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Experimental object-level strategic control with cooperating manipulators

This article presents the high-level control module and user interface of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. In addition to cooperative dynamic control, DASCCOM incorporates real-time vision-ased feedback, a novel strategic programming technique, and an iconic 'object-only' graphical user interface. By focusing on the vertical integration problem, we are examining not only these subsystems, but also their interfaces and interactions. The control system implements a multilevel hierarchical structure interconnected via a real-time network. At the highest level, a mouse-driven graphical user interface allows an operator to direct the activities of the system conceptually. Strategic command is provided by an event-driven finite state machine. This methodology provides a powerful yet flexible technique for managing concurrent system interactions. The dynamic controller implements object impedance control - an extension of Neville Hogan's impedance control concept to cooperative multiple-arm manipulation of a single object. This article concentrates on user interfacing techniques and strategic programming capabilities. These modules allow the user to directly specify conceptual object relationships. Experimental results are presented, showing the system locating and identifying a moving object, 'catching' it, and performing a simple cooperative assembly. Each of these operations is executed autonomously, with only object-level task-specification direction from a remote operator.

Schneider, Stanley A.↗

Harnessing Artificial Intelligence for Medical Diagnosis and Treatment During Space Exploration Missions

From May 8th to June 9th, 2023, I had the opportunity to participate in an experiential learning experience at Johnson Space Center in Houston, TX with Exploration Medical Capability (ExMC), an element of the NASA Human Research Program. During this research experience, I was not only able to work on the above titled research project, but also gain an immense exposure to the field of aerospace medicine, make numerous connections within the field, tour NASA facilities, as well as travel to the Aerospace Medical Association Annual Conference (AsMA) in New Orleans. To briefly introduce my project, it is well understood that the medical capabilities available to crew medical officers (CMOs) on the International Space Station will be different than the capabilities available and needed during deep space exploration missions to the Moon, Mars, and beyond. Ground support is particularly limited due to distance, communication delays (or lack of communication), and lack of resupply. Therefore, to support medical care by CMOs on these missions, robust clinical decision support systems (CDSSs) must be designed. The recent publication and public launch of generative artificial intelligence (AI) tools based upon large language models (LLM) such as ChatGPT provides the opportunity to create a smart assistant for onboard triage, diagnosis, and treatment of medical conditions. Ultimately, the overall purpose of the project was to research what AI tools currently exist or are in development, and to see how they might be implemented onboard during exploration class spaceflights of the future. The ExMC element is actively developing several tools to be used in preparation for and during deep space exploration missions. One of those tools, known as IMPACT, is a probabilistic risk assessment model which can be used to propose a desired medical system (based on mass and volume) and suggest the clinical outcomes likely to occur for a design reference mission (DRM). The group recently presented the IMPACT model and a DRM of interest titled “Modified Long Duration Lunar Orbital and Lunar Surface” (mLDLOLS) at the recent AsMA conference. The mLDLOLS mock mission is a 9 month and 6-day deep space exploration mission consisting of time in Moon’s orbit (3 months on the Gateway space station), on the lunar surface (3 months within habitat), and another 3 months on Gateway before return to Earth. For this DRM, IMPACT ultimately outlined a preferred medical system that was then associated with medical conditions considered to be most likely based on frequency, most likely to cause astronaut task time loss (TTL), most likely to cause return to definitive care (RTDC), and most likely cause loss of crew life (LOCL). IMPACT also highlighted the medical capabilities/skills that would be required to care for those medical conditions, such as performing a history of present illness or musculoskeletal exam with ultrasound. The primary objective of the project was to perform a survey of the AI tools and systems applicable to the conditions outlined for the proposed mLDLOLS mission. Using PubMed (including most relevant MeSH terms) and Google Scholar, we then created a robust annotated bibliography organized by condition. The 56-page and over 500 reference annotated bibliography was subsequently used to create a review outline that would become the basis for drafting of a future publication. For the review outline, we took those medical conditions researched within the annotated bibliography (condition-based approach) and deployed a systems-based approach, combining those medical conditions and related tools into ten categories. These categories included general/all-purpose CDSSs, tools to diagnose or manage respiratory, dermatologic, neurologic, auditory and vestibular, ophthalmic, musculoskeletal, infection-associated, and gynecologic conditions, as well as tools that could be deployed in the setting of trauma/emergency. With the completion of the 30-page outline, we then began drafting the review paper. To conclude the research experience, I presented the findings from our survey to the ExMC Clinical and Science team. With these objectives, I ultimately learned about the number of AI tools that exist today to assist medical professionals with the triage, diagnosis, and management of several medical conditions. These tools can span from chatbot assistants to help triage knee pain to vision transformer models that can identify ophthalmic conditions based on ocular surface images captured with a cell phone. We also highlighted the current gaps that exist in the literature alongside the advancements that are needed to make the desired CDSS for deep space exploration missions. With this experience, I certainly confirmed an existing career goal and identified several additional skills needed to become an aerospace medical doctor including knowledge of critical care in an extreme medicine setting, aerospace engineering and human integration systems, artificial intelligence, machine learning, and risk models. I also identified numerous transferable skills for this career goal including the basic knowledge of medicine (MD), deployment of the scientific method for critical thought about new scientific questions (PhD), review of published literature, including creating an annotated bibliography (PhD), as well as detailed scientific writing (PhD). The results of my research will likely guide the design of an all-encompassing onboard medical assistant for use during deep space exploration missions of the future. I plan on sharing the outcomes from this experience with my peers at a student seminar in the Fall semester on August 30th. During the seminar, I will detail the project, my experience at NASA and AsMA, as well as offer best practice guidelines for students entertaining similar experiences or careers. In conclusion, I would like to thank the WVU School of Medicine, Research and Graduate Education office, as well as NASA ExMC for the unwavering support of this life-changing experience.

