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NASA NTRS1988

Analysis procedures and subjective flight results of a simulator validation and cue fidelity experiment

A joint experiment to investigate simulator validation and cue fidelity was conducted by the Dryden Flight Research Facility of NASA Ames Research Center (Ames-Dryden) and NASA Langley Research Center. The primary objective was to validate the use of a closed-loop pilot-vehicle mathematical model as an analytical tool for optimizing the tradeoff between simulator fidelity requirements and simulator cost. The validation process includes comparing model predictions with simulation and flight test results to evaluate various hypotheses for differences in motion and visual cues and information transfer. A group of five pilots flew air-to-air tracking maneuvers in the Langley differential maneuvering simulator and visual motion simulator and in an F-14 aircraft at Ames-Dryden. The simulators used motion and visual cueing devices including a g-seat, a helmet loader, wide field-of-view horizon, and a motion base platform.

Carr, Peter C.↗

NASA NTRS1984

On the potential use of satellite sounder data in forecasting tropical cyclone motion

Although many prediction schemes are available, tropical cyclone track forecast errors are still unacceptably large. A primary difficulty is that tropical cyclones and their environments are poorly observed by conventional data networks. Satellite sounders, however, routinely provide numerous observations near these storms. Mean layer temperatures from the Scanning Microwave Spectrometer (SCAMS) on board the Nimbus-6 satellite are decomposed using empirical orthogonal functions, and the expansion coefficients are related to deviations from persistence track forecasts. Based on multiple correlation coefficients it appears that upper-level (250-100 mb) temperatures contain significant information about the right-angle error of the persistence forecast location. Temperatures from the 1000-500 mb layer seemed to contain little forecast information. Implications of these results for further work are offered.

Kidder, S. Q.↗

NASA NTRS1977

The effect of a visual/motion display mismatch in a single axis compensatory tracking task

The frequency response of visual systems is typically unity from 0 to 20 rad/sec, while that of motion systems typically falls off in the vicinity of 6 rad/sec. The question arises as to what effect, if any, such a difference in servomechanism performance has on the simulation. Is pilot performance reduced by the conflict between displays? Would a more realistic simulation occur if the visual servomechanisms were degraded to match the motion servomechanisms? Does the pilot need and use the higher frequency information present in the visual display? The purpose of the experiment is to take a step forward toward answering these questions. Work already in the literature which bears on these questions is outlined. A description is then given of an experiment used to check for the effects of a difference in the performance of the visual and motion servomechanisms (the experiment uses a single-axis, compensatory, roll-tracking task). The results of the experiment are then presented and analyzed.

Shirachi, D. K.↗

NASA NTRS1971

Anchoring spacecraft to planets

For planet tracking, the immense mass relative to applied nongravitational forces (for even the smaller asteroids) removes limitations on the ability to model orbital motion mathematically. A lander on a natural satellite (other than the moon) would not suffer from nongravitational effects, and would further have a large mean motion, which is important for observing gravitational effects. The tracking of a Mars lander over a long period would yield conclusions in the areas of relativity (determination of the parameter beta), the inertial framework, Mars' internal structure (based on the polar moment), and Mars' physical ephemeris.

Cain, D. L.↗

NASA NTRS1997

Interferometric estimation of ice sheet motion and topography

With ERS-1/2 satellite radar interferometry, it is possible to make measurements of glacier motion with high accuracy and fine spatial resolution. Interferometric techniques were applied to map velocity and topography for several outlet glaciers in Greenland. For the Humboldt and Petermann glaciers, data from several adjacent tracks were combined to make a wide-area map that includes the enhanced flow regions of both glaciers. The discharge flux of the Petermann glacier upstream of the grounding line was estimated, thereby establishing the potential use of ERS-1/2 interferometric data for monitoring ice-sheet discharge. Interferograms collected along a single track are sensitive to only one component of motion. By utilizing data from ascending and descending passes and by making a surface-parallel flow assumption, it is possible to measure the full three-dimensional vector flow field. The application of this technique for an area on the Ryder glacier is demonstrated. Finally, ERS-1/2 interferograms were used to observe a mini-surge on the Ryder glacier that occurred in autumn of 1995.

