Search NASA⌕ Search

SEARCH · Search NASA

Results for “motion detection”

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 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
NASA NTRS1983

The adiabatic motion of charged dust grains in rotating magnetospheres

Adiabatic equations of motion are derived for the micrometer-sized dust grains detected in the Jovian and Saturn magnetospheres by the Pioneer 10 and 11 spacecraft. The adiabatic theory of charged particle motion is extended to the case of variable grain charge. Attention is focused on the innermost and outermost limits to the grain orbit evolution, with all orbits tending to become circular with time. The parameters such as the center equation of motion, the drift velocity, and the parallel equation of motion are obtained for grains in a rotating magnetosphere. Consideration is given to the effects of periodic grain charge-discharge, which are affected by the ambient plasma properties and the grain plasma velocity. The charge-discharge process at the gyrofrequency is determined to eliminate the invariance of the magnetic moment and cause the grain to exhibit radial movement. The magnetic moment increases or decreases as a function of the gyrophase of the charge variation.

Northrop, T. G.↗
NASA NTRS2010

Reduction in Dynamic Visual Acuity Reveals Gaze Control Changes Following Spaceflight

INTRODUCTION: Exposure to microgravity causes adaptive changes in eye-head coordination that can lead to altered gaze control. This could affect postflight visual acuity during head and body motion. The goal of this study was to characterize changes in dynamic visual acuity after long-duration spaceflight. METHODS: Dynamic Visual Acuity (DVA) data from 14 astro/cosmonauts were collected after long-duration (~6 months) spaceflight. The difference in acuity between seated and walking conditions provided a metric of change in the subjects ability to maintain gaze fixation during self-motion. In each condition, a psychophysical threshold detection algorithm was used to display Landolt ring optotypes at a size that was near each subject s acuity threshold. Verbal responses regarding the orientation of the gap were recorded as the optotypes appeared sequentially on a computer display 4 meters away. During the walking trials, subjects walked at 6.4 km/h on a motorized treadmill. RESULTS: A decrement in mean postflight DVA was found, with mean values returning to baseline within 1 week. The population mean showed a consistent improvement in DVA performance, but it was accompanied by high variability. A closer examination of the individual subject s recovery curves revealed that many did not follow a pattern of continuous improvement with each passing day. When adjusted on the basis of previous long-duration flight experience, the population mean shows a "bounce" in the re-adaptation curve. CONCLUSION: Gaze control during self-motion is altered following long-duration spaceflight and changes in postflight DVA performance indicate that vestibular re-adaptation may be more complex than a gradual return to normal.

Peters, Brian T.↗
NASA NTRS1992

Inertial navigation sensor integrated motion analysis for autonomous vehicle navigation

Recent work on INS integrated motion analysis is described. Results were obtained with a maximally passive system of obstacle detection (OD) for ground-based vehicles and rotorcraft. The OD approach involves motion analysis of imagery acquired by a passive sensor in the course of vehicle travel to generate range measurements to world points within the sensor FOV. INS data and scene analysis results are used to enhance interest point selection, the matching of the interest points, and the subsequent motion-based computations, tracking, and OD. The most important lesson learned from the research described here is that the incorporation of inertial data into the motion analysis program greatly improves the analysis and makes the process more robust.

Roberts, Barry↗
NASA NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗
NASA NTRS2016

OGLE-2012-bLG-0950Lb: the First Planet Mass Measurement From Only Microlens Parallax and Lens Flux

We report the discovery of a microlensing planet OGLE-2012-BLG-0950Lb with a planet/host mass ratio Periapsis Approx. = 2 x10(exp. -4). A long term distortion detected in both MOA and OGLE light curve can be explained by themicrolens parallax due to the Earths orbital motion around the Sun. Although the finite source effect is not detected, we obtain the lens flux by the high resolution Keck AO observation. Combining the microlens parallax and the lens flux reveal the nature of the lens: a planet with mass of M(sub p) = 35(+17/-)M compared to Earth is orbiting around an M-dwarf with mass of M(sub host) = 0.56(+0.12/-0.16) M compared to the Sun with a planet-host projected separation of r1 = 2.7(+0.6/-0.7) au located at Luminosity Distance = 3.0(+0.8/-1.1) kpc from us. This is the first mass measurement from only microlens parallax and the lens flux without the finite source effect. In the coming space observation-era with Spitzer, K2, Euclid, and WFIRST, we expect many such events for which we will not be able to measure any finite source effect. This work demonstrates an ability of mass measurements in such events.

