Arthur T. Bradley

A Multiple Model Approach to Track Head Orientation With Delta Quaternions

Virtual reality and augmented reality environments using helmet-mounted displays create a sense of immersion by closely coupling user head motion to display content. Delays in the presentation of visual information can destroy the sense of presence in the simulation environment when it causes a lag in the display response to user head motion. The effect of display lag can be minimized by predicting head orientation, allowing the system to have sufficient time to counteract the delay. In this paper, anew head orientation prediction technique is proposed that uses a multiple delta quaternion (DQ) extended Kalman filter to track angular head velocity and angular head acceleration. This method is independent of the device used for orientation measurement, relying on quaternion orientation as the only measurement data. A new orientation prediction algorithm is proposed that estimates future head orientation as a function of the current orientation measurement and a predicted change in orientation, using the velocity and acceleration estimates. Extensive experimentation shows that the new method improves head orientation prediction when compared to single filter DQ prediction.

Mineralogy and Astrobiology Detection Using Laser Remote Sensing Instrument

A multispectral instrument based on Raman, laser-induced fluorescence (LIF), laser-induced breakdown spectroscopy (LIBS), and a lidar system provides high-fidelity scientific investigations, scientific input, and science operation constraints in the context of planetary field campaigns with the Jupiter Europa Robotic Lander and Mars Sample Return mission opportunities. This instrument conducts scientific investigations analogous to investigations anticipated for missions to Mars and Jupiters icy moons. This combined multispectral instrument is capable of performing Raman and fluorescence spectroscopy out to a >100  m target distance from the rover system and provides single-wavelength atmospheric profiling over long ranges (>20  km). In this article, we will reveal integrated remote Raman, LIF, and lidar technologies for use in robotic and lander-based planetary remote sensing applications. Discussions are focused on recently developed Raman, LIF, and lidar systems in addition to emphasizing surface water ice, surface and subsurface minerals, organics, biogenic, biomarker identification, atmospheric aerosols and clouds distributions, i.e., near-field atmospheric thin layers detection for next robotic-lander based instruments to measure all the above-mentioned parameters.

Extreme environment capable, modular and scalable power processing unit for solar electric propulsion

This paper is to present a concept of a modular and scalable High Temperature Boost (HTB) Power Processing Unit (PPU) capable of operating at temperatures beyond the standard military temperature range. The various extreme environments technologies are also described as the fundamental technology path to this concept. The proposed HTB PPU is intended for power processing in the area of space solar electric propulsion, where reduction of in-space mass and volume are desired, and sometimes even critical, to achieve the goals of future space flight missions. The concept of the HTB PPU can also be applied to other extreme environment applications, such as geothermal and petroleum deep-well drilling, where higher temperature operation is required.

Compact remote multisensing instrument for planetary surfaces and atmospheres characterization

This paper describes a prototype feasibility demonstration system of a multipurpose Raman-fluorescence spectrograph and compact lidar system suitable for planetary sciences missions. The key measurement features of this instrument are its abilities to: i) detect minerals and organics at low levels in the dust constituents of surface, subsurface material and rocks on Mars, ii) determine the distribution of trace fluorescent ions with time-resolved fluorescence spectroscopy to learn about the geological conditions under which these minerals formed, iii) inspect material toxicity from a mobile robotic platform during local site characterization, iv) measure dust aerosol and cloud distributions, v) measure near-field atmospheric carbon dioxide, and vi) identify surface CO(2)-ice, surface water ice, and surface or subsurface methane hydrate. This prototype instrument and an improved follow-on design are described and have the capability for scientific investigations discussed above, to remotely investigate geological processes from a robotic platform at more than a 20-m radial distance with potential to go beyond 100 m. It also provides single wavelength (532 nm) aerosol/cloud profiling over very long ranges (>10 km with potential to 20 km). Measurement results obtained with this prototype unit from a robotic platform and calculated potential performance are presented in this paper.

Interpolation Volume Calibration: A Multisensor Calibration Technique for Electromagnetic Trackers

AC electromagnetic trackers are well suited for head tracking but are adversely affected by conductive and ferromagnetic materials. Tracking performance can be improved by mapping the tracking volume to produce coefficients that correct position and orientation (PnO) measurements caused by stationary distorting materials. The mapping process is expensive and time consuming, requiring complicated high-precision equipment to provide registration of the measurements to the source reference frame. In this study, we develop a new approach to mapping that provides registration of mapping measurements without precision equipment. Our method, i.e., the interpolation volume calibration system, uses two simple fixtures, each with multiple sensors in a rigid geometry, to determine sensor PnO in a distorted environment without mechanical measurements or other tracking technologies. We test our method in a distorted tracking environment, constructing a lookup table of the magnetic field that is used as the basis for distortion compensation. The new method compares favorably with the traditional approach providing a significant reduction in cost and effort.

Effectiveness of shield termination techniques tested with TEM cell and bulk current injection

This paper presents experimental results of the effectiveness of various shield termination techniques. Each termination technique is evaluated by two independent noise injection methods; transverse electromagnetic (TEM) cell operated from 3 MHz–400 MHz, and bulk current injection (BCI) operated from 50 kHz–400 MHz. Both single carrier and broadband injection tests were investigated. Recommendations as to how to achieve the best shield transfer impedance (i.e. reduced coupled noise) are made based on the empirical data. Finally, the noise injection techniques themselves are indirectly evaluated by comparing the results obtained from the TEM Cell to those from BCI.

TEM cell testing of cable noise reduction techniques from 2 MHz to 200 MHz — Part 1

This paper presents empirical results of cable noise reduction techniques as demonstrated in a TEM cell operating with radiated fields from 2 - 200 MHz. It is the first part of a two-paper series. This first paper discusses cable types and shield connections. In the second paper, the effects of load and source resistances and chassis connections are examined. For each topic, well established theories are compared to data from a real-world physical system. Finally, recommendations for minimizing cable susceptibility (and thus cable emissions) are presented.

Comparison of analysis, simulation, and measurement of wire-to-wire crosstalk, Part 1

In this investigation, we compare crosstalk analysis, simulation, and measurement results for electrically short configurations. Methods include hand calculations, PSPICE simulations, Microstripes transient field solver, and empirical measurement. In total, four representative physical configurations are examined, including a single wire over a ground plane, a twisted pair over a ground plane, generator plus receptor wires inside a cylindrical conduit, and a single receptor wire inside a cylindrical conduit. Part 1 addresses the first two cases, and Part 2 addresses the final two. Agreement between the analysis, simulation, and test data is shown to be very good.

Reducing printed circuit board emissions with low-noise design practices

This paper presents the results of an experiment designed to determine the effectiveness of adopting several low-noise printed circuit board (PCB) design practices. Two boards were designed and fabricated, each consisting of identical mixed-signal circuitry. Several important differences were introduced between the board layouts: one board was constructed using recommended low-noise practices and the other constructed without such attention. The emissions from the two boards were then measured and compared, demonstrating an improvement in radiated emissions of up to 22 dB.

Bulk current injection testing of close proximity cable current return, 1 kHz to 1 MHz

This paper presents the results of an experiment examining the percentage of current that returns on adjacent wires or through a surrounding cable shield rather than through a shared conducting chassis. Simulation and measurement data are compared from 1 kHz – 1 MHz for seven common cable configurations. The phenomenon is important to understand, because minimizing the return current path is vital in developing systems with low radiated emissions.