Search NASA⌕ Search

SEARCH · Search NASA

Results for “computer vision system”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS2002

Synthetic Vision Systems in GA Cockpit-Evaluation of Basic Maneuvers Performed by Low Time GA Pilots During Transition from VMC to IMC

An experimental investigation was conducted to study the effectiveness of modern flight displays in general aviation cockpits for mitigating Low Visibility Loss of Control and the Controlled Flight Into Terrain accidents. A total of 18 General Aviation (GA) pilots with private pilot, single engine land rating, with no additional instrument training beyond private pilot license requirements, were recruited to evaluate three different display concepts in a fixed-based flight simulator at the NASA Langley Research Center's General Aviation Work Station. Evaluation pilots were asked to continue flight from Visual Meteorological Conditions (VMC) into Instrument Meteorological Conditions (IMC) while performing a series of 4 basic precision maneuvers. During the experiment, relevant pilot/vehicle performance variables, pilot control inputs and physiological data were recorded. Human factors questionnaires and interviews were administered after each scenario. Qualitative and quantitative data have been analyzed and the results are presented here. Pilot performance deviations from the established target values (errors) were computed and compared with the FAA Practical Test Standards. Results of the quantitative data indicate that evaluation pilots committed substantially fewer errors when using the Synthetic Vision Systems (SVS) displays than when they were using conventional instruments. Results of the qualitative data indicate that evaluation pilots perceived themselves to have a much higher level of situation awareness while using the SVS display concept.

Takallu, M. A.↗
NASA NTRS1992

Traffic Monitor

Mestech's X-15 "Eye in the Sky," a traffic monitoring system, incorporates NASA imaging and robotic vision technology. A camera or "sensor box" is mounted in a housing. The sensor detects vehicles approaching an intersection and sends the information to a computer, which controls the traffic light according to the traffic rate. Jet Propulsion Laboratory technical support packages aided in the company's development of the system. The X-15's "smart highway" can also be used to count vehicles on a highway and compute the number in each lane and their speeds, important information for freeway control engineers. Additional applications are in airport and railroad operations. The system is intended to replace loop-type traffic detectors.

Source record↗
NASA NTRS1991

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated.

Marzwell, Neville I.↗
NASA NTRS1984

Image-plane processing for improved computer vision

The proper combination of optical design with image plane processing, as in the mechanism of human vision, which allows to improve the performance of sensor array imaging systems for edge detection and location was examined. Two dimensional bandpass filtering during image formation, optimizes edge enhancement and minimizes data transmission. It permits control of the spatial imaging system response to tradeoff edge enhancement for sensitivity at low light levels. It is shown that most of the information, up to about 94%, is contained in the signal intensity transitions from which the location of edges is determined for raw primal sketches. Shading the lens transmittance to increase depth of field and using a hexagonal instead of square sensor array lattice to decrease sensitivity to edge orientation improves edge information about 10%.

Huck, F. O.↗
NASA NTRS1985

Computers in Aerospace Conference, 5th, Long Beach, CA, October 21-23, 1985, Technical Papers

Among the topics discussed are: access control models for a distributed CAIS-conforming system; a knowledge-based advisory system for casualty procedures; and automated interactive simulation modeling system. Consideration is also given to: reusable software concepts and software development methodologies; the electronic device aspects of neutral network memories; an expert system for automated satellite anomaly resolution; and the use of automatic programming techniques for fault-tolerant computing systems. Among additional topics discussed are: systems approaches to software fault tolerance; a Space Shuttle navigation validation system; and a vision-based road following system for an autonomous land vehicle.

Source record↗
NASA NTRS1992

Algorithm For Simplified Robotic Tracking Of Weld Seams

Algorithm computes small cross-seam corrections to programmed path of welding robot. Intended for use with add-on vision system loosely coupled to robot, transmitting small amount of information about weld seam ahead of torch. Position of welding torch in reference frame of moving window estimated on basis of data on weld seam and speed of torch. Does not need data on position of torch, and does not transform data on seam to another reference frame.

