CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, a countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIKmore » was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude – from an autonomous robotic perspective – the rapid development and deployment of fieldable systems.« less

A Collaborative Analysis Tool for Integrated Hypersonic Aerodynamics, Thermal Protection Systems, and RBCC Engine Performance for Single Stage to Orbit Vehicles

NASA Technical Reports Server (NTRS)

Stanley, Thomas Troy; Alexander, Reginald; Landrum, Brian

2000-01-01

Presented is a computer-based tool that connects several disciplines that are needed in the complex and integrated design of high performance reusable single stage to orbit (SSTO) vehicles. Every system is linked to every other system, as is the case of SSTO vehicles with air breathing propulsion, which is currently being studied by NASA. An RBCC propulsion system integrates airbreathing and rocket propulsion into a single engine assembly enclosed within a cowl or duct. A typical RBCC propulsion system operates as a ducted rocket up to approximately Mach 3. Then there is a transition to a ramjet mode for supersonic-to-hypersonic acceleration. Around Mach 8 the engine transitions to a scramjet mode. During the ramjet and scramjet modes, the integral rockets operate as fuel injectors. Around Mach 10-12 (the actual value depends on vehicle and mission requirements), the inlet is physically closed and the engine transitions to an integral rocket mode for orbit insertion. A common feature of RBCC propelled vehicles is the high degree of integration between the propulsion system and airframe. At high speeds the vehicle forebody is fundamentally part of the engine inlet, providing a compression surface for air flowing into the engine. The compressed air is mixed with fuel and burned. The combusted mixture must be expanded to an area larger than the incoming stream to provide thrust. Since a conventional nozzle would be too large, the entire lower after body of the vehicle is used as an expansion surface. Because of the high external temperatures seen during atmospheric flight, the design of an airbreathing SSTO vehicle requires delicate tradeoffs between engine design, vehicle shape, and thermal protection system (TPS) sizing in order to produce an optimum system in terms of weight (and cost) and maximum performance. To adequately determine the performance of the engine/vehicle, the Hypersonic Flight Inlet Model (HYFIM) module was designed to interface with the RBCC engine model. HYFIM performs the aerodynamic analysis of forebodies and inlet characteristics of RBCC powered SSTO launch vehicles. HYFIM is applicable to the analysis of the ramjet/scramjet engine operations modes (Mach 3-12), and provides estimates of parameters such as air capture area, shock-on-lip Mach number, design Mach number, compression ratio, etc., based on a basic geometry routine for modeling axisymmetric cones, 2-D wedge geometries. HYFIM also estimates the variation of shock layer properties normal to the forebody surface. The thermal protection system (TPS) is directly linked to determination of the vehicle moldline and the shaping of the trajectory. Thermal protection systems to maintain the structural integrity of the vehicle must be able to mitigate the heat transfer to the structure and be lightweight. Herein lies the interdependency, in that as the vehicle's speed increases, the TPS requirements are increased. And as TPS masses increase the effect on the propulsion system and all other systems is compounded. The need to analyze vehicle forebody and engine inlet is critical to be able to design the RBCC vehicle. To adequately determine insulation masses for an RBCC vehicle, the hypersonic aerodynamic environment and aeroheating loads must be calculated and the TPS thicknesses must be calculated for the entire vehicle. To accomplish this an ascent or reentry trajectory is obtained using the computer code Program to Optimize Simulated Trajectories (POST). The trajectory is then used to calculate the convective heat rates on several locations on the vehicles using the Miniature Version of the JA70 Aerodynamic Heating Computer Program (MINIVER). Once the heat rates are defined for each body point on the vehicle, then insulation thicknesses that are required to maintain the vehicle within structural limits are calculated using Systems Improved Numerical Differencing Analyzer (SINDA) models. If the TPS masses are too heavy for the performance of the vehicle the process may be repeated altering the trajectory or some other input to reduce the TPS mass. E-PSURBCC is an "engine performance" model and requires the specification of inlet air static temperature and pressure as well as Mach number (which it pulls from the HYFIM and POST trajectory files), and calculates the corresponding stagnation properties. The engine air flow path geometry includes inlet, a constant area section where the rocket is positioned, a subsonic diffuser, a constant area afterburner, and either a converging nozzle or a converging-diverging nozzle. The current capabilities of E-PSURBCC ejector and ramjet mode treatment indicated that various complex flow phenomena including multiple choking and internal shocks can occur for combinations of geometry/flow conditions. For a given input deck defining geometry/flow conditions, the program first goes through a series of checks to establish whether the input parameters are sound in terms of a solution path. If the vehicle/engine performance fails mission goals, the engineer is able to collaboratively alter the vehicle moldline to change aerodynamics, or trajectory, or some other input to achieve orbit. The problem described is an example of the need for collaborative design and analysis. RECIPE is a cross-platform application capable of hosting a number of engineers and designers across the Internet for distributed and collaborative engineering environments. Such integrated system design environments allow for collaborative team design analysis for performing individual or reduced team studies. To facilitate the larger number of potential runs that may need to be made, RECIPE connects the computer codes that calculate the trajectory data, aerodynamic data based on vehicle geometry, heat rate data, TPS masses, and vehicle and engine performance, so that the output from each tool is easily transferred to the model input files that need it.

Training in Multiple Launch Rocket System Units

DTIC Science & Technology

1992-04-01

training conducted is Section-level training. This training is typically conducted in the garrison environment , rather than in the field. 29 4. The major... environment . Such vehicles could also be used to train on land navigation and other terrain appreciation and analysis tasks, movement techniques, and...including Batery , Platoon, and Section, of the person interviewed. Valid values for Battery are A through I. Valid codes for Platoon are 1 through 3

Wireless Technology

DTIC Science & Technology

2009-03-01

section, we use as an illustration vehicle for the proposed GLRT schemes a packet-data DS - CDMA communication system2. At all times, the GLRT detectors...are imple- 2The combined effect of DS - CDMA multiple access interference (MAI) and AWGN is Gaussian-mixture distributed and not plain Gaussian. It is...closely to the SMI detector in (9) and outperforms all other detectors. DS - CDMA Case-study #2 Asynchronous multipath fading channel: Pilot-assisted

The 30/20 GHz flight experiment system, phase 2. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

Bronstein, L.; Kawamoto, Y.; Ribarich, J. J.; Scope, J. R.; Forman, B. J.; Bergman, S. G.; Reisenfeld, S.

1981-01-01

Summary information on the final communication system design, communication payload, space vehicle, and development plan for the 30/20 GHz flight experiment will be installed on the LEASAT spacecraft which will be placed into orbit from the space shuttle cargo bay. The communication concept has two parts: a truck service and a customer premise service (CPS). The trucking system serves four spot beams which are interconnected in a satellite switched time division multiple access mode by an IF switch matrix. The CPS covers two large areas of the eastern United States with a pair of scanning beams.

Analysis of Advanced Modular Power Systems (AMPS) for Deep Space Exploration

NASA Technical Reports Server (NTRS)

Oeftering, Richard; Soeder, James F.; Beach, Ray

2014-01-01

The Advanced Modular Power Systems (AMPS) project is developing a modular approach to spacecraft power systems for exploration beyond Earth orbit. AMPS is intended to meet the need of reducing the cost of design development, test and integration and also reducing the operational logistics cost of supporting exploration missions. AMPS seeks to establish modular power building blocks with standardized electrical, mechanical, thermal and data interfaces that can be applied across multiple exploration vehicles. The presentation discusses the results of a cost analysis that compares the cost of the modular approach against a traditional non-modular approach.

A new simulation system of traffic flow based on cellular automata principle

NASA Astrophysics Data System (ADS)

Shan, Junru

2017-05-01

Traffic flow is a complex system of multi-behavior so it is difficult to give a specific mathematical equation to express it. With the rapid development of computer technology, it is an important method to study the complex traffic behavior by simulating the interaction mechanism between vehicles and reproduce complex traffic behavior. Using the preset of multiple operating rules, cellular automata is a kind of power system which has discrete time and space. It can be a good simulation of the real traffic process and a good way to solve the traffic problems.

Tailored Excitation for Multivariable Stability-Margin Measurement Applied to the X-31A Nonlinear Simulation

NASA Technical Reports Server (NTRS)

Bosworth, John T.; Burken, John J.

1997-01-01

Safety and productivity of the initial flight test phase of a new vehicle have been enhanced by developing the ability to measure the stability margins of the combined control system and vehicle in flight. One shortcoming of performing this analysis is the long duration of the excitation signal required to provide results over a wide frequency range. For flight regimes such as high angle of attack or hypersonic flight, the ability to maintain flight condition for this time duration is difficult. Significantly reducing the required duration of the excitation input is possible by tailoring the input to excite only the frequency range where the lowest stability margin is expected. For a multiple-input/multiple-output system, the inputs can be simultaneously applied to the control effectors by creating each excitation input with a unique set of frequency components. Chirp-Z transformation algorithms can be used to match the analysis of the results to the specific frequencies used in the excitation input. This report discusses the application of a tailored excitation input to a high-fidelity X-31A linear model and nonlinear simulation. Depending on the frequency range, the results indicate the potential to significantly reduce the time required for stability measurement.

Impact gages for detecting meteoroid and other orbital debris impacts on space vehicles.

NASA Technical Reports Server (NTRS)

Mastandrea, J. R.; Scherb, M. V.

