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At least 163 records · Page 9

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DOE OSTI2021

Measurements of Density of Liquid Oxides with an Aero-Acoustic Levitator

Densities of liquid oxide melts with melting temperatures above 2000 °C are required to establish mixing models in the liquid state for thermodynamic modeling and advanced additive manufacturing and laser welding of ceramics. Accurate measurements of molten rare earth oxide density were recently reported from experiments with an electrostatic levitator on board the International Space Station. In this work, we present an approach to terrestrial measurements of density and thermal expansion of liquid oxides from high-speed videography using an aero-acoustic levitator with laser heating and machine vision algorithms. The following density values for liquid oxides at melting temperature were obtained: Y 2 O 3 4.6 ± 0.15; Yb 2 O 3 8.4 ± 0.2; Zr 0.9 Y 0.1 O 1.95 4.7 ± 0.2; Zr 0.95 Y 0.05 O 1.975 4.9 ± 0.2; HfO 2 8.2 ± 0.3 g/cm 3 . The accuracy of density and thermal expansion measurements can be improved by employing backlight illumination, spectropyrometry and a multi-emitter acoustic levitator.

36 MATERIALS SCIENCE↗

NASA NTRS1986

Detector Arrays With Image-Plane Processing

Image detection and edge processing merged on same VLSI chip. Concept combines relatively large detector with small processor elements as VLSI chip features and has many specific embodiments. New device concept retains relatively large detector element sizes (perhaps 10 to 100 micrometers or larger in diameter) with processing-electronics components of much smaller size (2 micrometers or less), filling in gaps left between detectorelement active areas. Detector-array device helps to perform difference-ofGaussian operation for use in machine-vision edge enhancement and edge detection.

Jobson, D. J.↗

NASA NTRS1986

Automation and robotics for Space Station in the twenty-first century

Space Station telerobotics will evolve beyond the initial capability into a smarter and more capable system as we enter the twenty-first century. Current technology programs including several proposed ground and flight experiments to enable development of this system are described. Advancements in the areas of machine vision, smart sensors, advanced control architecture, manipulator joint design, end effector design, and artificial intelligence will provide increasingly more autonomous telerobotic systems.

Willshire, K. F.↗

NASA NTRS1985

Remotely manipulated and autonomous robotic welding fabrication in space

The results of a NASA sponsored study, performed in order to establish the feasibility of remotely manipulated or unmanned welding fabrication systems for space construction, are presented. Possible space welding fabrication tasks and operational modes are classified and the capabilities and limitations of human operators and machines are outlined. Human performance in remote welding tasks was experimentally tested under the sensing and actuation constraints imposed by remote manipulation in outer space environments. Proposals for the development of space welding technology are made and necessary future R&D efforts are identified. The development of improved visual sensing strategies and computer encoding of the human welding engineering expertise are identified as essential, both for human operator assistance and for autonomous operation in all phases of welding fabrication. Novel uses of machine vision for the determination of the weld joint and bead geometry are proposed, and a prototype of a rule-based expert system is described for the interpretation of the visually detected weld features and defects.

Agapakis, J. E.↗

NASA NTRS1987

Computing 3-D structure of rigid objects using stereo and motion

Work performed as a step toward an intelligent automatic machine vision system for 3-D imaging is discussed. The problem considered is the quantitative 3-D reconstruction of rigid objects. Motion and stereo are the two clues considered in this system. The system basically consists of three processes: the low level process to extract image features, the middle level process to establish the correspondence in the stereo (spatial) and motion (temporal) modalities, and the high level process to compute the 3-D coordinates of the corner points by integrating the spatial and temporal correspondences.

Nguyen, Thinh V.↗

NASA NTRS1988

The 1988 Goddard Conference on Space Applications of Artificial Intelligence

This publication comprises the papers presented at the 1988 Goddard Conference on Space Applications of Artificial Intelligence held at the NASA/Goddard Space Flight Center, Greenbelt, Maryland on May 24, 1988. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed. The papers in these proceedings fall into the following areas: mission operations support, planning and scheduling; fault isolation/diagnosis; image processing and machine vision; data management; modeling and simulation; and development tools/methodologies.

