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At least 307 records · Page 17

All sources NASA NTRS DOE OSTI

NASA NTRS1992

Development of a machine vision system for automated structural assembly

Research is being conducted at the LaRC to develop a telerobotic assembly system designed to construct large space truss structures. This research program was initiated within the past several years, and a ground-based test-bed was developed to evaluate and expand the state of the art. Test-bed operations currently use predetermined ('taught') points for truss structural assembly. Total dependence on the use of taught points for joint receptacle capture and strut installation is neither robust nor reliable enough for space operations. Therefore, a machine vision sensor guidance system is being developed to locate and guide the robot to a passive target mounted on the truss joint receptacle. The vision system hardware includes a miniature video camera, passive targets mounted on the joint receptacles, target illumination hardware, and an image processing system. Discrimination of the target from background clutter is accomplished through standard digital processing techniques. Once the target is identified, a pose estimation algorithm is invoked to determine the location, in three-dimensional space, of the target relative to the robots end-effector. Preliminary test results of the vision system in the Automated Structural Assembly Laboratory with a range of lighting and background conditions indicate that it is fully capable of successfully identifying joint receptacle targets throughout the required operational range. Controlled optical bench test results indicate that the system can also provide the pose estimation accuracy to define the target position.

Sydow, P. Daniel↗

NASA NTRS1992

Color image processing and object tracking workstation

A system is described for automatic and semiautomatic tracking of objects on film or video tape which was developed to meet the needs of the microgravity combustion and fluid science experiments at NASA Lewis. The system consists of individual hardware parts working under computer control to achieve a high degree of automation. The most important hardware parts include 16 mm film projector, a lens system, a video camera, an S-VHS tapedeck, a frame grabber, and some storage and output devices. Both the projector and tapedeck have a computer interface enabling remote control. Tracking software was developed to control the overall operation. In the automatic mode, the main tracking program controls the projector or the tapedeck frame incrementation, grabs a frame, processes it, locates the edge of the objects being tracked, and stores the coordinates in a file. This process is performed repeatedly until the last frame is reached. Three representative applications are described. These applications represent typical uses and include tracking the propagation of a flame front, tracking the movement of a liquid-gas interface with extremely poor visibility, and characterizing a diffusion flame according to color and shape.

Klimek, Robert B.↗

NASA NTRS1992

Finite-element analyses and fracture simulation in thin-sheet aluminum alloy

A two-dimensional, elastic-plastic finite-element analysis was used with a critical crack-tip-opening angle (CTOA) fracture criterion to model stable crack growth in thin-sheet 2024-T3 aluminum alloy under monotonic loading after precracking at different cyclic stress levels. Tests were conducted on three types of specimens: middle-crack, three-hole-crack and blunt-notch tensile specimens. An experiment technique was developed to measure CTOA during crack growth initiation and stable tearing using a high-resolution video camera and recorder. Crack front shapes were also measured during initiation and stable tearing using a fatigue marker-load technique. Three-dimensional elastic-plastic finite-element analyses of these crack shapes for stationary cracks were conducted to study the crack-front opening displacements. Predicted load against crack extension on middle-crack tension specimens agreed well with test results even for large-scale plastic deformations. The analyses were able to predict the effects of specimen size and precracking stress history on stable tearing. Predicted load against load-line displacements agreed well with test results up to maximum load bu the analyses tended to overpredict displacements as crack grew beyond the maximum load under displacement-controlled conditions. During the initiation phase, the measured CTOA values were high but decreased and remained nearly constant after a small amount of stable tearing. The constant value of CTOA agree well with the calculated value from the finite-element analysis. The larger CTOA values measured at the sheet surface during the initiation phase may be associated with the crack tunneling observed in the tests. Three-dimensional analyses for nonstraight crack fronts predicted much higher displacements near the free surface than in the interior.

Newman, J. C., Jr.↗

NASA NTRS1992

Hazardous materials emergency response mobile robot

A simple or unsophisticated robot incapable of effecting straight-line motion at the end of its arm inserts a key held in its end effector or hand into a door lock with nearly straight-line motion by gently thrusting its back heels downwardly so that it pivots forwardly on its front toes while holding its arm stationary. The relatively slight arc traveled by the robot's hand is compensated by a complaint tool with which the robot hand grips the door key. A visible beam is projected through the axis of the hand or gripper on the robot arm end at an angle to the general direction in which the robot thrusts the gripper forward. As the robot hand approaches a target surface, a video camera on the robot wrist watches the beam spot on the target surface fall from a height proportional to the distance between the robot hand and the target surface until the beam spot is nearly aligned with the top of the robot hand. Holes in the front face of the hand are connected through internal passages inside the arm to an on-board chemical sensor. Full rotation of the hand or gripper about the robot arm's wrist is made possible by slip rings in the wrist which permit passage of the gases taken in through the nose holes in the front of the hand through the wrist regardless of the rotational orientation of the wrist.

