Engineering topics

Miller, Samuel A.

Publications and source records attributed to Miller, Samuel A..

3 records

NASA NTRS2014

Photogrammetry System and Method for Determining Relative Motion Between Two Bodies

A photogrammetry system and method provide for determining the relative position between two objects. The system utilizes one or more imaging devices, such as high speed cameras, that are mounted on a first body, and three or more photogrammetry targets of a known location on a second body. The system and method can be utilized with cameras having fish-eye, hyperbolic, omnidirectional, or other lenses. The system and method do not require overlapping fields-of-view if two or more cameras are utilized. The system and method derive relative orientation by equally weighting information from an arbitrary number of heterogeneous cameras, all with non-overlapping fields-of-view. Furthermore, the system can make the measurements with arbitrary wide-angle lenses on the cameras.

Miller, Samuel A.↗

NASA NTRS2012

Behavioral Mapless Navigation Using Rings

This paper presents work on the development and implementation of a novel approach to robotic navigation. In this system, map-building and localization for obstacle avoidance are discarded in favor of moment-by-moment behavioral processing of the sonar sensor data. To accomplish this, we developed a network of behaviors that communicate through the passing of rings, data structures that are similar in form to the sonar data itself and express the decisions of each behavior. Through the use of these rings, behaviors can moderate each other, conflicting impulses can be mediated, and designers can easily connect modules to create complex emergent navigational techniques. We discuss the development of a number of these modules and their successful use as a navigation system in the Trinity omnidirectional robot.

Monroe, Randall P.↗

NASA NTRS2005

Low-Cost, Portable, Multi-Wall Virtual Reality

Virtual reality systems make compelling outreach displays, but some such systems, like the CAVE, have design features that make their use for that purpose inconvenient. In the case of the CAVE, the equipment is difficult to disassemble, transport, and reassemble, and typically CAVEs can only be afforded by large-budget research facilities. We implemented a system like the CAVE that costs less than $30,000, weighs about 500 pounds, and fits into a fifteen-passenger van. A team of six people have unpacked, assembled, and calibrated the system in less than two hours. This cost reduction versus similar virtual-reality systems stems from the unique approach we took to stereoscopic projection. We used an assembly of optical chopper wheels and commodity LCD projectors to create true active stereo at less than a fifth of the cost of comparable active-stereo technologies. The screen and frame design also optimized portability; the frame assembles in minutes with only two fasteners, and both it and the screen pack into small bundles for easy and secure shipment.

Miller, Samuel A.↗