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At least 73 records · Page 4

Virtual reality flight control display with six-degree-of-freedom controller and spherical orientation overlay

A virtual reality flight control system displays to the pilot the image of a scene surrounding a vehicle or pod having six degrees of freedom of acceleration or velocity control by the pilot and traveling through inertial space, the image itself including a superimposed figure providing the pilot an instant reference of orientation consisting of superimposed sets of geometric figures whose relative orientations provide the pilot an instantaneous feel or sense of orientation changes with respect to some fixed coordinate system. They include a first set of geometric figures whose orientations are fixed to the pilot's vehicle and a second set of geometric figures whose orientations are fixed with respect to a fixed or interstellar coordinate system. The first set of figures is a first set of orthogonal great circles about the three orthogonal axes of the flight vehicle or pod and centered at and surrounding the pilot's head, while the second set of figures is a second set of orthogonal great circles about the three orthogonal axes of a fixed or interstellar coordinate system, also centered at and surrounding the pilot's head.

Beckman, Brian C.↗

Flutter Sensitivity to Boundary Layer Thickness, Structural Damping, and Static Pressure Differential for a Shuttle Tile Overlay Repair Concept

This paper examines the aeroelastic stability of an on-orbit installable Space Shuttle patch panel. CFD flutter solutions were obtained for thick and thin boundary layers at a free stream Mach number of 2.0 and several Mach numbers near sonic speed. The effect of structural damping on these flutter solutions was also examined, and the effect of structural nonlinearities associated with in-plane forces in the panel was considered on the worst case linear flutter solution. The results of the study indicated that adequate flutter margins exist for the panel at the Mach numbers examined. The addition of structural damping improved flutter margins as did the inclusion of nonlinear effects associated with a static pressure difference across the panel.

Scott, Robert C.↗

Flexible Data and Frame Synchronization Structure for the LunaNet PNT Signal

A LunaNet Lunar Augmented Navigation Service (LANS) is being developed to enable a position, navigation, and timing service for future Lunar operations [1]. The signal includes two components. An in-phase data channel signal is spread by a 1.023 MCPS ranging code that provides a high-rate data message at 250 bps and is encoded by a strong Low Density Parity Check (LDPC) code. A pilot channel with a 5.115 MCPS spreading code is also provided. The pilot code is configured with a secondary (overlay) code that does not currently provide absolute time or frame Synchronization as is the case for L1C [2] [3]. This work shows the advantage of implementing an overlay structure that provides absolute time for the LunaNet LANS signal structure known as the Augmented Forward Signal (AFS). The LunaNet AFS structure was developed to service two classes of user receivers. The first class is a low-complexity user receiver that only receives the 1.023 MCPS signal and does not use the 5.115 MCPS pilot channel. For this class of user, a data frame Sync word is needed. The second class of receiver is a high-end receiver that can processes both data and pilot channels to take advantage of the higher chip rate pilot channel for enhanced robustness and improved accuracy. In the current draft LunaNet LANS AFS design, these users must employ the frame Sync word in the data channel and obtain absolute time after decoding the AFS navigation message [2]. The signal structure would greatly benefit from the addition of a pilot overlay structure that provides absolute time and robust frame Sync for high-end users as done for L1C [3]. To provide a more robust and interoperable AFS structure, this work summarizes a study and recommends alternatives for a new overlay code on the pilot channel that provides absolute time and a Sync word approach on the data channel. The overlay code and Sync word are designed to allow for flexible and robust data synchronization for both low- complexity and high-end user receivers. The new overlay code structure permits frame synchronization performance that is as good as or better than the L1 C signal, while enabling a determination of absolute time upon frame Sync to aid high-end assisted LANS AFS user receivers at low signal to noise levels. We also present the design of rate-matched 5G new radio (5GNR) LDPC codes that fit within the current 6000-symbol frame size along with a time of interval (TOI) word, frame ID (FID) word, and the remaining LunaNet AFS data message blocks. The paper describes and demonstrates robust frame Synchronization performance of the overlay code and Synch word approaches. The results are described in terms of probability of missed detection and probability of false alarm for a correct frame Synchronization at low Eb/No levels expected for decoding the TOI word and LDPC encoded data. Advantages of the proposed data Synchronization structure will be described along with use cases for low-end and high-end receivers. Practical implementation considerations will also be described.