Joughlin, Ian↗

NASA NTRS2012

Ground Simulation of an Autonomous Satellite Rendezvous and Tracking System Using Dual Robotic Systems

A hardware-in-the-loop ground system was developed for simulating a robotic servicer spacecraft tracking a target satellite at short range. A relative navigation sensor package "Argon" is mounted on the end-effector of a Fanuc 430 manipulator, which functions as the base platform of the robotic spacecraft servicer. Machine vision algorithms estimate the pose of the target spacecraft, mounted on a Rotopod R-2000 platform, relay the solution to a simulation of the servicer spacecraft running in "Freespace", which performs guidance, navigation and control functions, integrates dynamics, and issues motion commands to a Fanuc platform controller so that it tracks the simulated servicer spacecraft. Results will be reviewed for several satellite motion scenarios at different ranges. Key words: robotics, satellite, servicing, guidance, navigation, tracking, control, docking.

Trube, Matthew J.↗

NASA NTRS2000

Video Based Sensor for Tracking 3-Dimensional Targets

Video-Based Sensor for Tracking 3-Dimensional Targets The National Aeronautics and Space Administration's (NASAs) Marshall Space Flight Center (MSFC) has been developing and testing video-based sensors for automated spacecraft guidance for several years, and the next generation of video sensor will have tracking rates up to 100 Hz and will be able to track multiple reflectors and targets. The Video Guidance Sensor (VGS) developed over the past several years has performed well in testing and met the objective of being used as the terminal guidance sensor for an automated rendezvous and capture system. The first VGS was successfully tested in closed-loop 3-degree-of-freedom (3- DOF) tests in 1989 and then in 6-DOF open-loop tests in 1992 and closed-loop tests in 1993-4. Development and testing continued, and in 1995 approval was given to test the VGS in an experiment on the Space Shuttle. The VGS flew in 1997 and in 1998, performing well for both flights. During the development and testing before, during, and after the flight experiments, numerous areas for improvement were found. The VGS was developed with a sensor head and an electronics box, connected by cables. The VGS was used in conjunction with a target that had wavelength-filtered retro-reflectors in a specific pattern, The sensor head contained the laser diodes, video camera, and heaters and coolers. The electronics box contained a frame grabber, image processor, the electronics to control the components in the sensor head, the communications electronics, and the power supply. The system works by sequentially firing two different wavelengths of laser diodes at the target and processing the two images. Since the target only reflects one wavelength, it shows up well in one image and not at all in the other. Because the target's dimensions are known, the relative positions and attitudes of the target and the sensor can be computed from the spots reflected from the target. The system was designed to work from I meter out to I 10 meters. The VGS was mounted on the Space Shuttle while its target was mounted on the Spartan free-flyer carried on the same Shuttle flight. The VGS tracked the Spartan at ranges up to 170m, and the VGS range data very closely matched the range data from the Hand-Held Laser- Rangefinder used by the astronauts on board the Shuttle. While the VGS was designed primarily as a terminal guidance sensor for an automated spacecraft, it could be applied to other uses. It could be used as an alignment aid for an operator of a remote system (giving position and attitude feedback data, as well as a camera view of the target), as a feedback system for a robotic arm, or for automated vehicle guidance. The next generation VGS, with its higher tracking rates, smaller size, and lower power could be used in more places than the original VGS, and by using LED's instead of laser diodes, the system would be eye-safe at any range. Other possible uses include tracking 3-dimensional objects with retro-reflectors mounted at various locations or motion analysis by placing several retro-reflectors on the moving object and tracking them at high speeds. There are few sensors capable of performing tasks similar to those the VGS can perform, and the next generation VGS will be even more capable than the original. Some of this work is previously presented in the papers.

Howard, R. T.↗

NASA NTRS1984

Spacecraft system study: A study to define the impact of laser communication systems on their host spacecraft

The mutual influence of a laser communication system and its host spacecraft and the degree to which the mutual influence limited acquisition, tracking and pointing processes were investigated. A laser klink between a low earth orbiting (LEO) satellite and a geosynchronous earth orbiting (GEO) satellite was used as a baseline. The laser link between satellites was a generic channel transferring 500 Mbps data from the LEO to GEO using the GaAlAs laser as the laser light source. Major aspects of pointing and tracking with a satelliteborne optical system were evaluated including: (1) orbital aspects such as spacecraft relative motions, point ahead, and Sun snd Moon optical noise; (2) burst errors introduced by the electronic and optical noise levels; (3) servo system design and configurations, and the noise sources such as, sensor noise, base motion disturbances, gimbal friction torque noise; (4) an evaluation of the tracking and beacon link and the type of sensors used; (5) the function of the acquisition procedure and an evaluation of the sensors employed; and (6) an estimate of the size, weight and power needed for the satellite system.

