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NASA NTRS1989

Robot acting on moving bodies (RAMBO): Preliminary results

A robot system called RAMBO is being developed. It is equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a moving object. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations nearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enchancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows the use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using parametric cubic splines between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗

NASA NTRS1989

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗

NASA NTRS1974

Acoustic chamber for weightless positioning

The objective of this work is to perfect and extend the acoustic position technique that was developed at JPL for use in the future Space Processing Laboratory in Space. The main effort is centered on design of a position device for processing of molten materials. Namely, a resonator has the capability of positioning in an extreme temperature gradient and a frequency servo loop to maintain it there as the temperature varies.

Wang, T. G.↗

NASA NTRS1985

A model of the polarization position-angle swings in BL Lacertae objects

The polarization position-angle swings that have been measured in a number of BL Lacertae objects and highly variable quasars are interpreted in terms of shock waves which illuminate (by enhanced synchrotron radiation) successive transverse cross sections of a magnetized, relativistic jet. The jet is assumed to have a nonaxisymmetric magnetic field configuration of the type discussed in the companion paper on the equilibria of force-free jets. For a jet that is viewed at a small angle to the axis, the passage of a shock will give rise to an apparent rotation of the polarization position angle whose amplitude can be substantially larger than 180 deg. The effects of freely propagating shocks are compared with those of bow shocks which form in front of dense obstacles in the jet, and specific applications to 0727 - 115 and BL Lacertae are considered. In the case of 0727 - 115, it is pointed out that the nonuniformity of the swing rate and the apparent oscillations of the degree of polarization could be a consequence of relativistic aberration.

Konigl, A.↗

NASA NTRS1983

Variable-Position Acoustic Levitation

Method of acoustic levitation supports objects at positions other than acoustic nodes. Acoustic force is varied so it balances gravitational (or other) force, thereby maintaining object at any position within equilibrium range. Levitation method applicable to containerless processing. Such objects as table-tennis balls, hollow plastic spheres, and balsa-wood spheres levitated in laboratory by new method.

Barmatz, M. B.↗

NASA NTRS1973

Acoustic processing method for MS/MS experiments

Acoustical methods in which intense sound beams can be used to control the position of objects are considered. The position control arises from the radiation force experienced when a body is placed in a sound field. A description of the special properties of intense sound fields useful for position control is followed by a discussion of the more obvious methods of position, namely the use of multiple sound beams. A new type of acoustic position control device is reported that has advantages of simplicity and reliability and utilizes only a single sound beam. Finally a description is given of an experimental single beam levitator, and the results obtained in a number of key levitation experiments.

Whymark, R. R.↗

NASA NTRS1991

Reduced-Wiring Tactile Sensor

Proposed tactile sensor on robot finger puts out multiplexed analog signals transmitted to control computer on fewer wires than needed to transmit equivalent digital signals. Analog output represents data on contact area of object being gripped, on position of object, and on direction and rate of slippage if any. Consists of chains of normally open switches and resistors on surface of finger. Each resistance double preceding resistance in each chain. Constant-current sources supply power to chains.

Ohm, Timothy R.↗

NASA NTRS2000

Object Locating System

A portable system is provided that is operational for determining, with three dimensional resolution, the position of a buried object or approximately positioned object that may move in space or air or gas. The system has a plurality of receivers for detecting the signal front a target antenna and measuring the phase thereof with respect to a reference signal. The relative permittivity and conductivity of the medium in which the object is located is used along with the measured phase signal to determine a distance between the object and each of the plurality of receivers. Knowing these distances. an iteration technique is provided for solving equations simultaneously to provide position coordinates. The system may also be used for tracking movement of an object within close range of the system by sampling and recording subsequent position of the object. A dipole target antenna. when positioned adjacent to a buried object, may be energized using a separate transmitter which couples energy to the target antenna through the medium. The target antenna then preferably resonates at a different frequency, such as a second harmonic of the transmitter frequency.

Arndt, G. Dickey↗

NASA NTRS2012

Visual perception system and method for a humanoid robot

A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.

Wells, James W.↗

NASA NTRS2004

Software for Analyzing Sequences of Flow-Related Images

Spotlight is a computer program for analysis of sequences of images generated in combustion and fluid physics experiments. Spotlight can perform analysis of a single image in an interactive mode or a sequence of images in an automated fashion. The primary type of analysis is tracking of positions of objects over sequences of frames. Features and objects that are typically tracked include flame fronts, particles, droplets, and fluid interfaces. Spotlight automates the analysis of object parameters, such as centroid position, velocity, acceleration, size, shape, intensity, and color. Images can be processed to enhance them before statistical and measurement operations are performed. An unlimited number of objects can be analyzed simultaneously. Spotlight saves results of analyses in a text file that can be exported to other programs for graphing or further analysis. Spotlight is a graphical-user-interface-based program that at present can be executed on Microsoft Windows and Linux operating systems. A version that runs on Macintosh computers is being considered.

