Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “motion tracking”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 361 records · Page 20
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

Concept definition study for recovery of tumbling satellites. Volume 2: Supporting research and technology report

A number of areas of research and laboratory experiments were identified which could lead to development of a cost efficient remote, disable satellite recovery system. Estimates were planned of disabled satellite motion. A concept is defined as a Tumbling Satellite Recovery kit which includes a modular system, composed of a number of subsystem mechanisms that can be readily integrated into varying combinations. This would enable the user to quickly configure a tailored remote, disabled satellite recovery kit to meet a broad spectrum of potential scenarios. The capability was determined of U.S. Earth based satellite tracking facilities to adequately determine the orientation and motion rates of disabled satellites.

Cable, D. A.↗
NASA NTRS1979

VTOL controls for shipboard landing

The problem of landing a VTOL aircraft on a small ship in rough seas using an automatic controller is examined. The controller design uses the linear quadratic Gaussian results of modern control theory. Linear time invariant dynamic models are developed for the aircraft, ship, and wave motions. A hover controller commands the aircraft to track position and orientation of the ship deck using only low levels of control power. Commands for this task are generated by the solution of the steady state linear quadratic gaussian regulator problem. Analytical performance and control requirement tradeoffs are obtained. A landing controller commands the aircraft from stationary hover along a smooth, low control effort trajectory, to a touchdown on a predicted crest of ship motion. The design problem is formulated and solved as an approximate finite-time linear quadratic stochastic regulator. Performance and control results are found by Monte Carlo simulations.

Mcmuldroch, C. G.↗
NASA NTRS1996

Spatial orientation perception and reflexive eye movements--a perspective, an overview, and some clinical implications

When head motion includes a linear velocity component, eye velocity required to track an earth-fixed target depends upon: a) angular and linear head velocity, b) target distance, and c) direction of gaze relative to the motion trajectory. Recent research indicates that eye movements (LVOR), presumably otolith-mediated, partially compensate for linear velocity in small head excursions on small devices. Canal-mediated eye velocity (AVOR), otolith-mediated eye velocity (LVOR), and Ocular Torsion (OT) can be measured, one by one, on small devices. However, response dynamics that depend upon the ratio of linear to angular velocity in the motion trajectory and on subject orientation relative to the trajectory are present in a centrifuge paradigm. With this paradigm, two 3-min runs yields measures of: LVOR differentially modulated by different subject orientations in the two runs; OT dynamics in four conditions; two directions of "steady-state" OT, and two directions of AVOR. Efficient assessment of the dynamics (and of the underlying central integrative processes) may require a centrifuge radius of 1.0 meters or more. Clinical assessment of the spatial orientation system should include evaluation of central integrative processes that determine the dynamics of these responses.

Review, Tutorial↗
NASA NTRS1994

Sub-Daily Polar Motion During Epoch '92 with GPS

Data from a worldwide Global Positioning System (GPS) tracking network spanning six days during the EPOCH '92 campaign are used to estimate variations of the Earth's pole position every 30 minutes. The resulting polar motion time series is compared with estimates derived from very long baseline interferometry (VLBI) observations.

Global Positioning System (GPS) VLBI polar motion↗
NASA NTRSDate not supplied

Automated Tracking of Shallow Maritime Clouds on Geostationary Imagery to Extract Lifecycle Characteristics

Shallow moist convection is ubiquitous throughout the tropics and represents a key player in boundary layer processes. Satellites have provided many statistics on shallow clouds, such as size, structure, and geographical coverage, from static views of recurring cloud fields. But determining why certain cloud features appear and persist for different periods requires a time-evolving view of their behaviors. Geostationary satellites provide a unique opportunity to follow the time evolution of individual convective features, given their enhanced spatial and temporal sampling. A cloud-tracking tool was developed to identify properties of cloud lifecycle from the NASA Cloud, Aerosol, and Monsoon Processes Philippines Experiment (CAMP2EX) field campaign of 2019. The mission conducted intensive sampling of shallow cumulus in the West Pacific Ocean, in tandem with Rapid Scan imagery from the Advanced Himawari Imager (AHI) on the Japan Meteorological Agency’s (JMA) Himawari-8 satellite. Shallow cumulus was segmented according to thresholds in 0.5-km visible reflectance and with blurring techniques. Despite being limited to daytime hours, the segmentations yielded the best resolution possible for capturing cloud initiation and decay. The tracking procedure is based on a computer vision package that includes Kalman filters for motion prediction, object overlap search, and the Hungarian (or Kuhn-Munkres) matching algorithm for track designation. AHI radiances available within the tracked cloud boundaries are assembled to form individual spectral histories. The resulting catalog provides thousands of cloud histories for domains measuring only a few degrees in latitude and longitude. We present an overview of the cloud-tracking tool, strategies to identify development stages from cloud tracks, and preliminary results that document cumulus lifecycle properties from satellite. The application of AHI 0.5-km reflectance has both strengths and limitations when attempting to track lifecycles of the smallest resolvable clouds. We show that by aggregating cloud tracks from a few case studies of CAMP2EX, we can discern differences in cloud lifetime and development according to ensembles selected from areas of interest. The results demonstrate an ability to quantify lifetimes and assess rates of change in cloud characteristics that are likely controlled by the surrounding environment and meteorology.