Ryan A. Lacinski↗

Experiments in cooperative manipulation: A system perspective

In addition to cooperative dynamic control, the system incorporates real time vision feedback, a novel programming technique, and a graphical high level user interface. By focusing on the vertical integration problem, not only these subsystems are examined, but also their interfaces and interactions. The control system implements a multi-level hierarchical structure; the techniques developed for operator input, strategic command, and cooperative dynamic control are presented. At the highest level, a mouse-based graphical user interface allows an operator to direct the activities of the system. Strategic command is provided by a table-driven finite state machine; this methodology provides a powerful yet flexible technique for managing the concurrent system interactions. The dynamic controller implements object impedance control; an extension of Nevill Hogan's impedance control concept to cooperative arm manipulation of a single object. Experimental results are presented, showing the system locating and identifying a moving object catching it, and performing a simple cooperative assembly. Results from dynamic control experiments are also presented, showing the controller's excellent dynamic trajectory tracking performance, while also permitting control of environmental contact force.

Schneider, Stanley A.↗

Use of a raster framebuffer in vision research

For the study of human and animal vision, the video framebuffer is the only technology that is capable of displaying two-dimensional images with precise control of contrast, luminance, and display timing. The video framebuffer also allows precise control of color. However, this device is not designed for precise psychophysical displays, and techniques must be developed to use them in this role. In order to be concrete, an RDS-3000 raster display system (Adage, 1982) is used which is hosted by a PDP-11/73 under the Venix operating system. The principles generalize to other machines. Where it clarifies the issues, the syntax of the software routines involved is shown.

Watson, Andrew B.↗

Pictorial communication in virtual and real environments

Papers about the communication between human users and machines in real and synthetic environments are presented. Individual topics addressed include: pictorial communication, distortions in memory for visual displays, cartography and map displays, efficiency of graphical perception, volumetric visualization of 3D data, spatial displays to increase pilot situational awareness, teleoperation of land vehicles, computer graphics system for visualizing spacecraft in orbit, visual display aid for orbital maneuvering, multiaxis control in telemanipulation and vehicle guidance, visual enhancements in pick-and-place tasks, target axis effects under transformed visual-motor mappings, adapting to variable prismatic displacement. Also discussed are: spatial vision within egocentric and exocentric frames of reference, sensory conflict in motion sickness, interactions of form and orientation, perception of geometrical structure from congruence, prediction of three-dimensionality across continuous surfaces, effects of viewpoint in the virtual space of pictures, visual slant underestimation, spatial constraints of stereopsis in video displays, stereoscopic stance perception, paradoxical monocular stereopsis and perspective vergence. (No individual items are abstracted in this volume)