Klimek, Robert↗

NASA NTRS1986

Alternative mathematical programming formulations for FSS synthesis

A variety of mathematical programming models and two solution strategies are suggested for the problem of allocating orbital positions to (synthesizing) satellites in the Fixed Satellite Service. Mixed integer programming and almost linear programming formulations are presented in detail for each of two objectives: (1) positioning satellites as closely as possible to specified desired locations, and (2) minimizing the total length of the geostationary arc allocated to the satellites whose positions are to be determined. Computational results for mixed integer and almost linear programming models, with the objective of positioning satellites as closely as possible to their desired locations, are reported for three six-administration test problems and a thirteen-administration test problem.

Reilly, C. H.↗

DOE OSTI2024

ORNL Slicer 2 - Open Source Copyright

ORNL Slicer 2 is a slicing program for additive manufacturing. It takes a solid body mesh object, typically as .STL file, and converts that into machine readable instructions, called g-code, that a 3D printer can use to build the object. The functionality includes loading and positioning an object, slicing it into layers, fitting toolpaths to the layers, and outputting g-code to construct the object. All of this is contained within a graphical user interface (GUI) that allows the user to define all of the settings specific to their machine and process, then preview the resultant g-code before starting the printing process.

Roschli, Alex (0000000213084632)↗

NASA NTRS1990

Acoustic positioning and orientation prediction

A method is described for use with an acoustic positioner, which enables a determination of the equilibrium position and orientation which an object assumes in a zero gravity environment, as well as restoring forces and torques of an object in an acoustic standing wave field. An acoustic standing wave field is established in the chamber, and the object is held at several different positions near the expected equilibrium position. While the object is held at each position, the center resonant frequency of the chamber is determined, by noting which frequency results in the greatest pressure of the acoustic field. The object position which results in the lowest center resonant frequency is the equilibrium position. The orientation of a nonspherical object is similarly determined, by holding the object in a plurality of different orientations at its equilibrium position, and noting the center resonant frequency for each orientation. The orientation which results in the lowest center resonant frequency is the equilibrium orientation. Where the acoustic frequency is constant, but the chamber length is variable, the equilibrium position or orientation is that which results in the greatest chamber length at the center resonant frequency.

Barmatz, Martin B.↗

NASA NTRS2002

Plasma Interaction with International Space Station High Voltage Solar Arrays

The International Space Station (ISS) is presently being assembled in low-earth orbit (LEO) operating high voltage solar arrays (-160 V max, -140 V typical with respect to the ambient atmosphere). At the station's present altitude, there exists substantial ambient plasma that can interact with the solar arrays. The biasing of an object to an electric potential immersed in plasma creates a plasma "sheath" or non-equilibrium plasma around the object to mask out the electric fields. A positively biased object can collect electrons from the plasma sheath and the sheath will draw a current from the surrounding plasma. This parasitic current can enter the solar cells and effectively "short out" the potential across the cells, reducing the power that can be generated by the panels. Predictions of collected current based on previous high voltage experiments (SAMPIE (Solar Array Module Plasma Interactions Experiment), PASP+ (Photovoltaic Array Space Power) were on the order of amperes of current. However, present measurements of parasitic current are on the order of several milliamperes, and the current collection mainly occurs during an "eclipse exit" event, i.e., when the space station comes out of darkness. This collection also has a time scale, t approx. 1000 s, that is much slower than any known plasma interaction time scales. The reason for the discrepancy between predictions and present electron collection is not understood and is under investigation by the PCU (Plasma Contactor Unit) "Tiger" team. This paper will examine the potential structure within and around the solar arrays, and the possible causes and reasons for the electron collection of the array.

