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At least 1,495 records · Page 83

A teleoperation training simulator with visual and kinesthetic force virtual reality

A force-reflecting teleoperation training simulator with a high-fidelity real-time graphics display has been developed for operator training. A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality. A peg-in-hole task is used in our simulated teleoperation trainer as a generic teleoperation task. A quasi-static analysis of a two-dimensional peg-in-hole task model has been extended to a three-dimensional model analysis to compute contact forces and torques for a virtual realization of kinesthetic force feedback. The simulator allows the user to specify force reflection gains and stiffness (compliance) values of the manipulator hand for both the three translational and the three rotational axes in Cartesian space. Three viewing modes are provided for graphics display: single view, two split views, and stereoscopic view.

Kim, Won S.↗

Theory and observations of electromagnetic ion cyclotron waves in Saturn's inner magnetosphere

High-resolution Voyager 1 magnetic field observations of Saturn's inner magnetosphere are examined for the presence of ULF waves. Quasi-circular left-hand polarized transverse oscillations are found in the near-equatorial region of 5-7 Rs with a wave period about 10 s and peak amplitude of about 2 nT. The wave is identified as the electromagnetic oxygen cyclotron mode occurring at a frequency just below the O(+) ion cyclotron frequency. A theoretical model of wave excitation based on gyroresonant coupling through a temperature anisotropy of O(+) pickup ions is developed which accounts for the principal features of the wave spectrum. It is hypothesized that wave-particle interactions provide a level of scattering commensurate with the weak pitch angle diffusion regime but nonetheless one that regulates and maintains a constant thermal anisotropy of ions along the magnetic field. Arguments are also presented that O(+) was the dominant thermal ion of the Dione-Tethys plasma torus at the time of the Pioneer 11 encounter the year previous to the Voyager 1 measurements.

Barbosa, D. D.↗

Design of an oxygen turbopump for use in an Advanced Expander Test Bed engine

A liquid oxygen (LOX) turbopump with a gaseous hydrogen turbine drive was designed for the Advanced Expander Test Bed (AETB), which is a technology test bed to develop future space engines. This turbopump features a single stage, full admission, high reaction turbine: a three-bladed axial flow inducer, a high efficiency single stage centrifugal pump with an integrally shrouded impeller; an interpropellant seal package with an oxygen vaporizer; and a subcritical rotor with two ball bearings for axial loads and one roller bearing for turbine radial loads. Material selections were based on compatibility with operating fluids and temperatures. The pump was designed to operate over a 20:1 power range with a maximum performance point of 283.0 GPM of liquid oxygen at a pump discharge pressure of 2198 psia, and a shaft speed of 47,914 rpm. The split expander cycle engine and the performance it requires of the LOX turbopump is discussed as well as the design of the turbopump components.

Pattison, William W.↗

Development of a cryogenic hydrogen maser at the NPL

A prototype Cold Hydrogen Maser (CHM) was being developed for the past year. The features of this CHM, which is designed to operate initially at 4.2 K, are the use of low loss alumina, and later sapphire, in the fabrication of the microwave cavity; possible use of superconductors for shielding; use of a cryogenic amplifier; possible coating material; and a reliable RF discharge circuit for the dissociation of hydrogen. A numerical simulation was performed to find the dimensions of the microwave cavity for the TE011 mode and the model was confirmed experimentally. The system will be used to test various wall coatings adsorbed on top of a PTFE buffer underlayer. The CHM is expected to be used as a flywheel frequency standard at the NPL with medium-term stability of one part in 10(exp 14) or better.

Mossavati, R.↗

Determining the 3-D structure and motion of objects using a scanning laser range sensor

In order for the EVAHR robot to autonomously track and grasp objects, its vision system must be able to determine the 3-D structure and motion of an object from a sequence of sensory images. This task is accomplished by the use of a laser radar range sensor which provides dense range maps of the scene. Unfortunately, the currently available laser radar range cameras use a sequential scanning approach which complicates image analysis. Although many algorithms have been developed for recognizing objects from range images, none are suited for use with single beam, scanning, time-of-flight sensors because all previous algorithms assume instantaneous acquisition of the entire image. This assumption is invalid since the EVAHR robot is equipped with a sequential scanning laser range sensor. If an object is moving while being imaged by the device, the apparent structure of the object can be significantly distorted due to the significant non-zero delay time between sampling each image pixel. If an estimate of the motion of the object can be determined, this distortion can be eliminated; but, this leads to the motion-structure paradox - most existing algorithms for 3-D motion estimation use the structure of objects to parameterize their motions. The goal of this research is to design a rigid-body motion recovery technique which overcomes this limitation. The method being developed is an iterative, linear, feature-based approach which uses the non-zero image acquisition time constraint to accurately recover the motion parameters from the distorted structure of the 3-D range maps. Once the motion parameters are determined, the structural distortion in the range images is corrected.