Ellis, Stephen R.↗

Variation Principles and Applications in the Study of Cell Structure and Aging

In this report we have attempted to show that "some reality lies concealed in biological variation". This "reality" has its principles, laws, mechanisms, and rules, only a few of which we have sketched. A related idea we pursued was that important information may be lost in the process of ignoring frequency distributions of physiological variables (as is customary in experimental physiology and gerontology). We suggested that it may be advantageous to expand one's "statistical field of vision" beyond simple averages +/- standard deviations. Indeed, frequency distribution analysis may make visible some hidden information not evident from a simple qualitative analysis, particularly when the effect of some external factor or condition (e.g., aging, dietary chemicals) is being investigated. This was clearly illustrated by the application of distribution analysis in the study of variation in mouse liver cellular and fine structure, and may be true of fine structural studies in general. In living systems, structure and function interact in a dynamic way; they are "inseparable," unlike in technological systems or machines. Changes in fine structure therefore reflect changes in function. If such changes do not exceed a certain physiologic range, a quantitative analysis of structure will provide valuable information on quantitative changes in function that may not be possible or easy to measure directly. Because there is a large inherent variation in fine structure of cells in a given organ of an individual and among individuals, changes in fine structure can be analyzed only by studying frequency distribution curves of various structural characteristics (dimensions). Simple averages +/- S.D. do not in general reveal all information on the effect of a certain factor, because often this effect is not uniform; on the contrary, this will be apparent from distribution analysis because the form of the curves will be affected. We have also attempted to show in this chapter that similar general statistical principles and mechanisms may be operative in biological and technological systems. Despite the common belief that most biological and technological characteristics of interest have a symmetric bell-shaped (normal or Gaussian) distribution, we have shown that more often than not, distributions tend to be asymmetric and often resemble a so-called log-normal distribution. We saw that at least three general mechanisms may be operative, i.e., nonadditivity of influencing factors, competition among individuals for a common resource, and existence of an "optimum" value for a studied characteristic; more such mechanisms could exist.

Economos, Angelos C.↗

Spinoff 2015

Topics covered include: 3D Endoscope to Boost Safety, Cut Cost of Surgery; Audio App Brings a Better Night's Sleep Liquid Cooling Technology Increases Exercise Efficiency; Algae-Derived Dietary Ingredients Nourish Animals; Space Grant Research Launches Rehabilitation Chair; Vision Trainer Teaches Focusing Techniques at Home; Aircraft Geared Architecture Reduces Fuel Cost and Noise; Ubiquitous Supercritical Wing Design Cuts Billions in Fuel Costs; Flight Controller Software Protects Lightweight Flexible Aircraft; Cabin Pressure Monitors Notify Pilots to Save Lives; Ionospheric Mapping Software Ensures Accuracy of Pilots' GPS; Water Mapping Technology Rebuilds Lives in Arid Regions; Shock Absorbers Save Structures and Lives during Earthquakes; Software Facilitates Sharing of Water Quality Data Worldwide; Underwater Adhesives Retrofit Pipelines with Advanced Sensors; Laser Imaging Video Camera Sees through Fire, Fog, Smoke; 3D Lasers Increase Efficiency, Safety of Moving Machines; Air Revitalization System Enables Excursions to the Stratosphere; Magnetic Fluids Deliver Better Speaker Sound Quality; Bioreactor Yields Extracts for Skin Cream; Private Astronaut Training Prepares Commercial Crews of Tomorrow; Activity Monitors Help Users Get Optimum Sun Exposure; LEDs Illuminate Bulbs for Better Sleep, Wake Cycles; Charged Particles Kill Pathogens and Round Up Dust; Balance Devices Train Golfers for a Consistent Swing; Landsat Imagery Enables Global Studies of Surface Trends; Ruggedized Spectrometers Are Built for Tough Jobs; Gas Conversion Systems Reclaim Fuel for Industry; Remote Sensing Technologies Mitigate Drought; Satellite Data Inform Forecasts of Crop Growth; Probes Measure Gases for Environmental Research; Cloud Computing Technologies Facilitate Earth Research; Software Cuts Homebuilding Costs, Increases Energy Efficiency; Portable Planetariums Teach Science; Schedule Analysis Software Saves Time for Project Planners; Sound Modeling Simplifies Vehicle Noise Management; Custom 3D Printers Revolutionize Space Supply Chain; Improved Calibration Shows Images' True Colors; Micromachined Parts Advance Medicine, Astrophysics, and More; Metalworking Techniques Unlock a Unique Alloy; Low-Cost Sensors Deliver Nanometer-Accurate Measurements; Electrical Monitoring Devices Save on Time and Cost; Dry Lubricant Smooths the Way for Space Travel, Industry; and Compact Vapor Chamber Cools Critical Components.

