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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 1,189 records · Page 66
All sourcesNASA NTRSDOE OSTI
DOE OSTI2019

Challenges and opportunities in attosecond and XFEL science

In 2009, the world’s first hard X-FEL brought a ten-billion-fold gain in X-ray peak brightness. This fuelled the avidly pursued, but still elusive, dream of single-shot imaging of non-crystalline samples with near-atomic resolution. The overarching concept of ‘diffract-before-destroy’ imaging is that a powerful burst of ultrafast X-rays can produce a coherent diffraction pattern of a nanoscale object — before the object explodes due to Coulomb repulsion caused by a massively parallel ionization of the atoms in the sample. A collection of snapshots of identical objects in random orientations then provide information from which a 3D structure can be retrieved.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2022

Modeling intrinsic galaxy alignment in the MICE simulation

The intrinsic alignment (IA) of galaxies is potentially a major limitation in deriving cosmological constraints from weak lensing surveys. In order to investigate this effect, we assign intrinsic shapes and orientations to galaxies in the light-cone output of the MICE simulation, spanning ~ 5000 deg 2 and reaching redshift Z = 1.4. This assignment is based on a semianalytic IA model that uses photometric properties of galaxies as well as the spin and shape of their host halos. Advancing on previous work, we include more realistic distributions of galaxy shapes and a luminosity-dependent galaxy-halo alignment. The IA model parameters are calibrated against COSMOS and BOSS LOWZ observations. The null detection of IA in observations of blue galaxies is accounted for by setting random orientations for these objects. We compare the two-point alignment statistics measured in the simulation against predictions from the analytical IA models NLA and TATT over a wide range of scales, redshifts, and luminosities for red and blue galaxies separately. We find that both models fit the measurements well at scales above 8h -1 Mpc, while TATT outperforms NLA at smaller scales. The IA parameters derived from our fits are in broad agreement with various observational constraints from red galaxies. Finally, we build a realistic source sample, mimicking DES Year 3 observations and use it to predict the IA contamination to the observed shear statistics. We find this prediction to be within the measurement uncertainty, which might be a consequence of the random alignment of blue galaxies in the simulation.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2021

Pushing the Limits of High-speed X-ray Tomography to See the Unknown

First-of-their kind datasets from a high-speed X-ray tomography system were collected, and a novel numerical effort utilizing temporal information to reduce measurement uncertainty was shown. The experimental campaign used three high-speed X-ray imaging systems to collect data at 100 kHz of a scene containing high-velocity objects. The scene was a group of known objects propelled by a 12-gauge shotgun shell reaching speeds of hundreds of meters per second. These data represent a known volume where the individual components are known, with experimental uncertainties that can be used for reconstruction algorithm validation. The numerical effort used synthetic volumes in MATLAB to produce projections along known lines of sight to perform tomographic reconstructions. These projections and reconstructions were performed on a single object at two orientations, representing two timesteps, to increase the reconstruction accuracy.

36 MATERIALS SCIENCE↗
NASA NTRS1974

Errors induced in the measurement and azimuth directions of morphological features imaged on oblique Lunar Orbiter photographs

Many quantitative lunar studies, e.g., the morphology and dimensions of craters, crater density and distribution, have been performed using oblique Lunar Orbiter photographs. If the inherent change in scale and azimuth direction of features imaged on these photographs are not corrected, the measurement can be in considerable error and the resulting statistical inferences may be invalid. The magnitude of this error is dependent upon: the depression angle of the camera, the flight height of the spacecraft, the focal length of the camera, and the position and orientation of the object on the ground. The errors introduced by using unrectified oblique photographs as though they were vertical photographs are examined for several Lunar Orbiter high resolution NASA LRC Enhancement photographic prints taken at various depression angles.

Siegal, B. S.↗
NASA NTRS1981

Marking parts to aid robot vision

The premarking of parts for subsequent identification by a robot vision system appears to be beneficial as an aid in the automation of certain tasks such as construction in space. A simple, color coded marking system is presented which allows a computer vision system to locate an object, calculate its orientation, and determine its identity. Such a system has the potential to operate accurately, and because the computer shape analysis problem has been simplified, it has the ability to operate in real time.

Bales, J. W.↗
NASA NTRS1981

Superflux I, II, and III experiment design: Remote sensing aspects

The Chesapeake Bay plume study called Superflux is described. The study was initiated to incorporate the disciplines of both resources management and remote sensing in accomplishing the following objectives: (1) process oriented research to understand the impact of estuarine outflows on continental shelf ecosystems; (2) monitoring and assessment to delineate the role of remote sensing in future monitoring and assessment programs; and (3) remote sensing research: to advance the state of the art in remote sensing systems as applied to sensing of the marine environment, thereby hastening the day when remote sensing can be used operationally for monitoring and assessment and for process oriented research.

Campbell, J. W.↗
NASA NTRS1987

Monovision techniques for telerobots

The primary task of the vision sensor in a telerobotic system is to provide information about the position of the system's effector relative to objects of interest in its environment. The subtasks required to perform the primary task include image segmentation, object recognition, and object location and orientation in some coordinate system. The accomplishment of the vision task requires the appropriate processing tools and the system methodology to effectively apply the tools to the subtasks. This paper describes the functional structure of the telerobotic vision system used in the Langley Research Center's (LaRC) Intelligent Systems Research Laboratory (ISRL) and discusses two monovision techniques for accomplishing the vision subtasks.