Nandhakumar, N.↗

PCIPS 2.0: Powerful multiprofile image processing implemented on PCs

Over the years, the processing power of personal computers has steadily increased. Now, 386- and 486-based PC's are fast enough for many image processing applications, and inexpensive enough even for amateur astronomers. PCIPS is an image processing system based on these platforms that was designed to satisfy a broad range of data analysis needs, while requiring minimum hardware and providing maximum expandability. It will run (albeit at a slow pace) even on a 80286 with 640K memory, but will take full advantage of bigger memory and faster CPU's. Because the actual image processing is performed by external modules, the system can be easily upgraded by the user for all sorts of scientific data analysis. PCIPS supports large format lD and 2D images in any numeric type from 8-bit integer to 64-bit floating point. The images can be displayed, overlaid, printed and any part of the data examined via an intuitive graphical user interface that employs buttons, pop-up menus, and a mouse. PCIPS automatically converts images between different types and sizes to satisfy the requirements of various applications. PCIPS features an API that lets users develop custom applications in C or FORTRAN. While doing so, a programmer can concentrate on the actual data processing, because PCIPS assumes responsibility for accessing images and interacting with the user. This also ensures that all applications, even custom ones, have a consistent and user-friendly interface. The API is compatible with factory programming, a metaphor for constructing image processing procedures that will be implemented in future versions of the system. Several application packages were created under PCIPS. The basic package includes elementary arithmetics and statistics, geometric transformations and import/export in various formats (FITS, binary, ASCII, and GIF). The CCD processing package and the spectral analysis package were successfully used to reduce spectra from the Nordic Telescope at La Palma. A photometry package is also available, and other packages are being developed. A multitasking version of PCIPS that utilizes the factory programming concept is currently under development. This version will remain compatible (on the source code level) with existing application packages and custom applications.

Smirnov, O. M.↗

Wake Vortex Field Measurement Program at Memphis, Tennessee: Data Guide

Eliminating or reducing current restrictions in the air traffic control system due to wake vortex considerations would yield increased capacity, decreased delays, and cost savings. Current wake vortex separation standards are widely viewed as very conservative under most conditions. However, scientific uncertainty about wake vortex behavior under different atmospheric conditions remains a barrier to development of an adaptive vortex spacing system. The objective of the wake vortex field measurement efforts during December, 1994 and August, 1995 at Memphis, TN were to record wake vortex behavior for varying atmospheric conditions and types of aircraft. This effort is part of a larger effort by the NASA Langley Research Center to develop an Aircraft Vortex Spacing System (AVOSS) as an element of the Terminal Area Productivity (TAP) program. The TAP program is being performed in concert with the FAA Terminal Air Traffic Control Automation (TATCA) program and ATC Automation. Wake vortex behavior was observed using a mobile continuous-wave (CW) coherent laser Doppler radar (lidar) developed at Lincoln Laboratory. This lidar features a number of improvements over previous systems, including the first-ever demonstration of an automatic wake vortex detection and tracking algorithm.

Campbell, S. D.↗

Supporting the Growing Needs of the GIS Industry

Visual Learning Systems, Inc. (VLS), of Missoula, Montana, has developed a commercial software application called Feature Analyst. Feature Analyst was conceived under a Small Business Innovation Research (SBIR) contract with NASA's Stennis Space Center, and through the Montana State University TechLink Center, an organization funded by NASA and the U.S. Department of Defense to link regional companies with Federal laboratories for joint research and technology transfer. The software provides a paradigm shift to automated feature extraction, as it utilizes spectral, spatial, temporal, and ancillary information to model the feature extraction process; presents the ability to remove clutter; incorporates advanced machine learning techniques to supply unparalleled levels of accuracy; and includes an exceedingly simple interface for feature extraction.

