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At least 361 records · Page 20

Performance Evaluation and Software Design for EVA Robotic Assistant Stereo Vision Heads

The purpose of this project was to aid the EVA Robotic Assistant project by evaluating and designing the necessary interfaces for two stereo vision heads - the TracLabs Biclops pan-tilt-verge head, and the Helpmate Zebra pan-tilt-verge head. The first half of the project consisted of designing the necessary software interface so that the other modules of the EVA Robotic Assistant had proper access to all of the functionalities offered by each of the stereovision heads. This half took most of the project time, due to a lack of ready-made CORBA drivers for either of the heads. Once this was overcome, the evaluation stage of the project began. The second half of the project was to take these interfaces and to evaluate each of the stereo vision heads in terms of usefulness to the project. In the key project areas such as stability and reliability, the Zebra pan-tilt-verge head came out on top. However, the Biclops did have many more advantages over the Zebra, such as: lower power consumption, faster communications, and a simpler, cleaner API. Overall, the Biclops pan-tilt-verge head outperformed the Zebra pan-tilt-verge head.

DiPaolo, Daniel↗

The Right Track for Vision Correction

More and more people are putting away their eyeglasses and contact lenses as a result of laser vision correction surgery. LASIK, the most widely performed version of this surgical procedure, improves vision by reshaping the cornea, the clear front surface of the eye, using an excimer laser. One excimer laser system, Alcon s LADARVision 4000, utilizes a laser radar (LADAR) eye tracking device that gives it unmatched precision. During LASIK surgery, laser During LASIK surgery, laser pulses must be accurately placed to reshape the cornea. A challenge to this procedure is the patient s constant eye movement. A person s eyes make small, involuntary movements known as saccadic movements about 100 times per second. Since the saccadic movements will not stop during LASIK surgery, most excimer laser systems use an eye tracking device that measures the movements and guides the placement of the laser beam. LADARVision s eye tracking device stems from the LADAR technology originally developed through several Small Business Innovation Research (SBIR) contracts with NASA s Johnson Space Center and the U.S. Department of Defense s Ballistic Missile Defense Office (BMDO). In the 1980s, Johnson awarded Autonomous Technologies Corporation a Phase I SBIR contract to develop technology for autonomous rendezvous and docking of space vehicles to service satellites. During Phase II of the Johnson SBIR contract, Autonomous Technologies developed a prototype range and velocity imaging LADAR to demonstrate technology that could be used for this purpose.

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The Vision for Space Exploration

With last year's budget, NASA released a new Strategic Plan outlining a new approach to space exploration using a 'building block' strategy to explore scientifically valuable destinations across our solar system. At the same time that we released the Strategic Plan, our Nation and the NASA family also suffered the loss of the seven brave astronauts aboard the Space Shuttle Columbia. The report of the Columbia Accident Investigation Board emphasized the need for a clearer direction from which to drive NASA's human exploration agenda. On January 14, 2004, the President articulated a new vision for space exploration. You hold in your hands a new, bolder framework for exploring our solar system that builds upon the policy that was announced by the President after months of careful deliberations within the Administration. This plan does not undertake exploration merely for the sake of adventure, however exciting that may be, but seeks answers to profound scientific and philosophical questions, responds to recent discoveries, will put in place revolutionary technologies and capabilities for the future, and will genuinely inspire our Nation, the world, and the next generation. Our aim is to explore in a sustainable, affordable, and flexible manner. We believe the principles and roadmap set down in this document will stand the test of time. Its details will be subject to revision and expansion as new discoveries are made, new technologies are applied, and new challenges are met and overcome. This plan is guided by the Administration's new space exploration policy, 'A Renewed Spirit of Discovery: The President's Vision for U.S. Space Exploration,' a copy of which is provided on the following pages. NASA is releasing this plan simultaneously with NASA's FY 2005 Budget Justification. This plan is fiscally responsible, consistent with the Administration s goal of cutting the budget deficit in half within the next five years. I cannot overstate how much NASA will change in the coming years as this plan is implemented. I also cannot overstate how profound the rewards will be on this new course. With the support of Congress, the science community, the NASA civil and contractor workforce, and most importantly, the American public, we will embark on this very exciting future. When Christopher Columbus made his voyages across the Atlantic in the 15th and 16th centuries, his ships carried the inscription 'Following the light of the sun, we left the Old World.' I look forward to joining you as we follow the light of the planets and the stars into the new worlds of the 21st century.

