Engineering topics

Wells, Dennis L.

Publications and source records attributed to Wells, Dennis L..

7 records

NASA NTRS1997

Light-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

A laser-directed ranging system has utility for use in various fields, such as telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a single video camera and a directional light source such as a laser mounted on a camera platform, and a remotely positioned operator. In one embodiment, the position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. The laser is offset vertically and horizontally from the camera, and the laser/camera platform is directed by the user to point the laser and the camera toward a target device. The image produced by the video camera is processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. A reference point is defined at a point in the video frame, which may be located outside of the image area of the camera. The disparity between the digital image of the laser spot and the reference point is calculated for use in a ranging analysis to determine range to the target.

Wells, Dennis L.↗

NASA NTRS1995

Laser-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

The invention relates generally to systems for determining the range of an object from a reference point and, in one embodiment, to laser-directed ranging systems useful in telerobotics applications. Digital processing techniques are employed which minimize the complexity and cost of the hardware and software for processing range calculations, thereby enhancing the commercial attractiveness of the system for use in relatively low-cost robotic systems. The system includes a video camera for generating images of the target, image digitizing circuitry, and an associated frame grabber circuit. The circuit first captures one of the pairs of stereo video images of the target, and then captures a second video image of the target as it is partly illuminated by the light beam, suitably generated by a laser. The two video images, taken sufficiently close together in time to minimize camera and scene motion, are converted to digital images and then compared. Common pixels are eliminated, leaving only a digital image of the laser-illuminated spot on the target. Mw centroid of the laser illuminated spot is dm obtained and compared with a predetermined reference point, predetermined by design or calibration, which represents the coordinate at the focal plane of the laser illumination at infinite range. Preferably, the laser and camera are mounted on a servo-driven platform which can be oriented to direct the camera and the laser toward the target. In one embodiment the platform is positioned in response to movement of the operator's head. Position and orientation sensors are used to monitor head movement. The disparity between the digital image of the laser spot and the reference point is calculated for determining range to the target. Commercial applications for the system relate to active range-determination systems, such as those used with robotic systems in which it is necessary to determine the, range to a workpiece or object to be grasped or acted upon by a robot arm end-effector in response to commands generated by an operator. In one embodiment, the system provides a real-time image of the target for the operator as the robot approaches the object. The system is also adapted for use in virtual reality systems in which a remote object or workpiece is to be acted upon by a remote robot arm or other mechanism controlled by an operator.

Wells, Dennis L.↗

NASA NTRS1991

Nozzle fabrication technique

A block of electrically conductive material which is to be formed into a body with internal and/or external surfaces that approximate hyperboloids of one sheet is placed so that its axis is set at a predetermined skew angle with relation to a traveling EDM electrode wire. The electrode wire is then moved into cutting proximity of the body wire. Thereafter, by revolving the body about its own axis, the external and/or internal surfaces of the body will be cut into an approximate hyperbolic surface of revolution depending upon whether the body is positioned with the cutting wire outside of the body or in a previously formed longitudinal passage in the body. As an alternative technique, elongated channels can also be cut into the wall of the body by successively orienting the body to a selected number of angular positions, with the electrode wire being either outside of the body or in a previously formed passage in the body. At each of these angular positions, the electrode wire is moved orthogonally with respect to the axis of the wire, while both the body axis skew angle and the rotational position about that axis is controlled by cutting a channel or groove in the body to relieve stresses in the body material or to convey a coolant fluid.

Wells, Dennis L.↗

NASA NTRS1989

Making Nozzles From Hard Materials

Proposed method of electrical-discharge machining (EDM) cuts hard materials like silicon carbide into smoothly contoured parts. Concept developed for fabrication of interior and exterior surfaces and internal cooling channels of convergent/divergent nozzles. EDM wire at skew angle theta creates hyperboloidal cavity in tube. Wire offset from axis of tube and from axis of rotation by distance equal to throat radius. Maintaining same skew angle as that used to cut hyperboloidal inner surface but using larger offset, cooling channel cut in material near inner hyperboloidal surface.

Wells, Dennis L.↗

NASA NTRS1989

Nozzle fabrication technique

A block of electrically-conductive material which is to be formed into a body with internal and/or external surfaces that approximate hyperboloids of one sheet is placed so that its axis is set at a predetermined skew angle with relation to a travelling EDM electrode wire and the electrode wire is then moved into cutting proximity of the body. Thereafter, by revolving the body about its own axis, the external and/or internal surfaces of the body will be cut into an approximate hyperbolic surface of revolution depending upon whether the body is positioned with the cutting wire outside of the body or in a previously-formed longitudinal passage in the body. As an alternative technique, elongated channels can also be cut into the walls of the body by successively orienting the body to a selected number of angular positions with the electrode wire being either outside of the body or in a previously-formed passage in the body. At each of these angular positions, the electrode wire is moved orthogonally with respect to the axis of the wire while both the body axis skew angle and the rotational position about that axis are controlled for cutting a channel or groove in the body as required to relieve stresses in the material of the body or to convey a coolant fluid.

Wells, Dennis L.↗

NASA NTRS1988

Shuttle RCS primary thruster injector flow visualization

An image-transmitting fiber-optics scope with a dry gas purge of the optics head has been used to visually evaluate the condition of surplus thrusters in the Space Shuttle's Reaction Control System; it was subsequently applied to flight thrusters. The technique uses water for flow visualization, and obviates thruster disassembly. The innovative use of gas purging of a fiber-optics head allows the unobstructed and distortion-free viewing of the flow streams, and testing has shown the technique to be ideally suited to injector flow assessments following thruster exposure to extensive contamination.

Wells, Dennis L.↗

NASA NTRS1988

Nozzle fabrication technique

This invention relates to techniques for fabricating hour glass throat or convergent divergent nozzle shapes, and more particularly to new and improved techniques for forming rocket nozzles from electrically conductive material and forming cooling channels in the wall thereof. The concept of positioning a block of electrically conductive material so that its axis is set at a predetermined skew angle with relation to a travelling electron discharge machine electrode and thereafter revolving the body about its own axis to generate a hyperbolic surface of revolution, either internal or external is novel. The method will generate a rocket nozzle which may be provided with cooling channels using the same control and positioning system. The configuration of the cooling channels so produced are unique and novel. Also the method is adaptable to nonmetallic material using analogous cutting tools, such as, water jet, laser, abrasive wire and hot wire.

Wells, Dennis L.↗