1973-01-01

Impacts on space vehicles have been simulated using the McDonnell Douglas Aerophysics Laboratory (MDAL) Light-Gas Guns to launch particles at hypervelocity speeds into scaled space structures. Using impact gages and a triangulation technique, these impacts have been detected and accurately located. This paper describes in detail the various types of impact gages (piezoelectric PZT-5A, quartz, electret, and off-the-shelf plastics) used. This description includes gage design and experimental results for gages installed on single-walled scaled payload carriers, multiple-walled satellites and space stations, and single-walled full-scale Delta tank structures. A brief description of the triangulation technique, the impact simulation, and the data acquisition system are also included.

Design and performance analysis of an aero-maneuvering orbital-transfer vehicle concept

NASA Technical Reports Server (NTRS)

Menees, G. P.

1985-01-01

Systems requirements for design-optimized, lateral-turn performance were determined for reusable, space-based applications and low-Earth orbits involving large multiple plane-inclination changes. The aerothermodynamic analysis is the most advanced available for rarefield-hypersonic flow over lifting surfaces at incidence. The effects of leading-edge bluntness, low-density viscous phenomena, and finite-rate flow-field chemistry and surface catalysis are accounted for. The predicted aerothermal heating characteristics are correlated with thermal-control and flight-performance capabilities. The mission payload capacity for delivery, retrieval, and combined operations was determined for round-trip sorties extending to polar orbits. Recommendations are given for future design refinements. The results help to identify technology issues required to develop prototype operational vehicles.

Novel Musculoskeletal Loading System for Small Exercise Devices

NASA Technical Reports Server (NTRS)

Downs, Meghan; Newby, Nate; Trinh, Tinh; Hanson, Andrea

2016-01-01

Long duration spaceflight places astronauts at increased risk for muscle strain and bone fracture upon return to a 1-g or partial gravity environment. Functionally limiting decrements in musculoskeletal health are likely during Mars proving-ground and Earth-independent missions given extended transit times and the vehicle limitations for exercise devices (low-mass, small volume, little to no power). This is particularly alarming for exploration missions because astronauts will be required to perform novel and physically demanding tasks (i.e. vehicle egress, exploration, and habitat building activities) on unfamiliar terrain. Accordingly, NASA's exploration roadmap identifies the need for development of small exercise equipment that can prevent musculoskeletal atrophy and has the ability to assess musculoskeletal health at multiple time points during long-duration missions.

Two Reconfigurable Flight-Control Design Methods: Robust Servomechanism and Control Allocation

NASA Technical Reports Server (NTRS)

Burken, John J.; Lu, Ping; Wu, Zheng-Lu; Bahm, Cathy

2001-01-01

Two methods for control system reconfiguration have been investigated. The first method is a robust servomechanism control approach (optimal tracking problem) that is a generalization of the classical proportional-plus-integral control to multiple input-multiple output systems. The second method is a control-allocation approach based on a quadratic programming formulation. A globally convergent fixed-point iteration algorithm has been developed to make onboard implementation of this method feasible. These methods have been applied to reconfigurable entry flight control design for the X-33 vehicle. Examples presented demonstrate simultaneous tracking of angle-of-attack and roll angle commands during failures of the fight body flap actuator. Although simulations demonstrate success of the first method in most cases, the control-allocation method appears to provide uniformly better performance in all cases.

Cryogenic Propulsion Stage (CPS) Configuration in Support of NASA's Multiple Design Reference Missions (DRMs)

NASA Technical Reports Server (NTRS)

Hanna, Stephen G.; Jones, David L.; Creech, Stephen D.; Lawrence, Thomas D.

2012-01-01

In support of the National Aeronautics and Space Administration's (NASA) Human Exploration and Operations Mission Directorate (HEOMD), the Space Launch System (SLS) is being designed for safe, affordable, and sustainable human and scientific exploration missions beyond Earth's or-bit (BEO). The SLS Team is tasked with developing a system capable of safely and repeatedly lofting a new fleet of spaceflight vehicles beyond Earth orbit. The Cryogenic Propulsion Stage (CPS) is a key enabler for evolving the SLS capability for BEO missions. This paper reports on the methodology and initial recommendations relative to the CPS, giving a brief retrospective of early studies on this promising propulsion hardware. This paper provides an overview of the requirements development and CPS configuration in support of NASA's multiple Design Reference Missions (DRMs).

GFEChutes Lo-Fi

NASA Technical Reports Server (NTRS)

Gist, Emily; Turner, Gary; Shelton, Robert; Vautier, Mana; Shaikh, Ashraf

2013-01-01

NASA needed to provide a software model of a parachute system for a manned re-entry vehicle. NASA has parachute codes, e.g., the Descent Simulation System (DSS), that date back to the Apollo Program. Since the space shuttle did not rely on parachutes as its primary descent control mechanism, DSS has not been maintained or incorporated into modern simulation architectures such as Osiris and Antares, which are used for new mission simulations. GFEChutes Lo-Fi is an object-oriented implementation of conventional parachute codes designed for use in modern simulation environments. The GFE (Government Furnished Equipment), low-fidelity (Lo-Fi) parachute model (GFEChutes Lo-Fi) is a software package capable of modeling the effects of multiple parachutes, deployed concurrently and/or sequentially, on a vehicle during the subsonic phase of reentry into planetary atmosphere. The term "low-fidelity" distinguishes models that represent the parachutes as simple forces acting on the vehicle, as opposed to independent aerodynamic bodies. GFEChutes Lo-Fi was created from these existing models to be clean, modular, certified as NASA Class C software, and portable, or "plug and play." The GFE Lo-Fi Chutes Model provides basic modeling capability of a sequential series of parachute activities. Actions include deploying the parachute, changing the reefing on the parachute, and cutting away the parachute. Multiple chutes can be deployed at any given time, but all chutes in that case are assumed to behave as individually isolated chutes; there is no modeling of any interactions between deployed chutes. Drag characteristics of a deployed chute are based on a coefficient of drag, the face area of the chute, and the local dynamic pressure only. The orientation of the chute is approximately modeled for purposes of obtaining torques on the vehicle, but the dynamic state of the chute as a separate entity is not integrated - the treatment is simply an approximation. The innovation in GFEChutes Lo-Fi is to use an object design that closely followed the mechanical characteristics and structure of a physical system of parachutes and their deployment mechanisms. Software objects represent the components of the system, and use of an object hierarchy allows a progression from general component outlines to specific implementations. These extra chutes were not part of the baseline deceleration sequence of drogues and mains, but still had to be simulated. The major innovation in GFEChutes Lo-Fi is the software design and architecture.

Vehicle Integrated Prognostic Reasoner (VIPR) Metric Report

NASA Technical Reports Server (NTRS)

Cornhill, Dennis; Bharadwaj, Raj; Mylaraswamy, Dinkar

2013-01-01

This document outlines a set of metrics for evaluating the diagnostic and prognostic schemes developed for the Vehicle Integrated Prognostic Reasoner (VIPR), a system-level reasoner that encompasses the multiple levels of large, complex systems such as those for aircraft and spacecraft. VIPR health managers are organized hierarchically and operate together to derive diagnostic and prognostic inferences from symptoms and conditions reported by a set of diagnostic and prognostic monitors. For layered reasoners such as VIPR, the overall performance cannot be evaluated by metrics solely directed toward timely detection and accuracy of estimation of the faults in individual components. Among other factors, overall vehicle reasoner performance is governed by the effectiveness of the communication schemes between monitors and reasoners in the architecture, and the ability to propagate and fuse relevant information to make accurate, consistent, and timely predictions at different levels of the reasoner hierarchy. We outline an extended set of diagnostic and prognostics metrics that can be broadly categorized as evaluation measures for diagnostic coverage, prognostic coverage, accuracy of inferences, latency in making inferences, computational cost, and sensitivity to different fault and degradation conditions. We report metrics from Monte Carlo experiments using two variations of an aircraft reference model that supported both flat and hierarchical reasoning.

Factors affecting pelvic and thoracic forces in near-side impact crashes: a study of US-NCAP, NASS, and CIREN data.

PubMed

Tencer, Allan F; Kaufman, Robert; Mack, Christopher; Mock, Charles

2005-03-01

The goal of this study was to identify variables related to vehicle design which are associated with pelvic and thoracic accelerations as measured by the driver's (near side) crash dummy during new car assessment program (NCAP) testing of motor vehicles. Vehicle specific parameters were analyzed using NCAP side impact test results. Data from national automotive sampling system, crashworthiness data system (NASS-CDS) and crash injury research and engineering network (CIREN) (both National Highway Traffic Safety Administration (NHTSA) injury databases) were assessed to confirm NCAP test observations. In addition, door armrest stiffness measurements were performed using a mechanical tester on a sample of 40 vehicles. NCAP data showed that of 10 variables tested using multiple linear regression, vehicle weight and door crush correlated with pelvic acceleration of the driver's crash dummy (overall, r2=0.58, p=0.002, n=165). For thoracic trauma index (TTI) vehicle weight and peak door velocity correlated, significantly (overall, r2=0.41, p=0.03, n=165). Mean TTI was 63.7 g with no side airbag (n=108) and 55.6 g with a thoracic side airbag (n=54), p=0.01. The mean vehicle weight and door crush between airbag and no airbag groups were not significantly different. NASS-CDS data demonstrated a direct relationship between increased door crush and increased abbreviated injury score (AIS). CIREN data showed that occupants who sustained pelvic injuries had a median AIS of 3 with 24.9 cm of door crush, with abdominal injuries, a median AIS of 3 and 30 cm of crush, and with thoracic injuries, a median AIS of 4 and 34 cm of door crush. In addition, the frequency of bilateral pelvic injuries was significantly higher for subjects in CIREN crashes who were in a vehicle with a center console, but only if door intrusion was greater than 15 cm. This information may be useful in design of vehicles with greater protection in side impact crashes.

