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At least 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

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.↗
NASA NTRS1995

Automated Target Acquisition, Recognition and Tracking (ATTRACT)

The primary objective of phase 1 of this research project is to conduct multidisciplinary research that will contribute to fundamental scientific knowledge in several of the USAF critical technology areas. Specifically, neural networks, signal processing techniques, and electro-optic capabilities are utilized to solve problems associated with automated target acquisition, recognition, and tracking. To accomplish the stated objective, several tasks have been identified and were executed.

Abdallah, Mahmoud A.↗
NASA NTRS2016

Hexapod Robot

The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to right or up and down. The hexapod will eventually be able to track the object moving its head and body in sync with on another and being able to rotate its body at 360 degrees. This is the plans and possible end results for the hexapod robot I will be working on during my summer internship at NASA Johnson Space Center. Since working on the hexapod project I have gained an increase interest in robotics. I enjoy the process of critical thinking. Also will working on this project I was challenged in a way that made more passionate to strive even more to become an engineer. I've learned that asking questions is an important part of the learning process. Also I learn that much more is accomplished when teamwork is applied.

Begody, Ericka↗
NASA NTRS1985

Contribution of explosion and future collision fragments to the orbital debris environment

The time evolution of the near-earth man-made orbital debris environment modeled by numerical simulation is presented in this paper. The model starts with a data base of orbital debris objects which are tracked by the NORAD ground radar system. The current untrackable small objects are assumed to result from explosions and are predicted from data collected from a ground explosion experiment. Future collisions between earth orbiting objects are handled by the Monte Carlo method to simulate the range of collision possibilities that may occur in the real world. The collision fragmentation process between debris objects is calculated using an empirical formula derived from a laboratory spacecraft impact experiment to obtain the number versus size distribution of the newly generated debris population. The evolution of the future space debris environment is compared with the natural meteoroid background for the relative spacecraft penetration hazard.

Su, S.-Y.↗
NASA NTRS2015

Small Orbital Stereo Tracking Camera Technology Development

On-Orbit Small Debris Tracking and Characterization is a technical gap in the current National Space Situational Awareness necessary to safeguard orbital assets and crew. This poses a major risk of MOD damage to ISS and Exploration vehicles. In 2015 this technology was added to NASA's Office of Chief Technologist roadmap. For missions flying in or assembled in or staging from LEO, the physical threat to vehicle and crew is needed in order to properly design the proper level of MOD impact shielding and proper mission design restrictions. Need to verify debris flux and size population versus ground RADAR tracking. Use of ISS for In-Situ Orbital Debris Tracking development provides attitude, power, data and orbital access without a dedicated spacecraft or restricted operations on-board a host vehicle as a secondary payload. Sensor Applicable to in-situ measuring orbital debris in flux and population in other orbits or on other vehicles. Could enhance safety on and around ISS. Some technologies extensible to monitoring of extraterrestrial debris as well to help accomplish this, new technologies must be developed quickly. The Small Orbital Stereo Tracking Camera is one such up and coming technology. It consists of flying a pair of intensified megapixel telephoto cameras to evaluate Orbital Debris (OD) monitoring in proximity of International Space Station. It will demonstrate on-orbit optical tracking (in situ) of various sized objects versus ground RADAR tracking and small OD models. The cameras are based on Flight Proven Advanced Video Guidance Sensor pixel to spot algorithms (Orbital Express) and military targeting cameras. And by using twin cameras we can provide Stereo images for ranging & mission redundancy. When pointed into the orbital velocity vector (RAM), objects approaching or near the stereo camera set can be differentiated from the stars moving upward in background.