Source record↗

NASA NTRS1974

The effect of spurious angular accelerations on tracking in dynamic simulation

A laboratory study was conducted to investigate the effect of spurious simulator yaw motions on a pilot's control performance. A second objective was to compare the efficiency of static and dynamic simulator tracking in previously unexamined vehicle dynamics. Twelve airline pilots served as subjects in a moving-base flight simulator under congruent-motion, spurious-motion, and no-motion conditions. The results indicated a significant increase in the amount of error with increasing levels of spurious motion during the initially administered series of trials. The influence of spurious motion, however, was absent in a second series of trials. The data suggest that the pilots learned to compensate in their performance for the spurious inputs. It was also found that congruent visual and rotational cueing produced superior performance to that of tracking with visual information alone.

Beck, L. J.↗

NASA NTRS2007

Robotic Vision-Based Localization in an Urban Environment

A system of electronic hardware and software, now undergoing development, automatically estimates the location of a robotic land vehicle in an urban environment using a somewhat imprecise map, which has been generated in advance from aerial imagery. This system does not utilize the Global Positioning System and does not include any odometry, inertial measurement units, or any other sensors except a stereoscopic pair of black-and-white digital video cameras mounted on the vehicle. Of course, the system also includes a computer running software that processes the video image data. The software consists mostly of three components corresponding to the three major image-data-processing functions: Visual Odometry This component automatically tracks point features in the imagery and computes the relative motion of the cameras between sequential image frames. This component incorporates a modified version of a visual-odometry algorithm originally published in 1989. The algorithm selects point features, performs multiresolution area-correlation computations to match the features in stereoscopic images, tracks the features through the sequence of images, and uses the tracking results to estimate the six-degree-of-freedom motion of the camera between consecutive stereoscopic pairs of images (see figure). Urban Feature Detection and Ranging Using the same data as those processed by the visual-odometry component, this component strives to determine the three-dimensional (3D) coordinates of vertical and horizontal lines that are likely to be parts of, or close to, the exterior surfaces of buildings. The basic sequence of processes performed by this component is the following: 1. An edge-detection algorithm is applied, yielding a set of linked lists of edge pixels, a horizontal-gradient image, and a vertical-gradient image. 2. Straight-line segments of edges are extracted from the linked lists generated in step 1. Any straight-line segments longer than an arbitrary threshold (e.g., 30 pixels) are assumed to belong to buildings or other artificial objects. 3. A gradient-filter algorithm is used to test straight-line segments longer than the threshold to determine whether they represent edges of natural or artificial objects. In somewhat oversimplified terms, the test is based on the assumption that the gradient of image intensity varies little along a segment that represents the edge of an artificial object.

Mchenry, Michael↗

NASA NTRS2015

System and Method for Measuring Skin Movement and Strain and Related Techniques

Described herein are systems and techniques for a motion capture system and a three-dimensional (3D) tracking system used to record body position and/or movements/motions and using the data to measure skin strain (a strain field) all along the body while a joint is in motion (dynamic) as well as in a fixed position (static). The data and technique can be used to quantify strains, calculate 3D contours, and derive patterns believed to reveal skin's properties during natural motions.

Newman, Dava J.↗

NASA NTRS2018

System and Method for Measuring Skin Movement and Strain and Related Techniques

Newman, Dava J.↗

NASA NTRS1979

Geodetic interferometry submission for the IUGG Quadrennial Report

The present paper reviews the activities of two major VLBI (Very Long Baseline Interferometry) groups, within the United States, which have been concentrating on geodetic measurements for a number of years. The activities have resulted in the development of transportable VLBI terminals for regional surveying applications; development of VLBI techniques for obtaining station positions; establishment of relative epochs and rates of the hydrogen maser clocks at the stations; the acquisition of polar motion and earth rotation data in support of deep space tracking functions; and the development of VLBI techniques necessary for tectonic measurements on trans- and intercontinental baselines and for astrometry, polar-motion and earth-rotation observations.

