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At least 343 records · Page 19

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NASA NTRS1993

Rust transformation/rust compatible primers

Proper surface preparation has been the key to obtain good performance by a surface coating. The major obstacle in preparing a corroded or rusted surface is the complete removal of the contaminants and the corrosion products. Sandblasting has been traditionally used to remove the corrosion products before painting. However, sandblasting can be expensive, may be prohibited by local health regulations and is not applicable in every situation. To get around these obstacles, Industry developed rust converters/rust transformers and rust compatible primers (high solids epoxies). The potential use of these products for military equipment led personnel of the Belvoir Research, Development and Engineering Center (BRDEC) to evaluate the commercially available rust transformers and rust compatible primers. Prior laboratory experience with commercially available rust converters, as well as field studies in Hawaii and Puerto Rico, revealed poor performance, several inherent limitations, and lack of reliability. It was obvious from our studies that the performance of rust converting products was more dependent on the amount and type of rust present, as well as the degree of permeability of the coating, than on the product's ability to form an organometallic complex with the rust. Based on these results, it was decided that the Military should develop their own rust converter formulation and specification. The compound described in the specification is for use on a rusted surface before the application of an organic coating (bituminous compounds, primer or topcoat). These coatings should end the need for sandblasting or the removing of the adherent corrosion products. They also will prepare the surface for the application of the organic coating. Several commercially available rust compatible primers (RCP) were also tested using corroded surfaces. All of the evaluated RCP failed our laboratory tests for primers.

Emeric, Dario A.↗

NASA NTRS1993

A fuzzy logic controller for an autonomous mobile robot

The ability of a mobile robot system to plan and move intelligently in a dynamic system is needed if robots are to be useful in areas other than controlled environments. An example of a use for this system is to control an autonomous mobile robot in a space station, or other isolated area where it is hard or impossible for human life to exist for long periods of time (e.g., Mars). The system would allow the robot to be programmed to carry out the duties normally accomplished by a human being. Some of the duties that could be accomplished include operating instruments, transporting objects, and maintenance of the environment. The main focus of our early work has been on developing a fuzzy controller that takes a path and adapts it to a given environment. The robot only uses information gathered from the sensors, but retains the ability to avoid dynamically placed obstacles near and along the path. Our fuzzy logic controller is based on the following algorithm: (1) determine the desired direction of travel; (2) determine the allowed direction of travel; and (3) combine the desired and allowed directions in order to determine a direciton that is both desired and allowed. The desired direction of travel is determined by projecting ahead to a point along the path that is closer to the goal. This gives a local direction of travel for the robot and helps to avoid obstacles.

Yen, John↗

NASA NTRS1992

Vision-based range estimation using helicopter flight data

Pilot aiding during low-altitude flight depends on the ability to detect and locate obstacles near the helicopter's intended flightpath. Computer-vision-based methods provide one general approach for obstacle detection and range estimation. Several algorithms have been developed for this purpose, but have not been tested with actual flight data. This paper presents results obtained using helicopter flight data with a feature-based range estimation algorithm. A method for recursively estimating range using a Kalman filter with a monocular sequence of images and knowledge of the camera's motion is described. The helicopter flight experiment and one of four resulting datasets is briefly discussed. Finally the performance of the range estimation algorithm is explored based on comparison of the range estimates with true range measurements collected during the flight experiment.

Smith, Phillip N.↗

NASA NTRS1992

Vision-based range estimation using helicopter flight data

Pilot aiding during low-altitude flight depends on the ability to detect and locate obstacles near the helicopter's intended flightpath. Computer-vision-based methods provide one general approach for obstacle detection and range estimation. Several algorithms have been developed for this purpose, but have not been tested with actual flight data. This paper presents results obtained using helicopter flight data with a feature-based range estimation algorithm. A method for recursively estimating range using a Kalman filter with a monocular sequence of images and knowledge of the camera's motion is described. The helicopter flight experiment and four resulting datasets are discussed. Finally the performance of the range estimation algorithm is explored in detail based on comparison of the range estimates with true range measurements collected during the flight experiment.

Smith, Phillip N.↗

NASA NTRS1992

Technology test results from an intelligent, free-flying robot for crew and equipment retrieval in space

The ground-based demonstrations of Extra Vehicular Activity (EVA) Retriever, a voice-supervised, intelligent, free-flying robot, are designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles with subsequent object handover. The software architecture incorporates a heirarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: sensing, perception, world model, reasoning, and acting. The design provides for supervised autonomy as the primary mode of operation. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable and safe operation. This paper gives an overview of the hardware, a focus on software, and a summary of results achieved recently from both computer simulations and air bearing floor demonstrations. Limitations of the technology used are evaluated. Plans for the next phase, during which moving targets and obstacles drive realtime behavior requirements, are discussed.

