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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 163 records · Page 9
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Reliable vision-guided grasping

Automated assembly of truss structures in space requires vision-guided servoing for grasping a strut when its position and orientation are uncertain. This paper presents a methodology for efficient and robust vision-guided robot grasping alignment. The vision-guided grasping problem is related to vision-guided 'docking' problems. It differs from other hand-in-eye visual servoing problems such as tracking in that the distance from the target is a relevant servo parameter. The methodology described in this paper is a hierarchy of levels in which the vision/robot interface is decreasingly 'intelligent', and increasingly fast. Speed is achieved primarily by information reduction. This reduction exploits the use of region-of-interest windows in the image plane and feature motion prediction. These reductions invariably require stringent assumptions about the image. Therefore, at a higher level, these assumptions are verified using slower, more reliable methods. This hierarchy provides for robust error recovery in that when a lower-level routine fails, the next-higher routine will be called and so on. A working system is described which visually aligns a robot to grasp a cylindrical strut. The system uses a single camera mounted on the end effector of a robot and requires only crude calibration parameters. The grasping procedure is fast and reliable, with a multi-level error recovery system.

Nicewarner, Keith E.↗
NASA NTRS1994

Conceptual design of an Orbital Debris Defense System

Man made orbital debris has become a serious problem. Currently NORAD tracks over 7000 objects in orbit and less than 10 percent of these are active payloads. Common estimates are that the amount of debris will increase at a rate of 10 percent per year. Impacts of space debris with operational payloads or vehicles is a serious risk to human safety and mission success. For example, the impact of a 0.2 mm diameter paint fleck with the Space Shuttle Challenger window created a 2 mm wide by 0.6 mm deep pit. The cost to replace the window was over $50,000. A conceptual design for a Orbital Debris Defense System (ODDS) is presented which considers a wide range of debris sizes, orbits and velocities. Two vehicles were designed to collect and remove space debris. The first would attach a re-entry package to de-orbit very large debris, e.g. inactive satellites and spent upper stages that tend to break up and form small debris. This vehicle was designed to contain several re-entry packages, and be refueled and resupplied with more re-entry packages as needed. The second vehicle was designed to rendezvous with and capture debris ranging from 10 cm to 2 m. Due to tracking limitations, no technically feasible method for collecting debris below 10 cm in size could be devised; it must be accomplished through international regulations which reduce the accumulation of space debris.

Bedillion, Erik↗
NASA NTRS1998

Markov Tracking for Agent Coordination

Partially observable Markov decision processes (POMDPs) axe an attractive representation for representing agent behavior, since they capture uncertainty in both the agent's state and its actions. However, finding an optimal policy for POMDPs in general is computationally difficult. In this paper we present Markov Tracking, a restricted problem of coordinating actions with an agent or process represented as a POMDP Because the actions coordinate with the agent rather than influence its behavior, the optimal solution to this problem can be computed locally and quickly. We also demonstrate the use of the technique on sequential POMDPs, which can be used to model a behavior that follows a linear, acyclic trajectory through a series of states. By imposing a "windowing" restriction that restricts the number of possible alternatives considered at any moment to a fixed size, a coordinating action can be calculated in constant time, making this amenable to coordination with complex agents.

Washington, Richard↗
NASA NTRS2004

Hurricane Forecasting with the High-resolution NASA Finite-volume General Circulation Model

A high-resolution finite-volume General Circulation Model (fvGCM), resulting from a development effort of more than ten years, is now being run operationally at the NASA Goddard Space Flight Center and Ames Research Center. The model is based on a finite-volume dynamical core with terrain-following Lagrangian control-volume discretization and performs efficiently on massive parallel architectures. The computational efficiency allows simulations at a resolution of a quarter of a degree, which is double the resolution currently adopted by most global models in operational weather centers. Such fine global resolution brings us closer to overcoming a fundamental barrier in global atmospheric modeling for both weather and climate, because tropical cyclones and even tropical convective clusters can be more realistically represented. In this work, preliminary results of the fvGCM are shown. Fifteen simulations of four Atlantic tropical cyclones in 2002 and 2004 are chosen because of strong and varied difficulties presented to numerical weather forecasting. It is shown that the fvGCM, run at the resolution of a quarter of a degree, can produce very good forecasts of these tropical systems, adequately resolving problems like erratic track, abrupt recurvature, intense extratropical transition, multiple landfall and reintensification, and interaction among vortices.

