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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 1,171 records · Page 65

All sources NASA NTRS DOE OSTI

NASA NTRS1997

Sensory Interactive Teleoperator Robotic Grasping

As the technological world strives for efficiency, the need for economical equipment that increases operator proficiency in minimal time is fundamental. This system links a CCD camera, a controller and a robotic arm to a computer vision system to provide an alternative method of image analysis. The machine vision system which was employed possesses software tools for acquiring and analyzing images which are received through a CCD camera. After feature extraction on the object in the image was performed, information about the object's location, orientation and distance from the robotic gripper is sent to the robot controller so that the robot can manipulate the object.

Alark, Keli↗

NASA NTRS1991

Frames of reference for helicopter electronic maps - The relevance of spatial cognition and componential analysis

Computer-generated map displays for NOE and low-level helicopter flight were formed according to prior research on maps, navigational problem solving, and spatial cognition in large-scale environments. The north-up map emphasized consistency of object location, wheareas, the track-up map emphasized map-terrain congruency. A component analysis indicates that different cognitive components, e.g., orienting and absolute object location, are supported to varying degrees by properties of different frames of reference.

Harwood, Kelly↗

NASA NTRS1990

Remote object configuration/orientation determination

This invention relates to object detection and location systems and, more particularly, to a method for determining the configuration and location of an object with respect to an X, Y, X coordinate frame. In space applications in particular, there is a need to be able to passively determine the orientation of an object at a distance, for example, in the control of large, flexible space structures. At present, there is no available method or apparatus which will allow the operator to make such a determination. A similar problem and need exists in robotic application. It is the primary object of this invention to provide a system for remotely defining an object's configuration in a manner compatible with a computer's analytical capability.

Schumacher, Larry L.↗

NASA NTRS1990

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

Koningstein, Ross↗

NASA NTRS1991

Apparent extended body motions in depth

Five experiments were designed to investigate the influence of three-dimensional (3-D) orientation change on apparent motion. Projections of an orientation-specific 3-D object were sequentially flashed in different locations and at different orientations. Such an occurrence could be resolved by perceiving a rotational motion in depth around an axis external to the object. Consistent with this proposal, it was found that observers perceived curved paths in depth. Although the magnitude of perceived trajectory curvature often fell short of that required for rotational motions in depth (3-D circularity), judgments of the slant of the virtual plane on which apparent motions occurred were quite close to the predictions of a model that proposes circular paths in depth.

Hecht, Heiko↗

NASA NTRS1990

Tele-Autonomous control involving contact

Object localization and its application in tele-autonomous systems are studied. Two object localization algorithms are presented together with the methods of extracting several important types of object features. The first algorithm is based on line-segment to line-segment matching. Line range sensors are used to extract line-segment features from an object. The extracted features are matched to corresponding model features to compute the location of the object. The inputs of the second algorithm are not limited only to the line features. Featured points (point to point matching) and featured unit direction vectors (vector to vector matching) can also be used as the inputs of the algorithm, and there is no upper limit on the number of the features inputed. The algorithm will allow the use of redundant features to find a better solution. The algorithm uses dual number quaternions to represent the position and orientation of an object and uses the least squares optimization method to find an optimal solution for the object's location. The advantage of using this representation is that the method solves for the location estimation by minimizing a single cost function associated with the sum of the orientation and position errors and thus has a better performance on the estimation, both in accuracy and speed, than that of other similar algorithms. The difficulties when the operator is controlling a remote robot to perform manipulation tasks are also discussed. The main problems facing the operator are time delays on the signal transmission and the uncertainties of the remote environment. How object localization techniques can be used together with other techniques such as predictor display and time desynchronization to help to overcome these difficulties are then discussed.

Shao, Lejun↗

NASA NTRS2000

A NASA Spaceliner 100 Propulsion Oriented Technology Assessment

The objective of this presentation is to provide an understanding of the products of the technology assessment and prioritization workshop, increase knowledge of the assessment process utilized, and stimulate interest in applying this process to many other space endeavors.

