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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 361 records · Page 20
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Learning control for robotic manipulators with sparse data

Learning control algorithms have been proposed for error compensation in repetitive robotic manipulator tasks. It is shown that the performance of such control algorithms can be seriously degraded when the feedback data they use is relatively sparse in time, such as might be provided by vision systems. It is also shown that learning control algorithms can be modified to compensate for the effects of sparse data and thereby yield performance which approaches that of systems without limitations on the sensory information available for control.

Morita, Atsushi↗
NASA NTRS1988

Design and evaluation of a cockpit display for hovering flight

A simulator evaluation of a cockpit display format for hovering flight is described. The display format is based upon the position-velocity-acceleration representation (PVA) similar to that used in the Pilot Night Vision System in the Army AH-64 helicopter. By only varying the nature of the display law driving the 'primary' indicator in the PVA format, i.e. the acceleration symbol, three candidate displays are created and evaluated. These range from a Status display in which the primary indicator provides true acceleration information to a Command display, in which the primary indicator provides flight director information. Simulation results indicate that two of the three displays offer performance and handling qualities which make them excellent candidates for future helicopter cockpit display systems.

Hess, Ronald A.↗
NASA NTRS1989

Robotic Vision Would Combine Optics And Microwaves

Conceptual robot-vision system processes data from both microwave and visible-wavelength sensors. Concept, called "fusion of sensors," yields better information on shapes of some objects than obtained from one type of sensor alone. Proposed system fuses data from television images with polarized low-resolution radar-scattering cross sections. Using iterative procedure, generates successive approximations to shape of target by minimizing differences between observed radar returns and radar returns observed if object characterized by computed scattering transfer matrix.

Krishen, Kuma↗
NASA NTRS1988

Design and evaluation of a cockpit display for hovering flight

A simulator evaluation of a cockpit display format for hovering flight is described. The display format is based on the position-velocity-acceleration representation (PVA) similar to that used in the Pilot Night Vision System in the Army AH-64 helicopter. By only varying the nature of the display law driving the primary indicator in the PVA format, i.e., the acceleration symbol, three candidate displays are created and evaluated. These range from a Status display in which the primary indicator provides true acceleration information to a Command display, in which the primary indicator provides flight director information. Simulation results indicate that two of the three displays offer performance and handling qualities which make them excellent candidates for future helicopter cockpit display systems.

Hess, Ronald A.↗
NASA NTRS1988

Computing motion using resistive networks

Recent developments in the theory of early vision are described which lead from the formulation of the motion problem as an ill-posed one to its solution by minimizing certain 'cost' functions. These cost or energy functions can be mapped onto simple analog and digital resistive networks. It is shown how the optical flow can be computed by injecting currents into resistive networks and recording the resulting stationary voltage distribution at each node. These networks can be implemented in cMOS VLSI circuits and represent plausible candidates for biological vision systems.

Koch, Christof↗
NASA NTRS1988

Model-based orientation-independent 3-D machine vision techniques

Orientation-dependent techniques for the identification of a three-dimensional object by a machine vision system are represented in parts. In the first part, the data consist of intensity images of polyhedral objects obtained by a single camera, while in the second part, the data consist of range images of curved objects obtained by a laser scanner. In both cases, the attributed graphic representation of the object surface is used to drive the respective algorithm. In this representation, a graph node represents a surface patch and a link represents the adjacency between two patches. The attributes assigned to nodes are moment invariants of the corresponding face for polyhedral objects. For range images, the Gaussian curvature is used as a segmentation criterion for providing symbolic shape attributes. Identification is achieved by an efficient graph-matching algorithm used to match the graph obtained from the data to a subgraph of one of the model graphs stored in the commputer memory.

De Figueiredo, R. J. P.↗
NASA NTRS1990

Monitoring Both Sides Of A Weld In Progress

Proposed remote vision system provides simultaneous viewing of front and back of workpiece while being welded. Enables human or automatic controller to monitor both weld pool on front and weld penetration on back. Nitrogen laser generates ultraviolet light, distributed to both sides of workpiece through two optical fiber cables. Image-intensifier tubes convert reflected ultraviolet light to visible light. Video cameras equipped with high-resolution charge-coupled devices convert visible outputs of image intensifiers into images for viewing on video monitors.

Dickinson, C. B.↗
NASA NTRS1990

Arc Reflector For Welding Ducts

Arc-light reflector for through-the-torch welding vision system designed expressly for use in welding ducts of small diameter. Cylindrical reflector positioned to reflect light diffusely from welding arc onto nearby surface of workpiece for most advantageous viewing along axis of welding torch.

Gilbert, Jeffrey L.↗
NASA NTRS1990

Sampling and noise in vision networks

This research is part of the Human Interface Research Branch-Vision Group's program to develop computable models of biological solutions to general vision system problems. Two problem areas are addressed: effects of discrete sampling by receptors, and effects of visual system noise.

Ahumada, Albert J., Jr.↗
NASA NTRS1990

A vision-based telerobotic control station

A telerobotic control station is described. In it, a machine vision system measures the position, orientation, and configuration of a user's hand. A robotic manipulator mirrors the status of the hand. This concept has two benefits: control actions are intuitive and easily learned, and the workstation requires little volume or mass.

Tillotson, Brian↗
NASA NTRS1989

Assembly of objects with not fully predefined shapes

An assembly problem in a non-deterministic environment, i.e., where parts to be assembled have unknown shape, size and location, is described. The only knowledge used by the robot to perform the assembly operation is given by a connectivity rule and geometrical constraints concerning parts. Once a set of geometrical features of parts has been extracted by a vision system, applying such a rule allows the dtermination of the composition sequence. A suitable sensory apparatus allows the control the whole operation.