Atlas, R.↗
DOE OSTI2021

Using Machine Learning to Track Objects Across Cameras

Video surveillance is one of the most important technologies used by the International Atomic Energy Agency in international safeguards. At large, complicated facilities, multiple surveillance cameras are deployed to monitor the transfer of safeguards-relevant objects across the site. During inspections, all surveillance videos are reviewed to ensure the objects are not manipulated or diverted during transfer, a laborious, time-consuming task. This work describes using deep machine learning algorithms to track objects automatically across multiple cameras, greatly improving the efficiency of the review process. The fundamental problem in this object tracking task across multiple cameras is how to associate the same object, which may show extreme intra-class variations, such as viewpoints, occlusions, and various scales, in different and even non-overlapped cameras. Object re-identification (Re-ID) in nuclear facility video surveillance is even more challenging than classic person or vehicle Re-ID problems because different instances in the same category may display an identical appearance. One observation from nuclear facility surveillance videos is that all objects must be carted (e.g., via forklift) to move. Therefore, the spatial context information of an object, which provides the feature from the carrier, is critical for the object Re-ID task. This work proposes a two-stream convolutional neural networks model that takes features of objects and their surrounding regions into account. Moreover, the custom videos usually are gleaned from different scenes from the training data, which may have extreme variations in illumination changes and/or cluttered backgrounds. Directly applying the trained model to custom videos will dramatically decrease the performance. To tackle this problem, an advanced domain adaptation technique is proposed to mitigate the gap between the data taken from different scenes. The proposed framework will track objects of interest across a nuclear complex. The resulting tracks can be used in further analyses, such as event/activity recognition, anomaly detection, etc.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
NASA NTRS1975

Functional design specification for the problem data system

The purpose of the Functional Design Specification is to outline the design for the Problem Data System. The Problem Data System is a computer-based data management system designed to track the status of problems and corrective actions pertinent to space shuttle hardware.

Boatman, T. W.↗
NASA NTRS1974

Dual S and Ku-band tracking feed for a TDRS reflector antenna

The results are presented of a trade study designed to identify a synchronous satellite antenna system suitable for receiving and transmitting data from lower orbiting satellites at both S- and K sub u-bands simultaneously as part of the Tracking and Data Relay Satellite System. All related problems associated with maintaining a data link between two satellites with a K sub u-band half-power beamwidth of 0.4 db are considered including data link maintenance techniques, beam pointing accuracies, gimbal and servo errors, solar heating, angle tracking schemes, acquisition problems and aids, tracking accuracies versus SNR, antenna feed designs, equipment designs, weight and power budgets, and detailed candidate antenna system designs.

Pullara, J. C.↗
NASA NTRS1985

A two-dimensional near-infrared tracking system

Video tracking systems face the problem of discriminating between a target in space and the earth in the background. The visual tracking system described in this paper uses the near-infrared to take advantage of differences in spectral reflectance between the target and the earth in the background to enhance amplitude differences, simplifying the detection process. The real-time visual tracking system is microprocessor controlled, light weight, and low-power.

Walton, D. P.↗
NASA NTRS1992

Ultraviolet studies of Cepheids

We discuss whether with new evolutionary tracks we still have a problem fitting the Cepheids and their evolved companions on the appropriate evolutionary tracks. We find that with the Bertelli et al. tracks with convective overshoot by one pressure scale height the problem is essentially removed, though somewhat more mixing would give a better fit. By using the results of recent nonlinear hydrodynamic calculations, we find that we also have no problem matching the observed pulsation periods of the Cepheids with those expected from their new evolutionary masses, provided that Cepheids with periods less than 9 days are overtone pulsators. We investigate possible mass loss of Cepheids from UV studies of the companion spectrum of S Mus and from the ultraviolet spectra of the long period Cepheid l Carinae. For S Mus with a period of 9.6 days we derive an upper limit for the mass loss of M less than 10(exp -9) solar mass, if a standard velocity law is assumed for the wind. For l Carinae with a period of 35.5 days we find a probable mass loss of M is approximately 10(exp -5+/-2) solar mass.

Boehm-Vitense, Erika↗
DOE OSTI2022

Muon track reconstruction in a segmented bolometric array using multi-objective optimization

Recent advances in segmented solid-state detector arrays for rare-event searches have allowed the technology to approach the ton-scale in detector mass and the scale of meters in size. Often focused around searches for neutrinoless double-beta decay or direct dark matter detection, such experiments also have the capability to search for exotic particles that leave track-like signatures across their volume. However, the segmented nature of such detector arrays often sets the spatial resolution and makes the problem of reconstructing track-like paths non-trivial. Here, in this paper, we present an algorithm that improves reconstruction of track-like events in segmented detectors using multi-objective optimization — a computational technique that optimizes more than one cost function at a time without specifying a quantitative weighting between them. Such a technique allows the reconstruction of tracks through a detector and the determination of path-lengths through individual elements. When combined with the reconstructed energy depositions in each element this allows for a calculation of the stopping power of track-like particles and opens the door to searches for particles with abnormal stopping power like monopoles or lightly-ionizing particles (LIPs). Results are presented which evaluate the precision of the reconstruction tools as they currently stand against Monte Carlo generated data. The algorithm is presented in the context of the CUORE experiment, but has applications to other segmented calorimeter detectors.