Cloud Tracking↗
NASA NTRSDate not supplied

Automated Tracking of Shallow Maritime Clouds on Geostationary Imagery to Extract Lifecycle Characteristics

Shallow moist convection is ubiquitous throughout the tropics and represents a key player in boundary layer processes. Satellites have provided valuable insight on shallow clouds, such as size, structure, and geographical coverage, from static views of recurring cloud fields. But determining why certain cloud features appear and persist for different periods requires a time-evolving view of their behaviors. Geostationary satellites provide a unique opportunity to follow the time evolution of individual convective features, given their enhanced spatial and temporal sampling. A cloud-tracking tool was developed to identify properties of cloud lifecycle from the NASA Cloud, Aerosol, and Monsoon Processes Philippines Experiment (CAMP2EX) field campaign of 2019. The mission conducted intensive sampling of shallow cumulus in the West Pacific Ocean, in tandem with Rapid Scan imagery from the Advanced Himawari Imager (AHI) on the Japan Meteorological Agency’s (JMA) Himawari-8 satellite. Shallow cumulus were segmented according to thresholds in 0.5-km visible reflectance and with blurring techniques. Despite being limited to daytime hours, the segmentations yielded the best resolution available for capturing cloud initiation, growth, and decay. The tracking procedure is based on a computer vision package that includes Kalman filters for motion prediction, object overlap search, and the Hungarian (or Kuhn-Munkres) matching algorithm for track designation. AHI radiances available within the tracked cloud boundaries are assembled to form individual spectral histories. The resulting catalog provides thousands of cloud histories for domains measuring only a few degrees in latitude and longitude. We present an overview of the cloud-tracking tool and its results for cloud fields sampled throughout CAMP2EX by the airborne P-3. Cloud tracks were selected from about 10 flights to form ensembles, specific groups of tracks occurring in a region with airborne sampling. Cloud lifecycle properties, including duration and maximum area, are calculated for all ensemble members, and analyzed for cloud behavior and P-3 coincidences. By following this strategy, we quantitatively assess the degree of airborne sampling for specific cloud classes defined by the lifecycle calculations. We can summarize which cloud classes had more sampling, the stage of development during sampling, and general differences in character (e.g., isolated congestus vs. cold-pool producer).

Cloud Tracking↗
NASA NTRS1998

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

Space science and solar system exploration are driving NASA to develop an array of small body missions ranging in scope from near body flybys to complete sample return. This paper presents an algorithm for onboard motion estimation that will enable the precision guidance necessary for autonomous small body landing. Our techniques are based on automatic feature tracking between a pair of descent camera images followed by two frame motion estimation and scale recovery using laser altimetry data. The output of our algorithm is an estimate of rigid motion (attitude and position) and motion covariance between frames. This motion estimate can be passed directly to the spacecraft guidance and control system to enable rapid execution of safe and precise trajectories.

Johnson, Andrew E.↗
NASA NTRS1991

Method and apparatus for configuration control of redundant robots

A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics is disclosed. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.

Seraji, Homayoun↗
NASA NTRS1990

A unified motion planning approach for redundant and non-redundant manipulators with actuator constraints

The term trajectory planning has been used to refer to the process of determining the time history of joint trajectory of each joint variable corresponding to a specified trajectory of the end effector. The trajectory planning problem was solved as a purely kinematic problem. The drawback is that there is no guarantee that the actuators can deliver the effort necessary to track the planned trajectory. To overcome this limitation, a motion planning approach which addresses the kinematics, dynamics, and feedback control of a manipulator in a unified framework was developed. Actuator constraints are taken into account explicitly and a priori in the synthesis of the feedback control law. Therefore the result of applying the motion planning approach described is not only the determination of the entire set of joint trajectories but also a complete specification of the feedback control strategy which would yield these joint trajectories without violating actuator constraints. The effectiveness of the unified motion planning approach is demonstrated on two problems which are of practical interest in manipulator robotics.

