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The robot control C library (RCCL), a high-level robot programing system which enables a progammer to employ a set of system calls to specify robot manipulator tasks, is discussed. The general structure of RCCL is described, and the implementation of RCCL on a microVAX II is examined. Proposed extensions and improvements of RCCL relevant to NASA's telerobotic system are addressed.
The Earth Resources Observation System (EROS) Data Center in Sioux Falls, South Dakota distributes precision corrected Landsat MSS and RBV data. These data are derived from master data tapes produced by the Master Data Processor (MDP), NASA's system for computing and applying corrections to the data. Included in the MDP is the Control Point Library Building System (CPLBS), an interactive, menu-driven system which permits a user to build and maintain libraries of control points. The control points are required to achieve the high geometric accuracy desired in the output MSS and RBV data. This paper describes the processing performed by CPLBS, the accuracy of the system, and the host computer and special image viewing equipment employed.
Software has been designed to schedule remote sensing with the Earth Observing One spacecraft. The software attempts to satisfy as many observation requests as possible considering each against spacecraft operation constraints such as data volume, thermal, pointing maneuvers, and others. More complex constraints such as temperature are approximated to enable efficient reasoning while keeping the spacecraft within safe limits. Other constraints are checked using an external software library. For example, an attitude control library is used to determine the feasibility of maneuvering between pairs of observations. This innovation can deal with a wide range of spacecraft constraints and solve large scale scheduling problems like hundreds of observations and thousands of combinations of observation sequences.
The engineering-specified requirements for integrated information processing by means of the Integrated Programs for Aerospace-Vehicle Design (IPAD) system are presented. A data model is described and is based on the design process of a typical aerospace vehicle. General data management requirements are specified for data storage, retrieval, generation, communication, and maintenance. Information management requirements are specified for a two-component data model. In the general portion, data sets are managed as entities, and in the specific portion, data elements and the relationships between elements are managed by the system, allowing user access to individual elements for the purpose of query. Computer program management requirements are specified for support of a computer program library, control of computer programs, and installation of computer programs into IPAD.
In this work, a multi-disciplinary toolchain is described and used to optimize the takeoff trajectory of a electrified general aviation aircraft, subjected to acoustic constraints. The Dymos multi-disciplinary optimal control library is used to optimize the trajectory, with propeller aerodynamic and acoustic models provided by blade element momentum theory (CCBlade.jl) and acoustic analogy (AcousticAnalogies.jl) codes, respectively. Each model is implemented in the OpenMDAO framework, with all derivatives calculated either analytically or via automatic differentiation tools. The toolchain is applied to a hypothetical electrified form of the Cirrus SR20 and compared to the conventional piston-driven form.
In this work, a multi-disciplinary toolchain is described and used to optimize the takeoff trajectory of a electrified general aviation aircraft, subjected to acoustic constraints. The Dymos multi-disciplinary optimal control library is used to optimize the trajectory, with propeller aerodynamic and acoustic models provided by blade element momentum theory (CCBlade.jl) and acoustic analogy (AcousticAnalogies.jl) codes, respectively. Each model is implemented in the OpenMDAO framework, with all derivatives calculated either analytically or via automatic differentiation tools. The toolchain is applied to a hypothetical electrified form of the Cirrus SR20 and compared to the conventional piston-driven form.
Research needs in the area inter-image matching for remote Earth observation systems are defined. Correlation considerations include types of correlation algorithms, preprocessing techniques, limits on subpixed accuracy, relief and atmospheric refraction effects, evaluation of success rate, and evaluation of accuracy. Also recommended are investigations of the interaction of inter-image matching procedures and selection of ground control points for a given sensor; global multisensor control point library feasibility; multiple control point considerations; centralized processing systems; and user systems.
The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.
The present paper provides a performance evaluation of geometric correction in the Thematic Mapper Image Processing System (TIPS). TIPS forms a part of NASA's Thematic Mapper (TM) data processing facility. During a TM Research and Development period which continues through 1984, the geometric accuracy of TIPS is currently being evaluated. A description is given of TIPS geometric correction system, taking into account a TIPS overview and the Thematic Mapper Control Point Library Build (TCL). TCL generates control point chips which are stored in a library for subsequent use in the Thematic Mapper Archive Generation (TAG). Methods for measuring accuracy are discussed, giving attention to error estimation and direct measurement. A temporal registration evaluation from error estimation is considered along with a temporal evaluation from direct measurement, and a geodetic correction evaluation.