Bryan, Tom↗
NASA NTRS2016

Small Orbital Stereo Tracking Camera Technology Development

On-Orbit Small Debris Tracking and Characterization is a technical gap in the current National Space Situational Awareness necessary to safeguard orbital assets and crew. This poses a major risk of MOD damage to ISS and Exploration vehicles. In 2015 this technology was added to NASA's Office of Chief Technologist roadmap. For missions flying in or assembled in or staging from LEO, the physical threat to vehicle and crew is needed in order to properly design the proper level of MOD impact shielding and proper mission design restrictions. Need to verify debris flux and size population versus ground RADAR tracking. Use of ISS for In-Situ Orbital Debris Tracking development provides attitude, power, data and orbital access without a dedicated spacecraft or restricted operations on-board a host vehicle as a secondary payload. Sensor Applicable to in-situ measuring orbital debris in flux and population in other orbits or on other vehicles. Could enhance safety on and around ISS. Some technologies extensible to monitoring of extraterrestrial debris as well To help accomplish this, new technologies must be developed quickly. The Small Orbital Stereo Tracking Camera is one such up and coming technology. It consists of flying a pair of intensified megapixel telephoto cameras to evaluate Orbital Debris (OD) monitoring in proximity of International Space Station. It will demonstrate on-orbit optical tracking (in situ) of various sized objects versus ground RADAR tracking and small OD models. The cameras are based on Flight Proven Advanced Video Guidance Sensor pixel to spot algorithms (Orbital Express) and military targeting cameras. And by using twin cameras we can provide Stereo images for ranging & mission redundancy. When pointed into the orbital velocity vector (RAM), objects approaching or near the stereo camera set can be differentiated from the stars moving upward in background.

Bryan, Tom↗
NASA NTRS1978

System and method for tracking a signal source

A system for tracking moving signal sources is disclosed which is particularly adaptable for use in tracking stage performers. A miniature transmitter is attached to the person or object to be tracked and emits a detectable signal of a predetermined frequency. A plurality of detectors positioned in a preset pattern sense the signal and supply output information to a phase detector which applies signals representing the angular orientation of the transmitter to a computer. The computer provides command signals to a servo network which drives a device such as a motor driven mirror reflecting the beam of a spotlight, to track the moving transmitter.

Mogavero, L. N.↗
NASA NTRS2010

Optical Photometric Observations of GEO Debris

We report on a continuing program of optical photometric measurements of faint orbital debris at geosynchronous Earth orbit (GEO). These observations can be compared with laboratory studies of actual spacecraft materials in an effort to determine what the faint debris at GEO may be. We have optical observations from Cerro Tololo Inter-American Observatory (CTIO) in Chile of two samples of debris: 1. GEO objects discovered in a survey with the University of Michigan's 0.6-m aperture Curtis-Schmidt telescope MODEST (for Michigan Orbital DEbris Survey Telescope), and then followed up in real-time with the CTIO/SMARTS 0.9-m for orbits and photometry. Our goal is to determine 6 parameter orbits and measure colors for all objects fainter than R = 15 t11 magnitude that are discovered in the MODEST survey. 2. A smaller sample of high area to mass ratio (AMR) objects discovered independently, and acquired using predictions from orbits derived from independent tracking data collected days prior to the observations. Our optical observations in standard astronomical BVRI filters are done with either telescope, and with the telescope tracking the debris object at the object's angular rate. Observations in different filters are obtained sequentially. We have obtained 71 calibrated sequences of R-B-V-I-R magnitudes. A total of 66 of these sequences have 3 or more good measurements in all filters (not contaminated by star streaks or in Earth's shadow). Most of these sequences show brightness variations, but a small subset has observed brightness variations consistent with that expected from observational errors alone. The majority of these stable objects are redder than a solar color in both B-R and R-I. There is no dependence on color with brightness. For a smaller sample of objects we have observed with synchronized CCD cameras on the two telescopes. The CTIO 0.9-m observes in B, and MODEST in R. The CCD cameras are electronically linked together so that the start time and duration of observations are the same to better than 50 milliseconds. Thus, the B-R color is a true measure of the surface of the debris piece facing the telescopes for that observation. Any change in color reflects a real change in the debris surface. We will compare our observations with models and laboratory measurements of selected surfaces.

