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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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The topics are presented in viewgraph form and include: WBS program goal roadmap; integrated software environment; modeling software; control design interface; real time simulation; and graphics workstation.
The problem of controlling a failed joint of a space manipulator is addressed. It is shown that failure-recovery control is possible when dynamic coupling exists between the link whose joint has failed and some other link whose joint is working and when the system inertia matrix is invariant with respect to the failed joint angle. A failure-recovery control technique is developed and applied to two simple examples.
The objective was to devise a method to determine the position and orientation of the links of a PUMA 560 using fiducial marks. As a result, it is necessary to design fiducial marks and a corresponding feature extraction algorithm. The marks used are composites of three basic shapes, a circle, an equilateral triangle and a square. Once a mark is imaged, it is thresholded and the borders of each shape are extracted. These borders are subsequently used in a feature extraction algorithm. Two feature extraction algorithms are used to determine which one produces the most reliable results. The first algorithm is based on moment invariants and the second is based on the discrete version of the psi-s curve of the boundary. The latter algorithm is clearly superior for this application.
The work on the serpentine inspection system at JPL is described. The configuration of the inspection system consists of 20 degrees of freedom in total. In particular, the design and development of the serpentine micromanipulator end-effector tool which has 12 degrees of freedom is described. The inspection system is used for application in JPL's Remote Surface Inspection project and as a research tool in redundant manipulator control.
A Microscope Imaging System (CMIS) with intelligent controls is disclosed that provides techniques for scanning, identifying, detecting and tracking microscopic changes in selected characteristics or features of various surfaces including, but not limited to, cells, spheres, and manufactured products subject to difficult-to-see imperfections. The practice of the present invention provides applications that include colloidal hard spheres experiments, biological cell detection for patch clamping, cell movement and tracking, as well as defect identification in products, such as semiconductor devices, where surface damage can be significant, but difficult to detect. The CMIS system is a machine vision system, which combines intelligent image processing with remote control capabilities and provides the ability to autofocus on a microscope sample, automatically scan an image, and perform machine vision analysis on multiple samples simultaneously.
We present basic information on different types of radiation effects, including total ionizing dose, displacement damage, and single-event effects. The content is designed to educate space weather professionals, space operations professionals, and other science and engineering stakeholders.
We present basic information on different types of radiation effects, including total ionizing dose, displacement damage, and single-event effects. The content is designed to educate space weather professionals, space operations professionals, and other science and engineering stakeholders.
Over the course of more than 10 years of continuous operations on the Martian surface, the operations team for the Mars Exploration Rovers has encountered and overcome many challenges. The twin rovers, Spirit and Opportunity, designed for a Martian surface mission of three months in duration, far outlived their life expectancy. Spirit explored for six years and Opportunity still operates and, in January 2014, celebrated the 10th anniversary of her landing. As with any machine that far outlives its design life, each rover has experienced a series of failures and degradations attributable to age, use, and environmental exposure. This paper reviews the failures and degradations experienced by the two rovers and the measures taken by the operations team to correct, mitigate, or surmount them to enable continued exploration and discovery.
Describes NASA autonomous systems scope and possible tech demos for the future Deep Space Gateway.
In this paper we will discuss the Ranger system architecture, rendering performance, current use cases and deployments, system development challenges, as well as a newly implemented fully immersive VR system capability.
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