Rash, James↗

NASA NTRS1987

The Flight Telerobotic Servicer (FTS) - A focus for automation and robotics on the Space Station

The concept, fundamental design principles, and capabilities of the FTS, a multipurpose telerobotic system for use on the Space Station and Space Shuttle, are discussed. The FTS is intended to assist the crew in the performance of extravehicular tasks; the telerobot will also be used on the Orbital Maneuvering Vehicle to service free-flyer spacecraft. The FTS will be capable of both teleoperation and autonomous operation; eventually it may also utilize ground control. By careful selection of the functional architecture and a modular approach to the hardware and software design, the FTS can accept developments in artificial intelligence and newer, more advanced sensors, such as machine vision and collision avoidance.

Hinkal, Sanford W.↗

NASA NTRS1987

The cortex transform - Rapid computation of simulated neural images

With a goal of providing means for accelerating the image processing, machine vision, and testing of human vision models, an image transform was designed, which makes it possible to map an image into a set of images that vary in resolution and orientation. Each pixel in the output may be regarded as the simulated response of a neuron in human visual cortex. The transform is amenable to a number of shortcuts that greatly reduce the amount of computation.

Watson, Andrew B.↗

NASA NTRS1988

Mars rover sample return: An exobiology science scenario

A mission designed to collect and return samples from Mars will provide information regarding its composition, history, and evolution. At the same time, a sample return mission generates a technical challenge. Sophisticated, semi-autonomous, robotic spacecraft systems must be developed in order to carry out complex operations at the surface of a very distant planet. An interdisciplinary effort was conducted to consider how much a Mars mission can be realistically structured to maximize the planetary science return. The focus was to concentrate on a particular set of scientific objectives (exobiology), to determine the instrumentation and analyses required to search for biological signatures, and to evaluate what analyses and decision making can be effectively performed by the rover in order to minimize the overhead of constant communication between Mars and the Earth. Investigations were also begun in the area of machine vision to determine whether layered sedimentary structures can be recognized autonomously, and preliminary results are encouraging.

Rosenthal, D. A.↗

NASA NTRS1989

The 1989 Goddard Conference on Space Applications of Artificial Intelligence

The following topics are addressed: mission operations support; planning and scheduling; fault isolation/diagnosis; image processing and machine vision; data management; and modeling and simulation.

Rash, James↗

NASA NTRS1988

1988 Goddard Conference on Space Applications of Artificial Intelligence, Greenbelt, MD, May 24, 1988, Proceedings

Rash, James L.↗

NASA NTRS1988

A programmable video image remapper

NASA's Johnson Space Center (JSC) has created the specifications for a new kind of image processing machine, a video-rate coordinate remapper. Previous image-processing machines for machine vision typically have done point operations without changing the geometry of the image. The JSC Programmable Remapper offers complete flexibility in changing the coordinates of an input image at video rates. Presented here are the main capabilities and some of the applications of such a device.

Fisher, Timothy E.↗

NASA NTRS1989

Black light - How sensors filter spectral variation of the illuminant

Visual sensor responses may be used to classify objects on the basis of their surface reflectance functions. In a color image, the image data are represented as a vector of sensor responses at each point in the image. This vector depends both on the surface reflectance functions and on the spectral power distribution of the ambient illumination. Algorithms designed to classify objects on the basis of their surface reflectance functions typically attempt to overcome the dependence of the sensor responses on the illuminant by integrating sensor data collected from multiple surfaces. In machine vision applications, it is shown that it is often possible to design the sensor spectral responsivities so that the vector direction of the sensor responses does not depend upon the illuminant. The conditions under which this is possible are given and an illustrative calculation is performed. In biological systems, where the sensor responsivities are fixed, it is shown that some changes in the illumination cause no change in the sensor responses. Such changes in illuminant are called black illuminants. It is possible to express any illuminant as the sum of two unique components. One component is a black illuminant. The second component is called the visible component. The visible component of an illuminant completely characterizes the effect of the illuminant on the vector of sensor responses.