An automated image registration system such as that developed for LANDSAT-4 can produce all of the information needed to verify and calibrate the software and to evaluate system performance. The on-line MSS archive generation process which upgrades systematic correction data to geodetic correction data is described as well as the control point library build subsystem which generates control point chips and support data for on-line upgrade of correction data. The system performance was evaluated for both temporal and geodetic registration. For temporal registration, 90% errors were computed to be .36 IFOV (instantaneous field of view) = 82.7 meters) cross track, and .29 IFOV along track. Also, for actual production runs monitored, the 90% errors were .29 IFOV cross track and .25 IFOV along track. The system specification is .3 IFOV, 90% of the time, both cross and along track. For geodetic registration performance, the model bias was measured by designating control points in the geodetically corrected imagery.
A system for geometrically correcting LANDSAT MSS imagery includes all phases of processing, from receiving a raw computer compatible tape (CCT) to the generation of a corrected CCT (or UTM mosaic). The system comprises modules for: (1) control of the processing flow; (2) calculation of satellite ephemeris and attitude parameters, (3) generation of uncorrected files from raw CCT data; (4) creation, management and maintenance of a ground control point library; (5) determination of the image correction equations, using attitude and ephemeris parameters and existing ground control points; (6) generation of corrected LANDSAT file, using the equations determined beforehand; (7) union of LANDSAT scenes to produce and UTM mosaic; and (8) generation of output tape, in super-structure format.
A digital computer program complex for the evaluation of aerospace vehicle preliminary designs is described. The system consists of a Univac 1100 series computer and peripherals using the Exec 8 operating system, a set of demand access terminals of the alphanumeric and graphics types, and a library of independent computer programs. Modification of the partial run streams, data base maintenance and construction, and control of program sequencing are provided by a data manipulation program called the DLG processor. The executive control of library program execution is performed by the Univac Exec 8 operating system through a user established run stream. A combination of demand and batch operations is employed in the evaluation of preliminary designs. Applications accomplished with the EDIN system are described.
Better designs are needed for expert systems and other operations automation software, for more reliable, usable and effective human support. A prototype computer-aided Application Reuse Library shows feasibility of supporting concurrent development and improvement of advanced software by users, analysts, software developers, and human-computer interaction experts. Such a library expedites development of quality software, by providing working, documented examples, which support understanding, modification and reuse of requirements as well as code. It explicitly documents and implicitly embodies design guidelines, standards and conventions. The Application Reuse Library provides application modules with Demo-and-Tester elements. Developers and users can evaluate applicability of a library module and test modifications, by running it interactively. Sub-modules provide application code and displays and controls. The library supports software modification and reuse, by providing alternative versions of application and display functionality. Information about human support and display requirements is provided, so that modifications will conform to guidelines. The library supports entry of new application modules from developers throughout an organization. Example library modules include a timer, some buttons and special fonts, and a real-time data interface program. The library prototype is implemented in the object-oriented G2 environment for developing real-time expert systems.
A flexible and computationally efficient shared position/force control concept and its implementation in the Robot Control C Library (RCCL) are presented form the point of teleoperation. This methodology enables certain degrees of freedom to be position-controlled through real time manual inputs and the remaining degrees of freedom to be force-controlled by computer. Functionally, it is a hybrid control scheme in that certain degrees of freedom are designated to be under position control, and the remaining degrees of freedom to be under force control. However, the methodology is also a shared control scheme because some degrees of freedom can be put under manual control and the other degrees of freedom put under computer control. Unlike other hybrid control schemes, which process position and force commands independently, this scheme provides a force control loop built on top of a position control inner loop. This feature minimizes the computational burden and increases disturbance rejection. A simple implementation is achieved partly because the joint control servos that are part of most robots can be used to provide the position control inner loop. Along with this control scheme, several menus were implemented for the convenience of the user. The implemented control scheme was successfully demonstrated for the tasks of hinged-panel opening and peg-in-hole insertion.
