Detection of Polar Motion Excitation by the Fortnightly Ocean Tides
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Polar Motion↗
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Seasonal vertical crustal motions in China detected by GPS
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GPS crustal deformation↗
A model describing vestibular detection of body sway motion.
An experimental technique was developed which facilitated the formulation of a quantitative model describing vestibular detection of body sway motion in a postural response mode. All cues, except vestibular ones, which gave a subject an indication that he was beginning to sway, were eliminated using a specially designed two-degree-of-freedom platform; body sway was then induced and resulting compensatory responses at the ankle joints measured. Hybrid simulation compared the experimental results with models of the semicircular canals and utricular otolith receptors. Dynamic characteristics of the resulting canal model compared closely with characteristics of models which describe eye movement and subjective responses to body rotational motions. The average threshold level, in the postural response mode, however, was considerably lower. Analysis indicated that the otoliths probably play no role in the initial detection of body sway motion.
Nashner, L. M.↗
Visual acceleration detection - Effect of sign and motion orientation
Thresholds for the detection of constant acceleration and deceleration of a discrete object moving along horizontal and vertical axes were studied. A staircase methodology was used to determine thresholds for three average velocities (0.7, 1.2, and 1.7 deg/sec). Thresholds, expressed as the proportion of velocity change, did not differ significantly among the average velocities; thus, a consistent Weber-like fraction is suggested by the data. Furthermore, there was an interaction between the axis of motion (horizontal or vertical) and the sign of the velocity change (acceleration or deceleration): accelerations were easier to detect along the vertical axis, decelerations along the horizontal axis.
Calderone, Jack B.↗
Motion Estimation Utilizing Range Detection-Enhanced Visual Odometry
A motion determination system is disclosed. The system may receive a first and a second camera image from a camera, the first camera image received earlier than the second camera image. The system may identify corresponding features in the first and second camera images. The system may receive range data comprising at least one of a first and a second range data from a range detection unit, corresponding to the first and second camera images, respectively. The system may determine first positions and the second positions of the corresponding features using the first camera image and the second camera image. The first positions or the second positions may be determined by also using the range data. The system may determine a change in position of the machine based on differences between the first and second positions, and a VO-based velocity of the machine based on the determined change in position.
Friend, Paul Russell↗
Method and apparatus for telemetry adaptive bandwidth compression
Methods and apparatus are provided for automatic and/or manual adaptive bandwidth compression of telemetry. An adaptive sampler samples a video signal from a scanning sensor and generates a sequence of sampled fields. Each field and range rate information from the sensor are hence sequentially transmitted to and stored in a multiple and adaptive field storage means. The field storage means then, in response to an automatic or manual control signal, transfers the stored sampled field signals to a video monitor in a form for sequential or simultaneous display of a desired number of stored signal fields. The sampling ratio of the adaptive sample, the relative proportion of available communication bandwidth allocated respectively to transmitted data and video information, and the number of fields simultaneously displayed are manually or automatically selectively adjustable in functional relationship to each other and detected range rate. In one embodiment, when relatively little or no scene motion is detected, the control signal maximizes sampling ratio and causes simultaneous display of all stored fields, thus maximizing resolution and bandwidth available for data transmission. When increased scene motion is detected, the control signal is adjusted accordingly to cause display of fewer fields. If greater resolution is desired, the control signal is adjusted to increase the sampling ratio.
Graham, Olin L.↗
Collision detection for planning collision-free motion of two robot arms
The authors focus on collision detection for planning collision-free motion of two robot arms in a common workspace. A collision-free motion is obtained by detecting collisions along the straight-line trajectories of the robots using a sphere model for the wrists and then replanning the paths and/or trajectories of one or both of the robots to avoid collisions. A novel approach to collision detection is presented and a discussion on collision avoidance is given.
Basta, Robert A.↗
Inertial navigation sensor integrated motion analysis for obstacle detection
The authors describe a maximally passive system for obstacle detection and avoidance designed for rotorcraft which benefits from the use of inertial data. The sensor options are briefly discussed, and sensor fusion needs are mentioned. Some critical system requirements and their effect on system implementation are discussed. In addition, high-level system implementation issues are presented.
Roberts, Barry↗
The effects of unidirectional visual surround translation on detection of physical linear motion direction. A psychophysical scale for vection
No abstract available
Non-NASA Center↗
Detection of individual atoms in helium buffer gas and observation of their real-time motion
Single atoms are detected and their motion measured for the first time to our knowledge by the fluorescence photon-burst method in the presence of large quantities of buffer gas. A single-clipped digital correlator records the photon burst in real time and displays the atom's transit time across the laser beam. A comparison is made of the special requirements for single-atom detection in vacuum and in a buffer gas. Finally, the probability distribution of the bursts from many atoms is measured. It further proves that the bursts observed on resonance are due to single atoms and not simply to noise fluctuations.