Clark, T. A.↗

NASA NTRS1984

Effects of motion base and g-seat cueing of simulator pilot performance

In order to measure and analyze the effects of a motion plus g-seat cueing system, a manned-flight-simulation experiment was conducted utilizing a pursuit tracking task and an F-16 simulation model in the NASA Langley visual/motion simulator. This experiment provided the information necessary to determine whether motion and g-seat cues have an additive effect on the performance of this task. With respect to the lateral tracking error and roll-control stick force, the answer is affirmative. It is shown that presenting the two cues simultaneously caused significant reductions in lateral tracking error and that using the g-seat and motion base separately provided essentially equal reductions in the pilot's lateral tracking error.

Ashworth, B. R.↗

NASA NTRS2014

Physiologically Modulating Videogames or Simulations which use Motion-Sensing Input Devices

New types of controllers allow players to make inputs to a video game or simulation by moving the entire controller itself. This capability is typically accomplished using a wireless input device having accelerometers, gyroscopes, and an infrared LED tracking camera. The present invention exploits these wireless motion-sensing technologies to modulate the player's movement inputs to the videogame based upon physiological signals. Such biofeedback-modulated video games train valuable mental skills beyond eye-hand coordination. These psychophysiological training technologies enhance personal improvement, not just the diversion, of the user.

Pope, Alan T.↗

NASA NTRS2012

Trajectory Control of Rendezvous with Maneuver Target Spacecraft

In this paper, a nonlinear trajectory control algorithm of rendezvous with maneuvering target spacecraft is presented. The disturbance forces on the chaser and target spacecraft and the thrust forces on the chaser spacecraft are considered in the analysis. The control algorithm developed in this paper uses the relative distance and relative velocity between the target and chaser spacecraft as the inputs. A general formula of reference relative trajectory of the chaser spacecraft to the target spacecraft is developed and applied to four different proximity maneuvers, which are in-track circling, cross-track circling, in-track spiral rendezvous and cross-track spiral rendezvous. The closed-loop differential equations of the proximity relative motion with the control algorithm are derived. It is proven in the paper that the tracking errors between the commanded relative trajectory and the actual relative trajectory are bounded within a constant region determined by the control gains. The prediction of the tracking errors is obtained. Design examples are provided to show the implementation of the control algorithm. The simulation results show that the actual relative trajectory tracks the commanded relative trajectory tightly. The predicted tracking errors match those calculated in the simulation results. The control algorithm developed in this paper can also be applied to interception of maneuver target spacecraft and relative trajectory control of spacecraft formation flying.

Zhou, Zhinqiang↗

NASA NTRS1992

Gravity field covariance analysis for the TOPEX/Poseidon mission

The TOPEX/Poseidon satellite oceanography mission will require very accurate orbit determination in order to fulfill its mission requirements of altimetrically mapping the ocean surface with approximately 10 centimeter accuracy. To meet such stringent orbit determination specifications will require very accurate tracking data and very accurate dynamical models of the satellite motion. The accuracy of the TOPEX/Poseidon orbit is expected to be driven by the accuracy of the earth's gravity field model. Expected orbit accuracy for several recent gravity models is presented. Both the capability of the models for modeling the motion of TOPEX/Poseidon and their global modeling characteristics are discussed. In addition, the gravity model improvement that can be expected by utilizing GPS tracking of TOPEX/Poseidon is evaluated. This evalution is based on a recent simulation of a gravity field recovery using 10 days of TOPEX/Poseidon GPS tracking.

Rosborough, G. W.↗

NASA NTRS1975

STOL aircraft transient ground effects. Part 2: Experimental techniques feasibility study

Procedures for simulating transient effects associated with STOL aircraft landings and takeoffs were examined and a basis was developed for selection of an experimental approach based on consideration of simulation requirements, experimental techniques, facilities, and costs. The results are generally applicable to STOL aircraft employing any of the following powered lift systems: externally blown flap, upper surface blown flap, augmentor wing, or internally ducted jet flap. Scaling relationships were developed to apply the simulation requirements to model test situations. Procedures for the derivation of aerodynamic forces from the measured data were discussed. Various means of expressing the aerodynamic data in forms convenient for use in performance or stability and control applications were described. Five different experimental techniques were presented that depend on two different types of experimental facilities, wind tunnels and test tracks, and involving different types of model motion, and factors pertinent to selection were summarized.

Crowder, J. P.↗