Stone, Henry W.↗

NASA NTRS1990

Qualitative investigation of cryogenic fluid injection into a supersonic flow field

The behavior of liquid nitrogen injected into a supersonic nitrogen flow field was investigated using an experimental apparatus in which a Mach 2.7 2D gas nitrogen tunnel is coupled with a high-pressure cryogenic source. Observations were monitored and recorded via a video camera and a motion picture camera. It was found that the penetration of a supersonic flow field by injection of liquid nitrogen is strongly dependent on the flow Mach number, the cryogen injection pressure (Pi/Pc), the injector configuration, and the cryogen temperature. For a 2D gaseous N2, Mach 2.7 tunnel, with cryogen injection Pi/Pc approaching 2, the injected fluid penetration for the 1/8-in. injection port approached one half of the tunnel width at 90-deg injection, and one fourth of the tunnel width at 20-deg injection.

Hendricks, R. C.↗

NASA NTRS1992

Doppler global velocimeter measurements of the vortical flow above a thin delta wing

Doppler global velocimetry, currently under development by NASA for the measurement of off-surface flow fields, will allow quantification of complex, 3D flow fields at video-camera rates and accomplish the simultaneous measurement of an entire flow field structure within the given plane. In order to assess the performance capabilities of the technique, velocity measurements of the vortical flow field above a thin, 75-deg delta wing were conducted at NASA-Langley and compared with results obtained via three-component laser velocimeter. The achievement of performance goals is confirmed.

Usry, Jimmy W.↗

NASA NTRS1991

A surface-based cloud observing system

The paper describes a surface-based system, called the Cloud Observing System (COS), that was developed for measurements of the dynamical and thermodynamical properties of clouds and of their interaction with the large-scale environment, by combining several remote sensors and in situ systems. The atmospheric parameters that will be measured by COS include precipitation, the velocity and direction of wind, the cloud liquid water, the low-level winds and turbulence structure, integrated liquid and vapor quantities, the temperature and water profiles, the cloud radiance and the cloud base temperature, irradiances at the surface, the low-level temperature profile, the cloud-base height, and the cloud fraction; video cameras will provide visual records of clouds.

Albrecht, B. A.↗

NASA NTRS1991

Stability of capillary surfaces

An extensive data set quantifying the stability limits of capillary surfaces for a wide range of fluid properties, container geometry, and input disturbance and orientation does not currently exist. To begin to provide such a data set an experimental apparatus has been designed for which the dynamics and stability of fluid interfaces will be investigated. The apparatus consists primarily of a programmable shaker table and a high speed motion picture and video camera for viewing the fluid surface as drop tower tests will be performed to note the stability of a variety of surface/vessel configurations.

Weislogel, Mark↗

NASA NTRS1993

Prototype Optical Correlator For Robotic Vision System

Known and unknown images fed in electronically at high speed. Optical correlator and associated electronic circuitry developed for vision system of robotic vehicle. System recognizes features of landscape by optical correlation between input image of scene viewed by video camera on robot and stored reference image. Optical configuration is Vander Lugt correlator, in which Fourier transform of scene formed in coherent light and spatially modulated by hologram of reference image to obtain correlation.

Scholl, Marija S.↗

NASA NTRS1993

Imaging Hydrogen Leaks With Raman Scattering

Proposed spectral imaging system used to detect leaking hydrogen from distance of 100 ft or more. Video cameras form images of leaking hydrogen by use of Raman scattering of laser beam from hydrogen. By indicating potentially explosive concentrations of hydrogen in air, system contributes to safety at facilities producing and handling hydrogen, such as fueling stations for hydrogen-burning automobiles of near future.

Mcdermid, Iain S.↗

NASA NTRS1993

Subpixel Resolution In Depth Perceived Via 3-D Television

Report describes experiment in which two black vertical bars on featureless white background placed near intersection of optical axes of two charge-coupled-device video cameras positioned to give stereoscopic views. Trained human observers found to perceive depths at subpixel resolutions in stereoscopic television images. This finding significant for remote stereoscopic monitoring, expecially during precise maneuvers of remotely controlled manipulators. Also significant for research in processing of visual information by human brain.

Diner, Daniel B.↗

NASA NTRS1993

Ampere-Hour Meter For Rechargeable Battery

Low-power analog/digital electronic circuit meters discharge of storage battery in ampere-hours. By metering discharge, one obtains indication of state of charge of battery and avoids unnecessary recharging, maintaining capacity of battery and prolonging life. Because of its small size and low power consumption, useful in such applications as portable video cameras, communication equipment on boats, portable audio equipment, and portable medical equipment.

Tripp, John S.↗

NASA NTRS1993

Compact Robotic Vehicle

Radio-controlled microrover features light weight and agility. Miniature robotic vehicle, called Go-For, implements new fork-wheeled mobility concept to traverse extremely rough terrain. Weighs 4 kg and is 0.4 m long, climbs over obstacles as large as 60 percent of its length. Mobility concept applied to much larger vehicles. Demonstrates such applications as exploration of planetary surfaces, military surveillance, and assessing hazardous situations. Video camera on vehicle sends images to control station, where human supervisor chooses sequence of paths to traverse to reach locations of interest. For planetary exploration, spectrometer and seisometer on vehicle sends scientific data to control station, and onboard tools collect soil and rock samples. Terrestrial version equipped similarly to take samples in chemically and/or biologically contaminated areas.