Source record↗

Thrust Stand for Electric Propulsion Performance Evaluation

An electric propulsion thrust stand capable of supporting thrusters with total mass of up to 125 kg and 1 mN to 1 N thrust levels has been developed and tested. The mechanical design features a conventional hanging pendulum arm attached to a balance mechanism that transforms horizontal motion into amplified vertical motion, with accommodation for variable displacement sensitivity. Unlike conventional hanging pendulum thrust stands, the deflection is independent of the length of the pendulum arm, and no reference structure is required at the end of the pendulum. Displacement is measured using a non-contact, optical linear gap displacement transducer. Mechanical oscillations are attenuated using a passive, eddy current damper. An on-board microprocessor-based level control system, which includes a two axis accelerometer and two linear-displacement stepper motors, continuously maintains the level of the balance mechanism - counteracting mechanical %era drift during thruster testing. A thermal control system, which includes heat exchange panels, thermocouples, and a programmable recirculating water chiller, continuously adjusts to varying thermal loads to maintain the balance mechanism temperature, to counteract thermal drifts. An in-situ calibration rig allows for steady state calibration both prior to and during thruster testing. Thrust measurements were carried out on a well-characterized 1 kW Hall thruster; the thrust stand was shown to produce repeatable results consistent with previously published performance data.

Markusic, T. E.↗

Rapid Prototyping of an Aircraft Model in an Object-Oriented Simulation

A team was created to participate in the Mars Scout Opportunity. Trade studies determined that an aircraft provided the best opportunity to complete the science objectives of the team. A high fidelity six degree of freedom flight simulation was required to provide credible evidence that the aircraft design fulfilled mission objectives and to support the aircraft design process by providing performance evaluations. The team created the simulation using the Langley Standard Real-Time Simulation in C++ (LaSRS++) application framework. A rapid prototyping approach was necessary because the team had only three months to both develop the aircraft simulation model and evaluate aircraft performance as the design and mission parameters matured. The design of LaSRS++ enabled rapid-prototyping in several ways. First, the framework allowed component models to be designed, implemented, unit-tested, and integrated quickly. Next, the framework provides a highly reusable infrastructure that allowed developers to maximize code reuse while concentrating on aircraft and mission specific features. Finally, the framework reduces risk by providing reusable components that allow developers to build a quality product with a compressed testing cycle that relies heavily on unit testing of new components.

Kenney, P. Sean↗

Ceratopteris richardii: a productive model for revealing secrets of signaling and development

Ceratopteris richardii is an aquatic fern grown in tropical and subtropical regions of the world. It is proven to be a productive model system for studies in the genetics, biochemistry, and cell biology of basic biologic processes that occur in early gametophytic development. It provides several advantages to biologists, especially those interested in gravitational biology, polarity development, and in the genetics of sexual development. It is easy to culture, has a relatively short life cycle, and offers an array of attractive features that facilitate genetic studies. The germination and early development of large populations of genetically identical spores are easy to synchronize, and both the direction of polarity development and cell-level gravity responses can be measured and readily manipulated within the first 24 h of spore development. Although there is no reliable transformation system available yet in Ceratopteris, recent studies suggest that the technique of RNA interference can be used to block translation of specific genes in a related fern, Marsilea, and current studies will soon reveal the applicability of this approach, as well as of other transformation approaches, in Ceratopteris. A recently completed expressed sequence tag (EST) sequencing project makes available the partial sequence of more than 2000 cDNAs, representing a significant percentage of the genes being expressed during the first 24 h of spore germination, when many developmentally interesting processes are occurring. A microarray of these ESTs is being constructed, so especially for those scientists interested in basic cellular phenomena that occur early in spore germination, the availability of the ESTs and of the microarray will make Ceratopteris an even more attractive model system.

NASA Discipline Plant Biology↗

Transposable elements as a molecular evolutionary force

This essay addresses the paradoxes of the complex and highly redundant genomes. The central theses developed are that: (1) the distinctive feature of complex genomes is the existence of epigenetic mechanisms that permit extremely high levels of both tandem and dispersed redundancy; (2) the special contribution of transposable elements is to modularize the genome; and (3) the labilizing forces of recombination and transposition are just barely contained, giving a dynamic genetic system of ever increasing complexity that verges on the chaotic.

