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At least 253 records · Page 14

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NASA NTRS1989

Spatial issues in user interface design from a graphic design perspective

The user interface of a computer system is a visual display that provides information about the status of operations on data within the computer and control options to the user that enable adjustments to these operations. From the very beginning of computer technology the user interface was a spatial display, although its spatial features were not necessarily complex or explicitly recognized by the users. All text and nonverbal signs appeared in a virtual space generally thought of as a single flat plane of symbols. Current technology of high performance workstations permits any element of the display to appear as dynamic, multicolor, 3-D signs in a virtual 3-D space. The complexity of appearance and the user's interaction with the display provide significant challenges to the graphic designer of current and future user interfaces. In particular, spatial depiction provides many opportunities for effective communication of objects, structures, processes, navigation, selection, and manipulation. Issues are presented that are relevant to the graphic designer seeking to optimize the user interface's spatial attributes for effective visual communication.

Marcus, Aaron↗

NASA NTRS1989

Autonomous sensor-based dual-arm satellite grappling

Dual-arm satellite grappling involves the integration of technologies developed in the Sensing and Perception (S&P) Subsystem for object acquisition and tracking, and the Manipulator Control and Mechanization (MCM) Subsystem for dual-arm control. S&P acquires and tracks the position, orientation, velocity, and angular velocity of a slowly spinning satellite, and sends tracking data to the MCM subsystem. MCM grapples the satellite and brings it to rest, controlling the arms so that no excessive forces or torques are exerted on the satellite or arms. A 350-pound satellite mockup which can spin freely on a gimbal for several minutes, closely simulating the dynamics of a real satellite is demonstrated. The satellite mockup is fitted with a panel under which may be mounted various elements such as line replacement modules and electrical connectors that will be used to demonstrate servicing tasks once the satellite is docked. The subsystems are housed in three MicroVAX II microcomputers. The hardware of the S&P Subsystem includes CCD cameras, video digitizers, frame buffers, IMFEX (a custom pipelined video processor), a time-code generator with millisecond precision, and a MicroVAX II computer. Its software is written in Pascal and is based on a locally written vision software library. The hardware of the MCM Subsystem includes PUMA 560 robot arms, Lord force/torque sensors, two MicroVAX II computers, and unimation pneumatic parallel grippers. Its software is written in C, and is based on a robot language called RCCL. The two subsystems are described and test results on the grappling of the satellite mockup with rotational rates of up to 2 rpm are provided.

Wilcox, Brian↗

NASA NTRS1993

Stanford Aerospace Research Laboratory research overview

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Ballhaus, W. L.↗

NASA NTRS1994

Object-oriented numerical computing C++

An object oriented language is one allowing users to create a set of related types and then intermix and manipulate values of these related types. This paper discusses object oriented numerical computing using C++.

Vanrosendale, John↗

NASA NTRS2001

Articulation Management for Intelligent Integration of Information

When combining data from distinct sources, there is a need to share meta-data and other knowledge about various source domains. Due to semantic inconsistencies and heterogeneity of representations, problems arise in combining multiple domains when the domains are merged. The knowledge that is irrelevant to the task of interoperation will be included, making the result unnecessarily complex. This heterogeneity problem can be eliminated by mediating the conflicts and managing the intersections of the domains. For interoperation and intelligent access to heterogeneous information, the focus is on the intersection of the knowledge, since intersection will define the required articulation rules. An algebra over domain has been proposed to use articulation rules to support disciplined manipulation of domain knowledge resources. The objective of a domain algebra is to provide the capability for interrogating many domain knowledge resources, which are largely semantically disjoint. The algebra supports formally the tasks of selecting, combining, extending, specializing, and modifying Components from a diverse set of domains. This paper presents a domain algebra and demonstrates the use of articulation rules to link declarative interfaces for Internet and enterprise applications. In particular, it discusses the articulation implementation as part of a production system capable of operating over the domain described by the IDL (interface description language) of objects registered in multiple CORBA servers.

Maluf, David A.↗

NASA NTRS2007

Searching Across the International Space Station Databases

Data access in the enterprise generally requires us to combine data from different sources and different formats. It is advantageous thus to focus on the intersection of the knowledge across sources and domains; keeping irrelevant knowledge around only serves to make the integration more unwieldy and more complicated than necessary. A context search over multiple domain is proposed in this paper to use context sensitive queries to support disciplined manipulation of domain knowledge resources. The objective of a context search is to provide the capability for interrogating many domain knowledge resources, which are largely semantically disjoint. The search supports formally the tasks of selecting, combining, extending, specializing, and modifying components from a diverse set of domains. This paper demonstrates a new paradigm in composition of information for enterprise applications. In particular, it discusses an approach to achieving data integration across multiple sources, in a manner that does not require heavy investment in database and middleware maintenance. This lean approach to integration leads to cost-effectiveness and scalability of data integration with an underlying schemaless object-relational database management system. This highly scalable, information on demand system framework, called NX-Search, which is an implementation of an information system built on NETMARK. NETMARK is a flexible, high-throughput open database integration framework for managing, storing, and searching unstructured or semi-structured arbitrary XML and HTML used widely at the National Aeronautics Space Administration (NASA) and industry.

