Biplane videoangiography.
Description of biplane videoangiographic system for dynamic measurement of left ventricle shape and volume
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ASTP video tape recorder ground support equipment (audio/CTE splitter/interleaver). Operations manual
A descriptive handbook for the audio/CTE splitter/interleaver (RCA part No. 8673734-502) was presented. This unit is designed to perform two major functions: extract audio and time data from an interleaved video/audio signal (splitter section), and provide a test interleaved video/audio/CTE signal for the system (interleaver section). It is a rack mounting unit 7 inches high, 19 inches wide, 20 inches deep, mounted on slides for retracting from the rack, and weighs approximately 40 pounds. The following information is provided: installation, operation, principles of operation, maintenance, schematics and parts lists.
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ASTP video tape recorder ground support equipment, addendum 2 (CTE splitter/buffer). Operations manual
A descriptive handbook for the CTE splitter (RCA part No. 8673734-50A) was presented. This unit is designed to extract time data from an interleaved video/audio signal. It is a rack mounting unit 7 inches high, 19 inches wide, 20 inches deep, mounted on slides for retracting from the rack, and weighs approximately 40 pounds. The following information is provided: installation, operation, principles of operation, maintenance, schematics and parts lists.
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A search for Earth-approaching asteroids
New automated methods were developed for the detection and discrimination of Earth-approaching asteriods. Specifically, utilizing state-of-the-art, electron-bombarded, silicon diode, beam scanned, low light level television cameras and the most advanced video processing equipment available. The improvement of the limiting magnitude for a 50% probability of detection, increase the areal search rate, and minimize the burden on humans of the search effort. To this end, three increasingly automated and sophisticated versions of the data acquisition, storage, and processing systems, were designed and implemented. The celestial sphere were searched for Earth-approaching minor planets. An example of this effort is the recent cataloging of 1982 HS=3343 VNEDZEL. This particular high eccentricity, high inclination object is of a type even more rare than are Earth-approaching asteriods. Several of these were found.
Taff, L. G.↗
Vacuum Chuck Holds Filter Pad For Counting Particles
Microscope-stage holder keeps filter pad flat to keep it in focus. Specimen holder is special vacuum chuck that applies suction through flat screen. Suction keeps filter pad flat against specimen holder while microscope stage moving to scan areas denoted by grid. In microscope system equipped with video camera, image-analyzing/particle-counting computer, and automatic focus, use of stage speeds count considerably by eliminating need to stop frequently for manual refocusing. Technician free to perform other tasks while computer controls translation of stage and takes count automatically.
Berry, Anthony↗
Testbed For Telerobotic Servicing
Telerobot testbed used to evaluate technologies for remote servicing, including assembly, maintenance, and repair. Enables study of advantages and disadvantages of modes and problems encountered in implementing them. Best technologies for implementing modes chosen. Provides delays simulating transmission delays between control stations on ground and orbiting spacecraft. Includes five major equipment subsystems, each consisting of such commercially available equipment as video cameras, computers, and robot arms. Used on Space Station and on Space Shuttle and satellites in orbit. Also used in hazardous and underwater environments on Earth.
Matijevic, Jacob R.↗
Precision metering of microliter volumes of biological fluids in micro-gravity
Concepts were demonstrated and investigated for transferring accurately known and reproducible microliter volumes of biological fluids from sample container onto dry chemistry slides in microgravity environment. Specific liquid transfer tip designs were compared. Information was obtained for design of a liquid sample handling system to enable clinical chemical analysis in microgravity. Disposable pipet tips and pipet devices that were designed to transfer microliter volumes of biological fluid from a (test tube) sample container in 1-G environment were used during microgravity periods of parabolic trajectories of the KC-135 aircraft. The transfer process was recorded using charge coupled device camera and video cassette equipment. Metering behavior of water, a synthetic aqueous protein solution, and anticoagulated human blood was compared. Transfer of these liquids to 2 substrate materials representative of rapidly wettable and slowly wettable dry chemistry slide surface was compared.