A Smartphone-Based Driver Safety Monitoring System Using Data Fusion

PubMed Central

Lee, Boon-Giin; Chung, Wan-Young

2012-01-01

This paper proposes a method for monitoring driver safety levels using a data fusion approach based on several discrete data types: eye features, bio-signal variation, in-vehicle temperature, and vehicle speed. The driver safety monitoring system was developed in practice in the form of an application for an Android-based smartphone device, where measuring safety-related data requires no extra monetary expenditure or equipment. Moreover, the system provides high resolution and flexibility. The safety monitoring process involves the fusion of attributes gathered from different sensors, including video, electrocardiography, photoplethysmography, temperature, and a three-axis accelerometer, that are assigned as input variables to an inference analysis framework. A Fuzzy Bayesian framework is designed to indicate the driver’s capability level and is updated continuously in real-time. The sensory data are transmitted via Bluetooth communication to the smartphone device. A fake incoming call warning service alerts the driver if his or her safety level is suspiciously compromised. Realistic testing of the system demonstrates the practical benefits of multiple features and their fusion in providing a more authentic and effective driver safety monitoring. PMID:23247416

The use of volumetric projections in Digital Human Modelling software for the identification of Large Goods Vehicle blind spots.

PubMed

Summerskill, Stephen; Marshall, Russell; Cook, Sharon; Lenard, James; Richardson, John

2016-03-01

The aim of the study is to understand the nature of blind spots in the vision of drivers of Large Goods Vehicles caused by vehicle design variables such as the driver eye height, and mirror designs. The study was informed by the processing of UK national accident data using cluster analysis to establish if vehicle blind spots contribute to accidents. In order to establish the cause and nature of blind spots six top selling trucks in the UK, with a range of sizes were digitized and imported into the SAMMIE Digital Human Modelling (DHM) system. A novel CAD based vision projection technique, which has been validated in a laboratory study, allowed multiple mirror and window aperture projections to be created, resulting in the identification and quantification of a key blind spot. The identified blind spot was demonstrated to have the potential to be associated with the scenarios that were identified in the accident data. The project led to the revision of UNECE Regulation 46 that defines mirror coverage in the European Union, with new vehicle registrations in Europe being required to meet the amended standard after June of 2015. Crown Copyright © 2015. Published by Elsevier Ltd. All rights reserved.

Launch Vehicles

NASA Image and Video Library

2007-08-09

Under the goals of the Vision for Space Exploration, Ares I is a chief component of the cost-effective space transportation infrastructure being developed by NASA's Constellation Program. This transportation system will safely and reliably carry human explorers back to the moon, and then onward to Mars and other destinations in the solar system. The Ares I effort includes multiple project element teams at NASA centers and contract organizations around the nation, and is managed by the Exploration Launch Projects Office at NASA's Marshall Space Flight Center (MFSC). ATK Launch Systems near Brigham City, Utah, is the prime contractor for the first stage booster. ATK's subcontractor, United Space Alliance of Houston, is designing, developing and testing the parachutes at its facilities at NASA's Kennedy Space Center in Florida. NASA's Johnson Space Center in Houston hosts the Constellation Program and Orion Crew Capsule Project Office and provides test instrumentation and support personnel. Together, these teams are developing vehicle hardware, evolving proven technologies, and testing components and systems. Their work builds on powerful, reliable space shuttle propulsion elements and nearly a half-century of NASA space flight experience and technological advances. Ares I is an inline, two-stage rocket configuration topped by the Crew Exploration Vehicle, its service module, and a launch abort system. This HD video image depicts confidence testing of a manufactured aluminum panel that will fabricate the Ares I upper stage barrel. In this test, bent aluminum is stressed to breaking point and thoroughly examined. The panels are manufactured by AMRO Manufacturing located in El Monte, California. (Highest resolution available)

Launch Vehicles

NASA Image and Video Library

2007-07-09

Under the goals of the Vision for Space Exploration, Ares I is a chief component of the cost-effective space transportation infrastructure being developed by NASA's Constellation Program. This transportation system will safely and reliably carry human explorers back to the moon, and then onward to Mars and other destinations in the solar system. The Ares I effort includes multiple project element teams at NASA centers and contract organizations around the nation, and is managed by the Exploration Launch Projects Office at NASA's Marshall Space Flight Center (MFSC). ATK Launch Systems near Brigham City, Utah, is the prime contractor for the first stage booster. ATK's subcontractor, United Space Alliance of Houston, is designing, developing and testing the parachutes at its facilities at NASA's Kennedy Space Center in Florida. NASA's Johnson Space Center in Houston hosts the Constellation Program and Orion Crew Capsule Project Office and provides test instrumentation and support personnel. Together, these teams are developing vehicle hardware, evolving proven technologies, and testing components and systems. Their work builds on powerful, reliable space shuttle propulsion elements and nearly a half-century of NASA space flight experience and technological advances. Ares I is an inline, two-stage rocket configuration topped by the Crew Exploration Vehicle, its service module, and a launch abort system. In this HD video image, an Ares I x-test involves the upper stage separating from the first stage. This particular test was conducted at the NASA Langley Research Center in July 2007. (Highest resolution available)

Launch Vehicles

NASA Image and Video Library

2007-08-09

Under the goals of the Vision for Space Exploration, Ares I is a chief component of the cost-effective space transportation infrastructure being developed by NASA's Constellation Program. This transportation system will safely and reliably carry human explorers back to the moon, and then onward to Mars and other destinations in the solar system. The Ares I effort includes multiple project element teams at NASA centers and contract organizations around the nation, and is managed by the Exploration Launch Projects Office at NASA's Marshall Space Flight Center (MFSC). ATK Launch Systems near Brigham City, Utah, is the prime contractor for the first stage booster. ATK's subcontractor, United Space Alliance of Houston, is designing, developing and testing the parachutes at its facilities at NASA's Kennedy Space Center in Florida. NASA's Johnson Space Center in Houston hosts the Constellation Program and Orion Crew Capsule Project Office and provides test instrumentation and support personnel. Together, these teams are developing vehicle hardware, evolving proven technologies, and testing components and systems. Their work builds on powerful, reliable space shuttle propulsion elements and nearly a half-century of NASA space flight experience and technological advances. Ares I is an inline, two-stage rocket configuration topped by the Crew Exploration Vehicle, its service module, and a launch abort system. In this HD video image, processes for upper stage barrel fabrication are talking place. Aluminum panels are manufacturing process demonstration articles that will undergo testing until perfected. The panels are built by AMRO Manufacturing located in El Monte, California. (Largest resolution available)

Launch Vehicles

NASA Image and Video Library

2007-08-09

Under the goals of the Vision for Space Exploration, Ares I is a chief component of the cost-effective space transportation infrastructure being developed by NASA's Constellation Program. This transportation system will safely and reliably carry human explorers back to the moon, and then onward to Mars and other destinations in the solar system. The Ares I effort includes multiple project element teams at NASA centers and contract organizations around the nation, and is managed by the Exploration Launch Projects Office at NASA's Marshall Space Flight Center (MFSC). ATK Launch Systems near Brigham City, Utah, is the prime contractor for the first stage booster. ATK's subcontractor, United Space Alliance of Houston, is designing, developing and testing the parachutes at its facilities at NASA's Kennedy Space Center in Florida. NASA's Johnson Space Center in Houston hosts the Constellation Program and Orion Crew Capsule Project Office and provides test instrumentation and support personnel. Together, these teams are developing vehicle hardware, evolving proven technologies, and testing components and systems. Their work builds on powerful, reliable space shuttle propulsion elements and nearly a half-century of NASA space flight experience and technological advances. Ares I is an inline, two-stage rocket configuration topped by the Crew Exploration Vehicle, its service module, and a launch abort system. This HD video image depicts the manufacturing of aluminum panels that will be used to form the Ares I barrel. The panels are manufacturing process demonstration articles that will undergo testing until perfected. The panels are built by AMRO Manufacturing located in El Monte, California. (Highest resolution available)

Integrated control of lateral and vertical vehicle dynamics based on multi-agent system

NASA Astrophysics Data System (ADS)

Huang, Chen; Chen, Long; Yun, Chaochun; Jiang, Haobin; Chen, Yuexia

2014-03-01

The existing research of the integrated chassis control mainly focuses on the different evaluation indexes and control strategy. Among the different evaluation indexes, the comprehensive properties are usually not considered based on the non-linear superposition principle. But, the control strategy has some shortages on tyre model with side-slip angle, road adhesion coefficient, vertical load and velocity. In this paper, based on belief, desire and intention(BDI)-agent model framework, the TYRE agent, electric power steering(EPS) agent and active suspension system(ASS) agent are proposed. In the system(SYS) agent, the coordination mechanism is employed to manage interdependences and conflicts among other agents, so as to improve the flexibility, adaptability, and robustness of the global control system. Due to the existence of the simulation demand of dynamic performance, the vehicle multi-body dynamics model is established by SIMPACK. And then the co-simulation analysis is conducted to evaluate the proposed multi-agent system(MAS) controller. The simulation results demonstrate that the MAS has good effect on the performance of EPS and ASS. Meantime, the better road feeling for the driver is provided considering the multiple and complex driving traffic. Finally, the MAS rapid control prototyping is built to conduct the real vehicle test. The test results are consistent to the simulation results, which verifies the correctness of simulation. The proposed research ensures the driving safety, enhances the handling stability, and improves the ride comfort.

