Image Processing Based Control for Scaled Automated Vehicles

This paper presents a way to design a lateral controller for an automated vehicle using information gained through image processing with the control objective being to stay on a desired path. Two possible ways to obtain the information necessary for lateral control by image processing are presented, one based on pixel intensity summation and the other on vanishing point calculations. The paper also describes two algorithms for the actual lateral control, one based on classical control theory and the other on modern H∞ control. The resulting control algorithms were implemented on a scaled autonomous vehicle system

Armstrong Flight Research Center Research Technology and Engineering 2017

I am delighted to present this report of accomplishments at NASA's Armstrong Flight Research Center. Our dedicated innovators possess a wealth of performance, safety, and technical capabilities spanning a wide variety of research areas involving aircraft, electronic sensors, instrumentation, environmental and earth science, celestial observations, and much more. They not only perform tasks necessary to safely and successfully accomplish Armstrong's flight research and test missions but also support NASA missions across the entire Agency. Armstrong's project teams have successfully accomplished many of the nation's most complex flight research projects by crafting creative solutions that advance emerging technologies from concept development and experimental formulation to final testing. We are developing and refining technologies for ultra-efficient aircraft, electric propulsion vehicles, a low boom flight demonstrator, air launch systems, and experimental x-planes, to name a few. Additionally, with our unique location and airborne research laboratories, we are testing and validating new research concepts. Summaries of each project highlighting key results and benefits of the effort are provided in the following pages. Technology areas for the projects include electric propulsion, vehicle efficiency, supersonics, space and hypersonics, autonomous systems, flight and ground experimental test technologies, and much more. Additional technical information is available in the appendix, as well as contact information for the Principal Investigator of each project. I am proud of the work we do here at Armstrong and am pleased to share these details with you. We welcome opportunities for partnership and collaboration, so please contact us to learn more about these cutting-edge innovations and how they might align with your needs

Structural health monitoring of bridges using wireless sensor networks

Structural Health Monitoring, damage detection and localization of bridges using Wireless Sensor Networks (WSN) are studied in this thesis. The continuous monitoring of bridges to detect damage is a very useful tools for preventing unnecessary costly and emergent maintenance. The optimal design aims to maximize the lifetime of the system, the accuracy of the sensed data, and the system reliability, and to minimize the system cost and complexity Finite Element Analysis (FEA) is carried out using LUSAS Bridge Plus software to determine sensor locations and measurement types and effectively minimize the number of sensors, data for transmission, and volume of data for processing. In order to verify the computer simulation outputs and evaluate the proposed optimal design and algorithms, a WSN system mounted on a simple reinforced concrete frame model is employed in the lab. A series of tests are carried out on the reinforced concrete frame mounted on the shaking table in order to simulate the existing extreme loading condition. Experimental methods which are based on modal analysis under ambient vibrational excitation are often employed to detect structural damages of mechanical systems, many of such frequency domain methods as first step use a Fast Fourier Transform estimate of the Power Spectral Density (PSD) associated with the response of the system. In this study it is also shown that higher order statistical estimators such as Spectral Kurtosis (SK) and Sample to Model Ratio (SMR) may be successfully employed to more reliably discriminate the response of the system against the ambient noise and better identify and separate contributions from closely spaced individual modes. Subsequently, the identified modal parameters are used for damage detection and Structural Health Monitoring. To evaluate the preliminary results of the project\u27s prototype and quantify the current bridge response as well as demonstrate the ability of the SHM system to successfully perform on a bridge, the deployment of Wireless Sensor Networks in an existing highway bridge in Qatar is implemented. The proposed technique will eventually be applied to the new stadium that State of Qatar will build in preparation for the 2022 World Cup. This monitoring system will help permanently record the vibration levels reached in all substructures during each event to evaluate the actual health state of the stadiums. This offers the opportunity to detect potentially dangerous situations before they become critical

Setup for Advanced Vehicle Control Systems Experiments in the Flexible Low-cost Automated Scaled Highway (FLASH) Laboratory

This paper describes the setup for advanced vehicle control systems (AVCS) experiments in the flexible low-cost automated scaled highway (FLASH) laboratory being developed at Virginia Tech. The laboratory is a proposed 1/15th scale hardware working model of Automated Highway Systems (AHS). The vehicles are equipped with ultrasonic sensors for longitudinal guidance. They are controlled by HC11 microprocessor boards, and have wireless two way communication infrastructure for vehicle-highway communication. This paper describes the hardware, software, and design issues for the experiments

Marshall Space Flight Center Research and Technology Report 2019

Today, our calling to explore is greater than ever before, and here at Marshall Space Flight Centerwe make human deep space exploration possible. A key goal for Artemis is demonstrating and perfecting capabilities on the Moon for technologies needed for humans to get to Mars. This years report features 10 of the Agencys 16 Technology Areas, and I am proud of Marshalls role in creating solutions for so many of these daunting technical challenges. Many of these projects will lead to sustainable in-space architecture for human space exploration that will allow us to travel to the Moon, on to Mars, and beyond. Others are developing new scientific instruments capable of providing an unprecedented glimpse into our universe. NASA has led the charge in space exploration for more than six decades, and through the Artemis program we will help build on our work in low Earth orbit and pave the way to the Moon and Mars. At Marshall, we leverage the skills and interest of the international community to conduct scientific research, develop and demonstrate technology, and train international crews to operate further from Earth for longer periods of time than ever before first at the lunar surface, then on to our next giant leap, human exploration of Mars. While each project in this report seeks to advance new technology and challenge conventions, it is important to recognize the diversity of activities and people supporting our mission. This report not only showcases the Centers capabilities and our partnerships, it also highlights the progress our people have achieved in the past year. These scientists, researchers and innovators are why Marshall and NASA will continue to be a leader in innovation, exploration, and discovery for years to come

