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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 73 records · Page 4

Vision and "Hand-Eye" Coordination for the Fujitsu HOAP-2 Humanoid Robot

Software was developed for a Fujitsu HOAP-2 humanoid robot to demonstrate that such "human form" robots can be used to perform useful tasks in an unknown environment; specifically, that they can operate with or in the place of humans to carry out construction operations necessary for space exploration, such as building or maintaining planetary surface habitats for humans. This paper describes the autonomous vision and hand-eye coordination software that enables the HOAP-2 to locate and manipulate objects. Simple vision and pattern detection algorithms including color filtering, noise filtering, image segmentation, orientation filters, and a feedback controlled tracking system enable the robot to locate marked building materials in the workspace. Experimentally determined spatial mappings associate locations in the visual field with the arm joint angles and trajectories necessary to reach these locations, allowing the robot to reach for and manipulate the building materials. These capabilities, when combined with locomotion capabilities, enable the robot to operate autonomously in an unknown workspace.

Moore, Jeffrey D.↗

On three dimensional object recognition and pose-determination: An abstraction based approach

A method of computing reliable Gaussian and mean curvature sign-map descriptors from the polynomial approximation of surfaces was demonstrated. Such descriptors which are invariant under perspective variation are suitable for hypothesis generation. A means for determining the pose of constructed geometric forms whose algebraic surface descriptors are nonlinear in terms of their orienting parameters was developed. This was done by means of linear functions which are capable of approximating nonlinear forms and determining their parameters. It was shown that biquadratic surfaces are suitable companion linear forms for cylindrical approximation and parameter estimation. The estimates provided the initial parametric approximations necessary for a nonlinear regression stage to fine tune the estimates by fitting the actual nonlinear form to the data. A hypothesis-based split-merge algorithm for extraction and pose determination of cylinders and planes which merge smoothly into other surfaces was developed. It was shown that all split-merge algorithms are hypothesis-based. A finite-state algorithm for the extraction of the boundaries of run-length regions was developed. The computation takes advantage of the run list topology and boundary direction constraints implicit in the run-length encoding.

Quek, Kok How Francis↗

Design and Analysis of Shape Memory Spring Tires for Martian and Lunar Rover Vehicles

Shape memory alloys (SMAs) have played an important role in various innovative engineering and medical applications, such as aerospace actuators, vibration damping devices, and coronary stents. In applications, shape memory alloys are commonly utilized in two fundamentally different ways: (i) making use of the superelasticity/ pseudoelasticity (SE/PE) phenomena, as in applications in biomedical engineering, and (ii) taking advantages of the shape memory effect (SME), as is used for actuators. Their ability to act in such vastly different capacities is mainly due to their unique capability to recover large amounts of deformation produced by either applied stresses or temperature changes. One recent emerging application in use of SMAs has been in the area of non-pneumatic tire designs for Martian or Lunar roving vehicles. These vehicles require tires that are capable of traversing rugged terrain while withstanding extreme temperatures and atmospheric conditions. Inspired by the flexible wire mesh tires used on three Lunar Roving Vehicle (LRV) missions to the Moon on Apollo 15, 16, and 17, a new compliant tire technology was developed by the NASA Glenn Research Center (GRC) and Goodyear Tire & Rubber, known as the Spring Tire. The Spring Tire consists of several hundred coiled springs woven into a flexible mesh and formed into the shape of a tire. Like the LRV wire mesh tires, the original Spring Tires were made from spring steel and were prone to permanent deformation when undergoing high localized loads. Later, a new iteration of this technology was invented, known as the ‘Superelastic Tire’. This new technology incorporated the use of superelastic SMA springs, which could effectively undergo approximately 30 times more reversible deformation than the steel spring. It also provided even greater durability and allowed for more flexibility in design, such as the use of other structural forms to reduce mass or increase load carrying capacity. Because of the unique nature of both the SMA material and the complex interactions between the springs, designing Spring Tires for a specific application requires extensive effort. Historically, design decisions have relied on full-scale empirical testing; however, this is very expensive and time consuming, especially when multiple iterations are needed. Therefore, developing a large-scale, robust, and predictive numerical model entailing complex spring interactions and the shape memory material behavior within a tire construct is the first essential step towards a successful design program. The current work focuses on implementation of the user-defined Shape Memory Alloy (SMA) model, otherwise known as SMA-GVIPs, in the Finite Element analysis (FEA) program ABAQUS for large-scale simulations of the GRC-developed Spring Tires made of SMA. The novelty of this work lies in the thorough, detail-oriented, and computationally efficient finite element analysis of full-scale SMA tires. A well-thought material characterization plan followed by model validation and a systemic sensitivity study on SMA tires has never been reported in the previous literature. The main objective of this study is to help the team improve and optimize the structural design of the SMA tires through in-depth numerical analysis and sensitivity studies. Various design variables (wire diameter, coil diameter, pitch, bead angle, and number of springs) were varied to study their influence on the global load-displacement response of the tire construct. A detailed investigation of the three-dimensional stress states was also carried out to enhance our understanding of the local changes as the tire goes through global deformation. It was concluded that a robust numerical model with a good predictive capability, together with a thoughtfully crafted sensitivity study can result in improved design iterations required to reach a desired tire performance while, significantly reducing manufacturing, labor and testing expenses. A summary of the Finite Element (FE) model construction will be presented together with a description of the user-defined SMA model, characterization process, experimental results, model validation, and numerical sensitivity study results.

