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NASA NTRS2003

Accelerating the Design of Space Vehicles

One of NASA's key goals is to increase the safety and reduce the cost of space transportation. Thus, a key element of NASA's new Integrated Space Transportation Plan is to develop new propulsion, structures, and operations for future generations of reusable launch vehicles (RLVs). As part of this effort to develop the next RLV, the ClCT Program's Computing, Networking, and Information Systems (CNIS) Project is developing and demonstrating collaborative software technologies that use the collective power of the NASA Grid to accelerate spacecraft design. One of these technologies, called AeroDB, automates the execution and monitoring of computational fluid dynamics (CFD) parameter studies on the NASA Grid. About the NASA Grid The NASA Grid, or Information Power Grid,. is being developed to leverage the distributed resources of NASA's many computers. instruments, simulators, and data storage systems. The goal is to use these combined resources to sdve difficult NASA challenges, such as iimulating the entire flight of a space vehicle from ascent to descent.To realize the vision of the NASA Grid, the CNIS Project is developing the software framework and protocols for building domain-specific environments and interfaces, new Grid services based on emerging industry standards, and advanced networking and computing testbeds to support new Grid-based applications such as AeroDB.

Laufenberg, Larry↗
NASA NTRS2002

The Efficacy of Using Synthetic Vision Terrain-Textured Images to Improve Pilot Situation Awareness

The General Aviation Element of the Aviation Safety Program's Synthetic Vision Systems (SVS) Project is developing technology to eliminate low visibility induced General Aviation (GA) accidents. SVS displays present computer generated 3-dimensional imagery of the surrounding terrain on the Primary Flight Display (PFD) to greatly enhance pilot's situation awareness (SA), reducing or eliminating Controlled Flight into Terrain, as well as Low-Visibility Loss of Control accidents. SVS-conducted research is facilitating development of display concepts that provide the pilot with an unobstructed view of the outside terrain, regardless of weather conditions and time of day. A critical component of SVS displays is the appropriate presentation of terrain to the pilot. An experimental study is being conducted at NASA Langley Research Center (LaRC) to explore and quantify the relationship between the realism of the terrain presentation and resulting enhancements of pilot SA and performance. Composed of complementary simulation and flight test efforts, Terrain Portrayal for Head-Down Displays (TP-HDD) experiments will help researchers evaluate critical terrain portrayal concepts. The experimental effort is to provide data to enable design trades that optimize SVS applications, as well as develop requirements and recommendations to facilitate the certification process. In this part of the experiment a fixed based flight simulator was equipped with various types of Head Down flight displays, ranging from conventional round dials (typical of most GA aircraft) to glass cockpit style PFD's. The variations of the PFD included an assortment of texturing and Digital Elevation Model (DEM) resolution combinations. A test matrix of 10 terrain display configurations (in addition to the baseline displays) were evaluated by 27 pilots of various backgrounds and experience levels. Qualitative (questionnaires) and quantitative (pilot performance and physiological) data were collected during the experimental runs. This paper focuses on the experimental set-up and final physiological results of the TP-HDD simulation experiment. The physiological measures of skin temperature, heart rate, and muscle response, show a decreased engagement (while using the synthetic vision displays as compared to the baseline conventional display) of the sympathetic and somatic nervous system responses which, in turn, indicates a reduced level of mental workload. This decreased level of workload is expected to enable improvement in the pilot's situation and terrain awareness.

Uenking, Michael D.↗
NASA NTRS1990

Stanford/NASA-Ames Center of Excellence in model-based human performance

The human operator plays a critical role in many aeronautic and astronautic missions. The Stanford/NASA-Ames Center of Excellence in Model-Based Human Performance (COE) was initiated in 1985 to further our understanding of the performance capabilities and performance limits of the human component of aeronautic and astronautic projects. Support from the COE is devoted to those areas of experimental and theoretical work designed to summarize and explain human performance by developing computable performance models. The ultimate goal is to make these computable models available to other scientists for use in design and evaluation of aeronautic and astronautic instrumentation. Within vision science, two topics have received particular attention. First, researchers did extensive work analyzing the human ability to recognize object color relatively independent of the spectral power distribution of the ambient lighting (color constancy). The COE has supported a number of research papers in this area, as well as the development of a substantial data base of surface reflectance functions, ambient illumination functions, and an associated software package for rendering and analyzing image data with respect to these spectral functions. Second, the COE supported new empirical studies on the problem of selecting colors for visual display equipment to enhance human performance in discrimination and recognition tasks.