KSC-04PD-0152

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. These towers are part of one of the worlds highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data in preparation for the shuttle fleets return to flight. The system is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. Developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., the system allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

Tele-Supervised Adaptive Ocean Sensor Fleet

NASA Technical Reports Server (NTRS)

Lefes, Alberto; Podnar, Gregg W.; Dolan, John M.; Hosler, Jeffrey C.; Ames, Troy J.

2009-01-01

The Tele-supervised Adaptive Ocean Sensor Fleet (TAOSF) is a multi-robot science exploration architecture and system that uses a group of robotic boats (the Ocean-Atmosphere Sensor Integration System, or OASIS) to enable in-situ study of ocean surface and subsurface characteristics and the dynamics of such ocean phenomena as coastal pollutants, oil spills, hurricanes, or harmful algal blooms (HABs). The OASIS boats are extended- deployment, autonomous ocean surface vehicles. The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. One feature of TAOSF is the adaptive re-planning of the activities of the OASIS vessels based on sensor input ( smart sensing) and sensorial coordination among multiple assets. The architecture also incorporates Web-based communications that permit control of the assets over long distances and the sharing of data with remote experts. Autonomous hazard and assistance detection allows the automatic identification of hazards that require human intervention to ensure the safety and integrity of the robotic vehicles, or of science data that require human interpretation and response. Also, the architecture is designed for science analysis of acquired data in order to perform an initial onboard assessment of the presence of specific science signatures of immediate interest. TAOSF integrates and extends five subsystems developed by the participating institutions: Emergent Space Tech - nol ogies, Wallops Flight Facility, NASA s Goddard Space Flight Center (GSFC), Carnegie Mellon University, and Jet Propulsion Laboratory (JPL). The OASIS Autonomous Surface Vehicle (ASV) system, which includes the vessels as well as the land-based control and communications infrastructure developed for them, controls the hardware of each platform (sensors, actuators, etc.), and also provides a low-level waypoint navigation capability. The Multi-Platform Simulation Environment from GSFC is a surrogate for the OASIS ASV system and allows for independent development and testing of higher-level software components. The Platform Communicator acts as a proxy for both actual and simulated platforms. It translates platform-independent messages from the higher control systems to the device-dependent communication protocols. This enables the higher-level control systems to interact identically with heterogeneous actual or simulated platforms.

Optimization-based power management of hybrid power systems with applications in advanced hybrid electric vehicles and wind farms with battery storage

NASA Astrophysics Data System (ADS)

Borhan, Hoseinali

Modern hybrid electric vehicles and many stationary renewable power generation systems combine multiple power generating and energy storage devices to achieve an overall system-level efficiency and flexibility which is higher than their individual components. The power or energy management control, "brain" of these "hybrid" systems, determines adaptively and based on the power demand the power split between multiple subsystems and plays a critical role in overall system-level efficiency. This dissertation proposes that a receding horizon optimal control (aka Model Predictive Control) approach can be a natural and systematic framework for formulating this type of power management controls. More importantly the dissertation develops new results based on the classical theory of optimal control that allow solving the resulting optimal control problem in real-time, in spite of the complexities that arise due to several system nonlinearities and constraints. The dissertation focus is on two classes of hybrid systems: hybrid electric vehicles in the first part and wind farms with battery storage in the second part. The first part of the dissertation proposes and fully develops a real-time optimization-based power management strategy for hybrid electric vehicles. Current industry practice uses rule-based control techniques with "else-then-if" logic and look-up maps and tables in the power management of production hybrid vehicles. These algorithms are not guaranteed to result in the best possible fuel economy and there exists a gap between their performance and a minimum possible fuel economy benchmark. Furthermore, considerable time and effort are spent calibrating the control system in the vehicle development phase, and there is little flexibility in real-time handling of constraints and re-optimization of the system operation in the event of changing operating conditions and varying parameters. In addition, a proliferation of different powertrain configurations may result in the need for repeated control system redesign. To address these shortcomings, we formulate the power management problem as a nonlinear and constrained optimal control problem. Solution of this optimal control problem in real-time on chronometric- and memory-constrained automotive microcontrollers is quite challenging; this computational complexity is due to the highly nonlinear dynamics of the powertrain subsystems, mixed-integer switching modes of their operation, and time-varying and nonlinear hard constraints that system variables should satisfy. The main contribution of the first part of the dissertation is that it establishes methods for systematic and step-by step improvements in fuel economy while maintaining the algorithmic computational requirements in a real-time implementable framework. More specifically a linear time-varying model predictive control approach is employed first which uses sequential quadratic programming to find sub-optimal solutions to the power management problem. Next the objective function is further refined and broken into a short and a long horizon segments; the latter approximated as a function of the state using the connection between the Pontryagin minimum principle and Hamilton-Jacobi-Bellman equations. The power management problem is then solved using a nonlinear MPC framework with a dynamic programming solver and the fuel economy is further improved. Typical simplifying academic assumptions are minimal throughout this work, thanks to close collaboration with research scientists at Ford research labs and their stringent requirement that the proposed solutions be tested on high-fidelity production models. Simulation results on a high-fidelity model of a hybrid electric vehicle over multiple standard driving cycles reveal the potential for substantial fuel economy gains. To address the control calibration challenges, we also present a novel and fast calibration technique utilizing parallel computing techniques. ^ The second part of this dissertation presents an optimization-based control strategy for the power management of a wind farm with battery storage. The strategy seeks to minimize the error between the power delivered by the wind farm with battery storage and the power demand from an operator. In addition, the strategy attempts to maximize battery life. The control strategy has two main stages. The first stage produces a family of control solutions that minimize the power error subject to the battery constraints over an optimization horizon. These solutions are parameterized by a given value for the state of charge at the end of the optimization horizon. The second stage screens the family of control solutions to select one attaining an optimal balance between power error and battery life. The battery life model used in this stage is a weighted Amp-hour (Ah) throughput model. The control strategy is modular, allowing for more sophisticated optimization models in the first stage, or more elaborate battery life models in the second stage. The strategy is implemented in real-time in the framework of Model Predictive Control (MPC).

Distributed and self-adaptive vehicle speed estimation in the composite braking case for four-wheel drive hybrid electric car

NASA Astrophysics Data System (ADS)

Zhao, Z.-G.; Zhou, L.-J.; Zhang, J.-T.; Zhu, Q.; Hedrick, J.-K.

2017-05-01

Considering the controllability and observability of the braking torques of the hub motor, Integrated Starter Generator (ISG), and hydraulic brake for four-wheel drive (4WD) hybrid electric cars, a distributed and self-adaptive vehicle speed estimation algorithm for different braking situations has been proposed by fully utilising the Electronic Stability Program (ESP) sensor signals and multiple powersource signals. Firstly, the simulation platform of a 4WD hybrid electric car was established, which integrates an electronic-hydraulic composited braking system model and its control strategy, a nonlinear seven degrees-of-freedom vehicle dynamics model, and the Burckhardt tyre model. Secondly, combining the braking torque signals with the ESP signals, self-adaptive unscented Kalman sub-filter and main-filter adaptable to the observation noise were, respectively, designed. Thirdly, the fusion rules for the sub-filters and master filter were proposed herein, and the estimation results were compared with the simulated value of a real vehicle speed. Finally, based on the hardware in-the-loop platform and by picking up the regenerative motor torque signals and wheel cylinder pressure signals, the proposed speed estimation algorithm was tested under the case of moderate braking on the highly adhesive road, and the case of Antilock Braking System (ABS) action on the slippery road, as well as the case of ABS action on the icy road. Test results show that the presented vehicle speed estimation algorithm has not only a high precision but also a strong adaptability in the composite braking case.

State estimation for distributed systems with sensing delay

NASA Astrophysics Data System (ADS)

Alexander, Harold L.

1991-08-01

Control of complex systems such as remote robotic vehicles requires combining data from many sensors where the data may often be delayed by sensory processing requirements. The number and variety of sensors make it desirable to distribute the computational burden of sensing and estimation among multiple processors. Classic Kalman filters do not lend themselves to distributed implementations or delayed measurement data. The alternative Kalman filter designs presented in this paper are adapted for delays in sensor data generation and for distribution of computation for sensing and estimation over a set of networked processors.

Operational Overview for UAS Integration in the NAS Project Flight Test Series 3

NASA Technical Reports Server (NTRS)

Valkov, Steffi B.; Sternberg, Daniel; Marston, Michael

2018-01-01

The National Aeronautics and Space Administration Unmanned Aircraft Systems Integration in the National Airspace System Project has conducted a series of flight tests intended to support the reduction of barriers that prevent unmanned aircraft from flying without the required waivers from the Federal Aviation Administration. The 2015 Flight Test Series 3, supported two separate test configurations. The first configuration investigated the timing of Detect and Avoid alerting thresholds using a radar equipped unmanned vehicle and multiple live intruders flown at varying encounter geometries.