Source record↗

Vision science and technology for supervised intelligent space robots

The focus of recent work in robotic vision for application in intelligent space robots such as the Extravehicular Activity (EVA) Retriever is in visual function, that is, how information about the space world is derived and then conveyed to cognition. The goal of this work in visual function is first to understand how the relevant structure of the surrounding world is evidenced by regularities among the pixels of images, then to understand how these regularities are mapped on the premises that form the primitive elements of cognition, and then to apply these understandings with the elements of visual processing (algorithms) and visual mechanism (machine organization) to intelligent space robot simulations and test beds. Since visual perception is the process of recognizing regularities in images that are known on the basis of a model of the world to be reliable related to causal structure in the environment (because perception attaches meaning to the link between a conception of the environment and the objective environment), the work involves understanding generic, generally applicable models of world structure (not merely objects) and how that structure evidences itself in images.

Erickson, Jon D.↗

A Novel Machine Learning-Based Gap-Filling of Fine-Resolution Remotely Sensed Snow Cover Fraction Data By Combining Downscaling and Regression

Satellite-based remotely sensed observations of snow cover fraction (SCF) can have data gaps in spatially distributed coverage from sensor and orbital limitations. We mitigate these limitations in the example fine-resolution Moderate Resolution Imaging Spectroradiometer (MODIS) data by gap-filling using auxiliary 1-km datasets that either aid in downscaling from coarser-resolution (5 km) MODIS SCF wherever not fully covered by clouds, or else by themselves via regression wherever fully cloud covered. This study’s prototype predicts a 1-km version of the 500-m MOD10A1 SCF target. Due to noncollocatedness of spatial gaps even across input and auxiliary datasets, we consider a recent gap-agnostic advancement of partial convolution in computer vision for both training and predictive gap-filling. Partial convolution accommodates spatially consistent gaps across the input images, effectively implementing a two-dimensional masking. To overcome reduced usable data from noncollocated spatial gaps across inputs, we innovate a fully generalized three-dimensional masking in this partial convolution. This enables a valid output value at a pixel even if only a single valid input variable and its value exist in the neighborhood covered by the convolutional filter zone centered around that pixel. Thus, our gap-agnostic technique can use significantly more examples for training (∼67%) and prediction (∼100%), instead of only less than 10% for the previous partial convolution. We train an example simple three-layer legacy super-resolution convolutional neural network (SRCNN) to obtain downscaling and regression component performances that are better than baseline values of either climatology or MOD10C1 SCF as relevant. Our generalized partial convolution can enable multiple Earth science applications like downscaling, regression, classification, and segmentation that were hindered by data gaps.

Soni Yatheendradas↗

Re-Design and Beat Testing of the Man-Machine Integration Design and Analysis System: MIDAS

The Man-machine Design and Analysis System (MIDAS) is a human factors design and analysis system that combines human cognitive models with 3D CAD models and rapid prototyping and simulation techniques. MIDAS allows designers to ask 'what if' types of questions early in concept exploration and development prior to actual hardware development. The system outputs predictions of operator workload, situational awareness and system performance as well as graphical visualization of the cockpit designs interacting with models of the human in a mission scenario. Recently, MIDAS was re-designed to enhance functionality and usability. The goals driving the redesign include more efficient processing, GUI interface, advances in the memory structures, implementation of external vision models and audition. These changes were detailed in an earlier paper. Two Beta test sites with diverse applications have been chosen. One Beta test site is investigating the development of a new airframe and its interaction with the air traffic management system. The second Beta test effort will investigate 3D auditory cueing in conjunction with traditional visual cueing strategies including panel-mounted and heads-up displays. The progress and lessons learned on each of these projects will be discussed.