Wandell, Brian A.↗
NASA NTRS1990

The JPL/KSC telerobotic inspection demonstration

An ASEA IRB90 robotic manipulator with attached inspection cameras was moved through a Space Shuttle Payload Assist Module (PAM) Cradle under computer control. The Operator and Operator Control Station, including graphics simulation, gross-motion spatial planning, and machine vision processing, were located at JPL. The Safety and Support personnel, PAM Cradle, IRB90, and image acquisition system, were stationed at the Kennedy Space Center (KSC). Images captured at KSC were used both for processing by a machine vision system at JPL, and for inspection by the JPL Operator. The system found collision-free paths through the PAM Cradle, demonstrated accurate knowledge of the location of both objects of interest and obstacles, and operated with a communication delay of two seconds. Safe operation of the IRB90 near Shuttle flight hardware was obtained both through the use of a gross-motion spatial planner developed at JPL using artificial intelligence techniques, and infrared beams and pressure sensitive strips mounted to the critical surfaces of the flight hardward at KSC. The Demonstration showed that telerobotics is effective for real tasks, safe for personnel and hardware, and highly productive and reliable for Shuttle payload operations and Space Station external operations.

Mittman, David↗
NASA NTRS1989

A fast 3-D object recognition algorithm for the vision system of a special-purpose dexterous manipulator

A fast 3-D object recognition algorithm that can be used as a quick-look subsystem to the vision system for the Special-Purpose Dexterous Manipulator (SPDM) is described. Global features that can be easily computed from range data are used to characterize the images of a viewer-centered model of an object. This algorithm will speed up the processing by eliminating the low level processing whenever possible. It may identify the object, reject a set of bad data in the early stage, or create a better environment for a more powerful algorithm to carry the work further.

Hung, Stephen H. Y.↗
NASA NTRS2013

Orion GNC Mitigation Efforts for Van Allen Radiation

The Orion Crew Module (CM) is NASA's next generation manned space vehicle, scheduled to return humans to lunar orbit in the coming decade. The Orion avionics and GN&C architectures have progressed through a number of project phases and are nearing completion of a major milestone. The first unmanned test mission, dubbed "Exploration Flight Test One" (EFT-1) is scheduled to launch from NASA Kennedy Space Center late next year and provides the first integrated test of all the vehicle systems, avionics and software. The EFT-1 mission will be an unmanned test flight that includes a high speed re-entry from an elliptical orbit, which will be launched on an expendable launch vehicle (ELV). The ELV will place CM and the ELV upper stage into a low Earth orbit (LEO) for one revolution. After the first LEO, the ELV upper stage will re-ignite and place the combined upper stage/CM into an elliptical orbit whose perigee results in a high energy entry to test CM response in a relatively high velocity, high heating environment. While not producing entry velocities as high as those experienced in returning from a lunar orbit, the trajectory was chosen to provide higher stresses on the thermal protection and guided entry systems, as compared against a lower energy LEO entry. However the required entry geometry with constraints on inclination and landing site result in a trajectory that lingers for many hours in the Van Allen radiation belts. This exposes the vehicle and avionics to much higher levels of high energy proton radiation than a typical LEO or lunar trajectory would encounter. As a result, Van Allen radiation poses a significant risk to the Orion avionics system, and particularly the Flight Control Module (FCM) computers that house the GN&C flight software. The measures taken by the Orion GN&C, Flight Software and Avionics teams to mitigate the risks associated with the Van Allen radiation on EFT-1 are covered in the paper. Background on the Orion avionics subsystem is provided, as well as an overview of the GN&C software architecture. The measures taken to handle radiation induced failure of the one or both of the FCM's are presented, and finally simulation and actual hardware-in-the-loop (HWIL) results are shown confirming the validity of the implementation. The paper presents an overview of the Orion avionics architecture describing the GNC sensors, onboard data network as well as the flight control computers and their planned restart capabilities. GN&C sensors include two Orion Inertial Measurement Units (OIMU's), a Vision Processing Unit (VPU) to process camera images, three barometric altimeters and a single GPS receiver. All of the sensors communicate to one of two Power and Data Units (PDU's). The PDU's multiplex analog and serial data from the sensors and write the data to the Orion Data Network (ODN). The OIMU s write measurement messages directly as onto the ODN, but they are routed through PDU network switches.