Nonlinear engine model for idle speed control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Livshiz, M.; Sanvido, D.J.; Stiles, S.D.

1994-12-31

This paper describes a nonlinear model of an engine used for the design of idle speed control and prediction in a broad range of idle speeds and operational conditions. Idle speed control systems make use of both spark advance and the idle air actuator to control engine speed for improved response relative to variations in the target idle speed due to load disturbances. The control system at idle can be presented by a multiple input multiple output (MIMO) nonlinear model. Information of nonlinearities helps to improve performance of the system over the whole range of engine speeds. A proposed simplemore » nonlinear model of the engine at idle was applied for design of optimal controllers and predictors for improved steady state, load rejection and transition from and to idle. This paper describes vehicle results of engine speed prediction based on the described model.« less

Multispan Elevated Guideway Design for Passenger Transport Vehicles : Volume 1. Text.

DOT National Transportation Integrated Search

1975-04-01

Analysis techniques, a design procedure and design data are described for passenger vehicle, simply supported, single span and multiple span elevated guideway structures. Analyses and computer programs are developed to determine guideway deflections,...

Vehicle Integrated Propulsion Research for the Study of Health Management Capabilities

NASA Technical Reports Server (NTRS)

Lekki, John D.; Simon, Donald L.; Hunter, Gary W.; Woike, Mary; Tokars, Roger P.

2012-01-01

Presentation on vehicle integrated propulsion research results and planning. This research emphasizes the testing of advanced health management sensors and diagnostics in an aircraft engine that is operated through multiple baseline and fault conditions.

Intelligent vehicle electrical power supply system with central coordinated protection

NASA Astrophysics Data System (ADS)

Yang, Diange; Kong, Weiwei; Li, Bing; Lian, Xiaomin

2016-07-01

The current research of vehicle electrical power supply system mainly focuses on electric vehicles (EV) and hybrid electric vehicles (HEV). The vehicle electrical power supply system used in traditional fuel vehicles is rather simple and imperfect; electrical/electronic devices (EEDs) applied in vehicles are usually directly connected with the vehicle's battery. With increasing numbers of EEDs being applied in traditional fuel vehicles, vehicle electrical power supply systems should be optimized and improved so that they can work more safely and more effectively. In this paper, a new vehicle electrical power supply system for traditional fuel vehicles, which accounts for all electrical/electronic devices and complex work conditions, is proposed based on a smart electrical/electronic device (SEED) system. Working as an independent intelligent electrical power supply network, the proposed system is isolated from the electrical control module and communication network, and access to the vehicle system is made through a bus interface. This results in a clean controller power supply with no electromagnetic interference. A new practical battery state of charge (SoC) estimation method is also proposed to achieve more accurate SoC estimation for lead-acid batteries in traditional fuel vehicles so that the intelligent power system can monitor the status of the battery for an over-current state in each power channel. Optimized protection methods are also used to ensure power supply safety. Experiments and tests on a traditional fuel vehicle are performed, and the results reveal that the battery SoC is calculated quickly and sufficiently accurately for battery over-discharge protection. Over-current protection is achieved, and the entire vehicle's power utilization is optimized. For traditional fuel vehicles, the proposed vehicle electrical power supply system is comprehensive and has a unified system architecture, enhancing system reliability and security.

Hybrid powertrain controller

DOEpatents

Jankovic, Miroslava; Powell, Barry Kay

2000-12-26

A hybrid powertrain for a vehicle comprising a diesel engine and an electric motor in a parallel arrangement with a multiple ratio transmission located on the torque output side of the diesel engine, final drive gearing connecting drivably the output shaft of transmission to traction wheels of the vehicle, and an electric motor drivably coupled to the final drive gearing. A powertrain controller schedules fuel delivered to the diesel engine and effects a split of the total power available, a portion of the power being delivered by the diesel and the balance of the power being delivered by the motor. A shifting schedule for the multiple ratio transmission makes it possible for establishing a proportional relationship between accelerator pedal movement and torque desired at the wheels. The control strategy for the powertrain maintains drivability of the vehicle that resembles drivability of a conventional spark ignition vehicle engine powertrain while achieving improved fuel efficiency and low exhaust gas emissions.

Formation Flying for Satellites and Unmanned Aerial Vehicles

NASA Technical Reports Server (NTRS)

Merrill, Garrick

2015-01-01

The shrinking size of satellites and unmanned aerial vehicles (UAVs) is enabling lower cost missions. As sensors and electronics continue to downsize, the next step is multiple vehicles providing different perspectives or variations for more precise measurements. While flying a single satellite or UAV autonomously is a challenge, flying multiple vehicles in a precise formation is even more challenging. The goal of this project is to develop a scalable mesh network between vehicles (satellites or UAVs) to share real-time position data and maintain formations autonomously. Newly available low-cost, commercial off-the-shelf credit card size computers will be used as the basis for this network. Mesh networking techniques will be used to provide redundant links and a flexible network. The Small Projects Rapid Integration and Test Environment Lab will be used to simulate formation flying of satellites. UAVs built by the Aero-M team will be used to demonstrate the formation flying in the West Test Area. The ability to test in flight on NASA-owned UAVs allows this technology to achieve a high Technology Readiness Level (TRL) (TRL-4 for satellites and TRL-7 for UAVs). The low cost of small UAVs and the availability of a large test range (West Test Area) dramatically reduces the expense of testing. The end goal is for this technology to be ready to use on any multiple satellite or UAV mission.

The Potential of Nano-Vehicle Mediated Therapy in Vasculitis and Multiple Sclerosis.

PubMed

In't Veld, R Huis; Da Silva, C G; Kaijzel, E L; Chan, A B; Cruz, L J

2017-01-01

The induction of immune tolerance towards self-antigens presents as a viable future strategy in the treatment of auto-immune diseases, including vasculitis and multiple sclerosis (MS). As specific targets are currently lacking for vasculitis due to incomplete understanding of the pathologies underlying this disease, current treatment options are based on modalities that induce general immune suppression. However, many immune suppressants used in the clinic are known to display wide biodistribution and are thus often accompanied by several adverse effects. Nano-vehicles (NVs) possess the ability to overcome such limitations by enabling more specific delivery of their content through modifications with targeting moieties. In this review, we describe the latest insights in the pathology of vasculitis that may function as potential targets for NV carrier systems, allowing more specific delivery of currently used immune suppressants. In addition, we describe the existing strategies to induce artificial immune tolerance and explore the feasibility of inducing regulatory T cell (Treg) mediated tolerance for MS, possibly mediated by NVs. Copyright© Bentham Science Publishers; For any queries, please email at epub@benthamscience.org.

Nuclear electric propulsion options for piloted Mars missions

NASA Technical Reports Server (NTRS)

George, Jeffrey A.

1993-01-01

Three nuclear electric propulsion (NEP) systems are discussed. The three systems are as follows: a system based on current SP-100 technology; a potassium Rankine-cycle based power conversion system, and an argon ion thruster system. The system will be researched for implementation in several possible vehicle configurations. The following are among the possible Mars vehicle configurations: a piloted 15 MWe multi-reactor vehicle; a piloted 10 MWe vehicle with ECCV; a piloted 10 MWe modular vehicle; piloted 10 and 15 MWe vehicles with ECCV and MEV; a piloted 5 MWe vehicle with ECCV; a 5 MWe cargo vehicle with 2 MEV's; and a 2.5 MWe vehicle with MEV.

Fiber optic systems for mobile platforms IV; Proceedings of the Meeting, San Jose, CA, Sept. 18, 1990

NASA Astrophysics Data System (ADS)

Lewis, Norris E.; Moore, Emery L.

The present conference on fiber-optic (FO) systems discusses topics in shipboard, automotive, spacecraft, and aeronautical FO applications. Attention is given to an FO interferometric ellipsoidal shell hydrophone, an FO backbone for a submarine combat system, EM environmental effects on shipboard FO installations, and recent developments in polymeric FO systems for automotive use. Also discussed are a wavelength-multiplexed FO position encoder for aircraft control systems, a code-division multiple-access system for integrated modular avionics, fly-by-light systems for commercial aircraft, FO temperature sensors for aerospace applications, a hybrid FO/electrical network for launch vehicles, the effects of ionizing radiation on FO systems, and FO systems in liquid propellant rocket environments.

On-board Attitude Determination System (OADS). [for advanced spacecraft missions

NASA Technical Reports Server (NTRS)

Carney, P.; Milillo, M.; Tate, V.; Wilson, J.; Yong, K.

1978-01-01

The requirements, capabilities and system design for an on-board attitude determination system (OADS) to be flown on advanced spacecraft missions were determined. Based upon the OADS requirements and system performance evaluation, a preliminary on-board attitude determination system is proposed. The proposed OADS system consists of one NASA Standard IRU (DRIRU-2) as the primary attitude determination sensor, two improved NASA Standard star tracker (SST) for periodic update of attitude information, a GPS receiver to provide on-board space vehicle position and velocity vector information, and a multiple microcomputer system for data processing and attitude determination functions. The functional block diagram of the proposed OADS system is shown. The computational requirements are evaluated based upon this proposed OADS system.