Arlotti, M. A.↗
NASA NTRS1989

Hybrid vision for automated spacecraft landing

A hyrbid real-time vision system concept is proposed for Mars lander guidance and control for the Mars Rover/Sample Return mission. The system includes digital and optical processing methods with high speed digital image warping to preprocess a video image for optical correlation. The system also includes position estimation by synthetic estimation filtering, image stabilization by joint transform optical correlation, and hazard identification from measurements of optical flow by sequential image subtraction.

Juday, Richard D.↗
NASA NTRS1989

Advances in image compression and automatic target recognition; Proceedings of the Meeting, Orlando, FL, Mar. 30, 31, 1989

Various papers on image compression and automatic target recognition are presented. Individual topics addressed include: target cluster detection in cluttered SAR imagery, model-based target recognition using laser radar imagery, Smart Sensor front-end processor for feature extraction of images, object attitude estimation and tracking from a single video sensor, symmetry detection in human vision, analysis of high resolution aerial images for object detection, obscured object recognition for an ATR application, neural networks for adaptive shape tracking, statistical mechanics and pattern recognition, detection of cylinders in aerial range images, moving object tracking using local windows, new transform method for image data compression, quad-tree product vector quantization of images, predictive trellis encoding of imagery, reduced generalized chain code for contour description, compact architecture for a real-time vision system, use of human visibility functions in segmentation coding, color texture analysis and synthesis using Gibbs random fields.

Tescher, Andrew G.↗
NASA NTRS1991

Fusion of monocular cues to detect man-made structures in aerial imagery

The extraction of buildings from aerial imagery is a complex problem for automated computer vision. It requires locating regions in a scene that possess properties distinguishing them as man-made objects as opposed to naturally occurring terrain features. It is reasonable to assume that no single detection method can correctly delineate or verify buildings in every scene. A cooperative-methods paradigm is useful in approaching the building extraction problem. Using this paradigm, each extraction technique provides information which can be added or assimilated into an overall interpretation of the scene. Thus, the main objective is to explore the development of computer vision system that integrates the results of various scene analysis techniques into an accurate and robust interpretation of the underlying three dimensional scene. The problem of building hypothesis fusion in aerial imagery is discussed. Building extraction techniques are briefly surveyed, including four building extraction, verification, and clustering systems. A method for fusing the symbolic data generated by these systems is described, and applied to monocular image and stereo image data sets. Evaluation methods for the fusion results are described, and the fusion results are analyzed using these methods.

Shufelt, Jefferey↗
NASA NTRS1990

NASA/ASEE Summer Faculty Fellowship Program, 1990, volume 2

The 1990 Johnson Space Center (JSC) National Aeronautics and Space Administration (NASA)/American Society for Engineering Education (ASEE) Summer Faculty Fellowship Program was conducted by the University of Houston-University Park and Johnson Space Centers (JSC). A compilation of the final reports on the research projects is presented. The following topics are covered: the Space Shuttle; the Space Station; lunar exploration; mars exploration; spacecraft power supplies; mars rover vehicle; mission planning for the Space Exploration Initiative; instrument calibration standards; a lunar oxygen production plant; optical filters for a hybrid vision system; dynamic structural analysis; lunar bases; pharmacodynamics of scopolamine; planetary spacecraft cost modeling; and others.

Bannerot, Richard B.↗
NASA NTRS1989

Implementation of an algorithm for cylindrical object identification using range data

One of the problems in 3-D object identification and localization is addressed. In robotic and navigation applications the vision system must be able to distinguish cylindrical or spherical objects as well as those of other geometric shapes. An algorithm was developed to identify cylindrical objects in an image when range data is used. The algorithm incorporates the Hough transform for line detection using edge points which emerge from a Sobel mask. Slices of the data are examined to locate arcs of circles using the normal equations of an over-determined linear system. Current efforts are devoted to testing the computer implementation of the algorithm. Refinements are expected to continue in order to accommodate cylinders in various positions. A technique is sought which is robust in the presence of noise and partial occlusions.

Bozeman, Sylvia T.↗
NASA NTRS1991

Experimental modeling of jet-ring turbine disk cooling

The experimental facility and some early results are described from a current research program modeling turbine disk cooling with multiple impinging jets, such as employed on the Space Shuttle Main Engine oxygen turbopump. The study is designed to obtain detailed local convection heat transfer rates on specially constructed turbine disk models that employ either multiple cooling jet impingement near the disk outer radius from a jet ring, or alternatively, single entrance coolant supply into the center of the disk cavity. Jet impingement is an effective scheme for cooling of turbine disks at or near the blade attachment region, but the heat transfer mechanisms and merits relative to other schemes are not well understood. The present study employs two specially constructed full scale plastic model disks, contoured and plane, together with the corresponding stators. Local heat transfer rates are determined by a computer vision system from the response of thin liquid crystal coatings applied to the disk test faces. The present results indicate that multiple jet impingement directed at the blade attachment region results in higher cooling rates in that region than does the same flow supplied to the disk center, but this conclusion must be regarded as tentative.

Metzger, D. E.↗
NASA NTRS1992

Tool For Installation And Removal Of Welding Electrodes

Special tool assists in installation and removal of welding electrode in welding torch equipped with through-the-torch vision system. Inserted easily into welding torch after welding electrode loaded into hollow shaft. Designed specifically for use within unique configuration of weld block and welding-electrode collet of torch.

Gilbert, Jeffrey L.↗