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At least 325 records · Page 18
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

Design for a goal-oriented telerobotic system

Robotic systems will play an increasingly important role in space operations. This paper describes the objective and design of a proposed goal-oriented telerobotic system for space operations. This design effort encompasses the elements of the system executive and user interface, and the distribution and general structure of the knowledge bases, the displays, and the task sequencing. The objective of the design effort is to provide an evolutionary structure for a telerobotic system, i.e., one that can progress from strictly teleoperated through phases of serving as an assistant, a colleague, and an expert, to eventually serve as a truly autonomous unit, requiring only minimal supervision. A preliminary design for such a system involving 'mixed initiative', or the flexible shared control between the human operator and the software system, is complete and described in this paper.

Will, R. W.↗
NASA NTRS1986

New results for geologic units mapping of Utah test sites using Landsat TM data

This paper continues a study on the accuracy of geological mapping using Landsat Thematic Mapper data (Short, 1984). In June 1976, both the White Mountain alteration zone and the Waterpocket Fold sedimentary rock sites in Utah were surveyed by the Bendix 24-band scanner on a NASA NC-130B aircraft. Mid-June 1984 TM data for these two sites have been processed like the 1976 data to test the quality of simulation of TM data. Principal-components (PC) color composite images for White Mountain show close correspondence to the Bendix PC images. At this site carbonate strata are uniquely discriminated in both Bendix and TM composites that use an inverted PC 3 image. Alunite/kaolinite and hematite/limonite alteration zones developed on volcanic flows are also sharply separated, but iron oxide and silicified zones are less so. The accuracy of rock-units mapping at the Waterpocket Fold site by supervised classification of the June TM data is significantly better, reaching 70 percent in the best case, than for January 1983 data for that site.

Short, N. M.↗
NASA NTRS1987

Program for Analysis and Enhancement of Images

Land Analysis System (LAS) is collection of image-analysis computer programs designed to manipulate and analyze multispectral image data. Provides user with functions ingesting various sensor data, radiometric and geometric corrections, image registration, training site selection, supervised and unsupervised classification, Fourier domain filtering, and image enhancement. Sufficiently modular and includes extensive library of subroutines to permit inclusion of new algorithmic programs. Commercial package International Mathematical & Statistical Library (IMSL) required for full implementation of LAS. Written in VAX FORTRAN 77, C, and Macro assembler for DEC VAX operating under VMS 4.0.

Lu, Yun-Chi↗
NASA NTRS1987

Environmental projects. Volume 1: Polychlorinated biphenyl (PCB) abatement program

Six large parabolic dish antennas are located at the Goldstone Deep Space Communications Complex north of Barstow, California. Some of the ancillary electrical equipment of thes Deep Space Stations, particularly transformers and power capicitors, were filled with stable, fire-retardant, dielectric fluids containing substances called polychlorobiphenyls (PCBs). Because the Environmental Protection Agency has determined that PCBs are environmental pollutants toxic to humans, all NASA centers have been asked to participate in a PCB-abatement program. Under the supervision of JPL's Office of Telecommunications and Data Acquisition, a two-year long PCB-abatement program has eliminated PCBs from the Goldstone Complex.

Kushner, L.↗
NASA NTRS1987

Environmental projects. Volume 2: Underground storage tanks compliance program

Six large parabolic dish antennas are located at the Goldstone Deep Space Communications Complex north of Barstow, California. As a large-scale facility located in a remote, isolated desert region, the GDSCC operations require numerous on-site storage facilities for gasoline, diesel and hydraulic oil. These essential fluids are stored in underground storage tanks (USTs). Because USTs may develop leaks with the resultant seepage of their hazardous contents into the surrounding soil, local, State and Federal authorities have adopted stringent regulations for the testing and maintenance of USTs. Under the supervision of JPL's Office of Telecommunications and Data Acquisition, a year-long program has brought 27 USTs at the Goldstone Complex into compliance with Federal, State of California and County of San Bernadino regulations. Of these 27 USTs, 15 are operating today, 11 have been temporary closed down, and 1 abandoned in place. In 1989, the 15 USTs now operating at the Goldstone DSCC will be replaced either by modern, double-walled USTs equipped with automatic sensors for leak detection, or by above ground storage tanks. The 11 inactivated USTs are to be excavated, removed and disposed of according to regulation.

Kushner, L.↗
NASA NTRS1987

NASA/American Society for Engineering Education (ASEE) Summer Faculty Fellowship Program 1987

Since 1964, NASA has supported a program of summer faculty fellowships for engineering and science educators. In a series of collaborations between NASA research and development centers and nearby universities, engineering faculty members spend 10 or 11 weeks working with professional peers on research. The Summer Faculty Program Committee of the American Society for Engineering Education supervises the programs. Objectives: (1) to further the professional knowledge of qualified engineering and science faculty members; (2) to stimulate and exchange ideas between participants and NASA; (3) to enrich and refresh the research and teaching activities of participants' institutions; (4) to contribute to the research objectives of the NASA center. Program Description: College or university faculty members were appointed as Research Fellows to spend 10 weeks in cooperative research and study at the NASA Langley Research Center. The Fellow devoted approximately 90 percent of the time to a research problem and the remaining time to a study program. The study program consisted of lectures and seminars on topics of interest or that are directly relevant to the Fellows' research topic.

