Search NASA⌕ Search

SEARCH · Search NASA

Results for “object positioning”

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 415 records · Page 23

Timekeeping for the Space Technology 5 (ST-5) Mission

Space Technology 5, or better known as ST-5, is a space technology development mission in the New Millennium Program (NMP) and NASA s first experiment in the design of miniaturized satellite constellations. The mission will design, integrate and launch multiple spacecraft into an orbit high above the Earth s protective magnetic field known as the magnetosphere. Each spacecraft incorporates innovative technology and constellation concepts which will be instrumental in future space science missions. A total of three ST-5 spacecraft will be launched as secondary payloads into a highly elliptical geo-synchronous transfer orbit, and will operate as a 3-element constellation for a minimum duration of 90 days. In order to correlate the time of science measurements with orbit position relative to the Earth, orbit position in space (with respect to other objects in space) and/or with events measured on Earth or other spacecraft, accurate knowledge of spacecraft and ground time is needed. Ground time as used in the USA (known as Universal Time Coordinated or UTC) is maintained by the U.S. Naval Observatory. Spacecraft time is maintained onboard within the Command and Data Handling (C&DH) system. The science requirements for ST-5 are that spacecraft time and ground time be correlatable to each other, with some degree of accuracy. Accurate knowledge of UTC time on a spacecraft is required so that science measurements can be correlated with orbit position relative to the Earth, orbit position in space and with events measured on Earth or other spacecraft. The most crucial parameter is not the clock oscillator frequency, but more importantly, how the clock oscillator frequency varies with time or temperature (clock oscillator drift). Even with an incorrect clock oscillator frequency, if there were no drift, the frequency could be assessed by comparing the spacecraft clock to a ground clock during a few correlation events. Once the frequency is accurately known, it is easy enough to make a regular adjustment to the spacecraft clock or to calculate the correct ground time for a given spacecraft clock time. The oscillator frequency, however, is temperature dependent, drifts with age and is affected by radiation; hence, repeated correlation measurements are required.

Raphael, Dave↗

Adaptive Force And Position Control For Robots

Control system causes end effector of robot manipulator to follow prescribed trajectory and applies desired force or torque to object manipulating or in contact. Characterized by hybrid control architecture, where positions and orientations along unconstrained coordinate axes controlled by position-control subsystem, while forces and torques along constrained coordinate axes controlled by force-control subsystem. Compensates for dynamic cross-coupling between force-and position-control loops and does not require knowledge of complicated model of dynamics of manipulator and environment.

Seraji, Homayoun↗

Edge smoothing for real-time simulation of a polygon face object system as viewed by a moving observer

The visual system within an aircraft flight simulation system receives flight data and terrain data which is formated into a buffer memory. The image data is forwarded to an image processor which translates the image data into face vertex vectors Vf, defining the position relationship between the vertices of each terrain object and the aircraft. The image processor then rotates, clips, and projects the image data into two-dimensional display vectors (Vd). A display generator receives the Vd faces, and other image data to provide analog inputs to CRT devices which provide the window displays for the simulated aircraft. The video signal to the CRT devices passes through an edge smoothing device which prolongs the rise time (and fall time) of the video data inversely as the slope of the edge being smoothed. An operational amplifier within the edge smoothing device has a plurality of independently selectable feedback capacitors each having a different value. The values of the capacitors form a series which doubles as a power of two. Each feedback capacitor has a fast switch responsive to the corresponding bit of a digital binary control word for selecting (1) or not selecting (0) that capacitor. The control word is determined by the slope of each edge. The resulting actual feedback capacitance for each edge is the sum of all the selected capacitors and is directly proportional to the value of the binary control word. The output rise time (or fall time) is a function of the feedback capacitance, and is controlled by the slope through the binary control word.

Lotz, Robert W.↗

A radio optical reference frame. IV - Additional radio source positions in the Northern Hemisphere

Seventy-seven extragalactic radio sources north of -2 deg declination have been observed using Mark III VLBI during 13 experiments from 1988 October to 1989 November. Radio positions derived from these observations supplement an ongoing project to define and maintain an all-sky radio/optical reference frame of 400 or more extragalactic sources with milliarcsecond (mas) accurate radio and optical positions. Positions for 11 new sources are presented along with improved positions for 54 sources already in the reference-frame catalog. An additional five sources have been determined to be unsuitable reference-frame objects. Observations of seven calibration sources tie the new positions to the existing catalog. The radio positions of the new sources have formal mean errors of about 0.7 mas in each coordinate. Sources for which improved positions are reported now have formal errors not greater than 1 mas, an improvement in some cases by as much as 85 percent. The complementary optical program is addressed briefly.