John W. Heard↗

NASA NTRS2014

Bi-static Optical Observations of GEO Objects

A bi-static study of objects at Geosynchronous Earth Orbit (GEO) was conducted using two ground-based wide-field optical telescopes. The University of Michigan's 0.6-m MODEST (Michigan Orbital Debris Survey Telescope) located at the Cerro Tololo Inter- American Observatory in Chile was employed in a series of coordinated observations with the U.S. Naval Observatory's (USNO) 1.3-m telescope at the USNO Flagstaff Station near Flagstaff, Arizona, USA. The goals of this project are twofold: (1) Obtain optical distances to known and unknown objects at GEO from the difference in the observed topocentric position of objects measured with respect to a reference star frame. The distance can be derived directly from these measurements, and is independent of any orbital solution. The wide geographical separation of these two telescopes means that the parallax difference is larger than ten degrees, and (2) Compare optical photometry in similar filters of GEO objects taken during the same time period from the two sites. The object's illuminated surfaces presented different angles of reflected sunlight to the two telescopes.During a four hour period on the night.of 22 February 2014 (UT), coordinated observations were obtained for eight different GEO positions. Each coordinated observation sequence was started on the hour or half-hour, and was selected to ensure the same cataloged GEO object was available in the field of view of both telescopes during the thirty minute observing sequence. GEO objects were chosen to be both controlled and uncontrolled at a range of orbital inclinations, and the objects were not tracked. Instead both telescopes were operated with all drives off in GEO survey mode to discover un-cataloged objects at GEO. The initial results from this proof-of-concept observing run will be presented, with the intent of laying the foundation for future large-scale bi-static observing campaigns of the GEO regime.

Seitzer, Patrick↗

NASA NTRS1992

Visual specification of robot motion

The authors describe the use of stereo pairs of images to specify robot motion. The experimental setup includes a SUN workstation, a PUMA 560 robot, and an Imaging 151 vision system. An X-window environment displays stereo images of the work scene. Image processing is performed to extract linear edge segments from the images and the results are displayed on screen. Using a pointing device, the user selects a group of edges from the object relevant to the task. The 3D structure of this group of features is found by stereo triangulation and they can be displayed in 3D from any point of view. A viewpoint orthogonal to the plane defined by these 3D edges is used to specify the robot position relative to object position. The actual robot will then be moved to the specified position.

Shiu, Y. C.↗

DOE OSTI2017

Positive geometries and canonical forms

Recent years have seen a surprising connection between the physics of scattering amplitudes and a class of mathematical objects — the positive Grassmannian, positive loop Grassmannians, tree and loop Amplituhedra — which have been loosely referred to as “positive geometries”. The connection between the geometry and physics is provided by a unique differential form canonically determined by the property of having logarithmic singularities (only) on all the boundaries of the space, with residues on each boundary given by the canonical form on that boundary. The structures seen in the physical setting of the Amplituhedron are both rigid and rich enough to motivate an investigation of the notions of “positive geometries” and their associated “canonical forms” as objects of study in their own right, in a more general mathematical setting. In this paper we take the first steps in this direction. We begin by giving a precise definition of positive geometries and canonical forms, and introduce two general methods for finding forms for more complicated positive geometries from simpler ones — via “triangulation” on the one hand, and “push-forward” maps between geometries on the other. We present numerous examples of positive geometries in projective spaces, Grassmannians, and toric, cluster and flag varieties, both for the simplest “simplex-like” geometries and the richer “polytope-like” ones. We also illustrate a number of strategies for computing canonical forms for large classes of positive geometries, ranging from a direct determination exploiting knowledge of zeros and poles, to the use of the general triangulation and push-forward methods, to the representation of the form as volume integrals over dual geometries and contour integrals over auxiliary spaces. These methods yield interesting representations for the canonical forms of wide classes of positive geometries, ranging from the simplest Amplituhedra to new expressions for the volume of arbitrary convex polytopes.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1994

Visually guided grasping to study teleprogrammation within the BAROCO testbed

This paper describes vision functionalities required in future orbital laboratories; in such systems, robots will be needed in order to execute the on-board scientific experiments or servicing and maintenance tasks under the remote control of ground operators. For this sake, ESA has proposed a robotic configuration called EMATS; a testbed has been developed by ESTEC in order to evaluate the potentialities of EMATS-like robot to execute scientific tasks in automatic mode. For the same context, CNES develops the BAROCO testbed to investigate remote control and teleprogrammation, in which high level primitives like 'Pick Object A' are provided as basic primitives. In nominal situations, the system has an a priori knowledge about the position of all objects. These positions are not very accurate, but this knowledge is sufficient in order to predict the position of the object which must be grasped, with respect to the manipulator frame. Vision is required in order to insure a correct grasping and to guarantee a good accuracy for the following operations. We describe our results about a visually guided grasping of static objects. It seems to be a very classical problem, and a lot of results are available. But, in many cases, it lacks a realistic evaluation of the accuracy, because such an evaluation requires tedious experiments. We propose several results about calibration of the experimental testbed, recognition algorithms required to locate a 3D polyhedral object, and the grasping itself.

Devy, M.↗