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Electric drive system provides low speed, long term tracking of targets that move at a sidereal rate. It utilizes eddy-current energized actuators that are free from radio frequency interference generation and a solid state feedback amplifier with provisions for antibacklash biasing.
Apollo passive infrared acquisition and tracking system analysis
The effect of secondary tasks in determining permissible time delays in visual-motion simulation of a pursuit tracking task was examined. A single subject, a single set of aircraft handling qualities, and a single motion condition in tracking a target aircraft that oscillates sinusoidally in altitude were used. In addition to the basic simulator delays the results indicate that the permissible time delay is about 250 msec for either a tapping task, an adding task, or an audio task and is approximately 125 msec less than when no secondary task is involved. The magnitudes of the primary task performance measures, however, differ only for the tapping task. A power spectraldensity analysis basically confirms the result by comparing the root-mean-square performance measures. For all three secondary tasks, the total pilot workload was quite high.
The effect of time delay was determined in the visual and motion cues in a flight simulator on pilot performance in tracking a target aircraft that was oscillating sinusoidally in altitude only. An audio side task was used to assure the subject was fully occupied at all times. The results indicate that, within the test grid employed, about the same acceptable time delay (250 msec) was obtained for a single aircraft (fighter type) by each of two subjects for both fixed-base and motion-base conditions. Acceptable time delay is defined as the largest amount of delay that can be inserted simultaneously into the visual and motion cues before performance degradation occurs. A statistical analysis of the data was made to establish this value of time delay. Audio side task provided quantitative data that documented the subject's work level.
As part of its advanced development work, JPL is developing a Precision Pointing and Tracking System (PPTS) for science platform control on unmanned planetary spacecraft. The PPTS will extend science capabilities on future missions by providing highly accurate (10 arcsec) and stable (0.2 arcsec) pointing of the platform. Key features of the design include closed-loop tracking of target bodies using an optical sensor and decoupling of spacecraft dynamics via high-bandwidth, inertially stabilized control. This paper discusses the analyses and design. Computer simulations were used to establish the feasibility of the design approach and to verify that the performance requirements can be met. A breadboard demonstration of the entire system is expected in late 1980.
The applications of practical optical image sensing CCDs to interplanetary spacecraft precision science payload delivery are discussed. The increasing demand for precision and flexibility in spacecraft for proposed new missions is forcing a transition to autonomous onboard navigation and pointing control. Onboard processing of video data is a crucial element in this transition and is made possible by CCD imagers and microprocessors. The pending Halley's comet close flyby is used as an example to examine details of the sensor design and the data processing which will meet the requirements. Target body centerfinding for optical navigation, target body tracking signal processing, and CCD sensor heads are examined, and flow charts and block diagrams are given for each.
Optical and optical electronic hybrid processing especially in the application area of image processing are emphasized. Real time pattern recognition processors for such airborne missions as target recognition, tracking, and terminal guidance are studied.
Two main areas of application of adaptive state estimation theory are presented. Following a review of the basic estimation approach, its application to both the control of nonlinear plants and to the problem of tracking maneuvering targets is presented. Results are brought together from these two areas of investigation to provide insight into the wide range of possible applications of the general estimation method.
The use of charge-coupled-devices, or CCD's, has been documented by a number of sources as an effective means of providing a measurement of spacecraft attitude with respect to the stars. A method exists of defocussing and interpolation of the resulting shape of a star image over a small subsection of a large CCD array. This yields an increase in the accuracy of the device by better than an order of magnitude over the case when the star image is focussed upon a single CCD pixel. This research examines the effect that image motion has upon the overall precision of this star sensor when applied to an orbiting infrared observatory. While CCD's collect energy within the visible spectrum of light, the targets of scientific interest may well have no appreciable visible emissions. Image motion has the effect of smearing the image of the star in the direction of motion during a particular sampling interval. The presence of image motion is incorporated into a Kalman filter for the system, and it is shown that the addition of a gyro command term is adequate to compensate for the effect of image motion in the measurement. The updated gyro model is included in this analysis, but has natural frequencies faster than the projected star tracker sample rate for dim stars. The system state equations are reduced by modelling gyro drift as a white noise process. There exists a tradeoff in selected star tracker sample time between the CCD, which has improved noise characteristics as sample time increases, and the gyro, which will potentially drift further between long attitude updates. A sample time which minimizes pointing estimation error exists for the random drift gyro model as well as for a random walk gyro model.