Erickson, J.↗

NASA NTRS1993

Limitations to the study of man in space in the U.S. space program

Research on humans conducted during spaceflight is fraught both with great opportunities and great obstacles. The purpose of this paper is to review some of the limitations to research in space in the United States with hope that an informed scientific community may lead to more rapid and efficient solution of these problems. Limitations arise because opportunities to study the same astronauts in well-controlled situations on repeated spaceflights are practically non-existent. Human research opportunities are further limited by the necessity of avoiding simultaneous mutually-interfering experiments. Environmental factors, including diet and other physiological perturbations concomitant with spaceflight, also complicate research design and interpretation. Technical limitations to research methods and opportunities further restrict the development of the knowledge base. Finally, Earth analogues of space travel all suffer from inadequacies. Though all of these obstacles will eventually be overcome, creativity, diligence, and persistence are required to further our knowledge of humans in space.

Bishop, Phillip A.↗

NASA NTRS1993

Transition operators in electromagnetic-wave diffraction theory. II - Applications to optics

The theory developed by Hahne (1992) for the diffraction of time-harmonic electromagnetic waves from fixed obstacles is briefly summarized and extended. Applications of the theory are considered which comprise, first, a spherical harmonic expansion of the so-called radiation impedance operator in the theory, for a spherical surface, and second, a reconsideration of familiar short-wavelength approximation from the new standpoint, including a derivation of the so-called physical optics method on the basis of quasi-planar approximation to the radiation impedance operator, augmented by the method of stationary phase. The latter includes a rederivation of the geometrical optics approximation for the complete Green's function for the electromagnetic field in the presence of a smooth- and a convex-surfaced perfectly electrically conductive obstacle.

Hahne, G. E.↗

NASA NTRS1993

Real-time collision avoidance in teleoperated whole-sensitive robot arm manipulators

A hybrid robot teleoperation system is presented which makes use of the methodology of motion planning for whole-sensitive robots to assist the operator in generating collision-free motion in a master-slave robot arm manipulator system. The system combines operator commands with data from the sensitive skin to guarantee safe motion for the entire body of the robot arm. The arm avoids obstacles automatically and in real time and moves in a collision-free manner although no prior knowledge of the objects in the environment is available to the motion planning system and no constraints are imposed on the obstacle shapes. The operator is thus relieved of the task of providing safety of the robot arm and surrounding objects.

Lumelsky, Vladimir J.↗

NASA NTRS1993

Passive range estimation for rotorcraft low-altitude flight

The automation of rotorcraft low-altitude flight presents challenging problems in control, computer vision and image understanding. A critical element in this problem is the ability to detect and locate obstacles, using on-board sensors, and modify the nominal trajectory. This requirement is also necessary for the safe landing of an autonomous lander on Mars. This paper examines some of the issues in the location of objects using a sequence of images from a passive sensor, and describes a Kalman filter approach to estimate the range to obstacles. The Kalman filter is also used to track features in the images leading to a significant reduction of search effort in the feature extraction step of the algorithm. The method can compute range for both straight line and curvilinear motion of the sensor. A laboratory experiment was designed to acquire a sequence of images along with sensor motion parameters under conditions similar to helicopter flight. Range estimation results using this imagery are presented.

Sridhar, B.↗

NASA NTRS1993

Controlled motion in an elastic world

The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feed forward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status, and future directions in this area.

Book, Wayne J.↗

NASA NTRS1991

Vision based techniques for rotorcraft low altitude flight

An overview of research in obstacle detection at NASA Ames Research Center is presented. The research applies techniques from computer vision to automation of rotorcraft navigation. The development of a methodology for detecting the range to obstacles based on the maximum utilization of passive sensors is emphasized. The development of a flight and image data base for verification of vision-based algorithms, and a passive ranging methodology tailored to the needs of helicopter flight are discussed. Preliminary results indicate that it is possible to obtain adequate range estimates except at regions close to the FOE. Closer to the FOE, the error in range increases since the magnitude of the disparity gets smaller, resulting in a low SNR.