47 OTHER INSTRUMENTATION↗
NASA NTRS2008

Two-Camera Acquisition and Tracking of a Flying Target

A method and apparatus have been developed to solve the problem of automated acquisition and tracking, from a location on the ground, of a luminous moving target in the sky. The method involves the use of two electronic cameras: (1) a stationary camera having a wide field of view, positioned and oriented to image the entire sky; and (2) a camera that has a much narrower field of view (a few degrees wide) and is mounted on a two-axis gimbal. The wide-field-of-view stationary camera is used to initially identify the target against the background sky. So that the approximate position of the target can be determined, pixel locations on the image-detector plane in the stationary camera are calibrated with respect to azimuth and elevation. The approximate target position is used to initially aim the gimballed narrow-field-of-view camera in the approximate direction of the target. Next, the narrow-field-of view camera locks onto the target image, and thereafter the gimbals are actuated as needed to maintain lock and thereby track the target with precision greater than that attainable by use of the stationary camera.

Biswas, Abhijit↗
NASA NTRS1974

Adaptive sequential estimation with applications

A sequential estimator is presented and demonstrated which successfully tracks the system state and model errors in the presence of significant and unpredictable system or environmental variations. This adaptive estimation concept is shown to lead to a new and attractive approach to parameter identification problems. Simulation results are presented in an orbit determination problem, where the estimator tracks the orbit and unmodeled accelerations due to errors in the geopotential model. Some results in a re-entry trajectory estimation problem are also summarized.

Jazwinski, A. H.↗
NASA NTRS1986

Telemetry, Tracking, and Control Working Group report

After assessing the design implications and the criteria to be used in technology selection, the technical problems that face the telemetry, tracking, and control (TTC) area were defined. For each of the problems identified, recommendations were made for needed technology developments. These recommendations are listed and ranked according to priority.

Campbell, Richard↗
NASA NTRS1975

Applications of satellite-to-satellite tracking to orbit determination and geopotential recovery

Recent simulations have demonstrated the applicability of satellite-to-satellite tracking data to the related problems of orbit determination and geopotential recovery. Specifically, satellite-to-satellite tracking between an earth orbiting satellite and a satellite at geosynchronous altitude (36000 km) produces long continuous data arcs which are not available by means of ground-based tracking. This facility, in conjunction with correct estimation techniques, yields exceptional orbit determination accuracy. The data type also has considerable applicability to geopotential determination when the low satellite has a high inclination.

Argentiero, P.↗
NASA NTRS2008

Orbit Determination During Spacecraft Emergencies with Sparse Tracking Data - THEMIS and TDRS-3 Lessons Learned

This paper provides an overview of the lessons learned from the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center s (GSFC) Flight Dynamics Facility s (FDF) support of the Time History of Events and Macroscale Interactions during Substorms (THEMIS) spacecraft emergency in February 2007, and the Tracking and Data Relay Satellite-3 (TDRS-3) spacecraft emergency in March 2006. A successful and timely recovery from both of these spacecraft emergencies depended on accurate knowledge of the orbit. Unfortunately, the combination of each spacecraft emergency with very little tracking data contributed to difficulties in estimating and predicting the orbit and delayed recovery efforts in both cases. In both the THEMIS and TDRS-3 spacecraft emergencies, numerous factors contributed to problems with obtaining nominal tracking data measurements. This paper details the various causative factors and challenges. This paper further enumerates lessons learned from FDF s recovery efforts involving the THEMIS and TDRS-3 spacecraft emergencies and scant tracking data, as well as recommendations for improvements and corrective actions. In addition, this paper describes the broad range of resources and complex navigation methods employed within the FDF for supporting critical navigation activities during all mission phases, including launch, early orbit, and on-orbit operations.

Morinelli, Patrick J.↗
NASA NTRS1993

Evaluation of two cockpit display concepts for civil tiltrotor instrument operations on steep approaches

A piloted simulation experiment was conducted using the NASA Ames Research Center Vertical Motion Simulator to evaluate two cockpit display formats designed for manual control on steep instrument approaches for a civil transport tiltrotor aircraft. The first display included a four-cue (pitch, roll, power lever position, and nacelle angle movement prompt) flight director. The second display format provided instantaneous flight path angle information together with other symbols for terminal area guidance. Pilots evaluated these display formats for an instrument approach task which required a level flight conversion from airplane-mode flight to helicopter-mode flight while decelerating to the nominal approach airspeed. Pilots tracked glide slopes of 6, 9, 15 and 25 degrees, terminating in a hover for a vertical landing on a 150 feet square vertipad. Approaches were conducted with low visibility and ceilings and with crosswinds and turbulence, with all aircraft systems functioning normally and were carried through to a landing. Desired approach and tracking performance was achieved with generally satisfactory handling qualities using either display format on glide slopes up through 15 degrees. Evaluations with both display formats for a 25 degree glide slope revealed serious problems with glide slope tracking at low airspeeds in crosswinds and the loss of the intended landing spot from the cockpit field of view.

Decker, William A.↗