shape memory alloys↗

The Analysis of the Contribution of Human Factors to the In-Flight Loss of Control Accidents

In-flight loss of control (LOC) is currently the leading cause of fatal accidents based on various commercial aircraft accident statistics. As the Next Generation Air Transportation System (NextGen) emerges, new contributing factors leading to LOC are anticipated. The NASA Aviation Safety Program (AvSP), along with other aviation agencies and communities are actively developing safety products to mitigate the LOC risk. This paper discusses the approach used to construct a generic integrated LOC accident framework (LOCAF) model based on a detailed review of LOC accidents over the past two decades. The LOCAF model is comprised of causal factors from the domain of human factors, aircraft system component failures, and atmospheric environment. The multiple interdependent causal factors are expressed in an Object-Oriented Bayesian belief network. In addition to predicting the likelihood of LOC accident occurrence, the system-level integrated LOCAF model is able to evaluate the impact of new safety technology products developed in AvSP. This provides valuable information to decision makers in strategizing NASA's aviation safety technology portfolio. The focus of this paper is on the analysis of human causal factors in the model, including the contributions from flight crew and maintenance workers. The Human Factors Analysis and Classification System (HFACS) taxonomy was used to develop human related causal factors. The preliminary results from the baseline LOCAF model are also presented.

Ancel, Ersin↗

An object-oriented approach to nested data parallelism

This paper describes an implementation technique for integrating nested data parallelism into an object-oriented language. Data-parallel programming employs sets of data called 'collections' and expresses parallelism as operations performed over the elements of a collection. When the elements of a collection are also collections, then there is the possibility for 'nested data parallelism.' Few current programming languages support nested data parallelism however. In an object-oriented framework, a collection is a single object. Its type defines the parallel operations that may be applied to it. Our goal is to design and build an object-oriented data-parallel programming environment supporting nested data parallelism. Our initial approach is built upon three fundamental additions to C++. We add new parallel base types by implementing them as classes, and add a new parallel collection type called a 'vector' that is implemented as a template. Only one new language feature is introduced: the 'foreach' construct, which is the basis for exploiting elementwise parallelism over collections. The strength of the method lies in the compilation strategy, which translates nested data-parallel C++ into ordinary C++. Extracting the potential parallelism in nested 'foreach' constructs is called 'flattening' nested parallelism. We show how to flatten 'foreach' constructs using a simple program transformation. Our prototype system produces vector code which has been successfully run on workstations, a CM-2, and a CM-5.

Sheffler, Thomas J.↗

Cooperative control of visual displays for telemanipulation

Two cooperative control schemes for telerobot visual displays are addressed. In the first scheme, on-the-screen visual enhancements such as reference lines indicating the vertical height of the robot hand, a stick figure model of the robot hand, and its projection on the horizontal grid plane are constructed by the interactive cooperation between the human operator and the telerobotic system, and then superimposed on the video screen. Experimental results with a five-degree-of-freedom robot and a frame grabber indicate that superimposition of visual enhancements on the video screen greatly improves telemanipulation task performance. In the second scheme, the position and orientation of an object on video screens are determined interactively; these then assist the telerobotic system in executing the human operator's task-level commands autonomously.

Kim, Won S.↗

EOS: A project to investigate the design and construction of real-time distributed embedded operating systems

The EOS project is investigating the design and construction of a family of real-time distributed embedded operating systems for reliable, distributed aerospace applications. Using the real-time programming techniques developed in co-operation with NASA in earlier research, the project staff is building a kernel for a multiple processor networked system. The first six months of the grant included a study of scheduling in an object-oriented system, the design philosophy of the kernel, and the architectural overview of the operating system. In this report, the operating system and kernel concepts are described. An environment for the experiments has been built and several of the key concepts of the system have been prototyped. The kernel and operating system is intended to support future experimental studies in multiprocessing, load-balancing, routing, software fault-tolerance, distributed data base design, and real-time processing.