Sridhar, Banavar↗

NASA NTRS1993

Electro-optical navigation for aircraft

Low altitude flight is extremely demanding on the rotorcraft pilots. This fact has motivated the research in automating various components of low altitude rotorcraft flight operations. Concurrent with the development of guidance laws, efforts are underway to develop systems for locating the terrain and the obstacles using inputs from passive electro-optical sensors such as TV cameras and infrared imagers. A passive obstacle location algorithm that uses image sequences from cameras undergoing translational and rotational motion is developed. The algorithm is in a general form and can operate in multicamera imaging environments. Performance results using an image sequence from an airborne camera are given.

Menon, P. K. A.↗

NASA NTRS1992

Clustering methods for removing outliers from vision-based range estimates

The present approach to the automation of helicopter low-altitude flight uses one or more passive imaging sensors to extract environmental obstacle information; this is then processed via computer-vision techniques to yield a time-varying map of range to obstacles in the sensor's field of view along the vehicle's flight path. Attention is given to two related techniques which can eliminate outliers from a sparse range map, clustering sparse range-map information into different spatial classes that rely on a segmented and labeled image to aid in spatial classification within the image plane.

Hussien, B.↗

NASA NTRS1993

Passive range estimation for rotorcraft low-altitude flight

Sridhar, B.↗

NASA NTRS1993

Multirate and event-driven Kalman filters for helicopter flight

A vision-based obstacle detection system that provides information about objects as a function of azimuth and elevation is discussed. The range map is computed using a sequence of images from a passive sensor, and an extended Kalman filter is used to estimate range to obstacles. The magnitude of the optical flow that provides measurements for each Kalman filter varies significantly over the image depending on the helicopter motion and object location. In a standard Kalman filter, the measurement update takes place at fixed intervals. It may be necessary to use a different measurement update rate in different parts of the image in order to maintain the same signal to noise ratio in the optical flow calculations. A range estimation scheme that accepts the measurement only under certain conditions is presented. The estimation results from the standard Kalman filter are compared with results from a multirate Kalman filter and an event-driven Kalman filter for a sequence of helicopter flight images.

Sridhar, Banavar↗

NASA NTRS1945

On two-dimensional flows of compressible fluids

This report is devoted to the study of two-dimensional steady motion of a compressible fluid. It is shown that the complete flow pattern around a closed obstacle cannot be obtained by the method of Chaplygin. In order to overcome this difficulty, a formula for the stream-function of a two-dimensional subsonic flow is derived. The formula involves an arbitrary function of a complex variable and yields all possible subsonic flow patterns of certain types. Conditions are given so that the flow pattern in the physical plane will represent a flow around a closed curve. The formula obtained can be employed for the approximate determination of a subsonic flow around an obstacle. The method can be extended to partially supersonic flows.

HODOGRAPHY METHOD↗

NASA NTRS1929

Landing and Braking of Airplanes

In the numerical examples, we have considered an airplane landing in calm air in a fixed direction after crossing the border (with its obstacles) at a height of 30 m. Its stopping point is at a distance D from the obstacle, comprising: a distance D(sub 1) in regular gliding flight; a distance D(sub 2) in levelling off; a distance D(sub 3) in taxying on the ground. The calculations enable us to make out the following table, which gives an idea of the improvements to be expected in the use of various possible methods of braking in the air and on the ground.

BRAKES↗

NASA NTRS1993

Lee waves: Benign and malignant

The flow of an incompressible fluid over an obstacle will produce an oscillation in which buoyancy is the restoring force, called a gravity wave. For disturbances of this scale, the atmosphere may be treated as dynamically incompressible, even though there exists a mean static upward density gradient. Even in the linear approximation - i.e., for small disturbances - this model explains a great many of the flow phenomena observed in the lee of mountains. However, nonlinearities do arise importantly, in three ways: (1) through amplification due to the decrease of mean density with height; (2) through the large (scaled) size of the obstacle, such as a mountain range; and (3) from dynamically singular levels in the fluid field. These effects produce a complicated array of phenomena - large departure of the streamlines from their equilibrium levels, high winds, generation of small scales, turbulence, etc. - that present hazards to aircraft and to lee surface areas. The nonlinear disturbances also interact with the larger-scale flow in such a manner as to impact global weather forecasts and the climatological momentum balance. If there is no dynamic barrier, these waves can penetrate vertically into the middle atmosphere (30-100 km), where recent observations show them to be of a length scale that must involve the coriolis force in any modeling. At these altitudes, the amplitude of the waves is very large, and the phenomena associated with these wave dynamics are being studied with a view to their potential impact on high performance aircraft, including the projected National Aerospace Plane (NASP). The presentation shows the results of analysis and of state-of-the-art numerical simulations, validated where possible by observational data, and illustrated with photographs from nature.

Wurtele, M. G.↗