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Three methods for using a laser for rangefinding are discussed: optical focusing, the phase difference method, and timed pulse. For application on a Mars Rover, the timed pulse method proves to be the better choice in view of the requirements set down. This is made possible by pulse expansion techniques described in detail. Initial steps taken toward building the range finder are given, followed by a conclusion.
The following tasks related to the design, construction, and evaluation of a mobile planetary vehicle for unmanned exploration of Mars are discussed: (1) design and construction of a 0.5 scale dynamic vehicle; (2) mathematical modeling of vehicle dynamics; (3) experimental 0.4 scale vehicle dynamics measurements and interpretation; (4) vehicle electro-mechanical control systems; (5) remote control systems; (6) collapsibility and deployment concepts and hardware; (7) design, construction and evaluation of a wheel with increased lateral stiffness, (8) system design optimization; (9) design of an on-board computer; (10) design and construction of a laser range finder; (11) measurement of reflectivity of terrain surfaces; (12) obstacle perception by edge detection; (13) terrain modeling based on gradients; (14) laser scan systems; (15) path selection system simulation and evaluation; (16) gas chromatograph system concepts; (17) experimental chromatograph separation measurements and chromatograph model improvement and evaluation.
The need for an obstacle detection system on the Mars roving vehicle was assumed, and a practical scheme was investigated and simulated. The principal sensing device on this vehicle was taken to be a laser range finder. Both existing and original algorithms, ending with thresholding operations, were used to obtain the outlines of obstacles from the raw data of this laser scan. A theoretical analysis was carried out to show how proper value of threshold may be chosen. Computer simulations considered various mid-range boulders, for which the scheme was quite successful. The extension to other types of obstacles, such as craters, was considered. The special problems of bottom edge detection and scanning procedure are discussed.
Discussion of an obstacle detection system which uses a laser range finder as the principal sensing device. The laser scans the scene ahead and stores the range data for the terrain in a matrix form. This matrix can be thought of as a 'range image'. This range varies from point to point, but sharp changes are caused by the presence of obstacles. Some existing algorithms and one developed by the authors were used to obtain the outlines of obstacles from the 'range image'. All these algorithms end with a thresholding operation. A theoretical analysis shows how a proper value of the threshold may be chosen, given the type of irregularity of the terrain to be detected. The analysis also shows how large the statistics of measurement noise can be allowed without leading to false alarms.
Methods for using a laser for rangefinding are discussed. These are: (1) Optical Focusing, (2) the Phase Difference Method, and (3) Timed Pulse. For application on a Mars Rover, the Timed Pulse Method proves to be the better choice in view of the requirements set down. This is made possible by pulse expansion techniques described in detail. Initial steps taken toward building the range finder are given, followed by a conclusion which is actually a proposal for future steps.
The sensory subsystem of the JPL robotics project is described. The first sensory instrument is a pair of TV cameras, which provides a stereo view of the area of interest. The second is a laser range finder, which can be aimed in a requested direction and measure distance to a surface point that reflects the beam back. Both instruments are controlled by and are interfaced to computer. The calibration process and basic applications to obtain measurements of the external environment are described.
Computer controlled guidance system for semiautonomous robot guides robot in incompletely defined environment. System operates in real time avoiding obstacles detected by "stereo television and laser range finder eyes."
Directionally resolved atmospheric radio frequency emission data were acquired from thunderstorms occurring in the central and southwestern United States. In addition, RF sferic tracking data were obtained from hurricanes and tropical depressions occurring in the Gulf of Mexico. The data were acquired using a crossed baseline phase interferometer operating at a frequency of 2.001 MHz. The received atmospherics were tested for phase linearity across the array, and azimuth/elevation angles of arrival were computed in real time. A histogram analysis of sferic burst count versus azimuth provided lines of bearing to centers of intense electrical activity. Analysis indicates a consistent capability of the phase linear direction finder to detect severe meteorological activity to distances of 2000 km from the receiving site. The technique evidences the ability to discriminate severe storms from nonsevere storms coexistent in large regional scale thunderstorm activity.
A theory showing that errors in lightning magnetic direction finding due to nonvertical source orientations are minimized by detecting the field from the lowest possible channel section is presented. For 99 cloud-to-ground lightning channels photographed in Arizona, 45 exhibited a bottom few hundred meters within about 8 deg of the vertical, the standard deviation of the distribution of lower-channel tilt angles being about 18 deg. These experimental results, coupled with theory, suggest that if a wideband gated direction finder is used, polarization errors due to nonvertical sources can be kept less than 1 deg for lightning beyond 10 km.
An algorithm has been developed for locating with sub-pixel accuracy planet centers in the Voyager images of the Jovian system based upon automatic recognition of the planet limb. The planet center finder, called FARENC (for far encounter imaging mode), is a single VICAR program operating on IBM 360/65 computer. FARENC is designed to handle images of the order of 800 to 1000 pixels, to operate unaided in a batch environment, and to complete the process reliably in 2 minutes or less. The procedure is outlined step by step and limitations of the algorithm are discussed.
Robots are defined and described for various applications. The key feature of robots is programmability, which allows teleoperation, repair work in hazardous situations, and unsupervised operation in industrial functions. Two types of robots now exist: special purpose, with equipment for a specific task; and general purpose, which include nonservo-controlled robots, servo-controlled robots, and sensory control robots. Sensory robots are the most sophisticated, and are equipped with both internal control sensors and external sensors such as TV cameras, pressure detectors, laser range finders, etc. Sensory feedback to a central computer enables the robots to make appropriate modifications to the control program to adapt to new situations. Pattern recognition and scans for size are features of the TV sensors, and programs to develop a universal effector (hand) are outlined. Finally, robot programming in terms of manual, walkthrough, and textual methods are described, and the potential uses of robots for space and undersea construction and repair are discussed.