Philip Dafesh↗

Flexible Data and Frame Synchronization Structure for the LunaNet PNT Signal

A LunaNet Lunar Augmented Navigation Service (LANS) is being developed to enable a position, navigation, and timing service for future Lunar operations. The signal includes two components. An in-phase data channel signal is spread by a 1.023 MCPS ranging code that provides a high-rate data message at 250 bps and is encoded by a strong Low Density Parity Check (LDPC) code. A pilot channel with a 5.115 MCPS spreading code is also provided. The pilot code is configured with a secondary (overlay) code that does not currently provide absolute time or frame Synchronization as is the case for L1C. This work shows the advantage of implementing an overlay structure that provides absolute time for the LunaNet LANS signal structure known as the Augmented Forward Signal (AFS). The LunaNet AFS structure was developed to service two classes of user receivers. The first class is a low-complexity user receiver that only receives the 1.023 MCPS signal and does not use the 5.115 MCPS pilot channel. For this class of user, a data frame Sync word is needed. The second class of receiver is a high-end receiver that can processes both data and pilot channels to take advantage of the higher chip rate pilot channel for enhanced robustness and improved accuracy. In the current draft LunaNet LANS AFS design, these users must employ the frame Sync word in the data channel and obtain absolute time after decoding the AFS navigation message. The signal structure would greatly benefit from the addition of a pilot overlay structure that provides absolute time and robust frame Sync for high-end users as done for L1C. To provide a more robust and interoperable AFS structure, this work summarizes a study and recommends alternatives for a new overlay code on the pilot channel that provides absolute time and a Sync word approach on the data channel. The overlay code and Sync word are designed to allow for flexible and robust data synchronization for both low- complexity and high-end user receivers. The new overlay code structure permits frame synchronization performance that is as good as or better than the L1 C signal, while enabling a determination of absolute time upon frame Sync to aid high-end assisted LANS AFS user receivers at low signal to noise levels. We also present the design of rate-matched 5G new radio (5GNR) LDPC codes that fit within the current 6000-symbol frame size along with a time of interval (TOI) word, frame ID (FID) word, and the remaining LunaNet AFS data message blocks. The paper describes and demonstrates robust frame Synchronization performance of the overlay code and Synch word approaches. The results are described in terms of probability of missed detection and probability of false alarm for a correct frame Synchronization at low Eb/No levels expected for decoding the TOI word and LDPC encoded data. Advantages of the proposed data Synchronization structure will be described along with use cases for low-end and high-end receivers. Practical implementation considerations will also be described.

LunaNet↗

Multiplying Video Mixer

Video mixing circuit places transparent overlay image on all or portion of normal image on television screen. Overlay computer-generated graphics, text, or another image. Background video brightness signal fed into one input terminal of circuit, while overlay brightness signal fed into other input terminal. Amplitude of background brightness signal modulated by overlay brightness signal, resulting in video image in which background image appears as though viewed through overlay. Multiplying video mixer, combined with additional circuitry, places transparent or opaque overlay images on normal (background) video images.

Heckt, Neil W.↗

Human-Robot Interaction Directed Research Project

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of navigational guidance (CG and SG) on operator task performance and attention allocation during teleoperation of a robot arm through uplinked commands. Although this study complements the first study on navigational guidance with hand controllers, it is a separate investigation due to the distinction in intended operators (i.e., crewmembers versus ground-operators). A third study looked at superimposed and integrated overlays for teleoperation of a mobile robot using a hand controller. When AR is superimposed on the external world, it appears to be fixed onto the display and internal to the operators' workstation. Unlike superimposed overlays, integrated overlays often appear as three-dimensional objects and move as if part of the external world. Studies conducted in the aviation domain show that integrated overlays can improve situation awareness and reduce the amount of deviation from the optimal path. The purpose of the study was to investigate whether these results apply to HRI tasks, such as navigation with a mobile robot. HRP GAPS This HRI research contributes to closure of HRP gaps by providing information on how display and control characteristics - those related to guidance, feedback, and command modalities - affect operator performance. The overarching goals are to improve interface usability, reduce operator error, and develop candidate guidelines to design effective human-robot interfaces.

Sandor, Aniko↗

Human-Robot Interaction Directed Research Project

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of navigational guidance (CG and SG) on operator task performance and attention allocation during teleoperation of a robot arm through uplinked commands. Although this study complements the first study on navigational guidance with hand controllers, it is a separate investigation due to the distinction in intended operators (i.e., crewmembers versus ground-operators). A third study looked at superimposed and integrated overlays for teleoperation of a mobile robot using a hand controller. When AR is superimposed on the external world, it appears to be fixed onto the display and internal to the operators' workstation. Unlike superimposed overlays, integrated overlays often appear as three-dimensional objects and move as if part of the external world. Studies conducted in the aviation domain show that integrated overlays can improve situation awareness and reduce the amount of deviation from the optimal path. The purpose of the study was to investigate whether these results apply to HRI tasks, such as navigation with a mobile robot.