Maluf, David A.↗

NASA NTRS1993

Sensor tip for a robotic gripper and method of manufacture

A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

Lorenz, Robert D.↗

NASA NTRS1991

Sensor tip for a robotic gripper and method of manufacture

Lorenz, Robert D.↗

NASA NTRSDate not supplied

Small Particle Glovebox Experiments - Preliminary Results

A substantial portion of the asteroid samples returned by the HAYABUSA2 and OSIRIS-REx missions will consist of small (submm) components (due to the collection of those particles on the asteroid surface and due to the fragmenting of larger, friable material post-collection). In order to minimize the alteration/oxidation of asteroid regolith, the bulk collections will be stored and curated in nitrogen purged gloveboxes. The processing of small particles in an N2 glovebox will present challenges that are different from those experienced during lunar and meteorite sample processing. Particles in this size range are susceptible to unpredictable electrostatic charging that can result in sample loss during processing operations. Methods for the handling of sub-mm particles have been well developed for environments with ambient atmospheric conditions and relative humidity (RH) ranges between 40-70%. In such conditions, a number of factors can be successfully employed to minimize the effects of triboelectric charging, including the use of Po-210 sources that neutralize excess charge and the utilization of conductive manipulation tools and sample substrates. However, relative humidity levels above 40% also contribute significantly to dissipation of triboelectric effects. We had not previously investigated our charge mitigation methods in a completely dry, nitrogen-purged environment, or whether they would be sufficient in enabling the successful processing of sub-mm samples. Current glovebox configurations in use in our lunar and meteorite curation laboratories are optimized for the processing of macroscopic samples and tools; these glovebox designs are likely unsuitable for the processing of collections for which the bulk collection is comprised of sub-mm components. Small particle sample preparation requires the use of an optical magnification instrument – typically a stereo binocular microscope with at least 20x magnification. Current glovebox designs are not optimized for the utilization or integration of stereo microscopes; while many current cabinets include microscope viewports that enable the use of small, externally mounted stereo microscopes, the focusing methods (usually involving the use of a lab jack) lack the fidelity and precision required for small particle manipulation and imaging. Working distances of higher (>50x magnification) objective lenses may preclude the external use of a stereo microscope through a viewport; in order to successfully manipulate and image very small (< 20m) particles, stereo and digital microscope systems that are integrated within the glovebox should be investigated. Finally, ergonomic considerations for small particle work within a glovebox must be considered to minimize risk of injury to sample processors. In order to investigate some of the unknown parameters relating to small particle processing within an N2 glovebox, we conducted preliminary, qualitative experiments utilizing a small lunar cabinet that was originally used for film development.

C. J. Snead↗

NASA NTRS2012

Geometric Reasoning for Automated Planning

An important aspect of mission planning for NASA s operation of the International Space Station is the allocation and management of space for supplies and equipment. The Stowage, Configuration Analysis, and Operations Planning teams collaborate to perform the bulk of that planning. A Geometric Reasoning Engine is developed in a way that can be shared by the teams to optimize item placement in the context of crew planning. The ISS crew spends (at the time of this writing) a third or more of their time moving supplies and equipment around. Better logistical support and optimized packing could make a significant impact on operational efficiency of the ISS. Currently, computational geometry and motion planning do not focus specifically on the optimized orientation and placement of 3D objects based on multiple distance and containment preferences and constraints. The software performs reasoning about the manipulation of 3D solid models in order to maximize an objective function based on distance. It optimizes for 3D orientation and placement. Spatial placement optimization is a general problem and can be applied to object packing or asset relocation.

Clement, Bradley J.↗

NASA NTRS1988

Kinematic calibration of manipulators with closed loop actuated joints

A method for performing forward kinematic calibration of manipulators having one or more closed-loop-actuated joints is presented. The technique is an extension of algorithms designed for open-loop jointed manipulators. The calibration is equivalent to minimizing an objective function subject to constraints. The objective function is taken as the integral of end-effector position and orientation error. The constraints arise from the closed-loop mechanisms present in the manipulator.

Everett, Louis J.↗

NASA NTRS1987

The sensing and perception subsystem of the NASA research telerobot

A useful space telerobot for on-orbit assembly, maintenance, and repair tasks must have a sensing and perception subsystem which can provide the locations, orientations, and velocities of all relevant objects in the work environment. This function must be accomplished with sufficient speed and accuracy to permit effective grappling and manipulation. Appropriate symbolic names must be attached to each object for use by higher-level planning algorithms. Sensor data and inferences must be presented to the remote human operator in a way that is both comprehensible in ensuring safe autonomous operation and useful for direct teleoperation. Research at JPL toward these objectives is described.