Tiwari, Surendra N.↗
NASA NTRS1987

Vegetation mapping and stress detection in the Santa Monica Mountains, California

Thematic Mapper (TM) simulator data have been used to map coastal sage scrub in the mountains near Los Angeles by means of supervised classification. Changes in TM band radiances and band ratios are examined along an east-west gradient in ozone pollution loads. While the changes noted are interpretable in terms of ozone- and temperature-induced premature leaf drop, and consequent exposure of a dry, grassy understory, TM band and band ratio reflectances are influenced by a variety of independent factors which require that pollution stress interpretations be conducted in the context of the greatest possible ecological system comprehension.

Price, Curtis V.↗
NASA NTRS1988

Nature and origin of mineral coatings on volcanic rocks of the Black Mountain, Stonewall Mountain, and Kane Springs Wash volcanic centers, Southern Nevada

Comparative lab spectra and Thematic Mapper imagery investigations at 3 Tertiary calderas in southern Nevada indicate that desert varnish is absorbant relative to underlying host rocks below about 0.7 to 1.3 microns, depending on mafic affinity of the sample, but less absorbant than mafic host rocks at higher wavelengths. Desert varnish occurs chiefly as thin impregnating films. Distribution of significant varnish accumulations is sparse and localized, occurring chiefly in surface recesses. These relationships result in the longer wavelength bands and high 5/2 values over felsic units with extensive desert varnish coatings. These lithologic, petrochemical, and desert varnish controlled spectral responses lead to characteristic TM band relationships which tend to correlate with conventionally mappable geologic formations. The concept of a Rock-Varnish Index (RVI) is introduced to help distinguish rocks with a potentially detectable varnish. Felsic rocks have a high RVI, and those with extensive desert varnish behave differently, spectrally, from those without extensive varnish. The spectrally distinctive volcanic formations at Stonewall Mountain provide excellent statistical class segregation on supervised classification images. A binary decision rule flow-diagram is presented to aid TM imagery analysis over volcanic terrane in semi-arid environments.

Taranik, James V.↗
NASA NTRS1987

Teaching artificial neural systems to drive: Manual training techniques for autonomous systems

A methodology was developed for manually training autonomous control systems based on artificial neural systems (ANS). In applications where the rule set governing an expert's decisions is difficult to formulate, ANS can be used to extract rules by associating the information an expert receives with the actions taken. Properly constructed networks imitate rules of behavior that permits them to function autonomously when they are trained on the spanning set of possible situations. This training can be provided manually, either under the direct supervision of a system trainer, or indirectly using a background mode where the networks assimilates training data as the expert performs its day-to-day tasks. To demonstrate these methods, an ANS network was trained to drive a vehicle through simulated freeway traffic.

Shepanski, J. F.↗
NASA NTRS1987

Intelligent robotic tracker

An intelligent tracker capable of robotic applications requiring guidance and control of platforms, robotic arms, and end effectors has been developed. This packaged system capable of supervised autonomous robotic functions is partitioned into a multiple processor/parallel processing configuration. The system currently interfaces to cameras but has the capability to also use three-dimensional inputs from scanning laser rangers. The inputs are fed into an image processing and tracking section where the camera inputs are conditioned for the multiple tracker algorithms. An executive section monitors the image processing and tracker outputs and performs all the control and decision processes. The present architecture of the system is presented with discussion of its evolutionary growth for space applications. An autonomous rendezvous demonstration of this system was performed last year. More realistic demonstrations in planning are discussed.

Otaguro, W. S.↗
NASA NTRS1987

Orbital transfer vehicle concept definition and system analysis study. Volume 4, Appendix A: Space station accommodations. Revision 1

Orbit Transfer Vehicle (OTV) processing at the space station is divided into two major categories: OTV processing and assembly operations, and support operations. These categories are further subdivided into major functional areas to allow development of detailed OTV processing procedures and timelines. These procedures and timelines are used to derive the specific space station accommodations necessary to support OTV activities. The overall objective is to limit impact on OTV processing requirements on space station operations, involvement of crew, and associated crew training and skill requirements. The operational concept maximizes use of automated and robotic systems to perform all required OTV servicing and maintenance tasks. Only potentially critical activities would require direct crew involvement or supervision. EVA operations are considered to be strictly contingency back-up to failure of the automated and robotic systems, with the exception of the initial assembly of Space-Based OTV accommodations at the space station, which will require manned involvement.