Fey, A. L.↗

Video-Camera-Based Position-Measuring System

A prototype optoelectronic system measures the three-dimensional relative coordinates of objects of interest or of targets affixed to objects of interest in a workspace. The system includes a charge-coupled-device video camera mounted in a known position and orientation in the workspace, a frame grabber, and a personal computer running image-data-processing software. Relative to conventional optical surveying equipment, this system can be built and operated at much lower cost; however, it is less accurate. It is also much easier to operate than are conventional instrumentation systems. In addition, there is no need to establish a coordinate system through cooperative action by a team of surveyors. The system operates in real time at around 30 frames per second (limited mostly by the frame rate of the camera). It continuously tracks targets as long as they remain in the field of the camera. In this respect, it emulates more expensive, elaborate laser tracking equipment that costs of the order of 100 times as much. Unlike laser tracking equipment, this system does not pose a hazard of laser exposure. Images acquired by the camera are digitized and processed to extract all valid targets in the field of view. The three-dimensional coordinates (x, y, and z) of each target are computed from the pixel coordinates of the targets in the images to accuracy of the order of millimeters over distances of the orders of meters. The system was originally intended specifically for real-time position measurement of payload transfers from payload canisters into the payload bay of the Space Shuttle Orbiters (see Figure 1). The system may be easily adapted to other applications that involve similar coordinate-measuring requirements. Examples of such applications include manufacturing, construction, preliminary approximate land surveying, and aerial surveying. For some applications with rectangular symmetry, it is feasible and desirable to attach a target composed of black and white squares to an object of interest (see Figure 2). For other situations, where circular symmetry is more desirable, circular targets also can be created. Such a target can readily be generated and modified by use of commercially available software and printed by use of a standard office printer. All three relative coordinates (x, y, and z) of each target can be determined by processing the video image of the target. Because of the unique design of corresponding image-processing filters and targets, the vision-based position- measurement system is extremely robust and tolerant of widely varying fields of view, lighting conditions, and varying background imagery.

Lane, John↗

Experiment D010: Ion sensing attitude control

The feasibility of an attitude control system that uses environmental positive ions and an electrostatic detection system to measure spacecraft pitch and yaw is studied. The secondary objective was to measure the spatial and temporal variations of ambient positively charged particles along the orbital path of the Gemini 10 and 12 spacecrafts. The results proved that the use of a horizon detector in conjunction with pitch and yaw sensors would facilitate complete description of the spacecraft position and attitude. Furthermore, with the addition of a servosystem, the unit could be used as a complete automatic attitude-control system that would be applicable from the lowest satellite altitudes up to at least 10 earth radii. Also, results established that the charge density along the trajectory of the satellite could be determined by transmission of output voltages from the individual electrometers.

Sagalyn, R. C.↗

Weighted feature selection criteria for visual servoing of a telerobot

Because of the continually changing environment of a space station, visual feedback is a vital element of a telerobotic system. A real time visual servoing system would allow a telerobot to track and manipulate randomly moving objects. Methodologies for the automatic selection of image features to be used to visually control the relative position between an eye-in-hand telerobot and a known object are devised. A weighted criteria function with both image recognition and control components is used to select the combination of image features which provides the best control. Simulation and experimental results of a PUMA robot arm visually tracking a randomly moving carburetor gasket with a visual update time of 70 milliseconds are discussed.

Feddema, John T.↗

Perceiving environmental structure from optical motion

Generally speaking, one of the most important sources of optical information about environmental structure is known to be the deforming optical patterns produced by the movements of the observer (pilot) or environmental objects. As an observer moves through a rigid environment, the projected optical patterns of environmental objects are systematically transformed according to their orientations and positions in 3D space relative to those of the observer. The detailed characteristics of these deforming optical patterns carry information about the 3D structure of the objects and about their locations and orientations relative to those of the observer. The specific geometrical properties of moving images that may constitute visually detected information about the shapes and locations of environmental objects is examined.

