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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 NTRS1990

Design of optimal correlation filters for hybrid vision systems

Research is underway at the NASA Johnson Space Center on the development of vision systems that recognize objects and estimate their position by processing their images. This is a crucial task in many space applications such as autonomous landing on Mars sites, satellite inspection and repair, and docking of space shuttle and space station. Currently available algorithms and hardware are too slow to be suitable for these tasks. Electronic digital hardware exhibits superior performance in computing and control; however, they take too much time to carry out important signal processing operations such as Fourier transformation of image data and calculation of correlation between two images. Fortunately, because of the inherent parallelism, optical devices can carry out these operations very fast, although they are not quite suitable for computation and control type operations. Hence, investigations are currently being conducted on the development of hybrid vision systems that utilize both optical techniques and digital processing jointly to carry out the object recognition tasks in real time. Algorithms for the design of optimal filters for use in hybrid vision systems were developed. Specifically, an algorithm was developed for the design of real-valued frequency plane correlation filters. Furthermore, research was also conducted on designing correlation filters optimal in the sense of providing maximum signal-to-nose ratio when noise is present in the detectors in the correlation plane. Algorithms were developed for the design of different types of optimal filters: complex filters, real-value filters, phase-only filters, ternary-valued filters, coupled filters. This report presents some of these algorithms in detail along with their derivations.

Rajan, Periasamy K.↗
NASA NTRS1989

On-line frequency domain information for control of a flexible-link robot with varying payload

Experimental results are given for the endpoint position control of a single-link, very flexible robot arm carrying an unknown, varying payload. The control objective is to maintain endpoint position accuracy in the presence of flexure effects after rapid movement due to a rigid body slew-angle commanded position. Fast, simple, and efficient frequency-domain schemes are used for online controller gain adjustment within an effective scheduling framework. Only endpoint acceleration and motor shaft angle measurements are utilized in relatively simple control laws where the appropriate gains have been scheduled as correlated to modal frequency information corresponding to a varying, unknown payload.

Yurkovich, Stephen↗
NASA NTRS1965

Remotely operated clamping tool has positive grip

Jaw-type clamping tool inserts or removes objects in a hazardous environment. It has a strong, positive gripping force which is remotely operated by means of a wedge-screw mechanism.

Aducci, S. A.↗
NASA NTRS1976

Radio source positions from very-long-baseline interferometry observations

Accurate positions of compact radio sources have been determined from very-long-baseline interferometry (VLBI) observations based on the bandwidth-synthesis technique. The coordinates for 18 extragalactic sources were obtained from sets of observations spread over the period from April 1972 to January 1975; the scatter among the independent determinations of the source coordinates from the separate sets of observations is about 0.05 arcsec, except for the declinations of near-equatorial sources, where the scatter is about 0.15 arcsec. Comparison of these positions with those determined with the Cambridge 5-km radio interferometer shows the rms scatter about the mean difference to be about 0.04 arcsec in each coordinate (no sources of low declination were in common). A similar comparison of the present results with those obtained by the Jet Propulsion Laboratory from separate VLBI observations yields a slightly larger rms scatter, after exlusion of the declinations of the near-equatorial sources. A position is also obtained for the galactic object Beta Persei (Algol), which agrees well with the position given in the FK 4 catalogue.

Clark, T. A.↗
NASA NTRS1979

A high-sensitivity X-ray survey using the Einstein Observatory and the discrete source contribution to the extragalactic X-ray background

Surveys of two fields have been carried out utilizing the X-ray imaging instruments of the Einstein Observatory to a limiting flux of 1.3 x 10 to the -14th ergs/sq cm s in the 1-3 keV band, a several hundred-fold increase in sensitivity with respect to previous surveys. Forty-three objects are observed with positional accuracies varying from 5 to 60 arcsec. Optical and radio studies of candidate counterparts are described. The number-intensity relationship for extragalactic sources is evaluated, and the consequences of the findings are discussed with particular emphasis on the discrete source contribution to the extragalactic X-ray background. It is concluded that a large fraction of the background is due to previously unresolved discrete sources.

Giacconi, R.↗
NASA NTRS1981

An X-ray study of the galactic center

The results from two long observations with the Einstein Observatory Imaging Proportional Counter (IPC) of an approximately 1 x 1 deg field centered near the galactic nucleus are presented. The X-ray images reveal a complex of weak sources within 20 arcmin of the galactic nucleus (Sgr A West) together with a region of apparently diffuse emission about 25 x 15 arcmin in extent. Three of the sources are tentatively identified: two with nearby galactic objects, and a third positionally coincident with Sgr A West itself (within the arcmin-accuracy available with the IPC). The nature of this source and the implications of both the high source density and presence of diffuse emission in the galactic center region are discussed.

Watson, M. G.↗
NASA NTRS1982

The astronomical data base and retrieval system at NASA

More than 250 machine-readable catalogs of stars and extended celestial objects are now available at the NASA/Goddard Space Flight Center (GSFC) as the result of over a decade of catalog acquisition, verification and documentation. Retrieval programs are described which permit the user to obtain from a remote terminal bibliographical listings for stars; to find all celestial objects from a given list that are within a defined angular separation from each object in another list; to plot celestial objects on overlays for sky survey plate areas; and to search selected catalogs for objects by criteria of position, identification number, magnitude or spectral type.

Mead, J. M.↗
NASA NTRS1985

Angle-Measurement and Ranging System

Optical system automatically supplies information on angular position and range of object. Stereo rangefinder video signals from cameras processed to determine center of brightness for images of beacon on target vehicle. Range updated by onboard computer. Originally developed for spacecraft rendezvous and guidance, features of system adapted to angle-measurement and ranging problems on Earth. Technique also used for tool alinement inspections and color recognition.