Chung, Ching-Luan↗
NASA NTRS1991

Welding technology transfer task/laser based weld joint tracking system for compressor girth welds

Sensors to control and monitor welding operations are currently being developed at Marshall Space Flight Center. The laser based weld bead profiler/torch rotation sensor was modified to provide a weld joint tracking system for compressor girth welds. The tracking system features a precision laser based vision sensor, automated two-axis machine motion, and an industrial PC controller. The system benefits are elimination of weld repairs caused by joint tracking errors which reduces manufacturing costs and increases production output, simplification of tooling, and free costly manufacturing floor space.

Looney, Alan↗
NASA NTRS1975

Perceived visual motion as effective stimulus to pursuit eye movement system

Human eye tracking of a foveal afterimage during angular head oscillation in the dark produced smooth eye movements exceeding those for normal vestibular nystagmus, and a reduction in the frequency of the fast phase component of nystagmus eye movements. These results may support a closed loop extension of the corollary discharge theory, with oculomotor commands based on perceived object velocity.

Yasui, S.↗
NASA NTRS1986

Contemporary plate motions from Lageos - A decade later

Progress made due to Lageos tracking and the participation of over 20 countries in the acquisition and analysis of precise range measurements is reviewed. Results of both the observed global and regional plate kinematics are presented. Mission accomplishments include the following: (1) laser technology advancements of more than an order of magnitude in single point range precision over the last ten years, (2) station positioning at the few centimeter accuracy level for annual solutions, and (3) the emergence of a global picture of plate kinematics.

Christodoulidis, D. C.↗
NASA NTRS1972

Geodetic studies by laser ranging to satellites.

For three months in 1970, two Goddard Space Flight Center (GSFC) laser tracking systems were used to try to detect the motion of the pole of rotation of the earth. More than two hundred passes of the Beacon Explorer C spacecraft were observed as it passed between the two stations, and these data were used to determine the orbital inclination of the spacecraft. The analysis required the accurate determination of the relative positions of the two tracking stations and the identification of the perturbations to the spacecraft orbit, in particular, those due to the gravitational fields of the earth, sun, and moon and those caused by the solid-earth tides. The results to date indicate that the GSFC laser systems can determine interstation distances with a repeatability of about 25 cm and that a new value of the Love number k that represents the distortion of the earth's gravity field caused by the tidal deformation of the earth is 0.35 plus or minus 0.05.

Smith, D. E.↗
NASA NTRS2005

MER-DIMES : a planetary landing application of computer vision

During the Mars Exploration Rovers (MER) landings, the Descent Image Motion Estimation System (DIMES) was used for horizontal velocity estimation. The DIMES algorithm combines measurements from a descent camera, a radar altimeter and an inertial measurement unit. To deal with large changes in scale and orientation between descent images, the algorithm uses altitude and attitude measurements to rectify image data to level ground plane. Feature selection and tracking is employed in the rectified data to compute the horizontal motion between images. Differences of motion estimates are then compared to inertial measurements to verify correct feature tracking. DIMES combines sensor data from multiple sources in a novel way to create a low-cost, robust and computationally efficient velocity estimation solution, and DIMES is the first use of computer vision to control a spacecraft during planetary landing. In this paper, the detailed implementation of the DIMES algorithm and the results from the two landings on Mars are presented.

landing systems↗
NASA NTRS2003

Applications of Sea-Ice Motion and Deformation Derived from Satellite Data

QuikSCAT backscatter, AMSR and DMSP SSM/I radiance data have been used to derive sea ice motion for both the Arctic and Antarctic region using the wavelet analysis tracking method. All results from QuikSCAT, AMSR and SSM5 are compatible with buoys and can then be merged by data fusion method to generate composite sea ice motion maps for more complete coverage. Furthermore, based on this merged data set daily sea-ice deformation (shear, and convergence) maps have been produced and show consistent spatial and temporal patterns. Temporal correlation maps between ice deformation and SSM/II ice concentration show interesting results in the Arctic, especially the coast area. In this study, principal component analysis for both the merged ice tracking result from satellite data and pressure field from buoy have also been examined for the relationship between the principal components and eigenvectors from these two data sets. While the result shows that principal components of modes 1 and 2 from two data sets are highly correlated which confirms that wind forcing is a major factor driving the ice drift, it also reveals that other high energy modes are not highly correlated which maybe caused by coastal effects. Principal component analysis of Arctic sea-ice motion during fall/winter period in different years shows the reverse of dominant modes or patterns is related to the Arctic Oscillation.