Lappin, Joseph S.↗

Position and force control of coordinated multiple arms

A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of n manipulators each having six joints. Additional constraint equations are considered when one or more degrees of freedom of the object are reduced due to external constraints. Utilizing the operational space dynamic equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Simulation results for the control of a pair of two-link manipulators are presented.

Hayati, Samad A.↗

Radio optical reference frame. 6: Additional source positions in the northern hemisphere

Radio and optical positions for northern hemisphere extragalactic sources are reported. Milliarcsecond (mas) accurate radio positions of 106 sources north of -2 deg declination are derived from Mark III Very Long Baseline Interferometry (VLBI) observations taken during ten experiments from 1990 January through 1990 October. The results presented supplement an ongoing project to define and maintain an all-sky radio/optical reference frame of 400 or more extragalactic sources with mas accurate radio and optical positions. Radio positions for 34 new sources are presented along with improved radio positions for 72 sources already in the reference frame catalog. An additional nine sources have been determined to be unsuitable reference frame objects. Radio observations of nine calibration sources tie the new positions to the existing catalogue. The radio positions of the new sources have formal mean errors of approximately 0.7 mas in right ascension and approximately 1.0 mas in declination. Sources for which we report improved radio positions now have formal mean errors of approximately 0.5 mas in both coordinates, an improvement in some cases by as much as 75%. Positions in the FK5 system have also been obtained for the optical counterparts of an additional five northern hemisphere radio sources using prime focus plates from the Kitt Peak National Observatory's 4 m telescope and a Ritchey-Chretien focus plate from the Calar Alto 2.2 m telescope. The optical positions have internal accuracies of about 0.03 sec and differ from the radio positions by about 0.07 sec on the average.

Fey, A. L.↗

Experimental study of multiple-orientation muon tomography with image optimization in sparse data environments

Due to the high penetrating power of cosmic-ray muons, they can be used to probe very thick and dense objects. As muons are charged particles, they can be tracked by ionization detectors, determining the position and direction of the muons. With detectors on either side of an object to measure particle direction change, scattering information within the object can be found. This can be used to produce a scattering-intensity image within the object related to density and atomic number. Such imaging is typically performed with a single detector-object orientation, taking advantage of the more intense downward flux of muons, producing planar imaging with some depth-of-field information in the third dimension. Several simulation studies were published with multiorientation tomography, which can form a three-dimensional representation faster than a single-orientation view. In this study, experimental muon-scatter-based tomography was performed using a concrete filled steel drum with several different metal wedges inside, with the drum between detector planes. Data were collected from different detector-object orientations by rotating the steel drum. The data collected from each orientation were combined using two different tomographic methods. A traditional inverse Radon transform approach used for computed tomography and a combination of multiple depth-of-field reconstructions were applied to the data. As cosmic-ray muon flux imaging is rate limited, the imaging techniques were compared for sparse data. Using the combined depth-of-field reconstruction technique, fewer detector-object orientations were needed to reconstruct images that could be used to differentiate the metal wedges.

47 OTHER INSTRUMENTATION↗

Hydrogen maser clocks in space for solid-Earth research and time-transfer applications: Experiment overview and evaluation of Russian miniature sapphire loaded cavity

The Observatoire Cantonal de Neuchatel (ON) is developing for ESTEC a compact H-maser for space use based upon a miniature sapphire loaded microwave cavity, a technique pioneered at VNIIFTRI. Various contacts between West-European parties, headed by ESA, and the Russian parties, headed by ESA, led to the proposal for flying two H-masers on Meteor 3M, a Russian meteorology satellite in low polar orbit. The experiment will include two masers, one provided by ON and the other by VNIIFTRI. T/F transfer and precise positioning will be performed by both a microwave link, using PRARE equipment, and an optical link, using LASSO-like equipment. The main objectives of the experiment are precise orbit determination and point positioning for geodetic/geophysical research, ultra-accurate time comparison and dissemination as well as in-orbit demonstration of operation and performance of H-masers. Within the scope of a preliminary space H-maser development phase performed for ESTEC at ON in preparation to the joint experiment, a Russian miniature sapphire loaded microwave cavity, on loan from VNIIFTRI, was evaluated in a full-size EFOS hydrogen maser built by ON. The experimental evaluation confirmed the theoretical expectation that with a hydrogen storage volume of only 0.65 liter an atomic quality factor of 1.5 x 10(exp 9) can be obtained for a -105 dBm output power. This represents a theoretical Allan deviation of 1.7 x 10(exp -15) averaged on a 1000 s time interval. From a full-size design to a compact one, therefore, the sacrifice in performance due to the reduction of the storage volume is very small.