microlens parallax↗
NASA NTRS1992

Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991

Various papers on control paradigms and data structures in sensor fusion are presented. The general topics addressed include: decision models and computational methods, sensor modeling and data representation, active sensing strategies, geometric planning and visualization, task-driven sensing, motion analysis, models motivated biology and psychology, decentralized detection and distributed decision, data fusion architectures, robust estimation of shapes and features, application and implementation. Some of the individual subjects considered are: the Firefly experiment on neural networks for distributed sensor data fusion, manifold traversing as a model for learning control of autonomous robots, choice of coordinate systems for multiple sensor fusion, continuous motion using task-directed stereo vision, interactive and cooperative sensing and control for advanced teleoperation, knowledge-based imaging for terrain analysis, physical and digital simulations for IVA robotics.

Schenker, Paul S.↗
NASA NTRS1991

Collision detection for spacecraft proximity operations

A new collision detection algorithm has been developed for use when two spacecraft are operating in the same vicinity. The two spacecraft are modeled as unions of convex polyhedra, where the resulting polyhedron many be either convex or nonconvex. The relative motion of the two spacecraft is assumed to be such that one vehicle is moving with constant linear and angular velocity with respect to the other. Contacts between the vertices, faces, and edges of the polyhedra representing the two spacecraft are shown to occur when the value of one or more of a set of functions is zero. The collision detection algorithm is then formulated as a search for the zeros (roots) of these functions. Special properties of the functions for the assumed relative trajectory are exploited to expedite the zero search. The new algorithm is the first algorithm that can solve the collision detection problem exactly for relative motion with constant angular velocity. This is a significant improvement over models of rotational motion used in previous collision detection algorithms.

Vaughan, Robin M.↗
NASA NTRS1984

Inflow of halo gas from the direction of the Galactic north pole

A far-UV echelle spectrum has been obtained of the UV-bright star vZ1128 in the globular cluster M3. This cluster lies in a direction 11 deg off the Galactic north pole at a distance of about 10 kpc. Only the usually strong interstellar lines are recognizable in the faint spectrum, and they show absorption at velocities from near +40 km/s to -100 km/s. Since in the direction observed the line-of-sight component of the Milky Way rotation is negligible, the detected velocities demonstrate for this direction the motion of gas from the Milky Way halo toward the disk. Gas returning to the disk in a galactic fountainlike flow may explain the observations.

De Boer, K. S.↗
NASA NTRS1965

Precession model for the nucleus of periodic comet Giacobini-Zinner

The comet Giacobini-Zinner, which was discovered in 1900, is a short-period comet of the Jupiter family. It will become the first comet ever to be investigated by a spacecraft in situ, because the International Comet Explorer (ICE) is scheduled to fly through the plasma tail of this comet on September 11, 1985. For this project, it is useful to have as complete a model of the comet as can be deduced from available ground-based observations. The present paper represents, in this connection, an attempt to fill some of the many gaps with respect to an understanding of this particular comet. One of the major results of Yeomans' studies (1971, 1983, 1984) was the detection of a 'discontinuity' in the orbital motion, which qualifies P/Giacobini-Zinner as an 'erratic' comet. One objective of the paper is the formulation of a self-consistent working model of the cometary nucleus, taking into account questions regarding the applicability of the nucleus-precession model of Sekanina (1984) to the dynamically 'erratic' comets.

Sekanina, Z.↗
NASA NTRS1986

The radial velocity search for extrasolar planets

Stars are observed with a ground-based instrument designed to measure small changes in the line-of-sight velocities. The purpose of the observations is to detect large planets by the oscillatory reflex motion they induce on the stars they are orbiting. The instrument is an optical spectrometer for which wavelengths are first calibrated by transmission through a tunable Fabry-Perot etalon interferometer. Changes in the line-of-sight velocities are revealed by changes in the Doppler shift of the absorption-line spectra of stars. The scrambling of incident light by an optical fiber and the stability of wavelength calibration by a tilt-tunable Fabry-Perot etalon provide immunity to systematic errors that historically have effected more conventional radial velocity spectrographs. A cross-dispersed echelle spectrograph spatially separates the orders of constructive interference transmitted through the etalon. Selecting several echelle diffraction orders in the vicinity of 4250 to 4750 A, which are imaged on a CCD, about 350 points on the profile of the stellar spectrum are sampled by successive orders of interferometric transmission through the etalon.