The diffraction-limited performances of synthetic aperture configuration arrays of four telescopes, used for coherent imaging or beam transmission, are calculated and compared. The optical performance of phased telescope arrays was found to be more sensitive to rms piston errors than to rms tilt errors. Image degradation due to pupil mapping errors imposes tight tolerances upon the structural integrity of the telescope. One part in 10,000 pupil mapping error limits the field-of-view to approximately 30 arcsec. Field curvature of the independent telescopes provides a fundamental limit to the field-of-view for phased arrays made up of two-mirror telescopes. These field-of-view limitations may profoundly affect target acquisition, tracking, or imaging applications.
In September of 1984, NASA performed a series of experiments on orbit with a large solar wing attached to the Space Shuttle orbiter. These experiments, the Solar Array Flight Experiment (SAFE), mark the first tests of a large space structure in space. Extension, retraction, and dynamic tests had to be performed in space due to the fragility of the solar array. Due to the extendable and retractable design of the solar array, accelerometers and associated wires could not be used; therefore, remote sensing, the Dynamics Augmentation Experiment (DAE), was added to the SAFE program. The DAE uses a remote sensor based on star tracker technology to measure the dynamic response of the solar array. The DAE sensor tracked 18 targets on the solar array during free-decay response to a transient excitation. An overview of the SAFE/DAE is presented, highlighting analysis results from the remotely sensed data. Modal parameter estimates from the remotely sensed data were computed using the complex exponential and polyreference techniques.
Problems which will be encountered by computer vision systems in Space Station operations are discussed, along with solutions be examined at Johnson Space Station. Lighting cannot be controlled in space, nor can the random presence of reflective surfaces. Task-oriented capabilities are to include docking to moving objects, identification of unexpected objects during autonomous flights to different orbits, and diagnoses of damage and repair requirements for autonomous Space Station inspection robots. The approaches being examined to provide these and other capabilities are television IR sensors, advanced pattern recognition programs feeding on data from laser probes, laser radar for robot eyesight and arrays of SMART sensors for automated location and tracking of target objects. Attention is also being given to liquid crystal light valves for optical processing of images for comparisons with on-board electronic libraries of images.
The vestibulo-ocular reflex (VOR) may be altered by weightlessness. Since this reflex plays a large role in visual stabilization, it was important to document any changes caused by space flight. This is a report on findings on STS-4 through 6 and is part of a larger study of neurosensory adaptation done on STS-4 through 8. Voluntary horizontal head oscillations at 1/3 Hz with amplitude of 30 deg right and left of center were recorded by a potentiometer and compared to eye position recorded by electroculography under the following conditions: eyes open, head fixed, tracking horizontal targets switched 0, 15, and 30 degrees right and left (optokinetic reflex - OKR - and calibration); eyes open and fixed on static external target with oscillation, (vestibulo ocular reflex, eyes closed - VOR EC); eyes open and wearing opaque goggles with target fixed in imagination (vestibulo-ocular reflex, eyes shaded - VOR ES); and eyes open and fixed on a head synchronized target with head oscillation (VOR suppression). No significant changes were found in voluntary head oscillation frequency or amplitude in those with (n=5), and without (n=3), space motion sickness (SMS), with phase of flight or test condition. Variations in head oscillation were too small to have produced detectable changes in test results.