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Pathway Design Effects on Synthetic Vision Head-Up Displays

NASA s Synthetic Vision Systems (SVS) project is developing technologies with practical applications that will eliminate low visibility conditions as a causal factor to civil aircraft accidents while replicating the operational benefits of clear day flight operations, regardless of the actual outside visibility condition. A major thrust of the SVS project involves the development/demonstration of affordable, certifiable display configurations that provide intuitive out-the-window terrain and obstacle information with advanced pathway guidance for transport aircraft. This experiment evaluated the influence of different tunnel and guidance concepts upon pilot situation awareness (SA), mental workload, and flight path tracking performance for Synthetic Vision display concepts using a Head-Up Display (HUD). Two tunnel formats (dynamic, minimal) were evaluated against a baseline condition (no tunnel) during simulated IMC approaches to Reno-Tahoe International airport. Two guidance cues (tadpole, follow-me aircraft) were also evaluated to assess their influence on the tunnel formats. Results indicated that the presence of a tunnel on an SVS HUD had no effect on flight path performance but that it did have significant effects on pilot SA and mental workload. The dynamic tunnel concept with the follow-me aircraft guidance symbol produced the lowest workload and provided the highest SA among the tunnel concepts evaluated.

Kramer, Lynda J.↗

A Future Vision of a Data Acquisition: Distributed Sensing, Processing, and Health Monitoring

This paper presents a vision fo a highly enhanced data acquisition and health monitoring system at NASA Stennis Space Center (SSC) rocket engine test facility. This vision includes the use of advanced processing capabilities in conjunction with highly autonomous distributed sensing and intelligence, to monitor and evaluate the health of data in the context of it's associated process. This method is expected to significantly reduce data acquisitions costs and improve system reliability. A Universal Signal Conditioning Amplifier (USCA) based system, under development at Kennedy Space Center, is being evaluated for adaptation to the SSC testing infrastructure. Kennedy's USCA architecture offers many advantages including flexible and auto-configuring data acquisition with improved calibration and verifiability. Possible enhancements at SSC may include multiplexing the distributed USCAs to reduce per channel cost, and the use of IEEE-485 to Allen-Bradley Control Net Gateways for interfacing with the resident control systems.

Figueroa, Fernando↗

The New National Vision for Space Exploration

From the Apollo landings on the Moon, to robotic surveys of the Sun and the planets, to the compelling images captured by advanced space telescopes, U.S. achievements in space have revolutionized humanity s view of the universe and have inspired Americans and people around the world. These achievements also have led to the development of technologies that have widespread applications to address problems on Earth. As the world enters the second century of powered flight, it is appropriate to articulate a new vision that will define and guide U.S. space exploration activities for the next several decades. Today, humanity has the potential to seek answers to the most fundamental questions posed about the existence of life beyond Earth. Telescopes have found planets around other stars. Robotic probes have identified potential resources on the Moon, and evidence of water - a key ingredient for life - has been found on Mars and the moons of Jupiter. Direct human experience in space has fundamentally altered our perspective of humanity and our place in the universe. Humans have the ability to respond to the unexpected developments inherent in space travel and possess unique skills that enhance discoveries. Just as Mercury, Gemini, and Apollo challenged a generation of Americans, a renewed U.S. space exploration program with a significant human component can inspire us - and our youth - to greater achievements on Earth and in space. The loss of Space Shuttles Challenger and Columbia and their crews are a stark reminder of the inherent risks of space flight and the severity of the challenges posed by space exploration. In preparation for future human exploration, we must advance our ability to live and work safely in space and, at the same time, develop the technologies to extend humanity s reach to the Moon, Mars, and beyond. The new technologies required for further space exploration also will improve the Nation s other space activities and may provide applications that could be used to address problems on Earth. Like the explorers of the past and the pioneers of flight in the last century, we cannot today identify all that we will gain from space exploration; we are confident, nonetheless, that the eventual return will be great. Like their efforts, the success of future U.S. space exploration will unfold over generations. The fundamental goal of this new national vision is to advance U.S. scientific, security, and economic interests through a robust space exploration program. In support of this goal, the United States will: 1) Implement a sustained and affordable human and robotic program to explore the solar system and beyond; 2) Extend human presence across the solar system, starting with a human return to the Moon by the year 2020, in preparation for human exploration of IMars and other destinations; 3) Develop the innovative technologies, knowledge, and infrastructures both to explore and to support decisions about the destinations for human exploration; and 4) Promote international and commercial participation in exploration to further U.S. scientific, security, and economic interests.