Pan, C. L.↗
A fuzzy measure approach to motion frame analysis for scene detection
This paper addresses a solution to the problem of scene estimation of motion video data in the fuzzy set theoretic framework. Using fuzzy image feature extractors, a new algorithm is developed to compute the change of information in each of two successive frames to classify scenes. This classification process of raw input visual data can be used to establish structure for correlation. The algorithm attempts to fulfill the need for nonlinear, frame-accurate access to video data for applications such as video editing and visual document archival/retrieval systems in multimedia environments.
Leigh, Albert B.↗
Antarctic Crustal Motions Driven by Present Day Ice Sheet Evolution and by Isostatic Memory of the Last Glacial Maximum
Detectable crustal motion and secular rate of change of solid-surface gravity may be produced by the Earth's response to present day and/or past ice mass changes in Antarctica.
Crustal Motions Ice sheet Evolution↗
Micromachined electron tunneling infrared sensors
The development of an improved Golay cell is reported. This new sensor is constructed entirely from micromachined silicon components. A silicon oxynitride (SiO(x)N(y)) membrane is deflected by the thermal expansion of a small volume of trapped gas. To detect the motion of the membrane, an electron tunneling transducer is used. This sensor detects electrons which tunnel through the classically forbidden barrier between a tip and a surface; the electron current is exponentially dependent on the separation between the tip and the surface. The sensitivity of tunneling transducers constructed was typically better than 10(exp -3) A/square root of Hz. Through use of the electron tunneling transducer, the scaling laws which have prevented the miniaturization of the Golay cell are avoided. This detector potentially offers low cost fabrication, compatibility with silicon readout electronics, and operation without cooling. Most importantly, this detector may offer better sensitivity than any other uncooled infrared sensor, with the exception of the original Golay cell.
Kenny, T. W.↗
Relative-Motion Sensors and Actuators for Two Optical Tables
Optoelectronic sensors and magnetic actuators have been developed as parts of a system for controlling the relative position and attitude of two massive optical tables that float on separate standard air suspensions that attenuate ground vibrations. In the specific application for which these sensors and actuators were developed, one of the optical tables holds an optical system that mimics distant stars, while the other optical table holds a test article that simulates a spaceborne stellar interferometer that would be used to observe the stars. The control system is designed to suppress relative motion of the tables or, on demand, to impose controlled relative motion between the tables. The control system includes a sensor system that detects relative motion of the tables in six independent degrees of freedom and a drive system that can apply force to the star-simulator table in the six degrees of freedom. The sensor system includes (1) a set of laser heterodyne gauges and (2) a set of four diode lasers on the star-simulator table, each aimed at one of four quadrant photodiodes at nominal corresponding positions on the test-article table. The heterodyne gauges are used to measure relative displacements along the x axis.
Gursel, Yekta↗
Vision System Measures Motions of Robot and External Objects
A prototype of an advanced robotic vision system both (1) measures its own motion with respect to a stationary background and (2) detects other moving objects and estimates their motions, all by use of visual cues. Like some prior robotic and other optoelectronic vision systems, this system is based partly on concepts of optical flow and visual odometry. Whereas prior optoelectronic visual-odometry systems have been limited to frame rates of no more than 1 Hz, a visual-odometry subsystem that is part of this system operates at a frame rate of 60 to 200 Hz, given optical-flow estimates. The overall system operates at an effective frame rate of 12 Hz. Moreover, unlike prior machine-vision systems for detecting motions of external objects, this system need not remain stationary: it can detect such motions while it is moving (even vibrating). The system includes a stereoscopic pair of cameras mounted on a moving robot. The outputs of the cameras are digitized, then processed to extract positions and velocities. The initial image-data-processing functions of this system are the same as those of some prior systems: Stereoscopy is used to compute three-dimensional (3D) positions for all pixels in the camera images. For each pixel of each image, optical flow between successive image frames is used to compute the two-dimensional (2D) apparent relative translational motion of the point transverse to the line of sight of the camera. The challenge in designing this system was to provide for utilization of the 3D information from stereoscopy in conjunction with the 2D information from optical flow to distinguish between motion of the camera pair and motions of external objects, compute the motion of the camera pair in all six degrees of translational and rotational freedom, and robustly estimate the motions of external objects, all in real time. To meet this challenge, the system is designed to perform the following image-data-processing functions: The visual-odometry subsystem (the subsystem that estimates the motion of the camera pair relative to the stationary background) utilizes the 3D information from stereoscopy and the 2D information from optical flow. It computes the relationship between the 3D and 2D motions and uses a least-mean-squares technique to estimate motion parameters. The least-mean-squares technique is suitable for real-time implementation when the number of external-moving-object pixels is smaller than the number of stationary-background pixels.