Marshall Space Flight Center Research and Technology Report 2017

This report features over 60 technology development and scientific research efforts that collectively aim to enable new capabilities in spaceflight, expand the reach of human exploration, and reveal new knowledge about the universe in which we live. These efforts include a wide array of strategic developments: launch propulsion technologies that facilitate more reliable, routine, and cost effective access to space; in-space propulsion developments that provide new solutions to space transportation requirements; autonomous systems designed to increase our utilization of robotics to accomplish critical missions; life support technologies that target our ability to implement closed-loop environmental resource utilization; science instruments that enable terrestrial, solar, planetary and deep space observations and discovery; and manufacturing technologies that will change the way we fabricate everything from rocket engines to in situ generated fuel and consumables

Models for Efficient Automated Site Data Acquisition

Accurate and timely data acquisition for tracking and progress reporting is essential for efficient management and successful project delivery. Considerable research work has been conducted to develop methods utilizing automated site data acquisition for tracking and progress reporting. However, these developments are challenged by: the dynamic and noisy nature of construction jobsites; the indoor localization accuracy; and the data processing and extraction of actionable information. Limited research work attempted to study and develop customized design of wireless sensor networks to meet the above challenges and overcome limitations of utilizing off-the-shelf technologies. The objective of this research is to study, design, configure and develop fully customized automated site data acquisition models, with a special focus on near real-time automated tracking and control of construction operations embracing cutting edge innovations in wireless and remote sensing technologies. In this context, wireless and remote sensing technologies are integrated in two customized prototypes to monitor and collect data from construction jobsites. This data is then processed and mined to generate meaningful and actionable information. The developed prototypes are expected to have wider scope of applications in construction management, such as improving construction safety, monitoring the condition of civil infrastructure and reducing energy consumption in buildings. Two families of prototypes were developed in this research; Sensor Aided GPS (SA-GPS) prototype, which is designed and developed for tracking outdoor construction operations such as earthmoving; and Self-Calibrated Wireless Sensor Network (SC-WSN), which is designed for indoor localization and tracking of construction resources (labor, materials and equipment). These prototypes along with their hardware and software are encapsulated in a computational framework. The framework houses a set of algorithms coded in C# to enable efficient data processing and fusion that support tracking and progress reporting. Both the hardware prototypes and software algorithms were progressively tested, evaluated and re-designed using Rapid Prototyping approach. The validation process of the developed prototypes encompasses three steps; (1) simulation to validate the prototypes’ design virtually using MATLAB, (2) laboratory experiments to evaluate prototypes’ functionality in real time, and (3) testing on scaled case studies after fine-tuning the prototype design based on the results obtained from the first two steps. The SA-GPS prototype consists of a microcontroller equipped with GPS module as well as a number of sensors such as accelerometer, barometric pressure sensor, Bluetooth proximity and strain gauges. The results of testing the developed SA-GPS prototype on scaled construction jobsite indicated that it was capable of estimating project progress within 3% mean absolute percentage error and 1% standard deviation on 16 trials, in comparison to the standalone GPS which had approximately 12% mean absolute percentage error and 2% standard deviation. The SC-WSN prototype incorporates two main features. The first is the use of the Kalman filtering and smoothing for the RSSI signal to provide more stable and predictable signal for estimating the distance between a reader and a tag. The second is the use of a developed dynamic path-loss model which continually optimizes its parameters to cope with the dynamically changing construction environment using Particle Swarm Optimization (PSO) algorithm. The laboratory testing indicated the improvement in location estimation, where the produced location estimates using SC_WSN had an average error of 0.66m in comparison to 1.67m using the raw RSSI signal. Also the results indicated 60% accuracy improvement in estimating locations using the developed dynamic model. The developed prototypes are not only expected to reduce the risk of project cost and duration overruns by timely and early detection of deviations from project plan, but also enables project managers to observe and oversee their project’s status in near real-time. It is expected that the accuracy of the developed hardware, can be achieved on large-scale real construction projects. This is attributed to the fact that the developed prototype does not require any scalable improvements on its hardware technology, nor does it require any additional computational changes to its developed algorithms and software

Langley aerospace test highlights, 1990

The role of NASA-Langley is to perform basic and applied research necessary for the advancement of aeronautics and spaceflight, to generate new and advanced concepts for the accomplishment of related national goals, and to provide research advice, technological support, and assistance to other NASA installations, other government agencies, and industry. Some of the significant tests are highlighted which were performed during 1990 in the NASA-Langley test facilities, a number of which are unique in the world. Both the broad range of the research and technology activities at NASA-Langley and the contributions of this work toward maintaining U.S. leadership in aeronautics and space research are illustrated. Other highlights of Langley research and technology for 1990 are described in Research and Technology 1990 Langley Research Center

SMARTI - Sustainable Multi-functional Automated Resilient Transport Infrastructure

The world’s transport network has developed over thousands of years; emerging from the need of allowing more comfortable trips to roman soldiers to the modern smooth roads enabling modern vehicles to travel at high speed and to allow heavy airplanes to take off and land safely. However, in the last two decades the world is changing very fast in terms of population growth, mobility and business trades creating greater traffic volumes and demand for minimal disruption to users, but also challenges, such as climate change and more extreme weather events. At the same time, technology development to allow a more sustainable transport sector continue apace. It is within this environment and in close consultation with key stakeholders, that this consortium developed the vision to achieve the paradigm shift to Sustainable Multifunctional Automated and Resilient Transport Infrastructures. SMARTI ETN is a training-through-research programme that empowered Europe by forming a new generation of multi-disciplinary professionals able to conceive the future of transport infrastructures and this Special Issue is a collection of some of the scientific work carried out within this context. Enjoy the read