Campbell, R. H.↗

X-Windows Socket Widget Class

The X-Windows Socket Widget Class ("Class" is used here in the object-oriented-programming sense of the word) was devised to simplify the task of implementing network connections for graphical-user-interface (GUI) computer programs. UNIX Transmission Control Protocol/Internet Protocol (TCP/IP) socket programming libraries require many method calls to configure, operate, and destroy sockets. Most X Windows GUI programs use widget sets or toolkits to facilitate management of complex objects. The widget standards facilitate construction of toolkits and application programs. The X-Windows Socket Widget Class encapsulates UNIX TCP/IP socket-management tasks within the framework of an X Windows widget. Using the widget framework, X Windows GUI programs can treat one or more network socket instances in the same manner as that of other graphical widgets, making it easier to program sockets. Wrapping ISP socket programming libraries inside a widget framework enables a programmer to treat a network interface as though it were a GUI.

Barry, Matthew R.↗

Parameterization of Features on Spherical Surfaces

NASA’s Planetary Systems Laboratory (PSL) at the Goddard Spaceflight Center in Greenbelt, Maryland is tasked with the study of solar system objects. This work is frequently based on analysis of imagery from visiting spacecraft, orbiting telescopes, and ground-based sensors. A consequence of this mission is the need to characterize features on the spherical surface of planets and moons, such characterization including the overall area of the feature, its center, its moments of inertia, its perimeter, its compactness, its major axis, its bounding box, its aspect ratio and its North-South orientation. Accurate assessment of these measures from a “flat” two-dimensional image is a challenge, since the scale of distance observed at the center of a spherical object distorts in any direction towards the horizon. PSL has developed a technique to guarantee accurate and automated measurement at any point on the visible surface, by overlaying an imaginary grid of equal-area cells onto the two-dimensional image of the sphere. The technique is named Grid-Oriented Normalization for Analysis of Spherical Areas (GONASA). This paper discusses the construction of the normalization grid and describes specific algorithms for feature parameterization. The algorithms are implemented in an accompanying Excel spreadsheet, both for clarity and ease of adoption, and to emphasize their aptness for automation. Finally, a concrete use case is offered where the GONASA grid and algorithms are used to characterize methane clouds on the Saturnian moon Titan.

Planetary science↗

TraceContract: A Scala DSL for Trace Analysis

In this paper we describe TRACECONTRACT, an API for trace analysis, implemented in the SCALA programming language. We argue that for certain forms of trace analysis the best weapon is a high level programming language augmented with constructs for temporal reasoning. A trace is a sequence of events, which may for example be generated by a running program, instrumented appropriately to generate events. The API supports writing properties in a notation that combines an advanced form of data parameterized state machines with temporal logic. The implementation utilizes SCALA's support for defining internal Domain Specific Languages (DSLs). Furthermore SCALA's combination of object oriented and functional programming features, including partial functions and pattern matching, makes it an ideal host language for such an API.

log file analysis↗

X-Windows Information Sharing Protocol Widget Class

The X-Windows Information Sharing Protocol (ISP) Widget Class ("Class") is used here in the object-oriented-programming sense of the word) was devised to simplify the task of implementing ISP graphical-user-interface (GUI) computer programs. ISP programming tasks require many method calls to identify, query, and interpret the connections and messages exchanged between a client and an ISP server. Most X-Windows GUI programs use widget sets or toolkits to facilitate management of complex objects. The widget standards facilitate construction of toolkits and application programs. The X-Windows Information Sharing Protocol (ISP) Widget Class encapsulates the client side of the ISP programming libraries within the framework of an X-Windows widget. Using the widget framework, X-Windows GUI programs can interact with ISP services in an abstract way and in the same manner as that of other graphical widgets, making it easier to write ISP GUI client programs. Wrapping ISP client services inside a widget framework enables a programmer to treat an ISP server interface as though it were a GUI. Moreover, an alternate subclass could implement another communication protocol in the same sort of widget.

Barry, Matthew R.↗

Real-Time Payload Control and Monitoring on the World Wide Web

World Wide Web (W3) technologies such as the Hypertext Transfer Protocol (HTTP) and the Java object-oriented programming environment offer a powerful, yet relatively inexpensive, framework for distributed application software development. This paper describes the design of a real-time payload control and monitoring system that was developed with W3 technologies at NASA Ames Research Center. Based on Java Development Toolkit (JDK) 1.1, the system uses an event-driven "publish and subscribe" approach to inter-process communication and graphical user-interface construction. A C Language Integrated Production System (CLIPS) compatible inference engine provides the back-end intelligent data processing capability, while Oracle Relational Database Management System (RDBMS) provides the data management function. Preliminary evaluation shows acceptable performance for some classes of payloads, with Java's portability and multimedia support identified as the most significant benefit.