This report describes intelligent agents that function as air traffic controllers. Each agent controls traffic in a single sector in real time; agents controlling traffic in adjoining sectors can coordinate to manage an arrival flow across a given meter fix. The purpose of this research is threefold. First, it seeks to study the design of agents for controlling complex systems. In particular, it investigates agent planning and reactive control functionality in a dynamic environment in which a variety perceptual and decision making skills play a central role. It examines how heuristic rules can be applied to model planning and decision making skills, rather than attempting to apply optimization methods. Thus, the research attempts to develop intelligent agents that provide an approximation of human air traffic controller behavior that, while not based on an explicit cognitive model, does produce task performance consistent with the way human air traffic controllers operate. Second, this research sought to extend previous research on using the Crew Activity Tracking System (CATS) as the basis for intelligent agents. The agents use a high-level model of air traffic controller activities to structure the control task. To execute an activity in the CATS model, according to the current task context, the agents reference a 'skill library' and 'control rules' that in turn execute the pattern recognition, planning, and decision-making required to perform the activity. Applying the skills enables the agents to modify their representation of the current control situation (i.e., the 'flick' or 'picture'). The updated representation supports the next activity in a cycle of action that, taken as a whole, simulates air traffic controller behavior. A third, practical motivation for this research is to use intelligent agents to support evaluation of new air traffic control (ATC) methods to support new Air Traffic Management (ATM) concepts. Current approaches that use large, human-in-the-loop simulations are unquestionably valuable for this purpose, but pose considerable logistical, fiscal, and experimental control problems. First, data analysis is extremely complicated, owing simply to the large number of participants and data sources in such simulations. In addition, experienced human air traffic controllers working adjacent sectors tend to flexibly adapt to the evolving control problem - potentially shifting to other strategies than those under investigation. In addition, their performance is tightly coupled to the control interface, which in the development phase may support some concepts and supporting strategies better than others. A simple shift in strategy by one controller can change the character of a particular traffic scenario dramatically, which makes experimental comparison of ATC performance under different traffic scenarios difficult. Training a given team of controllers on operations under a new ATM concept for a sufficient period of time could avert such difficulties, but instituting an adequate training program is expensive and logistically difficult.
A description is given of complete robot control facility built as part of a NASA telerobotics program to develop a state-of-the-art robot control environment for performing experiments in the repair and assembly of spacelike hardware to gain practical knowledge of such work and to improve the associated technology. The basic architecture of the manipulator control subsystem is presented. The multiarm Robot Control C Library (RCCL), a key software component of the system, is described, along with its implementation on a Sun-4 computer. The system's simulation capability is also described, and the teleoperation and shared control features are explained.
The Landsat-D system, in which S-band and X-band data links will provide real-time direct transmission of sensor data, is described. System performance objectives include input data quantity of 200 MSS scenes/day and 100 TM scenes/day by the Domestic Communication Satellite, and processing capability, in a pipeline mode, of 2.6 x 10 to the 11th input bits of sensor data per 16-hour day. Data processing techniques, including automated cloudcover assessment, control point library build system, radiometric calibration, and geometric correction are discussed.
Lidar Atmospheric Wind Sounder (LAWS) Simulation Models (LSM) were developed to evaluate the potential impact of global wind observations on the basic understanding of the Earth's atmosphere and on the predictive skills of current forecast models (GCM and regional scale). Fully integrated top to bottom LAWS Simulation Models for global and regional scale simulations were developed. The algorithm development incorporated the effects of aerosols, water vapor, clouds, terrain, and atmospheric turbulence into the models. Other additions include a new satellite orbiter, signal processor, line of sight uncertainty model, new Multi-Paired Algorithm and wind error analysis code. An atmospheric wind field library containing control fields, meteorological fields, phenomena fields, and new European Center for Medium Range Weather Forecasting (ECMWF) data was also added. The LSM was used to address some key LAWS issues and trades such as accuracy and interpretation of LAWS information, data density, signal strength, cloud obscuration, and temporal data resolution.