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Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.
The National Space Strategy approved by the President and Congress in 1984 sets for NASA a major goal of conducting effective and productive space applications and technology programs which contribute materially toward United States leadership and security. To contribute to this goal, OAST supports the Nation's civil and defense space programs and overall economic growth. OAST objectives are to ensure timely provision of new concepts and advanced technologies, to support both the development of NASA missions in space and the space activities of industry and other organizations, to utilize the strengths of universities in conducting the NASA space research and technology program, and to maintain the NASA centers in positions of strength in critical space technology areas. In line with these objectives, NASA has established a new program in space automation and robotics that will result in the development and transfer and automation technology to increase the capabilities, productivity, and safety of NASA space programs including the Space Station, automated space platforms, lunar bases, Mars missions, and other deep space ventures. The NASA/OAST Automation and Robotics program is divided into two parts. Ames Research Center has the lead role in developing and demonstrating System Autonomy capabilities for space systems that need to make their own decisions and do their own planning. The Jet Propulsion Laboratory has the lead role for Telerobotics (that portion of the program that has a strong human operator component in the control loop and some remote handling requirement in space). This program is intended to be a working document for NASA Headquarters, Program Offices, and implementing Project Management.
This grant supported research towards developing magnetospheric electron density and magnetic field remote sensing techniques via multistatic radio propagation and tomographic image reconstruction. This work was motivated by the need to better develop the basic technique of magnetospheric radio tomography, which holds substantial promise as a technology uniquely capable of imaging magnetic field and electron density in the magnetosphere on large scales with rapid cadence. Such images would provide an unprecedented and needed view into magnetospheric processes. By highlighting the systems-level interconnectedness of different regions, our understanding of space weather processes and ability to predict them would be dramatically enhanced. Three peer-reviewed publications and 5 conference presentations have resulted from this work, which supported 1 PhD student and 1 postdoctoral researcher. One more paper is in progress and will be submitted shortly. Because the main results of this research have been published or are soon to be published in refereed journal articles listed in the reference section of this document, we provide here an overview of the research and accomplishments without describing all of the details that are contained in the articles.
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This slide presentation reviews some of the processes that NASA uses to make the remote sensing data easy to use over the World Wide Web. This work involves much research into data formats, geolocation structures and quality indicators, often to be followed by coding a preprocessing program. Only then are the data usable within the analysis tool of choice. The Goddard Earth Sciences Data and Information Services Center is deploying a variety of data access services that are designed to dramatically shorten the time consumed in the data preparation step. On-the-fly conversion to the standard network Common Data Form (netCDF) format with Climate-Forecast (CF) conventions imposes a standard coordinate system framework that makes data instantly readable through several tools, such as the Integrated Data Viewer, Gridded Analysis and Display System, Panoply and Ferret. A similar benefit is achieved by serving data through the Open Source Project for a Network Data Access Protocol (OPeNDAP), which also provides subsetting. The Data Quality Screening Service goes a step further in filtering out data points based on quality control flags, based on science team recommendations or user-specified criteria. Further still is the Giovanni online analysis system which goes beyond handling formatting and quality to provide visualization and basic statistics of the data. This general approach of automating the preparation steps has the important added benefit of enabling use of the data by non-human users (i.e., computer programs), which often make sub-optimal use of the available data due to the need to hard-code data preparation on the client side.
NASA's Advanced Composites Project is investigating technologies that increase automated remote inspection of aircraft composite structures. Therefore, microwave Frequency Domain Reflectometry (FDR) is being investigated as a method of enabling rapid remote inspection of angular orientation of the tow using microwave radiation. This work will present preliminary data demonstrating that frequency shifts in the reflection spectrum of a carbon fiber tow sample are indicative of the angle of the tow with respect to an interrogating antenna's linear polarized output.