Sackheim, Robert L.↗

Can Effective Synthetic Vision System Displays be Implemented on Limited Size Display Spaces?

The Synthetic Vision Systems (SVS) element of the NASA Aviation Safety Program is striving to eliminate poor visibility as a causal factor in aircraft accidents, and to enhance operational capabilities of all types or aircraft. To accomplish these safety and situation awareness improvements, the SVS concepts are designed to provide a clear view of the world ahead through the display of computer generated imagery derived from an onboard database of terrain, obstacle and airport information. An important issue for the SVS concept is whether useful and effective Synthetic Vision System (SVS) displays can be implemented on limited size display spaces as would be required to implement this technology on older aircraft with physically smaller instrument spaces. In this study, prototype SVS displays were put on the following display sizes: (a) size "A' (e.g. 757 EADI), (b) form factor "D" (e.g. 777 PFD), and (c) new size "X" (Rectangular flat-panel, approximately 20 x 25 cm). Testing was conducted in a high-resolution graphics simulation facility at NASA Langley Research Center. Specific issues under test included the display size as noted above, the field-of-view (FOV) to be shown on the display and directly related to FOV is the degree of minification of the displayed image or picture. Using simulated approaches with display size and FOV conditions held constant no significant differences by these factors were found. Preferred FOV based on performance was determined by using approaches during which pilots could select FOV. Mean preference ratings for FOV were in the following order: (1) 30 deg., (2) Unity, (3) 60 deg., and (4) 90 deg., and held true for all display sizes tested. Limitations of the present study and future research directions are discussed.

Comstock, J. Raymond, Jr.↗

The Generation-X X-ray Observatory Vision Mission and Technology Study

The new frontier in astrophysics is the study of the birth and evolution of the first stars, galaxies and black holes in the early Universe. X-ray astronomy opens a window into these objects by studying the emission from black holes, supernova explosions and the gamma-ray burst afterglows of massive stars. However, such objects are beyond the grasp of current or near-future observatories. X-ray imaging and spectroscopy of such distant objects will require an X-ray telescope with large collecting area and high angular resolution. Our team has conceived the Generation-X Vision Mission based on an X-ray observatory with 100 sq m collecting area at 1 keV (1000 times larger than Chandra) and 0.1 arcsecond angular resolution (several times better than Chandra and 50 times better than the Constellation-X resolution goal). Such an observatory would be capable of detecting the earliest black holes and galaxies in the Universe, and will also study extremes of density, gravity, magnetic fields, and kinetic energy which cannot be created in laboratories. NASA has selected the Generation-X mission for study under its Vision Mission Program. We describe the studies being performed to develop the mission concept and define candidate technologies and performance requirements for Generation-X. The baseline Generation-X mission involves four 8m diameter X-ray telescopes operating at Sun-Earth L2. We trade against an alternate concept of a single 26m diameter telescope with focal plane instruments on a separate spacecraft. A telescope of this size will require either robotic or human-assisted in-flight assembly. The required effective area implies that extremely lightweight grazing incidence X-ray optics must be developed. To achieve the required aerial density of at least 100 times lower than in Chandra, we will study 0.1mm thick mirrors which have active on-orbit figure control. We discuss the suite of required detectors, including a large FOV high angular resolution imager, a cryogenic imaging spectrometer and a grating spectrometer. We outline the development roadmap to confront the many technological challenges far implementing the Generation-X mission.

Figueroa-Feliciano, Enectali↗

An Integrated Vision-Based System for Spacecraft Attitude and Topology Determination for Formation Flight Missions

With the space industry's increasing focus upon multi-spacecraft formation flight missions, the ability to precisely determine system topology and the orientation of member spacecraft relative to both inertial space and each other is becoming a critical design requirement. Topology determination in satellite systems has traditionally made use of GPS or ground uplink position data for low Earth orbits, or, alternatively, inter-satellite ranging between all formation pairs. While these techniques work, they are not ideal for extension to interplanetary missions or to large fleets of decentralized, mixed-function spacecraft. The Vision-Based Attitude and Formation Determination System (VBAFDS) represents a novel solution to both the navigation and topology determination problems with an integrated approach that combines a miniature star tracker with a suite of robust processing algorithms. By combining a single range measurement with vision data to resolve complete system topology, the VBAFDS design represents a simple, resource-efficient solution that is not constrained to certain Earth orbits or formation geometries. In this paper, analysis and design of the VBAFDS integrated guidance, navigation and control (GN&C) technology will be discussed, including hardware requirements, algorithm development, and simulation results in the context of potential mission applications.