Source record↗

NASA NTRS2016

Erosion Data from the MISSE 8 Polymers Experiment After 2 Years of Space Exposure on the International Space Station

The Polymers Experiment was exposed to the low Earth orbit (LEO) space environment for 2.14 and 2.0 years as part of the Materials International Space Station Experiment 8 (MISSE 8) and the Optical Reflector Materials Experiment-III (ORMatE-III), respectively. The experiment contained 42 samples, which were flown in either ram, wake, or zenith orientations. The primary objective was to determine the effect of solar exposure on the atomic oxygen erosion yield (Ey) of fluoropolymers. This paper provides an overview of the experiment with details on the polymers flown, the characterization techniques used, the atomic oxygen fluence for each exposure orientation, and the LEO Ey results. The Ey values for the fluoropolymers range from 1.45 x 10(exp -25) cm(exp 3)/atom for white Tedlar Registered Trademark (polyvinyl fluoride with white titanium dioxide pigment) flown in the ram orientation to 6.32 x 10(exp -24) cm(exp 3)/atom for aluminized-Teflon Registered Trademark fluorinated ethylene propylene (Al-FEP) flown in the zenith orientation. Erosion yield data for FEP flown in ram, wake and zenith orientations are compared, and the Ey was found to be highly dependent on orientation, hence environmental exposure. Teflon FEP had an order of magnitude higher Ey when flown in the zenith direction (6.32 x10(exp -24) cm(exp3)/atom) as compared to the ram direction (2.37 x 10(exp -25) cm(exp 3)/atom). The Ey of FEP was found to increase with a direct correlation to the solar exposure/AO fluence ratio showing the effect of solar radiation and/or heating due to solar exposure on FEP erosion. In addition, back-surface carbon painted FEP (C-FEP) flown in the zenith orientation had a significantly higher Ey than clear FEP or Al-FEP further indicating that heating has a significant impact on the erosion of FEP, particularly in the zenith orientation.

Solar radiation↗

NASA NTRSDate not supplied

Overview of Results from the MISSE 9-15 Polymers and Composites Experiment 1-4 (PCE 1-4)

Spacecraft in low Earth orbit (LEO) and other planetary orbits are subjected to harsh environmental conditions that can result in erosion, embrittlement and optical property degradation of susceptible materials threatening spacecraft performance and durability. To increase our understanding of space environmental effects on spacecraft materials, NASA Glenn Research Center has developed a series of experiments flown as part of the Materials International Space Station Experiment (MISSE) missions on the exterior of the International Space Station (ISS). Four Glenn experiments with 365 flight samples were flown on ISS’s MISSE-Flight Facility (MISSE-FF). These experiments are the Polymers and Composites Experiment-1 (PCE-1) flown as part of the MISSE-9 mission, the PCE-2 flown as part of the MISSE-10 mission, the PCE-3 flown as part of the MISSE-12 and MISSE-15 missions, and the PCE-4 flown as part of the MISSE-13 mission. The PCE 1-4 flight samples were flown in either ram, wake, zenith or nadir flight orientations. The primary objectives of the PCE 1-4 experiments are to determine the LEO atomic oxygen (AO) erosion yield, Ey (volume loss per incident oxygen atom) and radiation durability of spacecraft polymers, composites and coatings. In addition, each experiment has a wide variety of materials with numerous sample objectives. This presentation provides an overview of the PCE 1-4 experiments, the numerous sample collaborators, the space environmental exposure of the flight samples, and an overview of the post-flight observations and results. The results include AO fluence and contamination analyses for each mission flight orientation, erosion data for the PCE 1-4 AO Ey samples, optical property data, and tensile results for the MISSE-9 and MISSE-13 tensile samples. In addition, an introduction of results from other unique samples such as indium tin oxide (ITO) coated thermal control samples, shape memory polymer composites, melanin based composites, and specialty coatings, will be provided.

Atomic oxygen↗

NASA NTRS1987

Role of orientation reference selection in motion sickness

The objectives of this proposal were developed to further explore and quantify the orientation reference selection abilities of subjects and the relation, if any, between motion sickness and orientation reference selection. The overall objectives of this proposal are to determine (1) if motion sickness susceptibility is related to sensory orientation reference selection abilities of subjects, (2) if abnormal vertical canal-otolith function is the source of these abnormal posture control strategies and if it can be quantified by vestibular and oculomotor reflex measurements, and (3) if quantifiable measures of perception of vestibular and visual motion cues can be related to motion sickness susceptibility and to orientation reference selection ability demonstrated by tests which systematically control the sensory imformation available for orientation.

