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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."
A terrain modeling algorithm that would reconstruct the sensed ground images formed by the triangulation scheme, and classify as unsafe any terrain feature that would pose a hazard to a roving vehicle is described. This modeler greatly reduces quantization errors inherent in a laser/sensing system through the use of a thinning algorithm. Dual filters are employed to separate terrain steps from the general landscape, simplifying the analysis of terrain features. A crosspath analysis is utilized to detect and avoid obstacles that would adversely affect the roll of the vehicle. Computer simulations of the rover on various terrains examine the performance of the modeler.
The National Aeronautics and Space Administration is conducting a research project called Storm Hazards '80 in order to study the prediction, detectability and avoidance of the hazards of severe storms for aircraft operations. The project, using a highly instrumented NASA F-106B airplane to penetrate thunderstorms, gathered and correlated data from both airborne and ground based instrumentation. The objectives of this project are to determine the effects of lightning on the design and operation of aircraft composite structures and digital electronic systems. The data will be used to determine the correlation of lightning hazards with other severe storm hazards, such as heavy precipitation, hail, turbulence and wind-shear, in order to develop an initial data base for use in design and avoidance. The NASA F-106B was equipped with a weather radar, stormscope, lightning measurement instrumentation and air sampling equipment. This paper will focus on the operational aspects of thunderstorm penetrations and the pilot techniques used to avoid the extremely hazardous portions of the storm such as the tornadoes and hail. It will deal with the effects of the storm elements on the aircraft hardware, avionics and the crew.
Theoretical paper discusses advances in mathematical analysis of phase-locked loops. Presents new results in prediction of false locking. Interest to users of phase-lock circuits and to researchers seeking ways to detect or avoid false lock. Equations solved numerically by Newton-Raphson technique, with Jacobian computed by finite-difference scheme. Algorithm produces results limited only by precision of computer on which executed.
Wind shear is a serious safety hazard to commercial aviation. Low level wind shear (downburst) was the cause of the takeoff accident in New Orleans, July 9, 1982, and the landing accident in Dallas, Aug. 2, 1985. Shear layer instability is a common cause of clear air turbulence (CAT) at cruising altitudes. A number of encounters with severe CAT, in which passengers were injured, have recently occurred (Hannibal, MO, April 1981; Morton, WY, July 1982; etc.). Improved accident investigation techniques can lead to a better understanding of the nature of the wind environment associated with downbursts and CAT and to better detection and avoidance procedures. For the past several years, NASA-Ames has worked closely with the National Transportation Safety Board in the investigation of wind related accidents.
A meeting took place at NASA Langley Research Center in February 1987 to discuss the development and eventual use of forward-looking remote sensors for the detection and avoidance of wind shear by aircraft. The participants represented industry, academia, and government. The meeting was structured to provide first a review of the current FAA and NASA wind shear programs, then to define what really happens to the airplane, and finally to give technology updates on the various types of forward-looking sensors. This document is intended to informally record the essence of the technology updates (represented here through unedited duplication of the vugraphs used), and the floor discussion following each presentation. Also given are key issues remaining unresolved.
Alignment problems, and the accompanying errors, in heterodyne moire deflectometry are considered. A change in the x-directed offset between two states of a phase object causes a constant phase error, and it is noted that the relative x coordinate of the two photographic plates (the two states of the phase object) must be positioned typically within 1 micron to avoid a detectable offset. Possible solutions for assuring the relative alignment of the two deflectograms are considered, including a sandwich technique and a two-color double-exposure implementation.
This is a distributed computing system providing flexible fault tolerance; ease of software design and concurrency specification; and dynamic balance of the loads. The system comprises a plurality of computers each having a first input/output interface and a second input/output interface for interfacing to communications networks each second input/output interface including a bypass for bypassing the associated computer. A global communications network interconnects the first input/output interfaces for providing each computer the ability to broadcast messages simultaneously to the remainder of the computers. A meshwork communications network interconnects the second input/output interfaces providing each computer with the ability to establish a communications link with another of the computers bypassing the remainder of computers. Each computer is controlled by a resident copy of a common operating system. Communications between respective ones of computers is by means of split tokens each having a moving first portion which is sent from computer to computer and a resident second portion which is disposed in the memory of at least one of computer and wherein the location of the second portion is part of the first portion. The split tokens represent both functions to be executed by the computers and data to be employed in the execution of the functions. The first input/output interfaces each include logic for detecting a collision between messages and for terminating the broadcasting of a message whereby collisions between messages are detected and avoided.
A number of dextrous robotic systems and associated positioning and transportation devices are available on Space Station Freedom (SSF) to perform assembly tasks that would otherwise need to be performed by extravehicular activity (EVA) crewmembers. The currently planned operating mode for these robotic systems during the assembly phase is teleoperation by intravehicular activity (IVA) crewmembers. While this operating mode is less hazardous and expensive than manned EVA operations, and has insignificant control loop time delays, the amount of IVA time available to support telerobotic operations is much less than the anticipated requirements. Some alternative is needed to allow the robotic systems to perform useful tasks without exhausting the available IVA resources; ground control is one such alternative. The issues associated with ground control of SSF robotic systems to alleviate onboard crew time availability constraints are investigated. Key technical issues include the effect of communication time delays, the need for safe, reliable execution of remote operations, and required modifications to the SSF ground and flight system architecture. Time delay compensation techniques such as predictive displays and world model-based force reflection are addressed and collision detection and avoidance strategies to ensure the safety of the on-orbit crew, Orbiter, and SSF are described. Although more time consuming and difficult than IVA controlled teleoperations or manned EVA, ground controlled telerobotic operations offer significant benefits during the SSF assembly phase, and should be considered in assembly planning activities.