Rogers, Aaron↗

Improving the Flight Path Marker Symbol on Rotorcraft Synthetic Vision Displays

Two potential improvements to the flight path marker symbol were evaluated on a panel-mounted, synthetic vision, primary flight display in a rotorcraft simulation. One concept took advantage of the fact that synthetic vision systems have terrain height information available ahead of the aircraft. For this first concept, predicted altitude and ground track information was added to the flight path marker. In the second concept, multiple copies of the flight path marker were displayed at 3, 4, and 5 second prediction times as compared to a single prediction time of 3 seconds. Objective and subjective data were collected for eight rotorcraft pilots. The first concept produced significant improvements in pilot attitude control, ground track control, workload ratings, and preference ratings. The second concept did not produce significant differences in the objective or subjective measures.

Szoboszlay, Zoltan P.↗

Real-time Enhanced Vision System

Flying in poor visibility conditions, such as rain, snow, fog or haze, is inherently dangerous. However these conditions can occur at nearly any location, so inevitably pilots must successfully navigate through them. At NASA Langley Research Center (LaRC), under support of the Aviation Safety and Security Program Office and the Systems Engineering Directorate, we are developing an Enhanced Vision System (EVS) that combines image enhancement and synthetic vision elements to assist pilots flying through adverse weather conditions. This system uses a combination of forward-looking infrared and visible sensors for data acquisition. A core function of the system is to enhance and fuse the sensor data in order to increase the information content and quality of the captured imagery. These operations must be performed in real-time for the pilot to use while flying. For image enhancement, we are using the LaRC patented Retinex algorithm since it performs exceptionally well for improving low-contrast range imagery typically seen during poor visibility conditions. In general, real-time operation of the Retinex requires specialized hardware. To date, we have successfully implemented a single-sensor real-time version of the Retinex on several different Digital Signal Processor (DSP) platforms. In this paper we give an overview of the EVS and its performance requirements for real-time enhancement and fusion and we discuss our current real-time Retinex implementations on DSPs.

Hines, Glenn D.↗

Palmer Quest: A Feasible Nuclear Fission "Vision Mission" to the Mars Polar Caps

We are engaged in a NASA Vision Mission study, called Palmer Quest after the American Antarctic explorer Nathaniel Palmer, to assess the presence of life and evaluate the habitability of the basal domain of the Mars polar caps. We address this goal through four objectives: 1. Determine the presence of amino acids, nutrients, and geochemical heterogeneity in the ice sheet. 2. Quantify and characterize the provenance of the amino acids in Mars ice. 3. Assess the stratification of outcropped units for indications of habitable zones. 4. Determine the accumulation of ice, mineralogic material, and amino acids in Mars ice caps over the present epoch. Because of the defined scientific goal for the vision mission, the Palmer Quest focus is astrobiological; however, the results of the study make us optimistic that aggressive multi-platform in-situ missions that address a wide range of objectives, such as climate change, can be supported by variations of the approach used on this mission. Mission Overview: The Palmer Quest baseline

Carsey, F. D.↗

Outstanding Science in the Neptune System from an Aerocaptured NASA "Vision Mission"

In 2003 NASA released its Vision Mission Studies NRA (NRA-03-OSS-01-VM) soliciting proposals to study any one of 17 Vision Missions described in the NRA. The authors, along with a team of scientists and engineers, sucessfully proposed a study of the Neptune Orbiter With Probes (NOP) option, a mission that performs Cassini-level science in the Neptune system without fission-based electric power or propulsion. The Study Team includes a Science Team composed of experienced planetary scientists, many of whom helped draft the Neptune discussions in the 2003 Solar System Exploration Decadal Survey (SSEDS), and an Implementation Team with experienced engineers and technologists from multiple NASA Centers and JPL.

Spilker, T. R.↗

Augmentation of Cognition and Perception Through Advanced Synthetic Vision Technology

Synthetic Vision System technology augments reality and creates a virtual visual meteorological condition that extends a pilot's cognitive and perceptual capabilities during flight operations when outside visibility is restricted. The paper describes the NASA Synthetic Vision System for commercial aviation with an emphasis on how the technology achieves Augmented Cognition objectives.