Shively, R. Jay↗

Missileborne Artificial Vision System (MAVIS)

Several years ago when INTEL and China Lake designed the ETANN chip, analog VLSI appeared to be the only way to do high density neural computing. In the last five years, however, digital parallel processing chips capable of performing neural computation functions have evolved to the point of rough equality with analog chips in system level computational density. The Naval Air Warfare Center, China Lake, has developed a real time, hardware and software system designed to implement and evaluate biologically inspired retinal and cortical models. The hardware is based on the Adaptive Solutions Inc. massively parallel CNAPS system COHO boards. Each COHO board is a standard size 6U VME card featuring 256 fixed point, RISC processors running at 20 MHz in a SIMD configuration. Each COHO board has a companion board built to support a real time VSB interface to an imaging seeker, a NTSC camera, and to other COHO boards. The system is designed to have multiple SIMD machines each performing different corticomorphic functions. The system level software has been developed which allows a high level description of corticomorphic structures to be translated into the native microcode of the CNAPS chips. Corticomorphic structures are those neural structures with a form similar to that of the retina, the lateral geniculate nucleus, or the visual cortex. This real time hardware system is designed to be shrunk into a volume compatible with air launched tactical missiles. Initial versions of the software and hardware have been completed and are in the early stages of integration with a missile seeker.

Andes, David K.↗

A Knowledge Graph Framework for Organizing Heterogeneous Datasets for Utilization in Classical and Quantum Computing: Current Challenges and Future Directions

"The escalating impact of climate change induced extreme weather events in urban, suburban, and rural environments demands a rethink of how we have been using the single event-based or use-case-based knowledge graph models. The lack of representation in interaction within environmental variables found in literature led to the development of a novel framework that reflects the true nature of the interconnectedness in our environment. We propose an Environmental Interaction Knowledge Graph (EIKG) framework. This general EIKG framework works as the basis for interconnected environmental events by knitting interrelated events such as hurricanes leading to storm surges, which lead to flood events that could cause mudslides, landslides, etc., The cascading nature of one event leading to another related event in the environment requires an adequate understanding of each event using contextual information before conducting any data-driven analytics. This vision paper showcases how the EIKG:floods, EIKG:wildfire EIKG:landslides, etc, can be derived from a base case framework of EIKG as those individual events are interconnected with some common denominator variables. As an example, the precipitation variable is used in the flood case study as well as in the wildfire case study, as excessive precipitation levels lead to floods, and lack of precipitation leads to droughts and wildfires. We identify the precipitation variable as a “common-denominator-variable” in extreme weather events that play a key role in modeling the environment leading to different extreme weather events based on the variability of that variable (varying values where low precipitation leads to drought, and high values lead to floods). We use the insights gained from EIKG to conduct classical and Quantum Machine Learning (QML) based data analysis on the research questions developed. Our preliminary study shows how the Variational Quantum Classifier (VQC) and Quantum Support Vector Classifier (QSVC) are used along with the classical machine learning models to compare the model accuracies. Our study elaborates on how a quantitative analysis uses state-of-the-art machine learning techniques that include implementing both classical and quantum machine learning models and developing the knowledge graph. The EIKG is used to organize heterogeneous datasets and integrate the relations to case-specific extreme weather events such as floods. The study uses datasets such as county-to-country residential mobility data, socioeconomic datasets from the US Census Bureau, climate and weather-related Earth Observational data from NASA, and critical infrastructure data from the Homeland Infrastructure datasets."

Knowledge Graphs, Quantum Computing, Heterogenous ↗

Statistical learning framework for safety and failure analysis of a DNN-based autonomous aircraft system

Deep Neural Networks (DNNs) and Machine Learning technology is increasingly used for safety-critical applications in the Aerospace domain. To ensure safe operations, the DNN and the system must undergo rigorous verification and validation, including advanced statistical analyses. Performance and safety of the DNN and system behavior must not only be analyzed for the nominal case, but under numerous off-nominal and failure cases. In this paper we will describe how our statistical learning framework SYSAI can efficiently perform such analyses using the tool’s unique combination of advanced learning modeling and statistical analysis techniques. SYSAI can effectively explore the high-dimensional state and failure space of the system under test; geometrical shape detection of safety regions and boundaries support explainability of the results to the designer. In this paper, we report experiments and results obtained with a vision-based DNN control system (ACT) that is capable of autonomously steering an aircraft down a runway.

