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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.

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At least 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
NASA NTRS2000

Visual motion integration for perception and pursuit

To examine the relationship between visual motion processing for perception and pursuit, we measured the pursuit eye-movement and perceptual responses to the same complex-motion stimuli. We show that humans can both perceive and pursue the motion of line-figure objects, even when partial occlusion makes the resulting image motion vastly different from the underlying object motion. Our results show that both perception and pursuit can perform largely accurate motion integration, i.e. the selective combination of local motion signals across the visual field to derive global object motion. Furthermore, because we manipulated perceived motion while keeping image motion identical, the observed parallel changes in perception and pursuit show that the motion signals driving steady-state pursuit and perception are linked. These findings disprove current pursuit models whose control strategy is to minimize retinal image motion, and suggest a new framework for the interplay between visual cortex and cerebellum in visuomotor control.

NASA Center ARC↗
NASA NTRS1996

Obstacle Detection for the Ranger Telerobotic Flight Experiment

This paper describes the approach and algorithms developed for model-based obstacle detection and distance computation for the NASA Ranger Telerobotic Flight Experiment. Objects of interest, such as manipulator arms, the Ranger vehicle and solar arrays, are modeled using a small set of component types.

model-based obstacle detection manipulator arms Ra↗
NASA NTRS2006

Multiaxis, Lightweight, Computer-Controlled Exercise System

The multipurpose, multiaxial, isokinetic dynamometer (MMID) is a computer-controlled system of exercise machinery that can serve as a means for quantitatively assessing a subject s muscle coordination, range of motion, strength, and overall physical condition with respect to a wide variety of forces, motions, and exercise regimens. The MMID is easily reconfigurable and compactly stowable and, in comparison with prior computer-controlled exercise systems, it weighs less, costs less, and offers more capabilities. Whereas a typical prior isokinetic exercise machine is limited to operation in only one plane, the MMID can operate along any path. In addition, the MMID is not limited to the isokinetic (constant-speed) mode of operation. The MMID provides for control and/or measurement of position, force, and/or speed of exertion in as many as six degrees of freedom simultaneously; hence, it can accommodate more complex, more nearly natural combinations of motions and, in so doing, offers greater capabilities for physical conditioning and evaluation. The MMID (see figure) includes as many as eight active modules, each of which can be anchored to a floor, wall, ceiling, or other fixed object. A cable is payed out from a reel in each module to a bar or other suitable object that is gripped and manipulated by the subject. The reel is driven by a DC brushless motor or other suitable electric motor via a gear reduction unit. The motor can be made to function as either a driver or an electromagnetic brake, depending on the required nature of the interaction with the subject. The module includes a force and a displacement sensor for real-time monitoring of the tension in and displacement of the cable, respectively. In response to commands from a control computer, the motor can be operated to generate a required tension in the cable, to displace the cable a required distance, or to reel the cable in or out at a required speed. The computer can be programmed, either locally or via a remote terminal, to support exercises in one or more of the usual exercise modes (isometric, isokinetic, or isotonic) along complex, multiaxis trajectories. The motions of, and forces applied by, the subject can be monitored in real time and recorded for subsequent evaluation. Through suitable programming, the exercise can be adjusted in real time according to the physical condition of the subject. The remote- programming capability makes it possible to connect multiple exercise machines into a network for supervised exercise by multiple subjects or even for competition by geographically dispersed subjects.

Haynes, Leonard↗
NASA NTRS1972

A remote manipulator system for the space shuttle.

Shuttle mission objectives are examined. The outstanding characteristic of the payload handling system will be its versatility. A practical system is needed that combines man's adaptability, skill, and reflexes with the strength, endurance, and relative indestructibility of a machine. Systems that meet these standards, called teleoperators, have been in use for many years. The other half of the problem, the retention of man's natural manipulative skills, is solved by use of a 'master-slave' control system. Two independent, parallel preliminary design studies based on the requirements considered were conducted.

Livingston, L. E.↗
NASA NTRS2009

Tuning a Tetrahertz Wire Laser

Tunable terahertz lasers are desirable in applications in sensing and spectroscopy because many biochemical species have strong spectral fingerprints at terahertz frequencies. Conventionally, the frequency of a laser is tuned in a similar manner to a stringed musical instrument, in which pitch is varied by changing the length of the string (the longitudinal component of the wave vector) and/ or its tension (the refractive index). However, such methods are difficult to implement in terahertz semiconductor lasers because of their poor outcoupling efficiencies. Here, we demonstrate a novel tuning mechanism based on a unique 'wire laser' device for which the transverse dimension w is much much less than lambda. Placing a movable object close to the wire laser manipulates a large fraction of the waveguided mode propagating outside the cavity, thereby tuning its resonant frequency. Continuous single-mode redshift and blueshift tuning is demonstrated for the same device by using either a dielectric or metallic movable object. In combination, this enables a frequency tuning of approximately equal to 137 GHz (3.6%) from a single laser device at approximately equal to 3.8 THz.