A thermal reactor apparatus and method of pyrolyticaly decomposing silane gas into liquid silicon product and hydrogen by-product gas is disclosed. The thermal reactor has a reaction chamber which is heated well above the decomposition temperature of silane. An injector probe introduces the silane gas tangentially into the reaction chamber to form a first, outer, forwardly moving vortex containing the liquid silicon product and a second, inner, rewardly moving vortex containing the by-product hydrogen gas. The liquid silicon in the first outer vortex deposits onto the interior walls of the reaction chamber to form an equilibrium skull layer which flows to the forward or bottom end of the reaction chamber where it is removed. The by-product hydrogen gas in the second inner vortex is removed from the top or rear of the reaction chamber by a vortex finder. The injector probe which introduces the silane gas into the reaction chamber is continually cooled by a cooling jacket.
Computer-controlled unit feeds navigation signals to airplane instruments. Electronic training system allows students to learn to fly according to instrument flight rules (IFR) in uncrowded airspace. New system self-contained IFR simulator carried aboard training plane. Generates signals and commands for standard instruments on airplane, including navigational receiver, distance-measuring equipment, automatic direction finder, a marker-beacon receiver, altimeter, airspeed indicator, and heading indicator.
An optical instrument, such as a stability monitor or a target range finder, uses an unstabilized laser to project a composite optical signal of coherent light having two naturally occurring longitudinal mode components. A beamsplitter divides the signal into a reference beam which is directed toward one photodetector and a transmitted beam which illuminates and is reflected from a distant target onto a second photodetector optically isolated from the first photodetector. Both photodetectors are operated on the square law principle to provide electrical signals modulated at a frequency equal to the separation between the frequencies of the two longitudinal mode components of the optical signal projected by the laser. Slight movement of the target may be detected and measured by electrically monitoring the phase difference between the two signals provided by the photodetectors and the range of the target measured with the aid of a microprocessor by changing the separation between the longitudinal modes by shifting the length of the resonator cavity in an iterative series of increments.
The objective was to provide continuous observation of atmospheric electrical activity occurring in association with tropical storms in the Gulf of Mexico. The observations were to include the location of all detected intracloud and cloud-to-ground lightning activity occurring in the storm. To provide synoptic scale coverage, a phase linear interferometer high frequency direction finder (HFDF) system was constructed and developed at Marshall Space Flight Center (MSFC). This was used in concert with the existing HFDF interferometer at the southwest research institute to provide lightning location data through triangulation. Atmospheric electrical events were synchronized through the use of satellite receivers at each site. The intent of the data analysis was to correlate the location of electrical centers of activity with radar and satellite imagry to identify areas of intense convection within the tropical storm system. Analysis of the hurricane Alicia data indicate a center of atmospheric electrical activity associated with the vortex of the storm. The center appears to rotate from the Northern side of the vortex to the Southern side during the period of observation. An analysis of the atmospheric electrical burst rates associated with hurrican Alicia indicates that the electrical activity appears to maximize at the time of greatest storm intensity, i.e., maximum winds and lowest central pressure.
Kennedy Space Center (KSC) is situated in an area that experiences one of the world's highest rates of cloud-ground lightning strikes, about 600-2000 strikes per summer. Two lightning detection systems have been implemented, the Launch Pad Lightning Warning System (LPLWS) and the Lightning Location and Protection system (LLP). The LPLWS consists of field mills of eight vertically oriented stator sections mounted 10 in. above ground and alternately covered and uncovered as the rotor turns. Differential voltages between covered and uncovered sections furnish electric field amplitude and polarity data. Ten samples per second are telemetered to a central processing facility. The system is used during launch and landing. The LLP has high and low gain components, the former being two direction finder antennas with 100 m strike position finding accuracy, the latter featuring medium gain antennas for 500 m accuracy in locating strikes. The LLP system is used primarily to warn personnel of strike conditions and to lift warnings to avoid lost work time. Several experimental programs have been initiated for triggering lightning strikes and controlling their locations.
Five rocket-triggered cloud-to-ground lightning flashes were detected by the operational lightning-locating system at the NASA Kennedy Space Center on August 17, 1984. The locating system, which was designed to detect natural lightning, detected at least 2 and as many as 6 strokes in the triggered flashes, suggesting that some of the strokes in the triggered lightning had signal-amplitude and waveshape characteristics similar to natural lightning. However, not all triggered strokes were detected, indicating that some strokes were atypical in nature. Since the ground-strike points of the triggered flashes were known quite precisely, the accuracy of the lightning-locating system was also evaluated. The three direction finders were found to have a mean bearing accuracy of + or - 0.5-0.6 deg. The distance errors of the real-time position solutions of the locating system on the triggered flashes were in the range of 195-770 m, with a mean of 480 m.
The study uses an emission line, differential imaging camera built by the Science Operations Branch. This instrument allows photometric data to be obtained over a large area of a comet in a large number of resolution elements. The detector is a 100x100 Reticon array which with interchangeable optics can give resolutions from 2" to 30" over a field of 1' to 15'. The camera through its controlling computer can simultaneously take images in on-line and continuum filters and through computer subtraction and calibration present a photometric image of the comet produced by only the emission of the molecule under study. Initial work has shown two significant problems. First the auxiliary equipment of the telescope has not allowed the unambiguous location of faint comets so that systematic observations could be made, and secondly initial data has not shown much molecular emission from the faint comets which were located. Work last year on a software and hardware display system and this year on additional guide motors on the 36-inch telescope has allowed the differential camera to act as its own finder and guide scope. Comet IRAS was observed in C2 and CO+, as well as an occultation by the comet of SAO029103. The perodic comet Giacobini-Zinner was also observed in C2.