To accurately simulate and evaluate an airborne Doppler radar as a wind shear detection and avoidance sensor, the ground clutter surrounding a typical airport must be quantified. To do this, an imaging airborne Synthetic Aperture Radar (SAR) was employed to investigate and map the normalized radar cross sections (NRCS) of the ground terrain surrounding the Denver Stapleton Airport during November of 1988. Images of the Stapleton ground clutter scene were obtained at a variety of aspect and elevation angles (extending to near-grazing) at both HH and VV polarizations. Presented here, in viewgraph form with commentary, are the method of data collection, the specific observations obtained of the Denver area, a summary of the quantitative analysis performed on the SAR images to date, and the statistical modeling of several of the more interesting stationary targets in the SAR database. Additionally, the accompanying moving target database, containing NRCS and velocity information, is described.
The authors describe a maximally passive system for obstacle detection and avoidance designed for rotorcraft which benefits from the use of inertial data. The sensor options are briefly discussed, and sensor fusion needs are mentioned. Some critical system requirements and their effect on system implementation are discussed. In addition, high-level system implementation issues are presented.
There are many proposed vision based methods to perform obstacle detection and avoidance for autonomous or semi-autonomous vehicles. All methods, however, will require very high processing rates to achieve real time performance. A system capable of supporting autonomous helicopter navigation will need to extract obstacle information from imagery at rates varying from ten frames per second to thirty or more frames per second depending on the vehicle speed. Such a system will need to sustain billions of operations per second. To reach such high processing rates using current technology, a parallel implementation of the obstacle detection/ranging method is required. This paper describes an efficient and flexible parallel implementation of a multisensor feature-based range-estimation algorithm, targeted for helicopter flight, realized on both a distributed-memory and shared-memory parallel computer.
Flight test operations concerning the Joint NASA/FAA Airborne Wind Shear Detection and Avoidance Program 1991 Flight Experiments are presented in viewgraph form and include the following: research aircraft sensor installations; wind shear reactive sensor operation; wind shear IR sensor operation; wind shear radar sensor operation; wind shear lidar sensor operation; and 1991 flight test summary.
Salient design features of a new NASA/Army research rotorcraft--the Rotorcraft-Aircrew Systems Concepts Airborne Laboratory (RASCAL) are described. Using a UH-60A Black Hawk helicopter as a baseline vehicle, the RASCAL will be a flying laboratory capable of supporting the research requirements of major NASA and Army guidance, control, and display research programs. The paper describes the research facility requirements of these programs together with other critical constraints on the design of the research system. Research program schedules demand a phased development approach, wherein specific research capability milestones are met and flight research projects are flown throughout the complete development cycle of the RASCAL. This development approach is summarized, and selected features of the research system are described. The research system includes a real-time obstacle detection and avoidance system which will generate low-altitude guidance commands to the pilot on a wide field-of-view, color helmet-mounted display and a full-authority, programmable, fault-tolerant/fail-safe, fly-by-wire flight control system.
Salient design features of a new NASA/Army research rotorcraft - the Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL) - are described. Using a UH-60A Black Hawk helicopter as a baseline vehicle, the RASCAL will be a flying laboratory capable of supporting the research requirements of major NASA and Army guidance, control, and display research programs. The paper describes the research facility requirements of these programs together with other critical constraints on the design of the research system, including safety-of-flight. Research program schedules demand a phased development approach, wherein specific research capability milestones are met and flight research projects are flown throughout the complete development cycle of the RASCAL. This development approach is summarized, and selected features of the research system are described. The research system includes a full-authority, programmable, fault-tolerant/fail-safe, fly-by-wire flight control system and a real-time obstacle detection and avoidance system which will generate low-latitude guidance commands to the pilot on a wide field-of-view, color helmet-mounted display.
This paper discusses the scenario of an autonomous landing like that required for the Mars Rover Sample Return Mission. An application of laser radar for conducting autonomous hazard detection and avoidance is discussed. A trade-study is performed to identify operational and implementation constraints as well as the state of the art in component technology.
A sophisticated 3D laser radar sensor simulation, developed and applied to the task of autonomous hazard detection and avoidance, is presented. This simulation includes a backward ray trace to sensor subpixels, incoherent subpixel integration, range dependent noise, sensor point spread function effects, digitization noise, and AM-CW modulation. Specific sensor parameters, spacecraft lander trajectory, and terrain type have been selected to generate simulated sensor data.
There are many proposed vision based methods to perform obstacle detection and avoidance for autonomous or semi-autonomous vehicles. All methods, however, will require very high processing rates to achieve real time performance. A system capable of supporting autonomous helicopter navigation will need to extract obstacle information from imagery at rates varying from ten frames per second to thirty or more frames per second depending on the vehicle speed. Such a system will need to sustain billions of operations per second. To reach such high processing rates using current technology, a parallel implementation of the obstacle detection/ranging method is required. This paper describes an efficient and flexible parallel implementation of a multisensor feature-based range-estimation algorithm, targeted for helicopter flight, realized on both a distributed-memory and shared-memory parallel computer.