Busca, G.↗

Braking mechanism is self actuating and bidirectional

Mechanism automatically applies a braking action on a moving item, in either direction of motion, immediately upon removal of the driving force and with no human operator involvement. This device would be useful wherever free movement is undesirable after an object has been guided into a precise position.

Pizzo, J.↗

Discrepant redshifts of QSOs in clusters of galaxies and a close QSO pair

The question is investigated whether QSO redshifts are cosmological in origin, taking into account the possibility that QSOs may be more local objects. A search is made for situations in which more than one blue stellar object (BSO) lay close to a radio position selected from the 4C catalog. It is found that in all four examples studied the radio emission arises in the QSO and not the galaxies or cluster of galaxies.

Hazard, C.↗

Tracking antenna arrays for near-millimeter waves

A two-dimensional monolithic array has been developed that gives the elevation and azimuth of point source targets. The array is an arrangement of rows and columns of antennas and bismuth bolometer detectors on a fused quartz substrate. Energy is focused onto the array through a lens placed on the back side of the substrate. At 1.38 mm with a 50 mm diameter objective lens, the array has demonstrated a positioning accuracy of 26 arcmin. In a differential mode this precision improves to 9 arcsec, limited by the mechanics of the rotating stage. This tracking could be automated to a fast two-step procedure where a source is first located to the nearest row and column, and then precisely located by scanning. With signal processing the array should be able to track multiple sources.

Tong, P. P.↗

NASA geodynamics program

The goals of the NASA geodynamics program comprise the study of the interior structure and composition of the earth, its crustal motions and deformations, the rotational dynamics, and the terrestrial potential fields. Laser ranging an VLBI techniques are being applied in cooperation with 16 other countries. Reflectors on the moon are illumined with laser beams from earth, which are also bounced off the Lageos and French Starlette satellites, permitting monitoring of polar motion, earth rotation, and distance to the moon within 5 cm. Mobile laser systems are being deployed for developing a gravity field model and examining crustal deformation regionally. The VLBI installations use quasars as reference objects and the GPS satellites will give position accuracy within 1-2 cm. Satellite-to-satellite tracking, Magsat, and Shuttle timing experiment data are providing geopotential field data and timing synchronization.

Fischetti, T. L.↗

The ultraviolet spectrum of a strongly reddened, high-excitation Herbig-Haro object

Short- and long-wavelength IUE spectra of the rather strongly reddened, high radial velocity Herbig-Haro object HH 32A have been obtained. The object is well known for its large positive radial velocity and for its unusually large velocity dispersion. In consequence of the large ultraviolet extinction, the spectra are faint. The semiforbidden C III 1909 and Mg II 2800 emission lines are, however, clearly detected, and their fluxes can be measured with reasonable accuracy. C IV 1550 and Si III 1892 are very probably present. The continuum can be detected convincingly in the wavelength range 1500-1900 A. In other regions it is just barely detectable. The continuum has an energy distribution which is probably very similar to that of HH 1 and HH 2H. If an average galactic extinction curve is used, the line fluxes for semiforbidden C III 1909 and C IV 1550 indicate a shock velocity of at least 140 km/s which is higher than for HH 1 or HH 2. If a Theta Ori-type extinction curve is used instead, ultraviolet line ratios are obtained which are rather similar to those in HH 1 and HH 2.

Bohm, K. H.↗

Automatic Guidance for Remote Manipulator

Position sensor and mirror guides manipulator toward object. Grasping becomes automatic when sensor begins to receive signal from reflector on object to be manipulated. Light-emitting diodes on manipulator produce light signals for reflector, which is composite of plane and corner reflectors. Proposed scheme especially useful when manipulator arm tends to flex or when object is moving. Sensor and microprocessor designed to compensate for manipulatorarm oscillation.

Johnston, A. R.↗