Peterka, Robert J.↗

DOE OSTI2021

Accurate surface estimation from high-resolution 3D microwave images

Active millimeter and microwave imaging techniques can be used to create a high-resolution 3D image volume of a target’s reflectivity. Millimeter-wave imaging is commonly used for personnel security screening and numerous other applications. Backprojection based image reconstruction techniques form a 3D complex-valued volume. The complex-valued volume is commonly reduced to a real-valued volume by taking the magnitude. For anomaly detection and cross image registration of an object it is beneficial to generate an accurate representation of an object’s surface. Extracting a smooth and accurate surface from a magnitude only image is challenging. One difficulty is the magnitude image has limited resolution in the depth direction which normally limits precision to a moderate fraction of the depth resolution. Another difficulty is that the magnitude of the image depends heavily on the geometry and orientation of the object being imaged. The phase information in a complex-valued image volume provides a means to decouple the magnitude of the image from the geometry of an object and provide precision much finer than the depth resolution would indicate. This enables the generation of a smooth and accurate point cloud representation of the surface of an imaged object. A method to extract a point cloud from the phase information in a 3D complex-valued millimeter-wave image volume is developed and results with simulated and experimental data are presented.

Clark, Richard T.↗

NASA NTRS1989

Near-infrared morphology of protoplanetary nebulae - The icy dust torus of Minkowski's Footprint (M1-92)

High-resolution near-infrared images and ice-band spectra of the protoplanetary nebula M1-92 (Minkowski's Footprint) are presented. The direct images of the object display a typical bipolar morphology with the star located in the center of the nebula illuminating two lobes. The overall dimensions are the same in the J, H, and K infrared bands, and they are similar to those in the optical range. The near-infrared color images clearly reveal a dust torus around the central star. The orientation of the object in the plane of the sky allows the simultaneous view of the illuminating star, the nebular lobes, and the dust torus in a highly favorable perspective, only rarely found in other bipolar nebulae. The ice-band spectra make it possible to locate the H2O-ice grains within the dust torus; in addition, the narrow ice feature indicates that the ices are primarily pure crystalline water.

Eiroa, C.↗

NASA NTRS1988

Attitude control of an object commonly held by multiple robot arms - A Lyapunov approach

Multiple robot arms moving a commonly held object can be viewed as complex actuators whose purpose is to provide net forces and moments to the object. These forces and moments can be used to control the orientation, or attitude, of the object via the Euler equation describing attitude evolution in response to applied moments at the mass center. In contrast to the common approach that feedback-linearizes the attitude dynamics to a double integrator form with respect to some three-parameter local representation of orientation, the authors control the object using a globally nonsingular representation. Using an energy-motivated Liapunov function, globally stable control of attitude is shown.

Kreutz, Kenneth↗

NASA NTRS1960

Space-Environment Simulation at the Lewis Research Center

A knowledge of the environmental conditions in space and an understanding of the possible effect on objects in that environment is necessary in order to make a full-scale, systematic exploration of outer space. Once these conditions have been determined, the understanding of the behavior of objects in space may be gained by simulating the environment in the laboratory and conducting experiments in the simulated environment. Among the conditions in space which have been determined and may be simulated are the pressure, the temperature, and the radiant energy. Quantitatively, simulating these conditions would require a pressure as low as 10 (exp -16) mm Hg, a sink temperature of approximately 30 to 40 K, and radiation similar to that from a 6,000 K black body. The features of the space environment directly affect the thermal balance of the spacecraft. The temperature of the object is that temperature which provides equilibrium between the energy absorbed by the object and the energy emitted by the object. Hence, a knowledge of the absorption and emission characteristics for materials under space environmental conditions must be obtained. High-speed particles may impact and erode the material surfaces and in that way alter the radiation properties of the materials and finally change the equilibrium temperature. Also, since most of the radiant energy (that from the sun) is from one direction, the-heat-transfer within the body will provide surface-temperature variations which depend upon the shape and orientation of the object and the properties of the material. These variations may be effectively studied in the simulated environment. Finally, because of the vacuum the heat transferred to and from the object must be accomplished solely by radiation. Thus, if heat-cycle power-generation equipment is to be used, the necessary rejection of heat must be accomplished by radiation from waste heat radiators whose design must be investigated in order to determine optimum configurations.