One approach used to better understand the impact of visual flow on control tasks has been to use synthetic perspective flow patterns. Such patterns are the result of apparent motion across a grid or random dot display. Unfortunately, the optical flow so generated is based on a subset of the flow information that exists in the real world. The danger is that the resulting optical motions may not generate the visual flow patterns useful for actual flight control. Researchers conducted a series of studies directed at understanding the characteristics of synthetic perspective flow that support various pilot tasks. In the first of these, they examined the control of altitude over various perspective grid textures (Johnson et al., 1987). Another set of studies was directed at studying the head tracking of targets moving in a 3-D coordinate system. These studies, parametric in nature, utilized both impoverished and complex virtual worlds represented by simple perspective grids at one extreme, and computer-generated terrain at the other. These studies are part of an applied visual research program directed at understanding the design principles required for the development of instruments displaying spatial orientation information. The experiments also highlight the need for modeling the impact of spatial displays on pilot control tasks.
A piloted simulation study was conducted to evaluate the utility of a display device designed to illustrate graphically and conformally the approximate location of a fighter aircraft's velocity vector. The display device consisted of two vertical rows of light emitting diodes (LED's) located toward the center of the cockpit instrument panel to each side of the control stick. The light strings provided a logical extension of the head up display (HUD) velocity vector symbol at flight path angles which exceeded the HUD field-of-view. Four test subjects flew a modified F/A-18 model with this display in an air-to-air engagement task against an equally capable opponent. Their responses to a questionnaire indicated that the conformal velocity vector information could not be used during the scenarios investigated due to the inability to visually track a target and view the lights simultaneously.
A shared system is disclosed for robot control including integration of the human and autonomous input modalities for an improved control. Autonomously planned motion trajectories are modified by a teleoperator to track unmodelled target motions, while nominal teleoperator motions are modified through compliance to accommodate geometric errors autonomously in the latter. A hierarchical shared system intelligently shares control over a remote robot between the autonomous and teleoperative portions of an overall control system. Architecture is hierarchical, and consists of two levels. The top level represents the task level, while the bottom, the execution level. In space applications, the performance of pure teleoperation systems depend significantly on the communication time delays between the local and the remote sites. Selection/mixing matrices are provided with entries which reflect how each input's signals modality is weighted. The shared control minimizes the detrimental effects caused by these time delays between earth and space.
The objective is the removal of medium sized orbital debris in low Earth orbits. The design incorporates a transfer vehicle and a netting vehicle to capture the medium size debris. The system is based near an operational space station located at 28.5 degrees inclination and 400 km altitude. The system uses ground based tracking to determine the location of a satellite breakup or debris cloud. This data is unloaded to the transfer vehicle, and the transfer vehicle proceeds to rendezvous with the debris at a lower altitude parking orbit. Next, the netting vehicle is deployed, tracks the targeted debris, and captures it. After expending the available nets, the netting vehicle returns to the transfer vehicle for a new netting module and continues to capture more debris in the target area. Once all the netting modules are expended, the transfer vehicle returns to the space station's orbit, where it is resupplied with new netting modules from a space shuttle load. The new modules are launched by the shuttle from the ground, and the expended modules are taken back to Earth for removal of the captured debris, refueling, and repacking of the nets. Once the netting modules are refurbished, they are taken back into orbit for reuse. In a typical mission, the system has the ability to capture 50 pieces of orbital debris. One mission will take about six months. The system is designed to allow for a 30 degree inclination change on the outgoing and incoming trips of the transfer vehicle.
The innovative Electromagnetic Radiation Collection and Concentration System (EMRCCS) described is the foundation for the development of a multiplicity of space and terrestrial system formats. The system capability allows its use in the visual, infrared, and ultraviolet ranges of the spectrum for EM collection, concentration, source/receptor tracking, and targeting. The nonimaging modular optical system uses a physically static position aperture for EM radiation collection. Folded optics provide the concentration of the radiation and source autotracking. The collected and concentrated electromagnetic radiation is utilized in many applications, e.g., solar spectrum in thermal and associative photon bombardment applications for hazardous waste management, water purification, metal hardening, hydrogen generation, photovoltaics, etc., in both space and terrestrial segment utilization. Additionally, at the high end of the concentration capability range, i.e., 60,000+, a solar-pulsed laser system is possible.