Columbus, Richard L.↗
Anti-Hassle Chip
With assistance from NASA's Ames Research Center, the iTV Corporation has developed a full custom microprocessor that enables access to the Internet through a $49 device. The microprocessor is supported with a compliment of design tools for customization and adaptation as either a licensable core or as a complete microprocessor. Other uses include cell phones, DVD (digital versatile disk) players, cable modems, video conferencing equipment, digital cameras, wireless LANs (Local Area Network) and WANs (Wide Area Network). iTV continues to design new, low-cost consumer products.
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Multiple-Agent Air/Ground Autonomous Exploration Systems
Autonomous systems of multiple-agent air/ground robotic units for exploration of the surfaces of remote planets are undergoing development. Modified versions of these systems could be used on Earth to perform tasks in environments dangerous or inaccessible to humans: examples of tasks could include scientific exploration of remote regions of Antarctica, removal of land mines, cleanup of hazardous chemicals, and military reconnaissance. A basic system according to this concept (see figure) would include a unit, suspended by a balloon or a blimp, that would be in radio communication with multiple robotic ground vehicles (rovers) equipped with video cameras and possibly other sensors for scientific exploration. The airborne unit would be free-floating, controlled by thrusters, or tethered either to one of the rovers or to a stationary object in or on the ground. Each rover would contain a semi-autonomous control system for maneuvering and would function under the supervision of a control system in the airborne unit. The rover maneuvering control system would utilize imagery from the onboard camera to navigate around obstacles. Avoidance of obstacles would also be aided by readout from an onboard (e.g., ultrasonic) sensor. Together, the rover and airborne control systems would constitute an overarching closed-loop control system to coordinate scientific exploration by the rovers.
Fink, Wolfgang↗
Video Teleconference (VTC) Ops
This viewgraph presentation gives a detailed description of the video teleconference equipment upgrade, salvo updates, and a service/change request status.
Kimball, Braden↗
Utilizing Commercial Hardware and Open Source Computer Vision Software to Perform Motion Capture for Reduced Gravity Flight
Long duration space travel to Mars or to an asteroid will expose astronauts to extended periods of reduced gravity. Since gravity is not present to aid loading, astronauts will use resistive and aerobic exercise regimes for the duration of the space flight to minimize the loss of bone density, muscle mass and aerobic capacity that occurs during exposure to a reduced gravity environment. Unlike the International Space Station (ISS), the area available for an exercise device in the next generation of spacecraft is limited. Therefore, compact resistance exercise device prototypes are being developed. The NASA Digital Astronaut Project (DAP) is supporting the Advanced Exercise Concepts (AEC) Project, Exercise Physiology and Countermeasures (ExPC) project and the National Space Biomedical Research Institute (NSBRI) funded researchers by developing computational models of exercising with these new advanced exercise device concepts. To perform validation of these models and to support the Advanced Exercise Concepts Project, several candidate devices have been flown onboard NASAs Reduced Gravity Aircraft. In terrestrial laboratories, researchers typically have available to them motion capture systems for the measurement of subject kinematics. Onboard the parabolic flight aircraft it is not practical to utilize the traditional motion capture systems due to the large working volume they require and their relatively high replacement cost if damaged. To support measuring kinematics on board parabolic aircraft, a motion capture system is being developed utilizing open source computer vision code with commercial off the shelf (COTS) video camera hardware. While the systems accuracy is lower than lab setups, it provides a means to produce quantitative comparison motion capture kinematic data. Additionally, data such as required exercise volume for small spaces such as the Orion capsule can be determined. METHODS: OpenCV is an open source computer vision library that provides the ability to perform multi-camera 3 dimensional reconstruction. Utilizing OpenCV, via the Python programming language, a set of tools has been developed to perform motion capture in confined spaces using commercial cameras. Four Sony Video Cameras were intrinsically calibrated prior to flight. Intrinsic calibration provides a set of camera specific parameters to remove geometric distortion of the lens and sensor (specific to each individual camera). A set of high contrast markers were placed on the exercising subject (safety also necessitated that they be soft in case they become detached during parabolic flight); small yarn balls were used. Extrinsic calibration, the determination of camera location and orientation parameters, is performed using fixed landmark markers shared by the camera scenes. Additionally a wand calibration, the sweeping of the camera scenes simultaneously, was also performed. Techniques have been developed to perform intrinsic calibration, extrinsic calibration, isolation of the markers in the scene, calculation of marker 2D centroids, and 3D reconstruction from multiple cameras. These methods have been tested in the laboratory side-by-side comparison to a traditional motion capture system and also on a parabolic flight.