King, Ellis T.↗
NASA NTRS2013

Ultra-Thin Coatings Beautify Art

The craftsmen in the Roman Empire who constructed the Lycurgus Cup 17 centuries ago probably didn't think their artifact would survive for nearly 2,000 years as a prized possession. And they certainly couldn't have known that the technology they used to make it would eventually become an important part of space exploration. Carved from one solid mass, the cup is one of the few complete glass objects from that period, and the only one made from dichroic glass. Meaning "two-colored" in Greek, dichroic glass was originally created by adding trace amounts of gold and silver to a large volume of glass melt. The resulting medium partially reflects the light passing through it, causing an observer to see different colors depending on the direction of the light source. The Lycurgus Cup, for example, is famous for appearing green in daylight and red when lit at night, symbolic of the ripening grapes used to fill it with wine. NASA revitalized the production of dichroic glass in the 1950s and 1960s as a means of protecting its astronauts. Ordinary clear substances cannot protect human vision from the harsh rays of unfiltered sunlight, and everything from the human body to spacecraft sensors and computers are at risk if left unprotected from the radiation that permeates space. The microscopic amounts of metal present in dichroic glass make it an effective barrier against such harmful radiation. While the ancient manufacturing technique called for adding metals to glass melt, NASA developed a process in which metals are vaporized by electron beams in a vacuum chamber and then applied directly to surfaces in an ultra-thin film. The vapor condenses in the form of crystal structures, and the process is repeated for up to several dozen coatings. The resulting material, still only about 30 millionths of an inch thick, is sufficient to reflect radiation even while the glass, or polycarbonate, as in the case of space suit helmets, remains transparent to the human eye.

Source record↗
NASA NTRS2014

SpaceCube v2.0 Space Flight Hybrid Reconfigurable Data Processing System

This paper details the design architecture, design methodology, and the advantages of the SpaceCube v2.0 high performance data processing system for space applications. The purpose in building the SpaceCube v2.0 system is to create a superior high performance, reconfigurable, hybrid data processing system that can be used in a multitude of applications including those that require a radiation hardened and reliable solution. The SpaceCube v2.0 system leverages seven years of board design, avionics systems design, and space flight application experiences. This paper shows how SpaceCube v2.0 solves the increasing computing demands of space data processing applications that cannot be attained with a standalone processor approach.The main objective during the design stage is to find a good system balance between power, size, reliability, cost, and data processing capability. These design variables directly impact each other, and it is important to understand how to achieve a suitable balance. This paper will detail how these critical design factors were managed including the construction of an Engineering Model for an experiment on the International Space Station to test out design concepts. We will describe the designs for the processor card, power card, backplane, and a mission unique interface card. The mechanical design for the box will also be detailed since it is critical in meeting the stringent thermal and structural requirements imposed by the processing system. In addition, the mechanical design uses advanced thermal conduction techniques to solve the internal thermal challenges.The SpaceCube v2.0 processing system is based on an extended version of the 3U cPCI standard form factor where each card is 190mm x 100mm in size The typical power draw of the processor card is 8 to 10W and scales with application complexity. The SpaceCube v2.0 data processing card features two Xilinx Virtex-5 QV Field Programmable Gate Arrays (FPGA), eight memory modules, a monitor FPGA with analog monitoring, Ethernet, configurable interconnect to the Xilinx FPGAs including gigabit transceivers, and the necessary voltage regulation. The processor board uses a back-to-back design methodology for common parts that maximizes the board real estate available. This paper will show how to meet the IPC 6012B Class 3A standard with a 22-layer board that has two column grid array devices with 1.0mm pitch. All layout trades such as stack-up options, via selection, and FPGA signal breakout will be discussed with feature size results. The overall board design process will be discussed including parts selection, circuit design, proper signal termination, layout placement and route planning, signal integrity design and verification, and power integrity results. The radiation mitigation techniques will also be detailed including configuration scrubbing options, Xilinx circuit mitigation and FPGA functional monitoring, and memory protection.Finally, this paper will describe how this system is being used to solve the extreme challenges of a robotic satellite servicing mission where typical space-rated processors are not sufficient enough to meet the intensive data processing requirements. The SpaceCube v2.0 is the main payload control computer and is required to control critical subsystems such as autonomous rendezvous and docking using a suite of vision sensors and object avoidance when controlling two robotic arms.