Maturation of Structural Health Management Systems for Solid Rocket Motors

NASA Technical Reports Server (NTRS)

Quing, Xinlin; Beard, Shawn; Zhang, Chang

2011-01-01

Concepts of an autonomous and automated space-compliant diagnostic system were developed for conditioned-based maintenance (CBM) of rocket motors for space exploration vehicles. The diagnostic system will provide real-time information on the integrity of critical structures on launch vehicles, improve their performance, and greatly increase crew safety while decreasing inspection costs. Using the SMART Layer technology as a basis, detailed procedures and calibration techniques for implementation of the diagnostic system were developed. The diagnostic system is a distributed system, which consists of a sensor network, local data loggers, and a host central processor. The system detects external impact to the structure. The major functions of the system include an estimate of impact location, estimate of impact force at impacted location, and estimate of the structure damage at impacted location. This system consists of a large-area sensor network, dedicated multiple local data loggers with signal processing and data analysis software to allow for real-time, in situ monitoring, and longterm tracking of structural integrity of solid rocket motors. Specifically, the system could provide easy installation of large sensor networks, onboard operation under harsh environments and loading, inspection of inaccessible areas without disassembly, detection of impact events and impact damage in real-time, and monitoring of a large area with local data processing to reduce wiring.

The Orbiter camera payload system's large-format camera and attitude reference system

NASA Technical Reports Server (NTRS)

Schardt, B. B.; Mollberg, B. H.

1985-01-01

The Orbiter camera payload system (OCPS) is an integrated photographic system carried into earth orbit as a payload in the Space Transportation System (STS) Orbiter vehicle's cargo bay. The major component of the OCPS is a large-format camera (LFC), a precision wide-angle cartographic instrument capable of producing high-resolution stereophotography of great geometric fidelity in multiple base-to-height ratios. A secondary and supporting system to the LFC is the attitude reference system (ARS), a dual-lens stellar camera array (SCA) and camera support structure. The SCA is a 70 mm film system that is rigidly mounted to the LFC lens support structure and, through the simultaneous acquisition of two star fields with each earth viewing LFC frame, makes it possible to precisely determine the pointing of the LFC optical axis with reference to the earth nadir point. Other components complete the current OCPS configuration as a high-precision cartographic data acquisition system. The primary design objective for the OCPS was to maximize system performance characteristics while maintaining a high level of reliability compatible with rocket launch conditions and the on-orbit environment. The full OCPS configuration was launched on a highly successful maiden voyage aboard the STS Orbiter vehicle Challenger on Oct. 5, 1984, as a major payload aboard the STS-41G mission.

49 CFR 38.173 - Automated guideway transit vehicles and systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 1 2010-10-01 2010-10-01 false Automated guideway transit vehicles and systems... DISABILITIES ACT (ADA) ACCESSIBILITY SPECIFICATIONS FOR TRANSPORTATION VEHICLES Other Vehicles and Systems § 38.173 Automated guideway transit vehicles and systems. (a) Automated Guideway Transit (AGT) vehicles and...

49 CFR 38.173 - Automated guideway transit vehicles and systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 1 2012-10-01 2012-10-01 false Automated guideway transit vehicles and systems... DISABILITIES ACT (ADA) ACCESSIBILITY SPECIFICATIONS FOR TRANSPORTATION VEHICLES Other Vehicles and Systems § 38.173 Automated guideway transit vehicles and systems. (a) Automated Guideway Transit (AGT) vehicles and...

49 CFR 38.173 - Automated guideway transit vehicles and systems.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 49 Transportation 1 2013-10-01 2013-10-01 false Automated guideway transit vehicles and systems... DISABILITIES ACT (ADA) ACCESSIBILITY SPECIFICATIONS FOR TRANSPORTATION VEHICLES Other Vehicles and Systems § 38.173 Automated guideway transit vehicles and systems. (a) Automated Guideway Transit (AGT) vehicles and...

49 CFR 38.173 - Automated guideway transit vehicles and systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 1 2014-10-01 2014-10-01 false Automated guideway transit vehicles and systems... DISABILITIES ACT (ADA) ACCESSIBILITY SPECIFICATIONS FOR TRANSPORTATION VEHICLES Other Vehicles and Systems § 38.173 Automated guideway transit vehicles and systems. (a) Automated Guideway Transit (AGT) vehicles and...

49 CFR 38.173 - Automated guideway transit vehicles and systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 1 2011-10-01 2011-10-01 false Automated guideway transit vehicles and systems... DISABILITIES ACT (ADA) ACCESSIBILITY SPECIFICATIONS FOR TRANSPORTATION VEHICLES Other Vehicles and Systems § 38.173 Automated guideway transit vehicles and systems. (a) Automated Guideway Transit (AGT) vehicles and...

NREL Highlight: Truck Platooning Testing; NREL (National Renewable Energy Laboratory)

DOE Office of Scientific and Technical Information (OSTI.GOV)

None

NREL's fleet test and evaluation team assesses the fuel savings potential of semi-automated truck platooning of line-haul sleeper cabs with modern aerodynamics. Platooning reduces aerodynamic drag by grouping vehicles together and safely decreasing the distance between them via electronic coupling, which allows multiple vehicles to accelerate or brake simultaneously. In 2014, the team conducted track testing of three SmartWay tractor - two platooned tractors and one control tractor—at varying steady-state speeds, following distances, and gross vehicle weights. While platooning improved fuel economy at all speeds, travel at 55 mph resulted in the best overall miles per gallon. The lead truckmore » demonstrated fuel savings up to 5.3% while the trailing truck saved up to 9.7%. A number of conditions impact the savings attainable, including ambient temperature, distance between lead and trailing truck, and payload weight. Future studies may look at ways to optimize system fuel efficiency and emissions reductions.« less

Containment control of networked autonomous underwater vehicles: A predictor-based neural DSC design.

PubMed

Peng, Zhouhua; Wang, Dan; Wang, Wei; Liu, Lu

2015-11-01

This paper investigates the containment control problem of networked autonomous underwater vehicles in the presence of model uncertainty and unknown ocean disturbances. A predictor-based neural dynamic surface control design method is presented to develop the distributed adaptive containment controllers, under which the trajectories of follower vehicles nearly converge to the dynamic convex hull spanned by multiple reference trajectories over a directed network. Prediction errors, rather than tracking errors, are used to update the neural adaptation laws, which are independent of the tracking error dynamics, resulting in two time-scales to govern the entire system. The stability property of the closed-loop network is established via Lyapunov analysis, and transient property is quantified in terms of L2 norms of the derivatives of neural weights, which are shown to be smaller than the classical neural dynamic surface control approach. Comparative studies are given to show the substantial improvements of the proposed new method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Lightning and surge protection of large ground facilities

NASA Astrophysics Data System (ADS)

Stringfellow, Michael F.

1988-04-01

The vulnerability of large ground facilities to direct lightning strikes and to lightning-induced overvoltages on the power distribution, telephone and data communication lines are discussed. Advanced electrogeometric modeling is used for the calculation of direct strikes to overhead power lines, buildings, vehicles and objects within the facility. Possible modes of damage, injury and loss are discussed. Some appropriate protection methods for overhead power lines, structures, vehicles and aircraft are suggested. Methods to mitigate the effects of transients on overhead and underground power systems as well as within buildings and other structures are recommended. The specification and location of low-voltage surge suppressors for the protection of vulnerable hardware such as computers, telecommunication equipment and radar installations are considered. The advantages and disadvantages of commonly used grounding techniques, such as single point, multiple and isolated grounds are compared. An example is given of the expected distribution of lightning flashes to a large airport, its buildings, structures and facilities, as well as to vehicles on the ground.

Feasibility of a GNSS-Probe for Creating Digital Maps of High Accuracy and Integrity

NASA Astrophysics Data System (ADS)

Vartziotis, Dimitris; Poulis, Alkis; Minogiannis, Alexandros; Siozos, Panayiotis; Goudas, Iraklis; Samson, Jaron; Tossaint, Michel

The “ROADSCANNER” project addresses the need for increased accuracy and integrity Digital Maps (DM) utilizing the latest developments in GNSS, in order to provide the required datasets for novel applications, such as navigation based Safety Applications, Advanced Driver Assistance Systems (ADAS) and Digital Automotive Simulations. The activity covered in the current paper is the feasibility study, preliminary tests, initial product design and development plan for an EGNOS enabled vehicle probe. The vehicle probe will be used for generating high accuracy, high integrity and ADAS compatible digital maps of roads, employing a multiple passes methodology supported by sophisticated refinement algorithms. Furthermore, the vehicle probe will be equipped with pavement scanning and other data fusion equipment, in order to produce 3D road surface models compatible with standards of road-tire simulation applications. The project was assigned to NIKI Ltd under the 1st Call for Ideas in the frame of the ESA - Greece Task Force.

Variable Camber Continuous Aerodynamic Control Surfaces and Methods for Active Wing Shaping Control

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T. (Inventor)

2016-01-01

An aerodynamic control apparatus for an air vehicle improves various aerodynamic performance metrics by employing multiple spanwise flap segments that jointly form a continuous or a piecewise continuous trailing edge to minimize drag induced by lift or vortices. At least one of the multiple spanwise flap segments includes a variable camber flap subsystem having multiple chordwise flap segments that may be independently actuated. Some embodiments also employ a continuous leading edge slat system that includes multiple spanwise slat segments, each of which has one or more chordwise slat segment. A method and an apparatus for implementing active control of a wing shape are also described and include the determination of desired lift distribution to determine the improved aerodynamic deflection of the wings. Flap deflections are determined and control signals are generated to actively control the wing shape to approximate the desired deflection.