Biodynamics↗
Asynchronous transfer mode link performance over ground networks
The results of an experiment to determine the feasibility of using asynchronous transfer mode (ATM) technology to support advanced spacecraft missions that require high-rate ground communications and, in particular, full-motion video are reported. Potential nodes in such a ground network include Deep Space Network (DSN) antenna stations, the Jet Propulsion Laboratory, and a set of national and international end users. The experiment simulated a lunar microrover, lunar lander, the DSN ground communications system, and distributed science users. The users were equipped with video-capable workstations. A key feature was an optical fiber link between two high-performance workstations equipped with ATM interfaces. Video was also transmitted through JPL's institutional network to a user 8 km from the experiment. Variations in video depending on the networks and computers were observed, the results are reported.
Chow, E. T.↗
Second-Generation Six-Limbed Experimental Robot
The figure shows the LEMUR II - the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR), which was described in "Six-Legged Experimental Robot" (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II incorporates a number of improvements, including new features, that extend its capabilities beyond those of its predecessor, which is now denoted the LEMUR I. To recapitulate: the LEMUR I was a six-limbed robot for demonstrating robotic capabilities for assembly, maintenance, and inspection. The LEMUR I was designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location and to perform other operations. The LEMUR I was equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. It was also equipped with a wireless modem, through which it could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations with one or both of its front limbs. It could also transmit images to a host computer. Each of the six limbs of the LEMUR I was operated independently. Each of the four rear limbs had three degrees of freedom (DOFs), while each of the front two limbs had four DOFs. The front two limbs were designed to hold, operate, and/or be integrated with tools. The LEMUR I included an onboard computer equipped with an assortment of digital control circuits, digital input/output circuits, analog-to-digital converters for input, and digital-to-analog (D/A) converters for output. Feedback from optical encoders in the limb actuators was utilized for closed-loop microcomputer control of the positions and velocities of the actuators. The LEMUR II incorporates the following improvements over the LEMUR I: a) The drive trains for the joints of the LEMUR II are more sophisticated, providing greater torque and accuracy. b) The six limbs are arranged symmetrically about a hexagonal body platform instead of in straight lines along the sides. This symmetrical arrangement is more conducive to omnidirectional movement in a plane. c) The number of degrees of freedom of each of the rear four limbs has been increased by one. Now, every limb has four degrees of freedom: three at the hip (or shoulder, depending on one s perspective) and one at the knee (or elbow, depending on one s perspective). d) Now every limb (instead of only the two front limbs) can perform operations. For this purpose, each limb is tipped with an improved quick-release mechanism for swapping of end-effector tools. e) New end-effector tools have been developed. These include an instrumented rotary driver that accepts all tool bits that have 0.125-in. (3.175-mm)-diameter shanks, a charge-coupled-device video camera, a super bright light-emitting diode for illuminating the work area of the robot, and a generic collet tool that can be quickly and inexpensively modified to accept any cylindrical object up to 0.5 in. (12.7 mm) in diameter. f) The stereoscopic cameras are mounted on a carriage that moves along a circular track, thereby providing for omnidirectional machine vision. g) The control software has been augmented with software that implements innovations reported in two prior NASA Tech Briefs articles: the HIPS algorithm ["Hybrid Image-Plane/Stereo Manipulation" (NPO-30492), Vol. 28, No. 7 (July 2004), page 55] and the CAMPOUT architecture ["An Architecture for Controlling Multiple Robots" (NPO-30345), Vol. 28, No. 10 (October 2004), page 65].