Qin, Qi↗
NASA NTRS1991

Software For Depiction Of Three-Dimensional Objects

HME (Hierarchical Modeling Environment) is three-dimensional computer-graphics software system designed to give user complete access to total hierarchical mathematical model. Enables user to build, manipulate, and display hierarchical three-dimensional objects dynamically. Also includes created polygons in hierarchy. Establishes and edits proper coordination of eye points, sources of light, and connectivity of model necessary for accurate depiction of model. Written in C language.

Taylor, Frank↗
NASA NTRS2022

Shape Servoing of Deformable Objects using Adaptive Deformation Model Estimation

In this paper, we propose an adaptive shape servoing method to deform a soft object into a desired 3-D shape. The high dimensional representation and the unknown deformation properties of the soft object pose a challenge to actively manipulate its shape. To address this issue, we develop a method to compute the deformation Jacobian matrix in real-time. The Jacobian is estimated using a set of basis functions and its corresponding parameters to capture the dynamics of the system and relate the applied input motion to changes in the soft object's shape. An integral concurrent learning (ICL) based adaptive update law is derived using Lyapunov analysis to estimate the deformation parameters and prove its convergence. A physics-based simulation is used to validate the proposed method and controller by performing manipulation tasks with different desired configurations. The performance is compared with a standard gradient update law to demonstrate the accuracy and robustness of our approach.

Vrithik Raj Guthikonda↗
NASA NTRS1979

Advanced teleoperators

Advanced teleoperators are discussed, with emphasis on the remote manipulation system designed to perform such actions as grasping, orienting, moving, placing, and inserting objects. Geometrical performance dimensions are considered, indicating that a manipulator is limited to three-orders-of-magnitude ratio of workspace extension to positioning accuracy. The control system is examined, showing that a manipulative task requires coordination of several joints, with the relationship between the task definers and the joint variables given by complex trigonometrical transformations. Control modes developed in the last 30 years are noted, including program controlled industrial 'robots' which can endlessly repeat a fixed sequence of motions without operator intervention, and the sensor-referenced/computer-controlled mode manipulators. Advanced proximity sensor systems are taken into account, with emphasis on the applications of the force-torque and slip models. The proximity sensor system for the shuttle-size manipulator is described.

Bejczy, A. K.↗
NASA NTRS1988

Machine vision for space telerobotics and planetary rovers

Machine vision allows a non-contact means of determining the three-dimensional shape of objects in the environment, enabling the control of contact forces when manipulation by a telerobot or traversal by a vehicle is desired. Telerobotic manipulation in Earth orbit requires a system that can recognize known objects in spite of harsh lighting conditions and highly specular or absorptive surfaces. Planetary surface traversal requires a system that can recognize the surface shape and properties of an unknown and arbitrary terrain. Research on these two rather disparate types of vision systems is described.

Wilcox, Brian H.↗
NASA NTRS2009

Trading Robustness Requirements in Mars Entry Trajectory Design

One of the most important metrics characterizing an atmospheric entry trajectory in preliminary design is the size of its predicted landing ellipse. Often, requirements for this ellipse are set early in design and significantly influence both the expected scientific return from a particular mission and the cost of development. Requirements typically specify a certain probability level (6-level) for the prescribed ellipse, and frequently this latter requirement is taken at 36. However, searches for the justification of 36 as a robustness requirement suggest it is an empirical rule of thumb borrowed from non-aerospace fields. This paper presents an investigation into the sensitivity of trajectory performance to varying robustness (6-level) requirements. The treatment of robustness as a distinct objective is discussed, and an analysis framework is presented involving the manipulation of design variables to effect trades between performance and robustness objectives. The scenario for which this method is illustrated is the ballistic entry of an MSL-class Mars entry vehicle. Here, the design variable is entry flight path angle, and objectives are parachute deploy altitude performance and error ellipse robustness. Resulting plots show the sensitivities between these objectives and trends in the entry flight path angles required to design to these objectives. Relevance to the trajectory designer is discussed, as are potential steps for further development and use of this type of analysis.