Wilcox, B.↗

NASA NTRS1988

PIPS: A Procedure for Interactive Pyramid Segmentation

The Procedure for Interactive Pyramid Segementation was designed to identify regions of spatially connected and spectrally homogeneous pixels in multispectral image data, and to allow these regions to be interactively manipulated without the use of processing parameters. The objective is to provide the user with the capability to easily extract and identify regions corresponding to target objects of interest. The approach is to segment a multispectral image into a set of regions and to allow the analyst to interactively refine the segmentation by direct manipulation. The user can elect to: interactively display maps of the spatial distribution of regions for any designated image subset; display the statistics of a given region; and label, merge, or split regions.

Wharton, S. W.↗

NASA NTRS1989

Tethered Remote Manipulator

Remote-manipulator concept for retrieval or inspection of objects in outer space applied to underwater or in tanks of hazardous chemicals. System includes tether head on outer end of tether cable wound on motor-driven takeup reel. Head includes mounting plate with four canted thrustors facing rearward, solid-state camera with patterned sources of light facing forward, and pneumatic inflatable end effector. Also includes device to cut head loose in emergency. Intended for use in places beyond reach of jointed rigid-arm manipulator and where unsafe or impractical to send humans.

Bryan, Thomas C.↗

NASA NTRS2000

Sensitivity Analysis of Situational Awareness Measures

A great deal of effort has been invested in attempts to define situational awareness, and subsequently to measure this construct. However, relatively less work has focused on the sensitivity of these measures to manipulations that affect the SA of the pilot. This investigation was designed to manipulate SA and examine the sensitivity of commonly used measures of SA. In this experiment, we tested the most commonly accepted measures of SA: SAGAT, objective performance measures, and SART, against different levels of SA manipulation to determine the sensitivity of such measures in the rotorcraft flight environment. SAGAT is a measure in which the simulation blanks in the middle of a trial and the pilot is asked specific, situation-relevant questions about the state of the aircraft or the objective of a particular maneuver. In this experiment, after the pilot responded verbally to several questions, the trial continued from the point frozen. SART is a post-trial questionnaire that asked for subjective SA ratings from the pilot at certain points in the previous flight. The objective performance measures included: contacts with hazards (power lines and towers) that impeded the flight path, lateral and vertical anticipation of these hazards, response time to detection of other air traffic, and response time until an aberrant fuel gauge was detected. An SA manipulation of the flight environment was chosen that undisputedly affects a pilot's SA-- visibility. Four variations of weather conditions (clear, light rain, haze, and fog) resulted in a different level of visibility for each trial. Pilot SA was measured by either SAGAT or the objective performance measures within each level of visibility. This enabled us to not only determine the sensitivity within a measure, but also between the measures. The SART questionnaire and the NASA-TLX, a measure of workload, were distributed after every trial. Using the newly developed rotorcraft part-task laboratory (RPTL) at NASA Ames Research Center, each pilot flew eight trials, four using SAGAT and four using performance measures. Each set of four trials differed by level of visibility as well. The flight paths were very similar in appearance and hazard number, allowing comparison between flight paths. The pilots were tasked with flying along a road at an assigned altitude and speed while avoiding any hazards that they happened upon. The attempt here was not to find a single best measure of SA, but rather to begin an investigation of the sensitivity of common measures of SA. Upon completion of this study, its results, in combination with future studies, should allow us to develop an empirically based taxonomy of SA measures and the contexts for their appropriate use.

Shively, R. J.↗

NASA NTRS1987

Object apprehension using vision and touch

Researchers define object apprehension as the determination of the properties of an object and the relationships among these properties. They contrast this with recognition, which goes a step further to attach a label to the object as a whole. Apprehension is fundamental to manipulation. This is true whether the manipulation is being carried out by an autonomous robot or is the result of teleoperation involving sensory feedback. Researchers present an apprehension paradigm using both vision and touch. In this model, they define a representation for object apprehension in terms of a set of primitives and features, along with their relationships. This representation is the mechanism by which the data from the two modalities are combined. It is also the mechanism which drives the apprehension process.

Bajcsy, R.↗

NASA NTRS1989

Decentralized adaptive control of manipulators - Theory, simulation, and experimentation

The author presents a simple decentralized adaptive-control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. Simulation results are given for a two-link direct-drive manipulator under adaptive independent joint control. The results illustrate trajectory tracking under coupled dynamics and varying payload. The proposed scheme is implemented on a MicroVAX II computer for motion control of the three major joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics.

Seraji, Homayoun↗

NASA NTRS1991

A collision detection algorithm for telerobotic arms

The telerobotic manipulator's collision detection algorithm is described. Its applied structural model of the world environment and template representation of objects is evaluated. Functional issues that are required for the manipulator to operate in a more complex and realistic environment are discussed.

Tran, Doan Minh↗