Kennedy, Brett↗
Modification of a Limbed Robot to Favor Climbing
The figure shows the LEMUR IIb, which is a modified version of the LEMUR II the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR). Except as described below, the LEMUR IIb hardware is mostly the same as that of the LEMUR II. The IIb and II versions differ in their kinematic configurations and characteristics associated with their kinematic configurations. The differences are such that relative to the LEMUR II, the LEMUR IIb is simpler and is better suited to climbing on inclined surfaces. The first-generation LEMUR, now denoted the LEMUR I, was described in Six-Legged Experimental Robot (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II was described in Second-Generation Six-Limbed Experimental Robot (NPO-35140) NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 55. To recapitulate: the LEMUR I and LEMUR II were six-legged or sixlimbed robots for demonstrating robotic capabilities for assembly, maintenance, and inspection. They were designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location. They were equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. They were also equipped with wireless modems, through which they could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations by use of one or both of its front legs (or in the case of the LEMUR II, any of its limbs could be used to perform mechanical operations). Either LEMUR could also transmit images to a host computer. The differences between the LEMUR IIb and the LEMUR II are the following: Whereas the LEMUR II had six limbs, the LEMUR IIb has four limbs. This change has reduced both the complexity and mass of the legs and of the overall robot. Whereas each limb of the LEMUR II had four degrees of freedom (DOFs), each limb of the LEMUR IIb has three DOFs. This change has also reduced both complexity and mass. Notwithstanding the decrease in the number of DOFs, the three remaining DOFs are configured to provide greater dexterity for motion along a surface. To extend reach, the limbs of the LEMUR IIb are 25 percent longer than those of the LEMUR II. Additional benefits stemming from the modifications are that the robot body supported by the limbs is now less massive and its center of gravity is now closer to the surface along which the robot is to move. These benefits have been obtained without sacrificing load-carrying capacity. Hence, overall, the LEMUR IIb is a more adept climber.
Okon, Avi↗
Video Observations Encompassing the 2002 Leonid Storm: First Results and a Revised Photometric Procedure for Video Meteor Analysis
During the 2001 Leonid storm, Marshall Space Flight Center, with the cooperation of the University of Western Ontario and the United States Air Force, deployed 6 teams of observers equipped with intensified video systems to sites located in North America, the Pacific, and Mongolia. The campaign was extremely successful, with the entire period of enhanced Leonid activity (over 16 hours) captured on video tape in a consistent manner. We present the first results from the analysis of this unique, 2 terabyte data set and discuss the problems involved in reducing large amounts of video meteor data. In particular, the question of how to determine meteor masses though photometric analysis will be re-examined, and new techniques will be proposed that eliminate some of the deficiencies suffered by the techniques currently employed in video meteor analysis.
Cooke, William J.↗
Video Observations Encompassing the 2002 Leonid Storm: First Results and a Revised Photometric Procedure for Video Meteor Analysis
During the 2001 Leonid storm, Marshall Space Flight Center, with the cooperation of the University of Western Ontario and the United States Air Force, deployed 6 teams of observers equipped with intensified video systems to sites located in North America, the Pacific, and Mongolia. The campaign was extremely successful, with the entire period of enhanced Leonid activity (over 16 hours) captured on video tape in a consistent manner. We present the first results from the analysis of this unique, 2 terabyte data set and discuss the problems involved in reducing large amounts of video meteor data. In particular, the question of how to determine meteor masses though photometric analysis will be re-examined, and new techniques will be proposed that eliminate some of the deficiencies suffered by the techniques currently employed in video meteor analysis.
Cooke, William J.↗
System remotely inspects, measures, and records internal irregularities in piping
Video electromechanical probe visually inspects and measures internal offset and peaking of welds in relatively large piping. Irregularity dimensions are recorded on peripheral equipment consisting of video tape and X-Y plotter. The probe is used for inspection of vacuum-jacketed liquid lines that cannot be inspected externally.
Burry, F. H.↗
STS-26 Preflight Press Briefing: Crew Escape/Crew Equipment
This NASA KSC video release presents part of a press conference held prior to Discovery flight STS-26, the first shuttle mission flown following the 51-L Challenger accident. The five member panel present individual viewgraph discussions followed by a question and answer period for the benefit of scientific journalists. William A. Chandler (Asst. to the Dir. of Engineering and the NSTS program) gives a brief overview of the crew escape system followed by Steven Nagel's (Astronaut) presentation on crew equipment. Robert Rice (Crew Escape System Manager) describes the flight test program and the innovative pyrotechnics system test program. Tim Pelischek (Pole Design Team) gives an assessment of the critical design review and Ricardo Machin reviews aerodynamic flight tests performed at Texas A&M and California. The second part of the video includes Robert Crippen's (Deputy Dir. of Operations, Kennedy Space Center) overview of NASA Management, the organizational changes and actions taken to meet the Roger's Commission recommendations.
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