Lafleur, Jarret M.↗
NASA NTRS1981

Remote manipulator with force feed-back

Controller for remote manipulators gives user "feel" for forces required to lift, slide, turn, and otherwise handle objects. Because operator experiences sensations similar to those he would perceive if he handled objects directly, he needs much less skill and training for manipulator than for one with force feedback. It was developed to handle hazardous materials, such as radioactive substances, explosives, or corrosive chemicals. Other possible uses include tracking moving objects, vehicle control, and human interaction with computers (for example, via three dimensional display of computer model).

Hill, J. W.↗
NASA NTRS1975

Location and acquisition of objects in unpredictable locations

A teleoperator system with a computer for manipulator control to combine the capabilities of both man and computer to accomplish a task is described. This system allows objects in unpredictable locations to be successfully located and acquired. By using a method of characterizing the work-space together with man's ability to plan a strategy and coarsely locate an object, the computer is provided with enough information to complete the tedious part of the task. In addition, the use of voice control is shown to be a useful component of the man/machine interface.

Sword, A. J.↗
NASA NTRS1993

The three-dimensional Event-Driven Graphics Environment (3D-EDGE)

Stanford Telecom developed the Three-Dimensional Event-Driven Graphics Environment (3D-EDGE) for NASA GSFC's (GSFC) Communications Link Analysis and Simulation System (CLASS). 3D-EDGE consists of a library of object-oriented subroutines which allow engineers with little or no computer graphics experience to programmatically manipulate, render, animate, and access complex three-dimensional objects.

Freedman, Jeffrey↗
NASA NTRS1991

KC-135 materials handling robotics

Robot dynamics and control will become an important issue for implementing productive platforms in space. Robotic operations will become necessary for man-tended stations and for efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to an anticipated increase in acceleration levels due to manipulator motion and for safety concerns. The objective of this study will be to provide baseline data to meet that need. Most texts and papers dealing with the kinematics and dynamics of robots assume that the manipulator is composed of joints separated by rigid links. However, in recent years several groups have begun to study the dynamics of flexible manipulators, primarily for applying robots in space and for improving the efficiency and precision of robotic systems. Robotic systems which are being planned for implementation in space have a number of constraints to overcome. Additional concepts which have to be worked out in any robotic implementation for a space platform include teleoperation and degree of autonomous control. Some significant results in developing a robotic workcell for performing robotics research on the KC-135 aircraft in preperation for space-based robotics applications in the future were generated. In addition, it was shown that TREETOPS can be used to simulate the dynamics of robot manipulators for both space and ground-based applications.

Workman, Gary L.↗
NASA NTRS1998

Object Creation and Human Factors Evaluation for Virtual Environments

The main objective of this project is to provide test objects for simulated environments utilized by the recently established Army/NASA Virtual Innovations Lab (ANVIL) at Marshall Space Flight Center, Huntsville, Al. The objective of the ANVIL lab is to provide virtual reality (VR) models and environments and to provide visualization and manipulation methods for the purpose of training and testing. Visualization equipment used in the ANVIL lab includes head-mounted and boom-mounted immersive virtual reality display devices. Objects in the environment are manipulated using data glove, hand controller, or mouse. These simulated objects are solid or surfaced three dimensional models. They may be viewed or manipulated from any location within the environment and may be viewed on-screen or via immersive VR. The objects are created using various CAD modeling packages and are converted into the virtual environment using dVise. This enables the object or environment to be viewed from any angle or distance for training or testing purposes.

Lindsey, Patricia F.↗
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 NTRS1980

Coupler for remote manipulators

Reliable, low-cost coupler alines and grasps moving and rotating objects. Coupling mechanism may be used in handling of radio-active materials or in underwater explorations and other remote manipulators.

Rudmann, A. A.↗
NASA NTRS1981

The LANDSAT system operated in Brazil by CNPq/INPE - results obtained in the area of mapping and future perspectives

The LANDSAT system, operated in the country by CNPg/INPE since 1973, systematically acquires, produces, and distributes both multispectral and panchromatic images obtained through remote sensing satellites to thousands of researchers and technicians involved in the natural resources survey. To cooperate in the solution of national problems, CNPq/INPE is developing efforts in the area of manipulation of those images with the objective of making them useful as planimetric bases for the simple revision of already published maps or for its utilization as basic material in regions not yet reliability mapped. The results obtained from performed tests are presented and the existing limitations are discussed. The new system purchased to handle data from the next series of LANDSAT as well as from MAPSAT and SPOT which will be in operation within the 80's decade, and are designed not only for natural resources survey but also for the solution of cartographic problems.

Dejesusparada, N.↗