Xilinx FPGA↗
NASA NTRS1987

Real time AI expert system for robotic applications

A computer controlled multi-robot process cell to demonstrate advanced technologies for the demilitarization of obsolete chemical munitions was developed. The methods through which the vision system and other sensory inputs were used by the artificial intelligence to provide the information required to direct the robots to complete the desired task are discussed. The mechanisms that the expert system uses to solve problems (goals), the different rule data base, and the methods for adapting this control system to any device that can be controlled or programmed through a high level computer interface are discussed.

Follin, John F.↗
NASA NTRS2004

Can Effective Synthetic Vision System Displays be Implemented on Limited Size Display Spaces?

The Synthetic Vision Systems (SVS) element of the NASA Aviation Safety Program is striving to eliminate poor visibility as a causal factor in aircraft accidents, and to enhance operational capabilities of all types or aircraft. To accomplish these safety and situation awareness improvements, the SVS concepts are designed to provide a clear view of the world ahead through the display of computer generated imagery derived from an onboard database of terrain, obstacle and airport information. An important issue for the SVS concept is whether useful and effective Synthetic Vision System (SVS) displays can be implemented on limited size display spaces as would be required to implement this technology on older aircraft with physically smaller instrument spaces. In this study, prototype SVS displays were put on the following display sizes: (a) size "A' (e.g. 757 EADI), (b) form factor "D" (e.g. 777 PFD), and (c) new size "X" (Rectangular flat-panel, approximately 20 x 25 cm). Testing was conducted in a high-resolution graphics simulation facility at NASA Langley Research Center. Specific issues under test included the display size as noted above, the field-of-view (FOV) to be shown on the display and directly related to FOV is the degree of minification of the displayed image or picture. Using simulated approaches with display size and FOV conditions held constant no significant differences by these factors were found. Preferred FOV based on performance was determined by using approaches during which pilots could select FOV. Mean preference ratings for FOV were in the following order: (1) 30 deg., (2) Unity, (3) 60 deg., and (4) 90 deg., and held true for all display sizes tested. Limitations of the present study and future research directions are discussed.

Comstock, J. Raymond, Jr.↗
NASA NTRS2012

Technologies Render Views of Earth for Virtual Navigation

On a December night in 1995, 159 passengers and crewmembers died when American Airlines Flight 965 flew into the side of a mountain while in route to Cali, Colombia. A key factor in the tragedy: The pilots had lost situational awareness in the dark, unfamiliar terrain. They had no idea the plane was approaching a mountain until the ground proximity warning system sounded an alarm only seconds before impact. The accident was of the kind most common at the time CFIT, or controlled flight into terrain says Trey Arthur, research aerospace engineer in the Crew Systems and Aviation Operations Branch at NASA s Langley Research Center. In situations such as bad weather, fog, or nighttime flights, pilots would rely on airspeed, altitude, and other readings to get an accurate sense of location. Miscalculations and rapidly changing conditions could contribute to a fully functioning, in-control airplane flying into the ground. To improve aviation safety by enhancing pilots situational awareness even in poor visibility, NASA began exploring the possibilities of synthetic vision creating a graphical display of the outside terrain on a screen inside the cockpit. How do you display a mountain in the cockpit? You have to have a graphics-powered computer, a terrain database you can render, and an accurate navigation solution, says Arthur. In the mid-1990s, developing GPS technology offered a means for determining an aircraft s position in space with high accuracy, Arthur explains. As the necessary technologies to enable synthetic vision emerged, NASA turned to an industry partner to develop the terrain graphical engine and database for creating the virtual rendering of the outside environment.