Sandor, Aniko↗

Using GPS Receiver 1PPS Output to Verify Time Stamp Accuracy and Measure Propagation Delay

A simple pulse overlay circuit using a logic OR gate was developed to overlay a precise leading edge 1 pulse per second time reference marker from a global positioning system receiver onto a non-return -to- zero-level pulse code modulation telemetry data stream to validate time stamp accuracy and measure propagation delay in telemetry equipment. A pulse overlay (PO) circuit was designed to produce a time reference marker within a pulse code modulation (PCM) telemetry data stream that was recorded and analyzed to validate an IRIG Standard 106-17 Chapter 10 recorder’s time stamp accuracy [1]. A manufacturer of a newly purchased Chapter 10 recorder claimed the time stamp accuracy to be better than 10 microseconds (μs) with only IRIG-B120 (IRIG-B) input and better than 1 μs with IRIG-B and one pulse per second (1PPS) inputs. The PO circuit and a Chapter 10 recorder test setup were used to verify the vendor’s data-time synchronization claims and to justify infrastructure upgrade costs to connect additional cables to each purchased recorder. The circuit was also used to measure the propagation delay (PD) of a long distance Telemetry multiplexer/demultiplexer telecommunication system which the manufacturer did not provide a PD specification. Using the one pulse per second time reference marker of the global positioning system receiver and the pulse overlay circuit to overlay the one pulse per second variable pulse width signal into a pulse code modulation telemetry stream provided an excellent means to validate time stamp accuracy within a Chapter 10 recorder and to measure propagation delays within a normal telemetry operating environment. The positive results from the Chapter 10 recorder tests validated the vendor’s claims and justified the implementation to add the one pulse per second signal to the range Chapter 10 recorders. The pulse overlay circuit and test setups defined in this paper can easily be used to measure other telemetry equipment.

Knudtson, Kevin↗

Evaluation and comparison of ERTS measurements of major crops and soil associations for selected sites in the central United States

The author has identified the following significant results. The most significant result was the use of the temporal overlay technique where the computer was used to overlay ERTS-1 data from three different dates (9 Oct., 14 Nov., 2 Dec.). The registration of MSS digital data from different dates was estimated to be accurate within one half resolution element. The temporal overlay capability provides a significant advance in machine-processing of MSS data. It is no longer essential to go through the tedious exercise of locating ground observation sites on the digital data from each ERTS-1 overpass. Once the address of a ground observation site has been located on a digital tape from any ERTS-1 overpass, the overlay technique can be used to locate the same address on a digital tape of MSS data from any other ERTS-1 pass over the same area. The temporal overlay technique also adds a valuable dimension for identifying and mapping changes in vegetation, water, and other dynamic surface features.

Baumgardner, M. F.↗

An interdisciplinary analysis of multispectral satellite data for selected cover types in the Colorado Mountains, using automatic data processing techniques

The author has reported the following significant results. A data set containing SKYLAB, LANDSAT, and topographic data has been overlayed, registered, and geometrically corrected to a scale of 1:24,000. After geometrically correcting both sets of data, the SKYLAB data were overlayed on the LANDSAT data. Digital topographic data were then obtained, reformatted, and a data channel containing elevation information was then digitally overlayed onto the LANDSAT and SKYLAB spectral data. The 14,039 square kilometers involving 2,113, 776 LANDSAT pixels represents a relatively large data set available for digital analysis. The overlayed data set enables investigators to numerically analyze and compare two sources of spectral data and topographic data from any point in the scene. This capability is new and it will permit a numerical comparison of spectral response with elevation, slope, and aspect. Utilization of the spectral and topographic data together to obtain more accurate classifications of the various cover types present is feasible.

Hoffer, R. M.↗

Computer mapping of LANDSAT data for environmental applications

The author has identified the following significant results. Land cover overlays and maps produced from LANDSAT are providing information on existing land use and resources throughout the 208 study area. The overlays are being used to delineate drainage areas of a predominant land cover type. Information on cover type is also being combined with other pertinent data to develop estimates of sediment and nutrients flows from the drainage area. The LANDSAT inventory of present land cover together with population projects is providing a basis for developing maps of anticipated land use patterns required to evaluate impact on water quality which may result from these patterns. Overlays of forest types were useful for defining wildlife habitat and vegetational resources in the region. LANDSAT data and computer assisted interpretation was found to be a rapid cost effective procedure for inventorying land cover on a regional basis. The entire 208 inventory which include acquisition of ground truth, LANDSAT tapes, computer processing, and production of overlays and coded tapes was completed within a period of 2 months at a cost of about 0.6 cents per acre, a significant improvement in time and cost over conventional photointerpretation and mapping techniques.