Mcmillen, R. S.↗
NASA NTRS1989

Helmet-mounted pilot night vision systems: Human factors issues

Helmet-mounted displays of infrared imagery (forward-looking infrared (FLIR)) allow helicopter pilots to perform low level missions at night and in low visibility. However, pilots experience high visual and cognitive workload during these missions, and their performance capabilities may be reduced. Human factors problems inherent in existing systems stem from three primary sources: the nature of thermal imagery; the characteristics of specific FLIR systems; and the difficulty of using FLIR system for flying and/or visually acquiring and tracking objects in the environment. The pilot night vision system (PNVS) in the Apache AH-64 provides a monochrome, 30 by 40 deg helmet-mounted display of infrared imagery. Thermal imagery is inferior to television imagery in both resolution and contrast ratio. Gray shades represent temperatures differences rather than brightness variability, and images undergo significant changes over time. The limited field of view, displacement of the sensor from the pilot's eye position, and monocular presentation of a bright FLIR image (while the other eye remains dark-adapted) are all potential sources of disorientation, limitations in depth and distance estimation, sensations of apparent motion, and difficulties in target and obstacle detection. Insufficient information about human perceptual and performance limitations restrains the ability of human factors specialists to provide significantly improved specifications, training programs, or alternative designs. Additional research is required to determine the most critical problem areas and to propose solutions that consider the human as well as the development of technology.

Hart, Sandra G.↗
NASA NTRS1989

Estimating satellite pose and motion parameters using a novelty filter and neural net tracker

A system for determining the position, orientation and motion of a satellite with respect to a robotic spacecraft using video data is advanced. This system utilizes two levels of pose and motion estimation: an initial system which provides coarse estimates of pose and motion, and a second system which uses the coarse estimates and further processing to provide finer pose and motion estimates. The present paper emphasizes the initial coarse pose and motion estimation sybsystem. This subsystem utilizes novelty detection and filtering for locating novel parts and a neural net tracker to track these parts over time. Results of using this system on a sequence of images of a spin stabilized satellite are presented.

Lee, Andrew J.↗
NASA NTRS1993

Shaft-Motion-Analyzing System

Optoelectronic system to monitor motions of turbopump shaft developed. Optical sensors detect passage of reflective triangles on shaft. Optical measurements processed in real time into indications of speed of rotation and of axial and lateral displacements of shaft.

Randall, Richard L.↗
NASA NTRS1993

Estimating the path-average rainwater content and updraft speed along a microwave link

There is a scarcity of methods for accurately estimating the mass of rainwater rather than its flux. A recently proposed technique uses the difference between the observed rates of attenuation A with increasing distance at 38 and 25 GHz, A(38-25), to estimate the rainwater content W. Unfortunately, this approach is still somewhat sensitive to the form of the drop-size distribution. An alternative proposed here uses the ratio A38/A25 to estimate the mass-weighted average raindrop size Dm. Rainwater content is then estimated from measurements of polarization propagation differential phase shift (Phi-DP) divided by (1-R), where R is the mass-weighted mean axis ratio of the raindrops computed from Dm. This paper investigates these two water-content estimators using results from a numerical simulation of observations along a microwave link. From these calculations, it appears that the combination (R, Phi-DP) produces more accurate estimates of W than does A38-25. In addition, by combining microwave estimates of W and the rate of rainfall in still air with the mass-weighted mean terminal fall speed derived using A38/A25, it is possible to detect the potential influence of vertical air motion on the raingage-microwave rainfall comparisons.