Sun, Charles↗

A Super-Resolution Algorithm for Enhancement of FLASH LIDAR Data: Flight Test Results

This paper describes the results of a 3D super-resolution algorithm applied to the range data obtained from a recent Flash Lidar helicopter flight test. The flight test was conducted by the NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) project over a simulated lunar terrain facility at NASA Kennedy Space Center. ALHAT is developing the technology for safe autonomous landing on the surface of celestial bodies: Moon, Mars, asteroids. One of the test objectives was to verify the ability of 3D super-resolution technique to generate high resolution digital elevation models (DEMs) and to determine time resolved relative positions and orientations of the vehicle. 3D super-resolution algorithm was developed earlier and tested in computational modeling, and laboratory experiments, and in a few dynamic experiments using a moving truck. Prior to the helicopter flight test campaign, a 100mX100m hazard field was constructed having most of the relevant extraterrestrial hazard: slopes, rocks, and craters with different sizes. Data were collected during the flight and then processed by the super-resolution code. The detailed DEM of the hazard field was constructed using independent measurement to be used for comparison. ALHAT navigation system data were used to verify abilities of super-resolution method to provide accurate relative navigation information. Namely, the 6 degree of freedom state vector of the instrument as a function of time was restored from super-resolution data. The results of comparisons show that the super-resolution method can construct high quality DEMs and allows for identifying hazards like rocks and craters within the accordance of ALHAT requirements.

Bulyshev, Alexander↗

The oblique-wing research aircraft: A test bed for unsteady aerodynamic and aeroelastic research

The advantages of oblique wings have been the subject of numerous theoretical studies, wind tunnel tests, low speed flight models, and finally a low speed manned demonstrator, the AD-1. The specific objectives of the OWRA program are: (1) to establish the necessary technology base required to translate theoretical and experimental results into practical mission oriented designs; (2) to design, fabricate and flight test an oblique wing aircraft throughout a realistic flight envelope, and (3) to develop and validate design and analysis tools for asymmetric aircraft configurations. The preliminary design phase of the project is complete and has resulted in a wing configuration for which construction is ready to be initiated.

Gilyard, Glenn B.↗

Multimission high speed spacecraft simulation for the Galileo and Cassini missions

A simulation system has been developed which is capable of bit level simulation of spacecraft data systems. Object oriented techniques and an embedded interpreted language have been employed to produce a highly configurable tool for control and viewing of spacecraft states. Parallel processing computers have been used for running simulations to achieve execution performance of up to ten times real time, which allows for effective utilization of the simulator in testing spacecraft command sequences before they are committed to operation. Elements of simulations can be reused as-is in the construction of new simulators.

Morrissett, Alan↗

Rocket instrument for far-UV spectrophotometry of faint astronomical objects

A sensitive sounding rocket instrument for moderate (about 10-A) resolution far-UV (1160-1750-A) spectrophotometry of faint astronomical objects has been developed. The instrument employes a photon-counting microchannel plate imaging detector and a concave grating spectrograph behind a 40-cm Dall-Kirkham telescope. A unique remote-control pointing system, incorporating an SIT vidicon aspect camera, two star trackers, and a tone-encoded command telemetry link, permits the telescope to be oriented to within 5 arc sec of any target for which suitable guide stars can be found. The design, construction, calibration, and flight performance of the instrument are discussed.

Hartig, G. F.↗

Three-dimensional perspective software for representation of digital imagery data

A generalized three dimensional perspective software capability was developed within the framework of a low cost computer oriented geographically based information system using the Earth Resources Laboratory Applications Software (ELAS) operating subsystem. This perspective software capability, developed primarily to support data display requirements at the NASA/NSTL Earth Resources Laboratory, provides a means of displaying three dimensional feature space object data in two dimensional picture plane coordinates and makes it possible to overlay different types of information on perspective drawings to better understand the relationship of physical features. An example topographic data base is constructed and is used as the basic input to the plotting module. Examples are shown which illustrate oblique viewing angles that convey spatial concepts and relationships represented by the topographic data planes.

Junkin, B. G.↗

An automated quality assessor for Ada object-oriented designs

A tool for evaluating object-oriented designs (OODs) for Ada software is described. The tool assumes a design expressed as a hierarchy of object diagrams. A design of this type identifies the objects of a system, an interface to each object, and the usage relationships between objects. When such a design is implemented in Ada, objects become packages, interfaces become package specifications, and usage relationships become Ada `with' clauses and package references. An automated quality assessor has been developed that is based on flagging undesirable design constructs. For convenience, distinctions are made among three levels of severity: questionable, undesirable, and hazardous. A questionable construct is one that may well be appropriate. An undesirable construct is one that should be changed because it is potentially harmful to the reliability, maintainability, or reusability of the software. A hazardous construct is one that is undesirable and that introduces a high level of risk.

Bailin, Sidney C.↗