Randall, Roger M.↗
NASA NTRS1987

Space telerobotics technology demonstration program

The paper reports the ongoing development of a telerobot demonstrator. The demonstrator is implemented as a laboratory-based research testbed, and will show proof-of-concept for supervised automation of space assembly, servicing, and repair operations. The demonstrator system features a hierarchically layered intelligent control architecture which enables automated planning and run-time sequencing of complex tasks by a supervisory human operator. The demonstrator also provides a full bilateral force-reflecting hand control teleroperations capability. The operator may switch smoothly between the automated and teleroperated tasking modes in run-time, either on a preplanned or operator-designated basis.

Szirmay, S. Z.↗
NASA NTRS1987

The NASA telerobot technology demonstrator

The ongoing development of a telerobot technology demonstrator is reported. The demonstrator is implemented as a laboratory-based research testbed, and will show proof-of-concept for supervised automation of space assembly, servicing, and repair operations. The demonstrator system features a hierarchically layered intelligent control architecture which enables automated planning and run-time sequencing of complex tasks by a supervisory human operator. The demonstrator also provides a full bilateral force-reflecting hand control teleoperations capability. The operator may switch smoothly between the automated and teleoperated tasking modes in run-time, either on a preplanned or operator-designated basis.

Schenker, P. S.↗
NASA NTRS1987

Evaluation of several classification schemes for mapping forest cover types in Michigan

Landsat MSS data were evaluated for mapping forest cover types in the northern Lower Peninsula of Michigan. The study examined seasonal variations, interpretation procedures and vegetation composition/distribution and their effect on overall classification accuracy and ability to identify individual pine species. Photographic images were used for visual interpretations while digital analysis was performed using a common (ERDAS) microcomputer image processing system. The classification schemes were evaluated using contingency tables and were ranked using the KAPPA statistic. The various classification schemes were ranked differentially according to study site location. Visual interpretation procedures ranked best, or least accurate, depending on the spatial distribution and complexity of the forest cover. Supervised classification techniques were more accurate than unsupervised clustering over all sites and seasons. Maximum likelihood classification of June data was superior to any digital classification technique of February data. The study indicates that classification accuracy is more dependent on the composition and distribution of forests in the northern lower Peninsula of Michigan than on the selection of a particular classification scheme.

Hudson, W. D.↗
NASA NTRS1988

The NASA/AHS Rotorcraft Noise Reduction Program

Research of the NASA/AHS noise reduction program is discussed, stressing work in four areas: noise prediction, testing and data base, noise reduction, and criteria development. A program called ROTONET has been developed, using a code structure divided into four main parts; main- and tail-rotor blade geometry, rotor performance, noise calculations, and noise propagation. Wind tunnel tests on individual rotors, and flight tests on a helicopter built specifically to generate a broadband main rotor noise data base have been conducted. In the field of noise reduction, researchers have performed analytical evaluations of low noise rotor concepts, and small-scale wind tunnel evaluations of noise reduction concepts. Under the supervision of the FAA, the program in conducting tests to develop criteria for helicopters and heliports.

Childress, Otis S., Jr.↗
NASA NTRS1988

Human factors: Space

The objectives are to provide a technology base for intelligent operator interfaces, especially with autonomous subsystems, and to develop a new generation of high performance space suits, gloves, and tools/end effectors to meet the requirements of advanced space missions. The technology base is intended to meet the requirements of productivity, efficiency, and safety in complex manned operations within automated onboard systems and extravehicular activities (EVA) environments. Crew station research is the first of two major areas. Development of methods for the astronaut to supervise, monitor, and evaluate the performance of robotic systems, other space subsystems, and orbital vehicles are key areas of research. The second major area is development of an EVA space suit and gloves. Emphasis in the space human factors research program is placed on technology baseline studies and development of methods, techniques, and data to support productive and safe operations by the astronaut and crew as they interface with complex systems, advance automation, and robotic assistants.

Jenkins, James P.↗
NASA NTRS1988

Intelligent tutoring in the spacecraft command/control environment

The spacecraft command/control environment is becoming increasingly complex. As we enter the era of Space Station and the era of more highly automated systems, it is evident that the critical roles played by operations personnel in supervising the many required control center system components is becoming more cognitively demanding. In addition, the changing and emerging roles in the operations picture have far-reaching effects on the achievement of mission objectives. Thus highly trained and competent operations personnel are mandatory for success. Keeping pace with these developments has been computer-aided instruction utilizing various artificial intelligence technologies. The impacts of this growing capability on the stringent requirements for efficient and effective control center operations personnel is an area of much concentrated study. Some of the research and development of automated tutoring systems for the spacecraft command/control environment is addressed.

Truszkowski, Walter F.↗
NASA NTRS1988

An expert system based intelligent control scheme for space bioreactors

An expert system based intelligent control scheme is being developed for the effective control and full automation of bioreactor systems in space. The scheme developed will have the capability to capture information from various resources including heuristic information from process researchers and operators. The knowledge base of the expert system should contain enough expertise to perform on-line system identification and thus be able to adapt the controllers accordingly with minimal human supervision.

San, Ka-Yiu↗