Engineering topics

Lumia, Ronald

Publications and source records attributed to Lumia, Ronald.

5 records

NASA NTRS1992

Model-based vision for space applications

This paper describes a method for tracking moving image features by combining spatial and temporal edge information with model based feature information. The algorithm updates the two-dimensional position of object features by correlating predicted model features with current image data. The results of the correlation process are used to compute an updated model. The algorithm makes use of a high temporal sampling rate with respect to spatial changes of the image features and operates in a real-time multiprocessing environment. Preliminary results demonstrate successful tracking for image feature velocities between 1.1 and 4.5 pixels every image frame. This work has applications for docking, assembly, retrieval of floating objects and a host of other space-related tasks.

Chaconas, Karen↗

NASA NTRS1990

Evolution of the Flight Telerobotic Servicer

The Flight Telerobotic Servicer (FTS) is a two-armed manipulator which will be used to build and maintain Space Station Freedom. One of the goals of the project is to be able to upgrade the capabilities of the FTS by incorporating new technology. To achieve this goal, the FTS is using the NASA/NIST Standard Reference Model for Telerobot Control System Architecture (NASREM) for its functional architecture. While using NASREM helps integrate new technology into the system, the decisions concerning the precise technology needing development must be addressed. In this paper, an approach to the technological evolution of the FTS will be explored. The approach begins with detailed scripts of representative FTS activities. These scripts are analyzed to determine the generic or common actions performed by the FTS. Then, technological alternatives are described in terms of a decision tree format.

Lumia, Ronald↗

NASA NTRS1989

NASA/NBS (National Aeronautics and Space Administration/National Bureau of Standards) standard reference model for telerobot control system architecture (NASREM)

The document describes the NASA Standard Reference Model (NASREM) Architecture for the Space Station Telerobot Control System. It defines the functional requirements and high level specifications of the control system for the NASA space Station document for the functional specification, and a guideline for the development of the control system architecture, of the 10C Flight Telerobot Servicer. The NASREM telerobot control system architecture defines a set of standard modules and interfaces which facilitates software design, development, validation, and test, and make possible the integration of telerobotics software from a wide variety of sources. Standard interfaces also provide the software hooks necessary to incrementally upgrade future Flight Telerobot Systems as new capabilities develop in computer science, robotics, and autonomous system control.

Albus, James S.↗

NASA NTRS1989

The flight telerobotic servicer: From functional architecture to computer architecture

After a brief tutorial on the NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) functional architecture, the approach to its implementation is shown. First, interfaces must be defined which are capable of supporting the known algorithms. This is illustrated by considering the interfaces required for the SERVO level of the NASREM functional architecture. After interface definition, the specific computer architecture for the implementation must be determined. This choice is obviously technology dependent. An example illustrating one possible mapping of the NASREM functional architecture to a particular set of computers which implements it is shown. The result of choosing the NASREM functional architecture is that it provides a technology independent paradigm which can be mapped into a technology dependent implementation capable of evolving with technology in the laboratory and in space.

Lumia, Ronald↗

NASA NTRS1989

Requirements for implementing real-time control functional modules on a hierarchical parallel pipelined system

Analysis of a robot control system leads to a broad range of processing requirements. One fundamental requirement of a robot control system is the necessity of a microcomputer system in order to provide sufficient processing capability.The use of multiple processors in a parallel architecture is beneficial for a number of reasons, including better cost performance, modular growth, increased reliability through replication, and flexibility for testing alternate control strategies via different partitioning. A survey of the progression from low level control synchronizing primitives to higher level communication tools is presented. The system communication and control mechanisms of existing robot control systems are compared to the hierarchical control model. The impact of this design methodology on the current robot control systems is explored.

Wheatley, Thomas E.↗