Yuning He↗

NASA's Small Spacecraft and Distributed Systems: Development and Demonstration of Technologies Enabling Swarms and New Spacecraft Platforms with AI and Edge Computing

NASA’s Small Spacecraft & Distributed Systems (SSDS) within the Research and Technology Mission Directorate (RTMD) expands U.S. capability to execute unique missions through targeted investment, rapid development, and flight demonstration of small spacecraft technologies applicable to exploration, science and the commercial space sector. SSDS strategically invests in technology development and on-orbit demonstrations executed across NASA, other government agencies, industry, and academia. The program’s University SmallSat Technology Partnerships initiative awards academic researchers with the opportunity to collaborate with NASA to mature innovative technology. Capabilities aligned with RTMD’s technology shortfalls and interests - power, processing, propulsion, sensors, communications, autonomous navigation, architectures, and advanced applications like artificial intelligence (AI), machine learning, and edge computing - are prioritized in SSDS investments. These investments enable distributed, autonomous, and cooperative small spacecraft systems that support swarm missions extending beyond low Earth orbit into cislunar and deep space. This paper highlights representative SSDS flight demonstrations that mature these capabilities to enable a future operational infrastructure needed to support sustained exploration of the Moon and beyond. SSDS’s investment strategy emphasizes rapid development and on-orbit demonstration to validate spacecraft technologies required for swarms and distributed mission architectures. The Starling swarm technology demonstration mission exemplifies this approach by advancing distributed spacecraft autonomy, cooperative operations, and space situational awareness. Extended flight testing and ongoing studies of next generation swarm configurations and on-orbit space traffic monitoring and management continue to inform future swarm designs. DiskSat’s four-spacecraft demonstration mission represents SSDS’s strategic vision to expand the design space for future small spacecraft through its commitment to advance novel platform concepts that can impact how science is performed on orbit. Continuing to invest in future platforms, the notional PY12 concept is a 12-spacecraft swarm hosting neuromorphic processors and is envisioned as an on-orbit testbed for AI, edge computing, and positioning, navigation and timing technologies. SSDS also invests in single-spacecraft technology demonstrations that underpin the success of future swarm missions and accelerate the availability of validated technologies across the small spacecraft ecosystem. Examples of such demonstrations include Pathfinder Technology Demonstrator-3 (PTD-3), which performed high-rate optical communications; PTD-R, which demonstrated a camera capable of simultaneous ultraviolet and short-wave infrared optical sensing; and CAPSTONE, the Cislunar Autonomous Positioning System Technology and Operations Navigation Experiment, which validated autonomous navigation in cislunar space. Collectively, SSDS-funded demonstrations advance capabilities across swarms and illustrate a coordinated investment strategy to mature high-impact technologies required for autonomous, distributed, and cooperative small spacecraft systems for low Earth orbit, cislunar, and deep space applications. Technology demonstrations strengthen SSDS partnerships with industry, academia, and other government agencies, and promote small spacecraft community adoption of capabilities required to close technical gaps for swarm missions.

Jan Stupl↗

NASA's Small Spacecraft and Distributed Systems: Development and Demonstration of Technologies Enabling Swarms and New Spacecraft Platforms with AI and Edge Computing