Gutow, David A.↗
NASA NTRS2003

Improved Collision-Detection Method for Robotic Manipulator

An improved method has been devised for the computational prediction of a collision between (1) a robotic manipulator and (2) another part of the robot or an external object in the vicinity of the robot. The method is intended to be used to test commanded manipulator trajectories in advance so that execution of the commands can be stopped before damage is done. The method involves utilization of both (1) mathematical models of the robot and its environment constructed manually prior to operation and (2) similar models constructed automatically from sensory data acquired during operation. The representation of objects in this method is simpler and more efficient (with respect to both computation time and computer memory), relative to the representations used in most prior methods. The present method was developed especially for use on a robotic land vehicle (rover) equipped with a manipulator arm and a vision system that includes stereoscopic electronic cameras. In this method, objects are represented and collisions detected by use of a previously developed technique known in the art as the method of oriented bounding boxes (OBBs). As the name of this technique indicates, an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs), as in the example of Figure 1. Unlike prior methods, the OBB/OBP method does not require any divisions or transcendental functions; this feature leads to greater robustness and numerical accuracy. The OBB/OBP method was selected for incorporation into the present method because it offers the best compromise between accuracy on the one hand and computational efficiency (and thus computational speed) on the other hand.

Leger, Chris↗
NASA NTRS1998

Information Systems for NASA's Aeronautics and Space Enterprises

The aerospace industry is being challenged to reduce costs and development time as well as utilize new technologies to improve product performance. Information technology (IT) is the key to providing revolutionary solutions to the challenges posed by the increasing complexity of NASA's aeronautics and space missions and the sophisticated nature of the systems that enable them. The NASA Ames vision is to develop technologies enabling the information age, expanding the frontiers of knowledge for aeronautics and space, improving America's competitive position, and inspiring future generations. Ames' missions to accomplish that vision include: 1) performing research to support the American aviation community through the unique integration of computation, experimentation, simulation and flight testing, 2) studying the health of our planet, understanding living systems in space and the origins of the universe, developing technologies for space flight, and 3) to research, develop and deliver information technologies and applications. Information technology may be defined as the use of advance computing systems to generate data, analyze data, transform data into knowledge and to use as an aid in the decision-making process. The knowledge from transformed data can be displayed in visual, virtual and multimedia environments. The decision-making process can be fully autonomous or aided by a cognitive processes, i.e., computational aids designed to leverage human capacities. IT Systems can learn as they go, developing the capability to make decisions or aid the decision making process on the basis of experiences gained using limited data inputs. In the future, information systems will be used to aid space mission synthesis, virtual aerospace system design, aid damaged aircraft during landing, perform robotic surgery, and monitor the health and status of spacecraft and planetary probes. NASA Ames through the Center of Excellence for Information Technology Office is leading the effort in pursuit of revolutionary, IT-based approaches to satisfying NASA's aeronautics and space requirements. The objective of the effort is to incorporate information technologies within each of the Agency's four Enterprises, i.e., Aeronautics and Space Transportation Technology, Earth, Science, Human Exploration and Development of Space and Space Sciences. The end results of these efforts for Enterprise programs and projects should be reduced cost, enhanced mission capability and expedited mission completion.

Kutler, Paul↗
NASA NTRS1986

A stereo model based upon mechanisms of human binocular vision

A model for stereo vision, which is based on the human-binocular vision system, is proposed. Data collected from studies of neurophysiology of the human binocular system are discussed. An algorithm for the implementation of this stereo vision model is derived. The algorithm is tested on computer-generated and real scene images. Examples of a computer-generated image and a grey-level image are presented. It is noted that the proposed method is computationally efficient for depth perception, and the results indicate accuracies that are noise tolerant.

Griswold, N. C.↗
NASA NTRS1990

A computational model for dynamic vision

This paper describes a novel computational model for dynamic vision which promises to be both powerful and robust. Furthermore the paradigm is ideal for an active vision system where camera vergence changes dynamically. Its basis is the retinotopically indexed object-centered encoding of the early visual information. Specifically, the relative distances of objects to a set of referents is encoded in image registered maps. To illustrate the efficacy of the method, it is applied to the problem of dynamic stereo vision. Integration of depth information over multiple frames obtained by a moving robot generally requires precise information about the relative camera position from frame to frame. Usually, this information can only be approximated. The method facilitates the integration of depth information without direct use or knowledge of camera motion.