Prinzel, Lawrence J., III↗

Preliminary Integrated Safety Analysis of Synthetic Vision Conducted

The goal of the NASA Aviation Safety Program is to develop and demonstrate technologies that could help reduce the aviation fatal accident rate by a factor of 5 by the year 2007 and by a factor of 10 by the year 2022. Integrated safety analysis of day-to-day operations and risks within those operations will provide an understanding of the Aviation Safety Program portfolio beyond what is now available. Synthetic vision is the first of the Aviation Safety Program technologies that has been analyzed by the Logistics Management Institute under a contract with the NASA Glenn Research Center. These synthetic vision analyses include both a reliability analysis and a computer simulation model.

Reveley, Mary S.↗

Advanced Pathway Guidance Evaluations on a Synthetic Vision Head-Up Display

NASA's Synthetic Vision Systems (SVS) project is developing technologies with practical applications to potentially eliminate low visibility conditions as a causal factor to civil aircraft accidents while replicating the operational benefits of clear day flight operations, regardless of the actual outside visibility condition. A major thrust of the SVS project involves the development/demonstration of affordable, certifiable display configurations that provide intuitive out-the-window terrain and obstacle information with advanced guidance for commercial and business aircraft. This experiment evaluated the influence of different pathway and guidance display concepts upon pilot situation awareness (SA), mental workload, and flight path tracking performance for Synthetic Vision display concepts using a Head-Up Display (HUD). Two pathway formats (dynamic and minimal tunnel presentations) were evaluated against a baseline condition (no tunnel) during simulated instrument meteorological conditions approaches to Reno-Tahoe International airport. Two guidance cues (tadpole, follow-me aircraft) were also evaluated to assess their influence. Results indicated that the presence of a tunnel on an SVS HUD had no effect on flight path performance but that it did have significant effects on pilot SA and mental workload. The dynamic tunnel concept with the follow-me aircraft guidance symbol produced the lowest workload and provided the highest SA among the tunnel concepts evaluated.

Kramer, Lynda J.↗

Two-Phase Flow Technology Developed and Demonstrated for the Vision for Exploration

NASA s vision for exploration will once again expand the bounds of human presence in the universe with planned missions to the Moon and Mars. To attain the numerous goals of this vision, NASA will need to develop technologies in several areas, including advanced power-generation and thermal-control systems for spacecraft and life support. The development of these systems will have to be demonstrated prior to implementation to ensure safe and reliable operation in reduced-gravity environments. The Two-Phase Flow Facility (T(PHI) FFy) Project will provide the path to these enabling technologies for critical multiphase fluid products. The safety and reliability of future systems will be enhanced by addressing focused microgravity fluid physics issues associated with flow boiling, condensation, phase separation, and system stability, all of which are essential to exploration technology. The project--a multiyear effort initiated in 2004--will include concept development, normal-gravity testing (laboratories), reduced gravity aircraft flight campaigns (NASA s KC-135 and C-9 aircraft), space-flight experimentation (International Space Station), and model development. This project will be implemented by a team from the NASA Glenn Research Center, QSS Group, Inc., ZIN Technologies, Inc., and the Extramural Strategic Research Team composed of experts from academia.

Sankovic, John M.↗

Vision and "Hand-Eye" Coordination for the Fujitsu HOAP-2 Humanoid Robot

Software was developed for a Fujitsu HOAP-2 humanoid robot to demonstrate that such "human form" robots can be used to perform useful tasks in an unknown environment; specifically, that they can operate with or in the place of humans to carry out construction operations necessary for space exploration, such as building or maintaining planetary surface habitats for humans. This paper describes the autonomous vision and hand-eye coordination software that enables the HOAP-2 to locate and manipulate objects. Simple vision and pattern detection algorithms including color filtering, noise filtering, image segmentation, orientation filters, and a feedback controlled tracking system enable the robot to locate marked building materials in the workspace. Experimentally determined spatial mappings associate locations in the visual field with the arm joint angles and trajectories necessary to reach these locations, allowing the robot to reach for and manipulate the building materials. These capabilities, when combined with locomotion capabilities, enable the robot to operate autonomously in an unknown workspace.

Moore, Jeffrey D.↗