Talukder, Ashit↗
Motion-Based System Identification and Fault Detection and Isolation Technologies for Thruster Controlled Spacecraft
By analyzing the motions of a thruster-controlled spacecraft, it is possible to provide on-line (1) thruster fault detection and isolation (FDI), and (2) vehicle mass- and thruster-property identification (ID). Technologies developed recently at NASA Ames have significantly improved the speed and accuracy of these ID and FDI capabilities, making them feasible for application to a broad class of spacecraft. Since these technologies use existing sensors, the improved system robustness and performance that comes with the thruster fault tolerance and system ID can be achieved through a software-only implementation. This contrasts with the added cost, mass, and hardware complexity commonly required by FDI. Originally developed in partnership with NASA - Johnson Space Center to provide thruster FDI capability for the X-38 during re-entry, these technologies are most recently being applied to the MIT SPHERES experimental spacecraft to fly on the International Space Station in 2004. The model-based FDI uses a maximum-likelihood calculation at its core, while the ID is based upon recursive least squares estimation. Flight test results from the SPHERES implementation, as flown aboard the NASA KC-1 35A 0-g simulator aircraft in November 2003 are presented.
Wilson, Edward↗
Vertical Axis Rotational Motion Cues in Hovering Flight Simulation
A previous study that examined how yaw motion affected a pilot's ability to perform realistic hovering flight tasks indicated that any amount of pure yaw motion had little-to-no effect on pilot performance or opinion. In that experiment, pilots were located at the vehicle's center of rotation; thus lateral or longitudinal accelerations were absent. The purpose of the new study described here was to investigate further these unanticipated results for additional flight tasks, but with the introduction of linear accelerations associated with yaw rotations when the pilot is not at the center of rotation. The question of whether a yaw motion degree-of-freedom is necessary or not is important to government regulators who specify what simulator motions are necessary according to prescribed levels of simulator sophistication. Currently, specifies two levels of motion sophistication for flight simulators: full 6-degree-of-freedom and 3-degree-of-freedom. For the less sophisticated simulator, the assumed three degrees of freedom are pitch, roll, and heave. If other degrees of freedom are selected, which are different f rom these three, they must be qualified on a case-by-case basis. Picking the assumed three axes is reasonable and based upon experience, but little empirical data are available to support the selection of critical axes. Thus, the research described here is aimed at answering this question. The yaw and lateral degrees of freedom were selected to be examined first, and maneuvers were defined to uncouple these motions from changes in the gravity vector with respect to the pilot. This approach simplifies the problem to be examined. For this experiment, the NASA Ames Vertical Motion Simulator was used in a comprehensive investigation. The math model was an AH-64 Apache in hover, which was identified from flight test data and had previously been validated by several AH-64 pilots. The pilot's head was located 4.5 ft in front of the vehicle center of gravity, which is representative of the AH-64 pilot location. Six test pilots flew three tasks that were specifically designed to represent a broad class of situations in which both lateral and yaw motion cues may be useful. For the first task, the pilot controlled only the yaw axis and was required to rapidly acquire a North heading from 15 deg yaw offsets to either the East or West. This task allowed for full, or 1:1, motion to be used in all axes (yaw, lateral, and longitudinal). The second task was a 10 sec., 180 deg. pedal turn over a runway, but with the pilot only controlling the yaw degree-of-freedom. The position of the vehicle's center-of-mass remained fixed. This maneuver was taken from a current U.S. Army rotary wing design standard5 and is representative of a maneuver performed for acceptance of military helicopters; however, it does not allow for full 1:1 motion, since the simulator cab cannot rotate 180 deg. The third task required the pilot to perform a rapid 9 ft climb at a constant heading. This task was challenging, because rapid collective lever movement in the unaugmented AH64 results in a substantial yawing moment (due to engine torque) that must be countered by the pilot. This task also had full motion in all axes, but, in this case, the pilot had two axes to control simultaneously, rather than one as in the previous tasks. Four motion configurations were examined for each task: full motion (except for the 180 deg turn, for which the motion system was configured to provide as much motion as possible), full linear with no yaw motion, full yaw with no linear motion, and no motion. Each configuration was flown four times in a randomized test matrix, and the pilots were not informed of the configuration given. Vehicle state data were recorded for objective performance comparisons, and pilots provided subjective comments and ratings. As part of the pilots' evaluation, they were asked to rate the compensation required, the overall fidelity of the motion as compared to real flight, and whether motion was detected or not in each of the six degrees of freedom. In addition, the pilots provided a numerical level-of confidence rating, between 1 and 7, corresponding to how sure they were whether or not motion was present in each degree-of-freedom. The latter rating allow classical signal detection analysis to be performed.
Schroeder, Jeffrey A.↗