A Review of the MLAS Parachute Systems

NASA Technical Reports Server (NTRS)

Taylor, Anthony P.; Kelley, Christopher; Magner, Eldred; Peterson, David; Hahn, Jeffrey; Yuchnovicz, Daniel E.

2009-01-01

The NASA Engineering and Safety Center (NESC) is developing the Max Launch Abort System (MLAS) as a risk-mitigation design should problems arise with the baseline Orion spacecraft launch abort design. The Max in MLAS is dedicated to Max Faget, the renowned NASA spacecraft designer. The MLAS flight test vehicle consists of boost skirt, coast skirt and the MLAS fairing which houses a full scale boilerplate Orion Crew Module (CM). The objective of the flight test is to prove that the CM can be released from the MLAS fairing during pad abort conditions without detrimental recontact between the CM and fairing, achieving performance similar to the Orion launch abort system. The boost and coast skirts provide the necessary thrust and stability to achieve the flight test conditions and are released prior to the test -- much like the Little Joe booster was used in the Apollo Launch Escape System tests. To achieve the test objective, two parachutes are deployed from the fairing to reorient the CM/fairing to a heatshield first orientation. The parachutes then provide the force necessary to reduce the total angle of attack and body angular rates required for safe release of the CM from the fairing. A secondary test objective after CM release from the fairing is to investigate the removal of the CM forward bay cover (FBC) with CM drogue parachutes for the purpose of attempting to synchronously deploying a set of CM main parachutes. Although multiple parachute deployments are used in the MLAS flight test vehicle to complete its objective, there are only two parachute types employed in the flight test. Five of the nine parachutes used for MLAS are 27.6 ft D(sub 0) ribbon parachutes, and the remaining four are standard G-12 cargo parachutes. This paper presents an overview of the 27.6 ft D(sub 0) ribbon parachute system employed on the MLAS flight test vehicle for coast skirt separation, fairing reorientation, and as drogue parachutes for the CM after separation from the fairing. Discussion will include: the process used to select this design, previously proven as a spin/stall recovery parachute; descriptions of all components of the parachute system; the minor modifications necessary to adapt the parachute to the MLAS program; the techniques used to analyze the parachute for the multiple roles it performs; a discussion of the rigging techniques used to interface the parachute system to the vehicle; and a brief description of how the evolution of the program affected parachute usage and analysis. An overview of the Objective system, rationale for the MLAS approach and the future of the program will also be presented. We hope to have flight test results to report at the time of the Conference Presentation.

Association of State Alcohol Policies With Alcohol-Related Motor Vehicle Crash Fatalities Among US Adults.

PubMed

Naimi, Timothy S; Xuan, Ziming; Sarda, Vishnudas; Hadland, Scott E; Lira, Marlene C; Swahn, Monica H; Voas, Robert B; Heeren, Timothy C

2018-05-29

Motor vehicle crashes are a leading cause of mortality. However, the association between the restrictiveness of the alcohol policy environment (ie, based on multiple existing policies) and alcohol-related crash fatalities has not been characterized previously to date. To examine the association between the restrictiveness of state alcohol policy environments and the likelihood of alcohol involvement among those dying in motor vehicle crashes in the United States. This investigation was a repeated cross-sectional study in which state alcohol policies (operationalized by the Alcohol Policy Scale [APS]) from 1999 to 2014 were related to motor vehicle crash fatalities from 2000 to 2015 using data from the Fatality Analysis Reporting System (1-year lag). Alternating logistic regression models and generalized estimating equations were used to account for clustering of multiple deaths within a crash and of multiple crashes occurring within states. The study also examined independent associations of mutually exclusive subgroups of policies, including consumption-oriented policies vs driving-oriented policies. The study setting was the 50 US states. Participants were 505 614 decedents aged at least 21 years from motor vehicle crashes from 2000 to 2015. Odds that a crash fatality was alcohol related (fatality stemmed from a crash in which ≥1 driver had a blood alcohol concentration [BAC] ≥0.08%). From 2000 to 2015, there were 505 614 adult motor vehicle crash fatalities in the United States, of which 178 795 (35.4%) were alcohol related. Each 10-percentage point increase in the APS score (corresponding to more restrictive state policies) was associated with reduced individual-level odds of alcohol involvement in a crash fatality (adjusted odds ratio [aOR], 0.90; 95% CI, 0.89-0.91); results were consistent among most demographic and crash-type strata. More restrictive policies also had protective associations with alcohol involvement among crash fatalities associated with BACs from greater than 0.00% to less than 0.08%. After accounting for driving-oriented policies, consumption-oriented policies were independently protective for alcohol-related crash fatalities (aOR, 0.97; 95% CI, 0.96-0.98 based on a 10-percentage point increased APS score). Strengthening alcohol policies, including those that do not specifically target impaired driving, could reduce alcohol-related crash fatalities. Policies may also protect against crash fatalities involving BAC levels below the current legal limit for driving in the United States.

North Cascades Stehekin Valley Vehicle Decision Document.

DOT National Transportation Integrated Search

2007-08-31

This document serves as technical substantiation in support of a procurement for a fleet of vehicles to be used to operate a scheduled shuttle operation with multiple stops at North Cascades National Park Service Complex (NOCA), in the Stehekin Valle...

Surveillance of traffic incident management-related occupational fatalities in Kentucky, 2005-2016.

PubMed

Bunn, T L; Slavova, S; Chandler, M; Hanner, N; Singleton, M

2018-05-19

Traffic incidents occurring on roadways require the coordinated effort of multiple responder and recovery entities, including communications, law enforcement, fire and rescue, emergency medical services, hazardous materials, transportation agencies, and towing and recovery. The objectives of this study were to (1) identify and characterize transportation incident management (TIM)-related occupational fatalities; (2) assess concordance of surveillance data sources in identifying TIM occupations, driver vs. pedestrian status, and occupational fatality incident location; and (3) determine and compare U.S. occupational fatality rates for TIM industries. The Kentucky Fatality Assessment and Control Evaluation (FACE) program analyzed 2005-2016 TIM occupational fatality data using multiple data sources: death certificate data, Collision Report Analysis for Safer Highways (CRASH) data, and media reports, among others. Literal text analysis was performed on FACE data, and a multiple linear regression model and SAS proc sgpanel were used to estimate and visualize the U.S. TIM occupational mortality trend lines and confidence bounds. There were 29 TIM fatalities from 2005 to 2015 in Kentucky; 41% of decedents were in the police protection occupation, and 21% each were in the fire protection and motor vehicle towing industries. Over one half of the TIM decedents were performing work activities as pedestrians when they died. Media reports identified the majority of the occupational fatalities as TIM related (28 of 29 TIM-related deaths); the use of death certificates as the sole surveillance data source only identified 17 of the 29 deaths as TIM related, and the use of CRASH data only identified 4 of the 29 deaths as TIM related. Injury scenario text analysis showed that law enforcement vehicle pursuit, towing and recovery vehicle loading, and disabled vehicle response were particular high-risk activities that led to TIM deaths. Using U.S. data, the motor vehicle towing industry had a significantly higher risk for occupational mortality compared to the fire protection and police protection industries. Multiple data sources are needed to comprehensively identify TIM fatalities and to examine the circumstances surrounding TIM fatalities, because no one data source in itself was adequate and undercounted the total number of TIM fatalities. The motor vehicle towing industry, in particular, is at elevated risk for occupational mortality, and targeted mandatory TIM training for the motor vehicle towing industry should be considered. In addition, enhanced law enforcement roadside safety training during vehicle pursuit and apprehension of suspects is recommended.

Model for Bi-objective emergency rescue vehicle routing optimization

NASA Astrophysics Data System (ADS)

Yang, Yuhang

2017-03-01

Vehicle routing problem is an important research topic in management science. In this paper, one vehicle can rescue multiple disaster points and two optimization objectives are rescue time and rescue effect. Rescue effect is expressed as the ratio of unloaded material to arrival time when rescue vehicles participate in rescue every time. In this paper, the corresponding emergency rescue model is established and the effectiveness of the model is verified by simulated annealing algorithm. It can provide the basis for practical decision-making.

Systems engineering for very large systems

NASA Technical Reports Server (NTRS)

Lewkowicz, Paul E.

1993-01-01

Very large integrated systems have always posed special problems for engineers. Whether they are power generation systems, computer networks or space vehicles, whenever there are multiple interfaces, complex technologies or just demanding customers, the challenges are unique. 'Systems engineering' has evolved as a discipline in order to meet these challenges by providing a structured, top-down design and development methodology for the engineer. This paper attempts to define the general class of problems requiring the complete systems engineering treatment and to show how systems engineering can be utilized to improve customer satisfaction and profit ability. Specifically, this work will focus on a design methodology for the largest of systems, not necessarily in terms of physical size, but in terms of complexity and interconnectivity.

Systems engineering for very large systems

NASA Astrophysics Data System (ADS)

Lewkowicz, Paul E.