Review↗

Noachian-Hesperian Transition and a Possible Climatic Optimum: Evidence from Landforms

A climatic optimum? The often strong contrast between the pristine and degraded Noachian channels and craters might be due to a gradual climatic change superimposed upon an episode of mantling associated with early Hesperian volcanism. On the other hand, one or more episodes of volcanism or large impacts could have induced global warming and produced a relatively short-lived optimum for precipitation and runoff. The rapid cutoff of fluvial activity following the development of the later pristine fluvial features is consistent with this scenario. We discuss the changing style of erosion in the highlands during the Noachian and early Hesperian in a companion abstract to this workshop. Here we review the some of the morphologic evidence for a possible Noachian-Hesperian (N-H) climate optimum.

Moore, J. M.↗

Parallel, Gradient-Based Anisotropic Mesh Adaptation for Re-entry Vehicle Configurations

Two gradient-based adaptation methodologies have been implemented into the Fun3d refine GridEx infrastructure. A spring-analogy adaptation which provides for nodal movement to cluster mesh nodes in the vicinity of strong shocks has been extended for general use within Fun3d, and is demonstrated for a 70 sphere cone at Mach 2. A more general feature-based adaptation metric has been developed for use with the adaptation mechanics available in Fun3d, and is applicable to any unstructured, tetrahedral, flow solver. The basic functionality of general adaptation is explored through a case of flow over the forebody of a 70 sphere cone at Mach 6. A practical application of Mach 10 flow over an Apollo capsule, computed with the Felisa flow solver, is given to compare the adaptive mesh refinement with uniform mesh refinement. The examples of the paper demonstrate that the gradient-based adaptation capability as implemented can give an improvement in solution quality.

Bibb, Karen L.↗

Current results from a Rover Science Data Analysis System

In this paper, we provide a brief overview of the OASIS system, and then describe our recent successes in integrating with and using rover hardware. OASIS currently works in a closed loop fashion with onboard control software (e.g., navigation and vision) and has the ability to autonomously perform the following sequence of steps: analyze gray scale images to find rocks, extract the properties of the rocks, identify rocks of interest, retask the rover to take additional imagery of the identified target and then allow the rover to continue on its original mission. We also describe the early 2004 ground test validation of specific OASIS components on selected Mars Exploration Rover (MER) images. These components include the rockfinding algorithm, RockIT, and the rock size feature extraction code. Our team also developed the RockIT GUI, an interface that allows users to easily visualize and modify the rock-finder results. This interface has allowed us to conduct preliminary testing and validation of the rockfinder's performance.

Coupled Layer Architecture for Robotic Autonomy (C↗

Improved Underwater Excitation-Emission Matrix Fluorometer

A compact, high-resolution, two-dimensional excitation-emission matrix fluorometer (EEMF) has been designed and built specifically for use in identifying and measuring the concentrations of organic compounds, including polluting hydrocarbons, in natural underwater settings. Heretofore, most EEMFs have been designed and built for installation in laboratories, where they are used to analyze the contents of samples collected in the field and brought to the laboratories. Because the present EEMF can be operated in the field, it is better suited to measurement of spatially and temporally varying concentrations of substances of interest. In excitation-emission matrix (EEM) fluorometry, fluorescence is excited by irradiating a sample at one or more wavelengths, and the fluorescent emission from the sample is measured at multiple wavelengths. When excitation is provided at only one wavelength, the technique is termed one-dimensional (1D) EEM fluorometry because the resulting matrix of fluorescence emission data (the EEM) contains only one row or column. When excitation is provided at multiple wavelengths, the technique is termed two-dimensional (2D) EEM fluorometry because the resulting EEM contains multiple rows and columns. EEM fluorometry - especially the 2D variety - is well established as a means of simultaneously detecting numerous dissolved and particulate compounds in water. Each compound or pool of compounds has a unique spectral fluorescence signature, and each EEM is rich in information content, in that it can contain multiple fluorescence signatures. By use of deconvolution and/or other mixture-analyses techniques, it is often possible to isolate the spectral signature of compounds of interest, even when their fluorescence spectra overlap. What distinguishes the present 2D EEMF over prior laboratory-type 2D EEMFs are several improvements in packaging (including a sealed housing) and other aspects of design that render it suitable for use in natural underwater settings. In addition, the design of the present 2D EEMF incorporates improvements over the one prior commercial underwater 2D EEMF, developed in 1994 by the same company that developed the present one. Notable advanced features of the present EEMF include the following: 1) High sensitivity and spectral resolution are achieved by use of an off-the-shelf grating spectrometer equipped with a sensor in the form of a commercial astronomical- grade 256 532-pixel charge-coupled-device (CCD) array. 2) All of the power supply, timing, control, and readout circuits for the illumination source and the CCD, ancillary environmental monitoring sensors, and circuitry for controlling a shutter or filter motor are custom-designed and mounted compactly on three circuit boards below a fourth circuit board that holds the CCD (see figure). 3) The compactness of the grating spectrometer, CCD, and circuit assembly makes it possible to fit the entire instrument into a compact package that is intended to be maneuverable underwater by one person. 4) In mass production, the cost of the complete instrument would be relatively low - estimated at approximately $30,000 at 2005 prices.