Goode, Plesent W.↗
NASA NTRS1987

Monovision techniques for telerobots

The primary task of the vision sensor in a telerobotic system is to provide information about the position of the system's effector relative to objects of interest in its environment. The subtasks required to perform the primary task include image segmentation, object recognition, and object location and orientation in some coordinate system. The accomplishment of the vision task requires the appropriate processing tools and the system methodology to effectively apply the tools to the subtasks. The functional structure of the telerobotic vision system used in the Langley Research Center's Intelligent Systems Research Laboratory is discussed as well as two monovision techniques for accomplishing the vision subtasks.

Goode, P. W.↗
NASA NTRS1987

A learning controller for nonrepetitive robotic operation

A practical learning control system is described which is applicable to complex robotic and telerobotic systems involving multiple feedback sensors and multiple command variables. In the controller, the learning algorithm is used to learn to reproduce the nonlinear relationship between the sensor outputs and the system command variables over particular regions of the system state space, rather than learning the actuator commands required to perform a specific task. The learned information is used to predict the command signals required to produce desired changes in the sensor outputs. The desired sensor output changes may result from automatic trajectory planning or may be derived from interactive input from a human operator. The learning controller requires no a priori knowledge of the relationships between the sensor outputs and the command variables. The algorithm is well suited for real time implementation, requiring only fixed point addition and logical operations. The results of learning experiments using a General Electric P-5 manipulator interfaced to a VAX-11/730 computer are presented. These experiments involved interactive operator control, via joysticks, of the position and orientation of an object in the field of view of a video camera mounted on the end of the robot arm.

Miller, W. T., III↗
NASA NTRS1989

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.↗
NASA NTRS1992

Large-gap magnetic positioning system having advantageous configuration

A magnetic configuration was devised in which the positioned object is maintained in a stable orientation and position on one side of an opaque plane surface entirely by means of magnetic components on the other side of the plane. The system is effective with or without gravity, and can operate in any orientation. In this system, the positioned object need only contain a simple dipole magnet. The positioning components consist of a group of permanent magnets creating a magnetic field configuration which stabilizes the levitated dipole in all but one degree of freedom, and a magnetic position sensing and force feedback system to actively stabilize the object in the one unstable direction. The system utilizes very low power at equilibrium and can maintain gaps of 50 mm.

Chong, Paul↗
NASA NTRS1992

A new method for recognizing quadric surfaces from range data and its application to telerobotics and automation

Pose and orientation of an object is one of the central issues in 3-D recognition problems. Most of today's available techniques require considerable pre-processing such as detecting edges or joints, fitting curves or surfaces to segment images, and trying to extract higher order features from the input images. We present a method based on analytical geometry, whereby all the rotation parameters of any quadric surface are determined and subsequently eliminated. This procedure is iterative in nature and was found to converge to the desired results in as few as three iterations. The approach enables us to position the quadric surface in a desired coordinate system, and then to utilize the presented shape information to explicitly represent and recognize the 3-D surface. Experiments were conducted with simulated data for objects such as hyperboloid of one and two sheets, elliptic and hyperbolic paraboloid, elliptic and hyperbolic cylinders, ellipsoids, and quadric cones. Real data of quadric cones and cylinders were also utilized. Both of these sets yielded excellent results.

Alvertos, Nicolas↗
NASA NTRS1993

Supervisory autonomous local-remote control system design: Near-term and far-term applications

The JPL Supervisory Telerobotics Laboratory (STELER) has developed a unique local-remote robot control architecture which enables management of intermittent bus latencies and communication delays such as those expected for ground-remote operation of Space Station robotic systems via the TDRSS communication platform. At the local site, the operator updates the work site world model using stereo video feedback and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. The operator can then employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the object under any degree of time-delay. The remote site performs the closed loop force/torque control, task monitoring, and reflex action. This paper describes the STELER local-remote robot control system, and further describes the near-term planned Space Station applications, along with potential far-term applications such as telescience, autonomous docking, and Lunar/Mars rovers.

Zimmerman, Wayne↗
NASA NTRS1993

Telerobot local-remote control architecture for space flight program applications

The JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.

Zimmerman, Wayne↗
NASA NTRS1996

Facilitation techniques as predictors of crew participation in LOFT debriefings

Based on theories of adult learning and airline industry guidelines for Crew Resource Management (CRM), the stated objective during Line Oriented Flight Training (LOFT) debriefings is for instructor pilots (IP's) to facilitate crew self-analysis of performance. This study reviews 19 LOFT debriefings from two major U.S. airlines to examine the relationship between IP efforts at facilitation and associated characteristics of crew participation. A subjective rating scale called the Debriefing Assessment Battery was developed and utilized to evaluate the effectiveness of IP facilitation and the quality of crew participation. The results indicate that IP content, encouragement, and questioning techniques are highly and significantly correlated with, and can therefore predict, the degree and depth of crew participation.

McDonnell, L. K.↗
NASA NTRS2014

The Effect of Experimental Variables on Industrial X-Ray Micro-Computed Sensitivity

A study was performed on the effect of experimental variables on radiographic sensitivity (image quality) in x-ray micro-computed tomography images for a high density thin wall metallic cylinder containing micro-EDM holes. Image quality was evaluated in terms of signal-to-noise ratio, flaw detectability, and feature sharpness. The variables included: day-to-day reproducibility, current, integration time, voltage, filtering, number of frame averages, number of projection views, beam width, effective object radius, binning, orientation of sample, acquisition angle range (180deg to 360deg), and directional versus transmission tube.

X-ray Computed Tomography↗