Rogers, R. H.↗

LACIE area sampling frame and sample selection

Transparent acetate overlays containing agricultural boundaries within each of the LACIE countries were prepared and registered to operational navigation charts (ONC's). Full frame LANDSAT color-infrared images of the same scale as the ONC's (1:1 million) were used to identify agricultural boundaries based on discernible agricultural field patterns. Preliminary steps taken in the preparation of the base map overlay, and the construction of an overlay of the base map physical features are described as well as the construction of the agricultural and nonagricultural delineation overlay.

Liszcz, C. J.↗

Surface contamination on LDEF exposed materials

X-ray photoelectron spectroscopy (XPS) has been used to study the surface composition and chemistry of Long Duration Exposure Facility (LDEF) exposed materials including silvered Teflon (Ag/FEP), Kapton, S13GLO paint, quartz crystal monitors (QCM's), carbon fiber/organic matrix composites, and carbon fiber/Al Alloy composites. In each set of samples, silicones were the major contributors to the molecular film accumulated on the LDEF exposed surfaces. All surfaces analyzed have been contaminated with Si, O, and C; most have low levels (less than 1 atom percent) of N, S, and F. Occasionally observed contaminants included Cl, Na, K, P, and various metals. Orange/brown discoloration observed near vent slots in some Ag/FEP blankets were higher in carbon, sulfur, and nitrogen relative to other contamination types. The source of contamination has not been identified, but amine/amide functionalities were detected. It is probable that this same source of contamination account for the low levels of sulfur and nitrogen observed on most LDEF exposed surfaces. XPS, which probes 50 to 100 A in depth, detected the major sample components underneath the contaminant film in every analysis. This probably indicates that the contaminant overlayer is patchy, with significant areas covered by less that 100 A of molecular film. Energy dispersive x-ray spectroscopy (EDS) of LDEF exposed surfaces during secondary electron microscopy (SEM) of the samples confirmed contamination of the surfaces with Si and O. In general, particulates were not observed to develop from the contaminant overlayer on the exposed LDEF material surfaces. However, many SiO2 submicron particles were seen on a masked edge of an Ag/FEP blanket. In some cases such as the carbon fiber/organic matrix composites, interpretation of the contamination data was hindered by the lack of good laboratory controls. Examination of laboratory controls for the carbon fiber/Al alloy composites showed that preflight contamination was the most significant factor for all the contaminants generally detected at less than 1 atom percent, or detected only occasionally (i.e., all but Si, O, and C). Flight control surfaces, including sample backsides not exposed to space radiation or atomic oxygen flux, have accumulated some contamination on flight (compared to laboratory controls), but experimentally, the LDEF exposed surface contamination levels are generally higher for the contaminants Si and O. For most materials analyzed, Si contamination levels were higher on the leading edge surfaces than on the trailing edge surfaces. This was true even for the composite samples where considerable atomic oxygen erosion of the leading edge surfaces was observed by SEM. It is probable that the return flux associated with atmospheric backscatter resulted in enhanced deposition of silicones and other contaminants on the leading edge flight surfaces relative to the trailing edge. Although the Si concentration data suggested greater on-flight deposition of contaminants on the leading edge surfaces, the XPS analyses did not conclusively show different relative total thicknesses of flight deposited contamination for leading and trailing edge surfaces. It is possible that atomic oxygen reactions on the leading edge resulted in greater volatilization of the carbon component of the deposited silicones, effectively 'thinning' the leading edge deposited overlayer. Unlike other materials, exposed polymers such as Kapton and FEP-type Teflon had very low contamination on the leading edge surfaces. SEM evidence showed that undercutting of the contaminant overlayer and damaged polymer layers occurred during atomic oxygen erosion, which would enhance loss of material from the exposed surface.

Hemminger, Carol S.↗

CFD Analysis of Tile-Repair Augers for the Shuttle Orbiter Re-Entry Aeroheating

A three-dimensional aerothermodynamic model of the shuttle orbiter's tile overlay repair (TOR) sub-assembly is presented. This sub-assembly, which is an overlay that covers the damaged tiles, is modeled as a protuberance with a constant thickness. The washers and augers that serve as the overlay fasteners are modeled as cylindrical protuberances with constant thicknesses. Entry aerothermodynamic cases are studied to provide necessary inputs for future thermal analyses and to support the space-shuttle return-to-flight effort. The NASA Langley Aerothermodynamic Upwind Relaxation Algorithm (LAURA) is used to calculate heat transfer rate on the surfaces of the tile overlay repair and augers. Gas flow is modeled as non-equilibrium, five species air in thermal equilibrium. Heat transfer rate and surface temperatures are analyzed and studied for a shuttle orbiter trajectory point at Mach 17.85. Computational results show that the average heat transfer rate normalized with respect to its value at body point 1800 is about BF=1.9 for the auger head. It is also shown that the average BF for the auger and washer heads is about BF=2.0.

Mazaheri, Ali R.↗