Brainard, David H.↗

NASA NTRS1990

Determining Spatial Coordinates By Laser Ranging

Three range-measuring lasers arranged in triangle measure location of point. Set of three measurements of distances (ranges) of retroreflector on object from three rangefinders provides sufficient information to calculate coordinates of retroreflector in coordinate system defined by rangefinders. If at least three noncollinear retroreflectors attached to object, orientation of object also determined. Potential applications include observation and control of large structures, robotics, and machine vision.

Schumacher, Larry L.↗

NASA NTRS1989

Plant features measurements for robotics

Initial studies of the technical feasibility of using machine vision and color image processing to measure plant health were performed. Wheat plants were grown in nutrient solutions deficient in nitrogen, potassium, and iron. An additional treatment imposed water stress on wheat plants which received a full complement of nutrients. The results for juvenile (less than 2 weeks old) wheat plants show that imaging technology can be used to detect nutrient deficiencies. The relative amount of green color in a leaf declined with increased water stress. The absolute amount of green was higher for nitrogen deficient leaves compared to the control plants. Relative greenness was lower for iron deficient leaves, but the absolute green values were higher. The data showed patterns across the leaf consistent with visual symptons. The development of additional color image processing routines to recognize these patterns would improve the performance of this sensor of plant health.

Miles, Gaines E.↗

NASA NTRS1990

Intensity dependent spread theory

The Intensity Dependent Spread (IDS) procedure is an image-processing technique based on a model of the processing which occurs in the human visual system. IDS processing is relevant to many aspects of machine vision and image processing. For quantum limited images, it produces an ideal trade-off between spatial resolution and noise averaging, performs edge enhancement thus requiring only mean-crossing detection for the subsequent extraction of scene edges, and yields edge responses whose amplitudes are independent of scene illumination, depending only upon the ratio of the reflectance on the two sides of the edge. These properties suggest that the IDS process may provide significant bandwidth reduction while losing only minimal scene information when used as a preprocessor at or near the image plane.

Holben, Richard↗

NASA NTRS1990

The 1990 Goddard Conference on Space Applications of Artificial Intelligence

The papers presented at the 1990 Goddard Conference on Space Applications of Artificial Intelligence are given. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed. The proceedings fall into the following areas: Planning and Scheduling, Fault Monitoring/Diagnosis, Image Processing and Machine Vision, Robotics/Intelligent Control, Development Methodologies, Information Management, and Knowledge Acquisition.

Rash, James L.↗

NASA NTRS1989

Distributed neural control of a hexapod walking vehicle

There has been a long standing interest in the design of controllers for multilegged vehicles. The approach is to apply distributed control to this problem, rather than using parallel computing of a centralized algorithm. Researchers describe a distributed neural network controller for hexapod locomotion which is based on the neural control of locomotion in insects. The model considers the simplified kinematics with two degrees of freedom per leg, but the model includes the static stability constraint. Through simulation, it is demonstrated that this controller can generate a continuous range of statically stable gaits at different speeds by varying a single control parameter. In addition, the controller is extremely robust, and can continue the function even after several of its elements have been disabled. Researchers are building a small hexapod robot whose locomotion will be controlled by this network. Researchers intend to extend their model to the dynamic control of legs with more than two degrees of freedom by using data on the control of multisegmented insect legs. Another immediate application of this neural control approach is also exhibited in biology: the escape reflex. Advanced robots are being equipped with tactile sensing and machine vision so that the sensory inputs to the robot controller are vast and complex. Neural networks are ideal for a lower level safety reflex controller because of their extremely fast response time. The combination of robotics, computer modeling, and neurobiology has been remarkably fruitful, and is likely to lead to deeper insights into the problems of real time sensorimotor control.

Beer, R. D.↗