Moezzi, Saied↗
NASA NTRS2007

Visual End-Effector Position Error Compensation for Planetary Robotics

This paper describes a vision-guided manipulation algorithm that improves arm end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity to camera and arm model error is presented along with results on several prototype research systems and 'ground-in-the-loop' technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm's ability to achieve high accuracy is also described along with its validation results on MER data.

vision-guided manipulation algorithm↗
NASA NTRS2005

Towards an Autonomic Cluster Management System (ACMS) with Reflex Autonomicity

Cluster computing, whereby a large number of simple processors or nodes are combined together to apparently function as a single powerful computer, has emerged as a research area in its own right. The approach offers a relatively inexpensive means of providing a fault-tolerant environment and achieving significant computational capabilities for high-performance computing applications. However, the task of manually managing and configuring a cluster quickly becomes daunting as the cluster grows in size. Autonomic computing, with its vision to provide self-management, can potentially solve many of the problems inherent in cluster management. We describe the development of a prototype Autonomic Cluster Management System (ACMS) that exploits autonomic properties in automating cluster management and its evolution to include reflex reactions via pulse monitoring.

Truszkowski, Walt↗
NASA NTRS1994

SAVA 3: A testbed for integration and control of visual processes

The development of an experimental test-bed to investigate the integration and control of perception in a continuously operating vision system is described. The test-bed integrates a 12 axis robotic stereo camera head mounted on a mobile robot, dedicated computer boards for real-time image acquisition and processing, and a distributed system for image description. The architecture was designed to: (1) be continuously operating, (2) integrate software contributions from geographically dispersed laboratories, (3) integrate description of the environment with 2D measurements, 3D models, and recognition of objects, (4) capable of supporting diverse experiments in gaze control, visual servoing, navigation, and object surveillance, and (5) dynamically reconfiguarable.

Crowley, James L.↗
NASA NTRS2015

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today.

Allen, B. Danette↗
NASA NTRS1991

Computer interfaces for the visually impaired

Information access via computer terminals extends to blind and low vision persons employed in many technical and nontechnical disciplines. Two aspects are detailed of providing computer technology for persons with a vision related handicap. First, research into the most effective means of integrating existing adaptive technologies into information systems was made. This was conducted to integrate off the shelf products with adaptive equipment for cohesive integrated information processing systems. Details are included that describe the type of functionality required in software to facilitate its incorporation into a speech and/or braille system. The second aspect is research into providing audible and tactile interfaces to graphics based interfaces. Parameters are included for the design and development of the Mercator Project. The project will develop a prototype system for audible access to graphics based interfaces. The system is being built within the public domain architecture of X windows to show that it is possible to provide access to text based applications within a graphical environment. This information will be valuable to suppliers to ADP equipment since new legislation requires manufacturers to provide electronic access to the visually impaired.

Higgins, Gerry↗
NASA NTRS1993

Multirate and event-driven Kalman filters for helicopter flight

A vision-based obstacle detection system that provides information about objects as a function of azimuth and elevation is discussed. The range map is computed using a sequence of images from a passive sensor, and an extended Kalman filter is used to estimate range to obstacles. The magnitude of the optical flow that provides measurements for each Kalman filter varies significantly over the image depending on the helicopter motion and object location. In a standard Kalman filter, the measurement update takes place at fixed intervals. It may be necessary to use a different measurement update rate in different parts of the image in order to maintain the same signal to noise ratio in the optical flow calculations. A range estimation scheme that accepts the measurement only under certain conditions is presented. The estimation results from the standard Kalman filter are compared with results from a multirate Kalman filter and an event-driven Kalman filter for a sequence of helicopter flight images.

Sridhar, Banavar↗
NASA NTRS1991

Navigation of military and space unmanned ground vehicles in unstructured terrains

Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

Lescoe, Paul↗