Seitzer, Patrick↗
NASA NTRS1985

NORAD's PARCS small satellite tests (1976 and 1978)

NORAD sponsored small satellite tests in 1976 and 1978. The purpose of the tests was to use their more sensitive radar to determine the number of Earth orbiting objects which are not part of the official catalogue. Both tests used the PARCS radar. The characteristics of this radar are given. The detection capability of NORAD's operational system is estimated and compared to the PARC's radar sensitivity during these tests. The tests only slightly improved the detection capability, and the largest improvements were at the lowest and highest regions of its sensitivity range. The major conclusion of the test is that 17.7% of the objects detected were uncorrelated (i.e., not in the official catalogue). However, perhaps most significant is the altitutde and size distribution of detected objects are illustrated. The 1978 results are also summarized. This test concluded that at least 7% of the objects detected were not in the official catalogue. Another 6% of the detected objects were not tracked well enough to determine their status. Again, a large percentage of the detected objects at lower altitudes were not in the catalogue.

Kessler, D. J.↗
NASA NTRS1990

Robot tracking system improvements and visual calibration of orbiter position for radiator inspection

The following separate topics are addressed: (1) improving a robotic tracking system; and (2) providing insights into orbiter position calibration for radiator inspection. The objective of the tracking system project was to provide the capability to track moving targets more accurately by adjusting parameters in the control system and implementing a predictive algorithm. A computer model was developed to emulate the tracking system. Using this model as a test bed, a self-tuning algorithm was developed to tune the system gains. The model yielded important findings concerning factors that affect the gains. The self-tuning algorithms will provide the concepts to write a program to automatically tune the gains in the real system. The section concerning orbiter position calibration provides a comparison to previous work that had been performed for plant growth. It provided the conceptualized routines required to visually determine the orbiter position and orientation. Furthermore, it identified the types of information which are required to flow between the robot controller and the vision system.

Tonkay, Gregory↗
NASA NTRS1994

Mark Tracking: Position/orientation measurements using 4-circle mark and its tracking experiments

Future space robots require position and orientation tracking with visual feedback control to track and capture floating objects and satellites. We developed a four-circle mark that is useful for this purpose. With this mark, four geometric center positions as feature points can be extracted from the mark by simple image processing. We also developed a position and orientation measurement method that uses the four feature points in our mark. The mark gave good enough image measurement accuracy to let space robots approach and contact objects. A visual feedback control system using this mark enabled a robot arm to track a target object accurately. The control system was able to tolerate a time delay of 2 seconds.

Kanda, Shinji↗
NASA NTRS2011

Bit of History and Some Lessons Learned in Using NASA Remote Sensing Data in Public Health Applications

The NASA Applied Sciences Program's public health initiative began in 2004 to illustratethe potential benefits for using remote sensing in public health applications. Objectives/Purpose: The CDC initiated a st udy with NASA through the National Center for Environmental Health (NCEH) to establish a pilot effort to use remote sensing data as part of its Environmental Public Health Tracking Network (EPHTN). As a consequence, the NCEH and NASA developed a project called HELIX-Atlanta (Health and Environment Linkage for Information Exchange) to demonstrate a process for developing a local environmental public health tracking and surveillance network that integrates non-infectious health and environment systems for the Atlanta metropolitan area. Methods: As an ongo ing, systematic integration, analysis and interpretation of data, an EPHTN focuses on: 1 -- environmental hazards; 2 -- human exposure to environmental hazards; and 3 -- health effects potentially related to exposure to environmental hazards. To satisfy the definition of a surveillance system the data must be disseminated to plan, implement, and evaluate environmental public health action. Results: A close working r elationship developed with NCEH where information was exchanged to assist in the development of an EPHTN that incorporated NASA remote sensing data into a surveillance network for disseminating public health tracking information to users. This project?s success provided NASA with the opportunity to work with other public health entities such as the University of Mississippi Medical Center, the University of New Mexico and the University of Arizona. Conclusions: HELIX-Atlanta became a functioning part of the national EPHTN for tracking environmental hazards and exposure, particularly as related to air quality over Atlanta. Learning Objectives: 1 -- remote sensing data can be integral to an EPHTN; 2 -- public tracking objectives can be enhanced through remote sensing data; 3 -- NASA's involvement in public health applications can have wider benefits in the future.