Wilcox, Brian H.↗

NASA NTRS1993

Algorithms For Detection Of Correlation Spots

Three algorithms provide for improved postprocessing of outputs of optical correlators based on binary phase-only filters. Detect correlation spots. Function in presence of noise and executed rapidly. First algorithm starts processing correlation-image data while data fed out of video camera and digitized for subsequent analysis. Second involves convolution of correlation image with small-window two-dimensional impulse-response function followed by threshold operation in which negative values of convolution integral set to zero. Third affects generation as well as postprocessing of correlation image.

Scholl, Marija S.↗

NASA NTRS1992

Autoguidance video sensor for docking

The Automated Rendezvous and Docking system (ARAD) is composed of two parts. The first part is the sensor which consists of a video camera ringed with two wavelengths of laser diode. The second part is a standard Remote Manipulator System (RMS) target used on the Orbiter that has been modified with three circular pieces of retro-reflective tape covered by optical filters which correspond to one of the wavelengths of laser diode. The sensor is on the chase vehicle and the target is on the target vehicle. The ARAD system works by pulsing one wavelength laser diodes and taking a picture. Then the second wavelength laser diodes are pulsed and a second picture is taken. One picture is subtracted from the other and the resultant picture is thresholded. All adjacent pixels above threshold are blobbed together (X and Y centroids calculated). All blob centroids are checked to recognize the target out of noise. Then the three target spots are windowed and tracked. The three target spot centroids are used to evaluate the roll, yaw, pitch, range, azimuth, and elevation. From that a guidance routine can guide the chase vehicle to dock with the target vehicle with the correct orientation.

Book, Michael L.↗

NASA NTRS1992

LDEF yaw and pitch angle estimates

Quantification of the LDEF yaw and pitch misorientations is crucial to the knowledge of atomic oxygen exposure of samples placed on LDEF. Video camera documentation of the LDEF spacecraft prior to grapple attachment, atomic oxygen shadows on experiment trays and longerons, and a pinhole atomic oxygen camera placed on LDEF provided sources of documentation of the yaw and pitch misorientation. Based on uncertainty-weighted averaging of data, the LDEF yaw offset was found to be 8.1 plus or minus 0.6 degrees, allowing higher atomic oxygen exposure of row 12 than initially anticipated. The LDEF pitch angle offset was found to be 0.8 plus or minus 0.4 degrees, such that the space end was tipped forward toward the direction of travel. The resulting consequences of the yaw and pitch misorientation of LDEF on the atomic oxygen fluence is a factor of 2.16 increase for samples located on row 12, and a factor of 1.18 increase for samples located on the space end compared to that which would be expected for perfect orientation.

Banks, Bruce A.↗

NASA NTRS1993

Close-up analysis of aircraft ice accretion

Various types of ice formation have been studied by analysis of high magnification video observations. All testing was conducted in the NASA Lewis Icing Research Tunnel (IRT). A faired 8.9 cm (3.5 in.) diameter metal-clad cylinder and a 5.1 (2 in.) aluminum cylinder were observed by close-up and overview video cameras for several wind tunnel conditions. These included close-up grazing angle, close-up side view, as well as overhead and side overview cameras. Still photographs were taken at the end of each spray along with tracings of the subsequent ice shape. While in earlier tests only the stagnation region was observed, the entire area from the stagnation line to the horn region of glaze ice shapes was observed in this test. The modes or horn formation have been identified within the range of conditions observed. In the horn region, Horn Type A ice is formed by 'dry' feather growth into the flow direction and Horn Type B is formed by a 'wet' growth normal to the surface. The feather growth occurs when the freezing fraction is near unity and roughness elements exist to provide an initial growth site.

Hansman, R. John↗

NASA NTRS1991

Image based tracking approaches to AR/C at the Johnson Space Center

Automated Rendezvous and Capture (AR&C) requires the determination of the six degrees of freedom relating two free bodies. Sensor systems that can provide such information have varying sizes, weights, power requirements, complexities and accuracies. One type of sensor system which can provide several key advantages is an image based tracking system, or better known as a machine vision system. By image based tracking we mean that the sensor is some imaging device such as one or more video cameras, from which the tracking parameters necessary to support the rendezvous and capture operations (range, attitude, etc.) can be derived. Image based tracking offers many advantages such as relative hardware simplicity and reprogrammability. These advantages must be weighed against the disadvantages of these systems, such as limited operational range, poorer accuracy at greater distances and sensitivity to lighting conditions. However, with properly designed algorithms and targets these disadvantages can be minimized for many important applications. Rigorous testing in realistic environments can further increase the robustness and reliability of these systems. This presentation describes the facilities used at JSC to support AR&C image based tracking development and the details of our binocular stereo approach to image based tracking.

Fisher, Timothy E.↗