Moore, Casey↗

Integrated-Optic Oxygen Sensors

Compact optical oxygen sensors with self-calibration capabilities are undergoing development. A sensor of this type features a single-chip, integrated-optic design implemented by photolithographic fabrication of optical waveguides in a photosensitive porous glass. The porosity serves as both a matrix for retention of an oxygen-sensitive fluorescent indicator chemical and a medium for diffusion of oxygen to the chemical from the ambient air to be monitored. Each sensor includes at least one such waveguide exposed to the atmosphere and at least one covered with metal for isolation from the atmosphere. The covered one serves as a reference channel. In operation, the concentration of oxygen is deduced from the intensity and lifetime of the fluorescence in the exposed channel, with the help of calibration data acquired via the reference channel. Because the sensory chemical is placed directly in and throughout the cross section of the light path, approximately 99 percent of the light in the waveguide is available for interaction with the chemical, in contradistinction to only about 1 percent of the light in an optical sensor that utilizes evanescentwave coupling. Hence, a sensor of this type is significantly more sensitive.

Mendoza, Edgar A.↗

Validating Phasing and Geometry of Large Focal Plane Arrays

The Kepler Mission is designed to survey our region of the Milky Way galaxy to discover hundreds of Earth-sized and smaller planets in or near the habitable zone. The Kepler photometer is an array of 42 CCDs (charge-coupled devices) in the focal plane of a 95-cm Schmidt camera onboard the Kepler spacecraft. Each 50x25-mm CCD has 2,200 x 1,024 pixels. The CCDs accumulate photons and are read out every six seconds to prevent saturation. The data is integrated for 30 minutes, and then the pixel data is transferred to onboard storage. The data is subsequently encoded and transmitted to the ground. During End-to-End Information System (EEIS) testing of the Kepler Mission System (KMS), there was a need to verify that the pixels requested by the science team operationally were correctly collected, encoded, compressed, stored, and transmitted by the FS, and subsequently received, decoded, uncompressed, and displayed by the Ground Segment (GS) without the outputs of any CCD modules being flipped, mirrored, or otherwise corrupted during the extensive FS and GS processing. This would normally be done by projecting an image on the focal plane array (FPA), collecting the data in a flight-like way, and making a comparison between the original data and the data reconstructed by the science data system. Projecting a focused image onto the FPA through the telescope would normally involve using a collimator suspended over the telescope opening. There were several problems with this approach: the collimation equipment is elaborate and expensive; as conceived, it could only illuminate a limited section of the FPA (.25 percent) during a given test; the telescope cover would have to be deployed during testing to allow the image to be projected into the telescope; the equipment was bulky and difficult to situate in temperature-controlled environments; and given all the above, test setup, execution, and repeatability were significant concerns. Instead of using this complicated approach of projecting an optical image on the FPA, the Kepler project developed a method using known defect features in the CCDs to verify proper collection and reassembly of the pixels, thereby avoiding the costs and risks of the optical projection approach. The CCDs composing the Kepler FPA, as all CCDs, had minor defects. At ambient temperature, some pixels look far brighter than they should. These ghot h pixels have a higher rate of charge leakage than the others due to manufacturing variations. They are usually stable over time, and appear at temperatures above 5 oC. The hot pixels on the Kepler FPA were mapped before photometer assembly during module testing. Selected hot pixels were used as target gstars h for the purposes of EEIS testing. gDead h pixels are permanently off, producing a permanently black pixel. These can also be used if there is some illumination of the FPA. During EEIS testing, Dark Current Full Frame Images (FFIs) taken at room temperature were used to create the hot pixel maps for all 84 Kepler photometer CCD channels. Data from two separate nights were used to create two hot pixel maps per channel, which were cross-correlated to remove cosmic ray events which appear to be hot pixels. These hot pixel maps obtained during EEIS testing were compared to the maps made during module testing to verify that the end-to-end data flow was correct.

Standley, Shaun P.↗