Source record↗
NASA NTRS1992

Algorithm For Simplified Robotic Tracking Of Weld Seams

Algorithm computes small cross-seam corrections to programmed path of welding robot. Intended for use with add-on vision system loosely coupled to robot, transmitting small amount of information about weld seam ahead of torch. Position of welding torch in reference frame of moving window estimated on basis of data on weld seam and speed of torch. Does not need data on position of torch, and does not transform data on seam to another reference frame.

Gutow, David A.↗
NASA NTRS1993

Robotic Tube-Gap Inspector

Robotic vision system measures small gaps between nearly parallel tubes. Robot-held video camera examines closely spaced tubes while computer determines gaps between tubes. Video monitor simultaneously displays data on gaps.

Gilbert, Jeffrey L.↗
NASA NTRS1992

Visualization and modeling of factors influencing visibility in computer-aided crewstation design

We have developed two modules for use in computer-aided design (CAD) of crewstation environments that enhance the designer's appreciation of factors influencing the pilot's vision and visual processing capacity. The Binocular Optics Module (BOM) is an interactive tool for visualizing geometric aspects of (1) how retinal imagery of the environment changes on the pilot's retinas under conditions of eye and object motion, and (2) how visual capabilities that can be modeled as regions or contours on the retinas, affect spatial perception of the environment. The Visual Performance Module (VPM) contains a signal processing model of human visual discrimination that quantitatively predicts visual discrimination performance. The outputs of the VPM are retinal contours that represent performance probabilities. These contours may be used as inputs to the BOM for visualizing those volumes of space within the crewstation that bound different levels of the pilot's of visual discrimination capability. Used together, the BOM and VPM provide the designer with the opportunity to interactively explore relationships between environmental retinal imagery and visual function, and the ability to factor the pilot's visual capabilities into the earliest phases of crewstation CAD.

Arditi, Aries↗
NASA NTRS2002

Terrain Portrayal for Head-Down Displays Experiment

The General Aviation Element of the Aviation Safety Program's Synthetic Vision Systems (SVS) Project is developing technology to eliminate low visibility induced General Aviation (GA) accidents. SVS displays present computer generated 3-dimensional imagery of the surrounding terrain on the Primary Flight Display (PFD) to greatly enhance pilot's situation awareness (SA), reducing or eliminating Controlled Flight into Terrain, as well as Low-Visibility Loss of Control accidents. SVS-conducted research is facilitating development of display concepts that provide the pilot with an unobstructed view of the outside terrain, regardless of weather conditions and time of day. A critical component of SVS displays is the appropriate presentation of terrain to the pilot. An experimental study has been conducted at NASA Langley Research Center (LaRC) to explore and quantify the relationship between the realism of the terrain presentation and resulting enhancements of pilot SA and pilot performance. Composed of complementary simulation and flight test efforts, Terrain Portrayal for Head-Down Displays (TP-HDD) experiments will help researchers evaluate critical terrain portrayal concepts. The experimental effort is to provide data to enable design trades that optimize SVS applications, as well as develop requirements and recommendations to facilitate the certification process. This paper focuses on the experimental set-up and preliminary qualitative results of the TP-HDD simulation experiment. In this experiment a fixed based flight simulator was equipped with various types of Head Down flight displays, ranging from conventional round dials (typical of most GA aircraft) to glass cockpit style PFD's. The variations of the PFD included an assortment of texturing and Digital Elevation Model (DEM) resolution combinations. A test matrix of 10 terrain display configurations (in addition to the baseline displays) were evaluated by 27 pilots of various backgrounds and experience levels. Qualitative (questionnaires) and quantitative (pilot performance and physiological) data were collected during the experimental runs. Preliminary results indicate that all of the evaluation pilots favored SVS displays over standard gauges, in terms of terrain awareness, SA, and perceived pilot performance. Among the terrain portrayal concepts tested, most pilots preferred the higher-resolution DEM. In addition, with minimal training, low-hour VFR evaluation pilots were able to negotiate a precision approach using SVS displays with a tunnel in the sky guidance concept.