Jameson, Arthur R.↗
NASA NTRS1997

Timing the Geminga Pulsar with High-Energy Gamma-Rays

This is a continuing program to extend and refine the ephemeris of the Geminga pulsar with annual observations for the remaining lifetime of EGRET. The data show that every revolution of Geminga is accounted for during the EGRET epoch, and that a coherent timing solution linking the phase between EGRET, COS-B, amd SAS-2, observations has now been achieved. The accuracy of the gamma-ray timing is such that the proper motion of the pulsar can now be detected, consistent with the optical determination. The measured braking index over the 24.2 yr baseline is 17 +/- 1. Further observation is required to ascertain whether this very large braking index truly represents the energy loss mechanism, perhaps related to the theory in which Geminga is near its gamma-ray death line, or whether it is a manifestation of timing noise. Statistically significant timing residuals are detected in the EGRET data; they depart from the cubic ephemeris at a level of 23 milliperiods. The residuals appear to have a sinusoidal modulation with a period of about 5.1 yr. This could simply be a manifestation of timing noise, or it could be consistent with a planet of mass 1.7/sin i solar mass orbiting Geminga at a radius of 3.3/sin i AU.

Halpern, Jules P.↗
NASA NTRS1998

Observational and Theoretical Studies of Low-Mass Star Formation

Under this grant we have pursued studies of low-mass star formation with observations of candidate star-forming regions, (1) to determine the incidence of "infall asymmetry" in the spectral lines from very red young stellar objects; (2) to make detailed maps of candidate infall regions to determine the spatial extent of their infall asymmetry; (3) to compare the spatial and velocity structure of candidate infall regions with single dish and interferometer resolution; and (4) to begin a program of observations of starless dense cores to detect the presence or absence of infall motions.

Myers, Philip C.↗
NASA NTRS2012

Burst Oscillation Probes of Neutron Stars and Nuclear Burning with LOFT

X-ray brightness oscillations during thermonuclear X-ray bursts--burst oscillations--have provided a new probe of neutron star spins as well as of the dependent nuclear burning processes. The frequency drift and amplitude evolution of the oscillations observed during bursts can in principle place constraints on the physics of thermonuclear flame spreading and the dynamics of the burning atmosphere. I use simulations appropriate to LOFT to explore the precision with which the time dependence of the oscillation frequency can be inferred. This can test, for example, different models for the frequency drift, such as up-lift versus geostrophic drift. I also explore the precision with which asymptotic frequencies can be constrained in order to estimate the capability for LOFT to detect the Doppler shifts induced by orbital motion of the neutron star from a sample of bursts at different orbital phases.

Strohmayer, Tod↗
NASA NTRS2019

KELT-22Ab: A Massive, Short-Period Hot Jupiter Transiting a Near-solar Twin

We present the discovery of KELT-22Ab, a hot Jupiter from the KELT-South survey. KELT-22Ab transits the moderately bright (V11.1) Sun-like G2V star TYC 7518-468-1. The planet has an orbital period of P = 1.3866529 0.0000027 days, a radius of = -R 1.285+ R P 0.071 J 0.12 , and a relatively large mass of = - M 3.47+ M P 0.14 J 0.15 . The star has = - + R 1.099 0.046 R 0.079 , = - + M 1.092 0.041 M 0.045 , = - T 5767+ eff 49 50 K, = - log g 4.393+0.0600.039 (cgs), and [m/H]=+ -0.259+0.0830.085; thus other than its slightly super-solar metallicity, it appears to be a near-solar twin. Surprisingly, KELT-22A exhibits kinematics and a Galactic orbit that are somewhat atypical for thin-disk stars. Nevertheless, the star is rotating rapidly for its estimated age, and shows evidence of chromospheric activity. Imaging reveals a slightly fainter companion to KELT-22A that is likely bound, with a projected separation of 6″ (∼1400 au). In addition to the orbital motion caused by the transiting planet, we detect a possible linear trend in the radial velocity of KELT-22A, suggesting the presence of another relatively nearby body that is perhaps non-stellar. KELT-22Ab is highly irradiated (as a consequence of the small semimajor axis of a R = 4.97), and is mildly inflated. At such small separations, tidal forces become significant. The configuration of this system is optimal for measuring the rate of tidal dissipation within the host star. Our models predict that, due to tidal forces, the semimajor axis is decreasing rapidly, and KELT-22Ab is predicted to spiral into the star within the next Gyr.

Knicole Colon↗