Nichols, Lester D.↗

NASA NTRS2010

Planetary Image Geometry Library

The Planetary Image Geometry (PIG) library is a multi-mission library used for projecting images (EDRs, or Experiment Data Records) and managing their geometry for in-situ missions. A collection of models describes cameras and their articulation, allowing application programs such as mosaickers, terrain generators, and pointing correction tools to be written in a multi-mission manner, without any knowledge of parameters specific to the supported missions. Camera model objects allow transformation of image coordinates to and from view vectors in XYZ space. Pointing models, specific to each mission, describe how to orient the camera models based on telemetry or other information. Surface models describe the surface in general terms. Coordinate system objects manage the various coordinate systems involved in most missions. File objects manage access to metadata (labels, including telemetry information) in the input EDRs and RDRs (Reduced Data Records). Label models manage metadata information in output files. Site objects keep track of different locations where the spacecraft might be at a given time. Radiometry models allow correction of radiometry for an image. Mission objects contain basic mission parameters. Pointing adjustment ("nav") files allow pointing to be corrected. The object-oriented structure (C++) makes it easy to subclass just the pieces of the library that are truly mission-specific. Typically, this involves just the pointing model and coordinate systems, and parts of the file model. Once the library was developed (initially for Mars Polar Lander, MPL), adding new missions ranged from two days to a few months, resulting in significant cost savings as compared to rewriting all the application programs for each mission. Currently supported missions include Mars Pathfinder (MPF), MPL, Mars Exploration Rover (MER), Phoenix, and Mars Science Lab (MSL). Applications based on this library create the majority of operational image RDRs for those missions. A Java wrapper around the library allows parts of it to be used from Java code (via a native JNI interface). Future conversions of all or part of the library to Java are contemplated.

Deen, Robert C.↗

NASA NTRS1993

Evaluation of the Shuttle remote manipulator

The objective initially proposed was to analyze shuttle remote manipulator (SRM) performance data collected during a Shuttle Flight. The data was to consist of video TRAC data collected via a video recorder. Unfortunately, the flight never collected the data due to higher priority experiments superseding it. As a result, the research team at Texas A&M was directed to work on several other pressing issues regarding the TRAC sensor. All but one of these issues were reported earlier in the form of periodic status reports. In fulfillment of the grant conditions, the last issue investigated is being reported as the final report. Ordinarily, a TRAC sensor determines the orientation of an object by analyzing the image reflected from a mirror target. The concern addressed is to develop a method for using the TRAC sensor when the target does not reflect a usable image.

Everett, Louis J.↗

NASA NTRS1992

Interactive Scene Analysis Module - A sensor-database fusion system for telerobotic environments

Accomplishing a task with telerobotics typically involves a combination of operator control/supervision and a 'script' of preprogrammed commands. These commands usually assume that the location of various objects in the task space conform to some internal representation (database) of that task space. The ability to quickly and accurately verify the task environment against the internal database would improve the robustness of these preprogrammed commands. In addition, the on-line initialization and maintenance of a task space database is difficult for operators using Cartesian coordinates alone. This paper describes the Interactive Scene' Analysis Module (ISAM) developed to provide taskspace database initialization and verification utilizing 3-D graphic overlay modelling, video imaging, and laser radar based range imaging. Through the fusion of taskspace database information and image sensor data, a verifiable taskspace model is generated providing location and orientation data for objects in a task space. This paper also describes applications of the ISAM in the Intelligent Systems Research Laboratory (ISRL) at NASA Langley Research Center, and discusses its performance relative to representation accuracy and operator interface efficiency.

Cooper, Eric G.↗

DOE OSTI2025

Interactive Rotated Object Detection for Novel Class Detection in Remotely Sensed Imagery

In this paper we propose IRTR-DETR an Interactive and Real-Time Rotated DEtection TRansformer that extends IRTDETR to predict rotated bounding boxes. IRTR-DETR maintains the Human-In-The-Loop (HIL) workflow of IRTDETR but introduces rotation-aware heads for improved detection of objects with arbitrary orientations. Similarly to IRTDETR IRTR-DETR can be trained with a small labeled sample set in an interactive setting but we show that it can also be pretrained on related but not identical data--such as a building damage dataset--before being applied to tasks like identifying buildings under construction. We demonstrate the efficacy of our approach on the publicly available Tiny-DOTA and xBD dataset as well as two study-cases on proprietary datasets of greenhouses and houses under construction ("waffle homes"). Detecting greenhouses is highly relevant in the context of damage assessment while "waffle homes" aid understanding typical floorplans and building codes in different areas both thereby supporting population modeling emergency response and policy planning. Our method outperforms the state of the art in interactive rotated object detection on the Tiny-DOTA dataset by 5.7 percent and improves upon the non interactive RTDETR by 7.85 to 19.39 percent (depending on the number of provided samples) while maintaining its real-time efficiency.

Burges, Marvin [ORNL] (ORCID:0000000312690769)↗