Hughes, Monica F.↗
NASA NTRS2004

Format for Interchange and Display of 3D Terrain Data

Visible Scalable Terrain (ViSTa) is a software format for production, interchange, and display of three-dimensional (3D) terrain data acquired by stereoscopic cameras of robotic vision systems. ViSTa is designed to support scalability of data, accuracy of displayed terrain images, and optimal utilization of computational resources. In a ViSTa file, an area of terrain is represented, at one or more levels of detail, by coordinates of isolated points and/or vertices of triangles derived from a texture map that, in turn, is derived from original terrain images. Unlike prior terrain-image software formats, ViSTa includes provisions to ensure accuracy of texture coordinates. Whereas many such formats are based on 2.5-dimensional terrain models and impose additional regularity constraints on data, ViSTa is based on a 3D model without regularity constraints. Whereas many prior formats require external data for specifying image-data coordinate systems, ViSTa provides for the inclusion of coordinate-system data within data files. ViSTa admits highspeed loading and display within a Java program. ViSTa is designed to minimize file sizes and maximize compressibility and to support straightforward reduction of resolution to reduce file size for Internet-based distribution.

Backes, Paul↗
NASA NTRS2003

Improved Collision-Detection Method for Robotic Manipulator

An improved method has been devised for the computational prediction of a collision between (1) a robotic manipulator and (2) another part of the robot or an external object in the vicinity of the robot. The method is intended to be used to test commanded manipulator trajectories in advance so that execution of the commands can be stopped before damage is done. The method involves utilization of both (1) mathematical models of the robot and its environment constructed manually prior to operation and (2) similar models constructed automatically from sensory data acquired during operation. The representation of objects in this method is simpler and more efficient (with respect to both computation time and computer memory), relative to the representations used in most prior methods. The present method was developed especially for use on a robotic land vehicle (rover) equipped with a manipulator arm and a vision system that includes stereoscopic electronic cameras. In this method, objects are represented and collisions detected by use of a previously developed technique known in the art as the method of oriented bounding boxes (OBBs). As the name of this technique indicates, an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs), as in the example of Figure 1. Unlike prior methods, the OBB/OBP method does not require any divisions or transcendental functions; this feature leads to greater robustness and numerical accuracy. The OBB/OBP method was selected for incorporation into the present method because it offers the best compromise between accuracy on the one hand and computational efficiency (and thus computational speed) on the other hand.

Leger, Chris↗
NASA NTRS2015

Physiological Health Challenges for Human Missions to Mars

During the next decades, manned space missions are expected to be aiming at the Lagrange points, near Earth asteroids, and Mars flyby and/or landing. The question is therefore: Are we ready to go? To answer this with a yes, we are currently using the International Space Station to develop an integrated human physiological countermeasure suite. The integrated countermeasure suite will most likely encounter: 1) Exercise devices for aerobic, dynamic and resistive exercise training; 2) sensory‐motor computer training programs and anti‐motion sickness medication for preparing EVAs and G‐transitions; 3) lower limb bracelets for preventing and/or treating the VIIP (vision impairment and intracranial pressure) syndrome; 4) nutritional components for maintenance of bone, muscle, the cardiovascular system and preventing oxidative stress and damage and immune deficiencies (e. g. omega‐3 fatty acids, PRO/K, anti‐oxidants and less salt and iron); 5) bisphosphonates for preventing bone degradation.; 6) lower body compression garment and oral salt and fluid loading for landing on a planetary surface to combat orthostatic intolerance; 7) laboratory analysis equipment for individualized monitoring of biomarkers in blood, urine and saliva for estimation of health status in; 8) advanced ultrasound techniques for monitoring bone and cardiovascular health; and 9) computer modeling programs for individual health status assessments of efficiency and subsequent adjustments of countermeasures. In particular for future missions into deep space, we are concerned with the synergistic effects of weightlessness, radiation, operational constraints and other spaceflight environmental factors. Therefore, increased collaboration between physiological, behavioral, radiation and space vehicle design disciplines are strongly warranted. Another venue we are exploring in NASA's Human Research Program is the usefulness of artificial gravity for mitigating the health risks of long duration weightlessness.

Norsk, Peter↗