Tietz, J. C.↗
NASA NTRS1987

Predicting Visible Range Of An Object

Report and supplementary materials present method for estimating maximum distance which Spartan free flyer seen by star trackers on Space Shuttle. Brightness, and visible range calculated by using simplified model of object as reflector, taking into consideration orientation of object and predicted relative positions of Shuttle and Sun.

King, Joseph C.↗
NASA NTRS1986

Containerless processing technology

Ground- and space-based containerless processing levitation devices are described. Experiments performed in the MSFC drop tube, the JPL drag-free drop facilities, a single-axis tuned cavity acoustic levitator furnace on TEXUS-I, and a three-axis acoustic levitator and furnace on the STS-11 mission are discussed. Neither acoustic interference nor aerodynamic levitation trials have yielded promising results in sounding rocket and STS based experiments. An electrostatic levitator has furnished a high degree of positioning control with multiple objects in a terrestrial laboratory.

Naumann, R. J.↗
NASA NTRS1990

Space environment robot vision system

A prototype twin-camera stereo vision system for autonomous robots has been developed at Goddard Space Flight Center. Standard charge coupled device (CCD) imagers are interfaced with commercial frame buffers and direct memory access to a computer. The overlapping portions of the images are analyzed using photogrammetric techniques to obtain information about the position and orientation of objects in the scene. The camera head consists of two 510 x 492 x 8-bit CCD cameras mounted on individually adjustable mounts. The 16 mm efl lenses are designed for minimum geometric distortion. The cameras can be rotated in the pitch, roll, and yaw (pan angle) directions with respect to their optical axes. Calibration routines have been developed which automatically determine the lens focal lengths and pan angle between the two cameras. The calibration utilizes observations of a calibration structure with known geometry. Test results show the precision attainable is plus or minus 0.8 mm in range at 2 m distance using a camera separation of 171 mm. To demonstrate a task needed on Space Station Freedom, a target structure with a movable I beam was built. The camera head can autonomously direct actuators to dock the I-beam to another one so that they could be bolted together.

Wood, H. John↗
NASA NTRS1988

The Cutplane - A tool for interactive solid modeling

A geometric modeling system which incorporates a new concept for intuitively and unambiguously specifying and manipulating points or features in three dimensional space is presented. The central concept, the Cutplane, consists of a plane that moves through space under control of a mouse or similar input device. The intersection of the plane and any object is highlighted, and only this highlighted section can be selected for manipulation. Selection is accomplished with a crosshair that is constrained to remain within the plane, so that the relationship between the crosshair and the feature of interest is immediately evident. Although the idea of a section view is not new, previously it has been used as a way to reveal hidden structure, not as a means of manipulating objects or indicating spatial position, as is proposed here.

Edwards, Laurence↗
NASA NTRS1990

Comparison of two on-orbit attitude sensor alignment methods

Compared here are two methods of on-orbit alignment of vector attitude sensors. The first method uses the angular difference between simultaneous measurements from two or more sensors. These angles are compared to the angular differences between the respective reference positions of the sensed objects. The alignments of the sensors are adjusted to minimize the difference between the two sets of angles. In the second method, the sensor alignment is part of a state vector that includes the attitude. The alignments are adjusted along with the attitude to minimize all observation residuals. It is shown that the latter method can result in much less alignment uncertainty when gyroscopes are used for attitude propagation during the alignment estimation. The additional information for this increased accuracy comes from knowledge of relative attitude obtained from the spacecraft gyroscopes. The theoretical calculations of this difference in accuracy are presented. Also presented are numerical estimates of the alignment uncertainties of the fixed-head star trackers on the Extreme Ultraviolet Explorer spacecraft using both methods.

Krack, Kenneth↗
NASA NTRS1992

Numerical analysis of right-half plane zeros for a single-link manipulator

The purpose of this research is to further develop an understanding of how nonminimum phase zero location is affected by structural link design. As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links become more of an issue in controls problems. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. The research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixes, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to inverse dynamic algorithms currently under development at Georgia Tech.

Girvin, Douglas Lynn↗
NASA NTRS1991

Numerical analysis of nonminimum phase zero for nonuniform link design

As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links becomes more of an issue in control. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. This research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixed, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to the inverse dynamic algorithms that are currently under development.

Girvin, Douglas L.↗
NASA NTRS1991

Optical correlators for automated rendezvous and capture

Two dimensional image correlation is a robust technique for recognizing known objects and determining their position with respect to the sensing platform. This capability is of paramount importance to vehicles which must rendezvous and capture using only on-board sensors and processors. Standard digital processors can provide the necessary correlations, but their speed, weight, size and power consumption make them undesirable components of an on-board tracking system. Optical correlators provide correlation results comparable to digital systems, but with a fraction of the size, weight and power and often many times faster. This presentation discusses the application of optical correlators to Automated Rendezvous & Capture (AR&C), and the specific work being done at the Johnson Space Center and DARPA in developing optical correlator technology.

Juday, Richard↗
NASA NTRS1994

Powerful Electromechanical Linear Actuator

Powerful electromechanical linear actuator designed to replace hydraulic actuator that provides incremental linear movements to large object and holds its position against heavy loads. Electromechanical actuator cleaner and simpler, and needs less maintenance. Two principal innovative features that distinguish new actuator are use of shaft-angle resolver as source of position feedback to electronic control subsystem and antibacklash gearing arrangement.

Cowan, John R.↗