Very large integrated systems have always posed special problems for engineers. Whether they are power generation systems, computer networks or space vehicles, whenever there are multiple interfaces, complex technologies or just demanding customers, the challenges are unique. 'Systems engineering' has evolved as a discipline in order to meet these challenges by providing a structured, top-down design and development methodology for the engineer. This paper attempts to define the general class of problems requiring the complete systems engineering treatment and to show how systems engineering can be utilized to improve customer satisfaction and profit ability. Specifically, this work will focus on a design methodology for the largest of systems, not necessarily in terms of physical size, but in terms of complexity and interconnectivity.

Use of DES Modeling for Determining Launch Availability for SLS

NASA Technical Reports Server (NTRS)

Watson, Michael; Staton, Eric; Cates, Grant; Finn, Ronald; Altino, Karen M.; Burns, K. Lee

2014-01-01

(1) NASA is developing a new heavy lift launch system for human and scientific exploration beyond Earth orbit comprising of the Space Launch System (SLS), Orion Multi-Purpose Crew Vehicle (MPCV), and Ground Systems Development and Operations (GSDO); (2) The desire of the system is to ensure a high confidence of successfully launching the exploration missions, especially those that require multiple launches, have a narrow Earth departure window, and high investment costs; and (3) This presentation discusses the process used by a Cross-Program team to develop the Exploration Systems Development (ESD) Launch Availability (LA) Technical Performance Measure (TPM) and allocate it to each of the Programs through the use of Discrete Event Simulations (DES).

A perception system for a planetary explorer

NASA Technical Reports Server (NTRS)

Hebert, M.; Krotkov, E.; Kanade, T.

1989-01-01

To perform planetary exploration without human supervision, a complete autonomous robot must be able to model its environment and to locate itself while exploring its surroundings. For that purpose, the authors propose a modular perception system for an autonomous explorer. The perception system maintains a consistent internal representation of the observed terrain from multiple sensor views. The representation can be accessed from other modules through queries. The perception system is intended to be used by the Ambler, a six-legged vehicle being built at CMU. A partial implementation of the system using a range scanner is presented as well as experimental results on a testbed that includes the sensor, one computer-controlled leg, and obstacles on a sandy surface.

Advanced millimeter wave imaging systems

NASA Technical Reports Server (NTRS)

Schuchardt, J. M.; Gagliano, J. A.; Stratigos, J. A.; Webb, L. L.; Newton, J. M.

1980-01-01

Unique techniques are being utilized to develop self-contained imaging radiometers operating at single and multiple frequencies near 35, 95 and 183 GHz. These techniques include medium to large antennas for high spatial resolution, lowloss open structures for RF confinemnt and calibration, wide bandwidths for good sensitivity plus total automation of the unit operation and data collection. Applications include: detection of severe storms, imaging of motor vehicles, and the remote sensing of changes in material properties.

Collaborative Autonomous Unmanned Aerial - Ground Vehicle Systems for Field Operations

DTIC Science & Technology

2007-08-31

very limited payload capabilities of small UVs, sacrificing minimal computational power and run time, adhering at the same time to the low cost...configuration has been chosen because of its high computational capabilities, low power consumption, multiple I/O ports, size, low heat emission and cost. This...due to their high power to weight ratio, small packaging, and wide operating temperatures. Power distribution is controlled by the 120 Watt ATX power

Aldehydes in passenger vehicles: An analysis of data from the RIOPA Study 1999-2001

NASA Astrophysics Data System (ADS)

Mapou, Ashley E. M.; Shendell, Derek G.; Therkorn, Jennifer H.; Xiong, Youyou; Meng, Qingyu; Zhang, Junfeng

2013-11-01

In-vehicle air quality (IVAQ) can be a major health concern due to factors such as urban sprawl and increased commuting time spent by individuals in vehicles. Few studies, particularly in the U.S., have considered in-vehicle toxic air contaminants, and none to date collected/analyzed field data in multiple communities across multiple climate zones. This study presents analyses of field data collected during the RIOPA Study from participating non-smoking adults for communities in Los Angeles County, CA, Elizabeth, NJ and Houston, TX. A significant difference (p < 0.001) in in-vehicle formaldehyde concentrations was observed, with the median concentration of in-vehicle formaldehyde in the CA communities about twice as high as in the NJ and TX communities. The highest median concentration of in-vehicle acetaldehyde was observed among the TX participants, over 40% higher than the overall study median. Given small sample sizes, the community (state) differences may be driven independently by differences in individual vehicle conditions and driving habits. Positive correlations were found between average community outdoor relative humidity in CA and NJ and in-vehicle formaldehyde and acetaldehyde concentrations. The amount of time car windows were reported as closed was inversely correlated with in-vehicle formaldehyde across study locations, and for in-vehicle acetaldehyde in CA and TX. Average wind speed and varying sky conditions also had suggested associations to in-vehicle formaldehyde and acetaldehyde. In CA and TX, 88% (7/8) of participants with a diagnosis of bronchitis reported at study baseline had in-vehicle formaldehyde concentrations greater than the overall study median. Every participant with diagnoses of both asthma and bronchitis (n = 3) reported at study baseline had in-vehicle formaldehyde and acetaldehyde concentrations above the overall study median; one participant in TX with two seasonal in-vehicle samplings had in-vehicle concentrations > 75th percentile. IVAQ during commuting may vary based on human behavior and meteorological factors. Additional studies are needed to further characterize ways to help reduce in-vehicle aldehyde exposures, especially for people with existing chronic respiratory illnesses who could experience symptom exacerbations upon such exposures.

Lightweight carbon nanotube-based structural-energy storage devices for micro unmanned systems

NASA Astrophysics Data System (ADS)

Rivera, Monica; Cole, Daniel P.; Hahm, Myung Gwan; Reddy, Arava L. M.; Vajtai, Robert; Ajayan, Pulickel M.; Karna, Shashi P.; Bundy, Mark L.

2012-06-01

There is a strong need for small, lightweight energy storage devices that can satisfy the ever increasing power and energy demands of micro unmanned systems. Currently, most commercial and developmental micro unmanned systems utilize commercial-off-the-shelf (COTS) lithium polymer batteries for their energy storage needs. While COTS lithium polymer batteries are the industry norm, the weight of these batteries can account for up to 60% of the overall system mass and the capacity of these batteries can limit mission durations to the order of only a few minutes. One method to increase vehicle endurance without adding mass or sacrificing payload capabilities is to incorporate multiple system functions into a single material or structure. For example, the body or chassis of a micro vehicle could be replaced with a multifunctional material that would serve as both the vehicle structure and the on-board energy storage device. In this paper we present recent progress towards the development of carbon nanotube (CNT)-based structural-energy storage devices for micro unmanned systems. Randomly oriented and vertically aligned CNT-polymer composite electrodes with varying degrees of flexibility are used as the primary building blocks for lightweight structural-supercapacitors. For the purpose of this study, the mechanical properties of the CNT-based electrodes and the charge-discharge behavior of the supercapacitor devices are examined. Because incorporating multifunctionality into a single component often degrades the properties or performance of individual structures, the performance and property tradeoffs of the CNT-based structural-energy storage devices will also be discussed.

A Scalable, Out-of-Band Diagnostics Architecture for International Space Station Systems Support

NASA Technical Reports Server (NTRS)

Fletcher, Daryl P.; Alena, Rick; Clancy, Daniel (Technical Monitor)

2002-01-01

The computational infrastructure of the International Space Station (ISS) is a dynamic system that supports multiple vehicle subsystems such as Caution and Warning, Electrical Power Systems and Command and Data Handling (C&DH), as well as scientific payloads of varying size and complexity. The dynamic nature of the ISS configuration coupled with the increased demand for payload support places a significant burden on the inherently resource constrained computational infrastructure of the ISS. Onboard system diagnostics applications are hosted on computers that are elements of the avionics network while ground-based diagnostic applications receive only a subset of available telemetry, down-linked via S-band communications. In this paper we propose a scalable, out-of-band diagnostics architecture for ISS systems support that uses a read-only connection for C&DH data acquisition, which provides a lower cost of deployment and maintenance (versus a higher criticality readwrite connection). The diagnostics processing burden is off-loaded from the avionics network to elements of the on-board LAN that have a lower overall cost of operation and increased computational capacity. A superset of diagnostic data, richer in content than the configured telemetry, is made available to Advanced Diagnostic System (ADS) clients running on wireless handheld devices, affording the crew greater mobility for troubleshooting and providing improved insight into vehicle state. The superset of diagnostic data is made available to the ground in near real-time via an out-of band downlink, providing a high level of fidelity between vehicle state and test, training and operational facilities on the ground.

Fleet Safety

PubMed Central

Hammer, Brian S.; Pratt, Stephanie G.; Ross, Peggy

2015-01-01

Millions of U.S. workers are at risk for a work-related motor vehicle crash. Fatality data show that across all industries, motor vehicle crashes are consistently the leading cause of work-related fatalities. Of 43,025 work-related fatalities reported by BLS between 2003 and 2010, 10,202 were the result of single- or multiple-vehicle crashes of workers driving or riding in a vehicle on a public roadway, and 2,707 were pedestrian workers struck by a motor vehicle. During the same period, an additional 2,487 workers died in crashes that occurred off a public roadway or on industrial premises (BLS, 2013). PMID:26251557