Quattrochi, Dale A.↗
NASA NTRS2009

Apollo Mission Techniques Lunar Orbit Activities - Part 1a

This slide presentation reviews the planned sequence of events and the rationale for all lunar missions, and the flight experiences and lessons learned for the lunar orbit activities from a trajectory perspective. Shown are trajectories which include the moon's position at the various stages in the complete trip from launch, to the return and reentry. Included in the presentation are objectives and the sequence of events,for the Apollo 8, and Apollo 10. This is followed by a discussion of Apollo 11, including: the primary mission objective, the sequence of events, and the flight experience. The next mission discussed was Apollo 12. It reviews the objectives, the ground tracking, procedure changes, and the sequence of events. The aborted Apollo 13 mission is reviewed, including the objectives, and the sequence of events. Brief summaries of the flight experiences for Apollo 14-16 are reviewed. The flight sequence of events of Apollo 17 are discussed. In summary each mission consistently performing precision landings required that Apollo lunar orbit activities devote considerable attention to: (1) Improving fidelity of lunar gravity models, (2) Maximizing availability of ground tracking, (3) Minimizing perturbations on the trajectory, (4) Maximizing LM propellant reserves for hover time. Also the use of radial separation maneuvers (1) allows passive re-rendezvous after each rev, but ... (2) sensitive to small dispersions in initial sep direction

Interbartolo, Michael A.↗
NASA NTRS2014

Bi-static Optical Observations of GEO Objects

A bi-static study of objects at Geosynchronous Earth Orbit (GEO) was conducted using two ground-based wide-field optical telescopes. The University of Michigan's 0.6-m MODEST (Michigan Orbital Debris Survey Telescope) located at the Cerro Tololo Inter- American Observatory in Chile was employed in a series of coordinated observations with the U.S. Naval Observatory's (USNO) 1.3-m telescope at the USNO Flagstaff Station near Flagstaff, Arizona, USA. The goals of this project are twofold: (1) Obtain optical distances to known and unknown objects at GEO from the difference in the observed topocentric position of objects measured with respect to a reference star frame. The distance can be derived directly from these measurements, and is independent of any orbital solution. The wide geographical separation of these two telescopes means that the parallax difference is larger than ten degrees, and (2) Compare optical photometry in similar filters of GEO objects taken during the same time period from the two sites. The object's illuminated surfaces presented different angles of reflected sunlight to the two telescopes.During a four hour period on the night.of 22 February 2014 (UT), coordinated observations were obtained for eight different GEO positions. Each coordinated observation sequence was started on the hour or half-hour, and was selected to ensure the same cataloged GEO object was available in the field of view of both telescopes during the thirty minute observing sequence. GEO objects were chosen to be both controlled and uncontrolled at a range of orbital inclinations, and the objects were not tracked. Instead both telescopes were operated with all drives off in GEO survey mode to discover un-cataloged objects at GEO. The initial results from this proof-of-concept observing run will be presented, with the intent of laying the foundation for future large-scale bi-static observing campaigns of the GEO regime.

Seitzer, Patrick↗
NASA NTRS1989

Multiple cooperating manipulators: The case of kinematically redundant arms

Existing work concerning two or more manipulators simultaneously grasping and transferring a common load is continued and extended. Specifically considered is the case of one or more arms being kinematically redundant. Some existing results in the modeling and control of single redundant arms and multiple manipulators are reviewed. The cooperating situation is modeled in terms of a set of coordinates representing object motion and internal object squeezing. Nominal trajectories in these coordinates are produced via actuator load distribution algorithms introduced previously. A controller is developed to track these desired object trajectories while making use of the kinematic redundancy to additionally aid the cooperation and coordination of the system. It is shown how the existence of kinematic redundancy within the system may be used to enhance the degree of cooperation achievable.

Walker, Ian D.↗
NASA NTRS1993

The Ultraviolet Plume Instrument (UVPI)

The Ultraviolet Plume Instrument (UVPI) was launched aboard the Low-power Atmospheric Compensation Experiment (LACE) satellite on 14 Feb. 1990. Both the spacecraft and the UVPI were sponsored by the Directed Energy Office of the Strategic Defense Initiative Organization. The mission of the UVPI was to obtain radiometrically calibrated images of rocket plumes at high altitude and background image data of the Earth, Earth's limb, and celestial objects in the near- and middle-UV wave bands. The UVPI was designed for nighttime observations, i.e., to acquire and track relatively bright objects against a dark background.

Horan, D. M.↗