NASA’s Small Spacecraft & Distributed Systems (SSDS) within the Research and Technology Mission Directorate (RTMD) expands U.S. capability to execute unique missions through targeted investment, rapid development, and flight demonstration of small spacecraft technologies applicable to exploration, science and the commercial space sector. SSDS strategically invests in technology development and on-orbit demonstrations executed across NASA, other government agencies, industry, and academia. The program’s University SmallSat Technology Partnerships initiative awards academic researchers with the opportunity to collaborate with NASA to mature innovative technology. Capabilities aligned with RTMD’s technology shortfalls and interests - power, processing, propulsion, sensors, communications, autonomous navigation, architectures, and advanced applications like artificial intelligence (AI), machine learning, and edge computing - are prioritized in SSDS investments. These investments enable distributed, autonomous, and cooperative small spacecraft systems that support swarm missions extending beyond low Earth orbit into cislunar and deep space. This paper highlights representative SSDS flight demonstrations that mature these capabilities to enable a future operational infrastructure needed to support sustained exploration of the Moon and beyond. SSDS’s investment strategy emphasizes rapid development and on-orbit demonstration to validate spacecraft technologies required for swarms and distributed mission architectures. The Starling swarm technology demonstration mission exemplifies this approach by advancing distributed spacecraft autonomy, cooperative operations, and space situational awareness. Extended flight testing and ongoing studies of next generation swarm configurations and on-orbit space traffic monitoring and management continue to inform future swarm designs. DiskSat’s four-spacecraft demonstration mission represents SSDS’s strategic vision to expand the design space for future small spacecraft through its commitment to advance novel platform concepts that can impact how science is performed on orbit. Continuing to invest in future platforms, the notional PY12 concept is a 12-spacecraft swarm hosting neuromorphic processors and is envisioned as an on-orbit testbed for AI, edge computing, and positioning, navigation and timing technologies. SSDS also invests in single-spacecraft technology demonstrations that underpin the success of future swarm missions and accelerate the availability of validated technologies across the small spacecraft ecosystem. Examples of such demonstrations include Pathfinder Technology Demonstrator-3 (PTD-3), which performed high-rate optical communications; PTD-R, which demonstrated a camera capable of simultaneous ultraviolet and short-wave infrared optical sensing; and CAPSTONE, the Cislunar Autonomous Positioning System Technology and Operations Navigation Experiment, which validated autonomous navigation in cislunar space. Collectively, SSDS-funded demonstrations advance capabilities across swarms and illustrate a coordinated investment strategy to mature high-impact technologies required for autonomous, distributed, and cooperative small spacecraft systems for low Earth orbit, cislunar, and deep space applications. Technology demonstrations strengthen SSDS partnerships with industry, academia, and other government agencies, and promote small spacecraft community adoption of capabilities required to close technical gaps for swarm missions.

Jan Stupl↗

Developing Methods for Exercise System Kinematics Tracking

BACKGROUND How to quantify the load and forces produced by exercise equipment and their Vibration Isolation and Stabilization (VIS) platforms in-flight is an active area of investigation. Kinematic tracking paired with system modeling can provide insights as well as verification and validation of simulations used for system design and development. Traditional motion capture methods can require significant cost in equipment procurement and crew-time, but newer lessons learned can be leveraged [1]. The VIS systems of current and future exercise hardware on the International Space Station (ISS) such as the Cycle Ergometer with Vibration Isolation System (CEVIS) and the European Enhanced Exploration Exercise Device (E4D) are not currently outfitted with IMUs or similar measurement devices. Video-based methods would enable use of multi-purpose, crew-familiar flight equipment. An initial exploration of video-based solutions was performed utilizing 2-camera video from crew cycling on Teal-CEVIS on the ISS. METHODS AND RESULTS Our group has scoped a variety of video-based object tracking methods. To date, we have primarily investigated computer vision toolkits such as openCV. Techniques explored include key-point detection, background subtraction, region-of interest tracking, color-based tracking, tag masking and tracking, and corner detection. Although object-tracking and 6D pose estimation is a rich field, space applications are a unique problem that are challenging for existing software and toolkits. The majority of the existing object-tracking applications involve vehicles/pedestrians and household objects with simple backgrounds. We have identified the following features which pose particular challenges for on-station exercise equipment tracking: Busy and visually cluttered background Low-textured tracking object with relatively small motions Occlusions and motion by human subject and loose, floating objects Limited number of video cameras with no fixed global references Limited ability to add tags, markers, or visual references to the tracking object Lack of training data for Machine Learning (ML) algorithms CONCLUSION We will summarize the efficacy of techniques tested for a ground mock-trial and the on-station exercise trial. It is likely that human-in-loop feedback or a conglomerate of methods is required. ML-based methods, like those implemented for human body tracking [2], may still be a viable option, but more training data and validation is needed.

L B Nilsson↗

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗

Robot acting on moving bodies (RAMBO): Preliminary results

A robot system called RAMBO is being developed. It is equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a moving object. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations nearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enchancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows the use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using parametric cubic splines between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