Liu, Antony K.↗
NASA NTRSDate not supplied

Saccade-Pursuit Coordination during Ocular Tracking across Different Impairment Sources

Purpose: Sleep loss and alcohol have been shown to impair smooth pursuit and its underlying visual motion processing in humans. This study examines the saccadic compensation for this poor pursuit. Methods: Using an established behavioral ocular-tracking paradigm (Liston & Stone, 2014, doi:10.1167/14.14.12), we examined the dose-response of ground lost (pursuit deficit integrated across our 300-ms steady-state tracking interval) and ground gained (increased saccadic response harnessed to compensate)across three separate studies – acute low-dose alcohol administration (LDA; n = 16 subjects), acute sleep loss(ASL; n = 12), and chronic sleep restriction (CSR; n = 12). We computed dose-responses as the linear regression slopes of ground lost and gained across treatment dose (% blood alcohol concentration [BAC] or hours awake). For the CSR study, we computed the mean effect for a single dose (5-hours nightly sleep for 1week). Results: For LDA, there was significantly increased ground lost (P < 0.001) and gained (P < 0.001) with increased %BAC. In addition, the dose-responses were not significantly different (P = 0.35), indicating effectively complete saccadic compensation due to significant increases in both saccadic rate (P < 0.05) and amplitude (P < 0.001). For ASL, there was significantly increased ground lost with time awake (P < 0.01),however ground gained was significantly lower (P < 0.001), indicating, at best, incomplete compensation due to a significant increase in saccadic rate (P < 0.001) but not amplitude (P = 0.10). With CSR, pursuit was again significantly impaired (P < 0.05), with saccadic rate significantly increased (P < 0.05) but, surprisingly, amplitude was significantly decreased (P < 0.05), effectively eliminating ground gained (P = 0.90). Conclusions: Our analyses show that LDA, ASL, and CSR affect tracking differently, suggesting the involvement of different brain pathways. With LDA, the effect appears largely due to the cortical impairment of visual motion processing with largely healthy brainstem and mid-brain responses (driving effective saccadic compensation). ASL and CSR however appear to affect both cortical and sub-cortical pathways, with at best partial saccadic compensation. Lastly, CSR is associated with an additional compromise due to a maladaptive decrease in saccade amplitude.

saccade↗
NASA NTRS1986

White-light movies of the solar photosphere from the SOUP instrument on Spacelab

Initial results are presented on solar granulation, pores and sunspots from the white-light films obtained by the Solar Optical Universal Polarimeter (SOUP) instrument in Spacelab 2. Several hours of movies were taken at various disk and limb positions in quiet and active regions. The images are diffraction-limited at 0.5 arcsec resolution and are, of course, free of atmospheric seeing and distortion. Properties of the granulation in magnetic and nonmagnetic regions are compared and are found to differ significantly in size, rate of intensity variation, and lifetime. In quiet sun, on the order of fifty-percent of the area has at least one 'exploding granule' occurring in it during a 25-min period. Local correlation tracking has detected several types of transverse flows, including systematic outflow from the penumbral boundary of a spot, motion of penumbral filaments, and cellular flow patterns of supergranular and mesogranular size. Feature tracking has shown that, in the quiet sun, the average granule fragment has a velocity of about one kilometer/second.

Title, A. M.↗
NASA NTRS1977

A low cost high temperature sun tracking solar energy collector

The design and economic evaluation of a low cost high temperature two-axis, sun tracking solar energy collector is described. The collector design was specifically intended for solar energy use with the freedom of motion about its two control axes limited only to the amplitude required to track the sun. An examination of the performance criteria required in order to track the sun and perform the desired solar energy conversion was used as the starting point and guide to the design. This factor, along with its general configuration and structural aspect ratios, was the significant contributor to achieving low cost. The unique mechanical design allowed the control system to counter wide tolerances specified for the fabrication of the azimuth frame and to perform within a small tracking error.

Perkins, G. S.↗