Research into concepts such as advanced air mobility (AAM) and urban air mobility (UAM) offers an opportunity for successfully and safely adding new classes of vehicles into the National Airspace System. However, a need exists for research into the human factors associated with these concepts. In this paper, we evaluate the gaze behaviors of three remote ground control station operators (GCSOs) conducting simulated UAM operations. The participants monitored and controlled an unmanned aircraft system (UAS) from pre-flight to landing using ground control station (GCS) software across nine scenarios within a remote UAS operations center at NASA Langley Research Center (LaRC). As this work was exploratory, descriptive statistics were calculated to provide some initial insight into GCSO gaze patterns associated with the GCS display. Scenarios that required the operator to directly interact with an airspace scheduling system off-screen resulted in fewer on-screen glances than scenarios that did not include direct interactions with the off-screen system. After investigating several areas of interest (AOIs) within the GCS display, participants primarily viewed three AOIs: the map, vehicle status, and operations checklist. The results yielded several GCS design and operational improvement recommendations to include: (a) adding altitude information to the vehicle icon, (b) adding additional traffic information, and (c) including additional GCS training, to reduce the need to scan an operations checklist, which would allow allocation of visual attention towards other AOIs.
The Committee on Earth Observations Satellites (CEOS) minutes for the sixth plenary meeting held in London, December 9-11, 1992 are presented. Attending as prospective members were the Russian Space Agency (RSA), the Committee for Hydrometeorology and Environmental Monitoring of the Ministry for Ecology and Natural resources of the Russian Federation (ROSCOMGIDROMET), the Chinese Academy of Space Technology (CAST) and the National Remote Sensing Center of China (NRSCC). Actions taken at the meeting included membership issues, CEOS proposals, data policy, and working group reports. Data requirements of CEOS affiliates were also reported on. Additional summations and statements as well as lists of participants and future meetings are included. In general, topics covered related to remote sensing and global change.
Object detection in remote sensing demands extensive, high-quality annotations—a process that is both labor-intensive and time-consuming. In this work, we introduce a real-time active learning and semi-automated labeling framework that leverages foundation models to streamline dataset annotation for object detection in remote sensing imagery. For example, by integrating a Segment Anything Model (SAM), our approach generates mask-based bounding boxes that serve as the basis for dual sampling: (a) uncertainty estimation to pinpoint challenging samples, and (b) diversity assessment to ensure broad data coverage. Furthermore, our Dynamic Box Switching Module (DBS) addresses the well-known cold start problem for object detection models by replacing its suboptimal initial predictions with SAM-derived masks, thereby enhancing early-stage localization accuracy. Extensive evaluations on multiple remote sensing datasets plus a real-world user study, demonstrate that our framework not only reduces annotation effort, but also significantly boosts detection performance compared to traditional active learning sampling methods. The code for training and the user interface will be made available.
The international community has long recognized the need to coordinate observations of Earth from space. In 1984, this situation provided the impetus for creating the Committee on Earth Observation Satellites (CEOS), an international coordinating mechanism charged with coordinating international civil spaceborne missions designed to observe and study planet Earth. Within CEOS, its Working Group on Calibration and Validation (WGCV) is tasked with coordinating satellite-based global observations of vegetation. Currently, several international organizations are focusing on the requirements for Earth observation from space to address key science questions and societal benefits related to our terrestrial environment. The Global Vegetation Workshop, sponsored by the WGCV and held in Missoula, Montana, 7-10 August, 2006, was organized to establish a framework to understand the inter-relationships among multiple, global vegetation products and identify opportunities for: 1) Increasing knowledge through combined products, 2) Realizing efficiency by avoiding redundancy, and 3) Developing near- and long-term plans to avoid gaps in our understanding of critical global vegetation information. The Global Vegetation Workshop brought together 135 researchers from 25 states and 14 countries to advance these themes and formulate recommendations for CEOS members and the Global Earth Observation System of Systems (GEOSS). The eighteen oral presentations and most of the 74 posters presented at the meeting can be downloaded from the meeting website (www.ntsg.umt.edu/VEGMTG/). Meeting attendees were given a copy of the July 2006 IEEE Transactions on Geoscience and Remote Sensing Special Issue on Global Land Product Validation, coordinated by the CEOS Working Group on Calibration and Validation (WGCV). This issue contains 29 articles focusing on validation products from several of the sensors discussed during the workshop.
By rotation of washerlike part, mechanical indicator shows when predetermined compression or tension load has been reached. Indicator consists of bolt, sleeve, load-indicating washer, and nut. Besides application as load indicator, device has uses as remote indicator of mechanical action. Rotating washer can also act as sequencer, signaling action to begin upon attainment of certain load. It can be used, for example, to initiate work cycle after stored energy has been built up in hydraulic or pneumatic power equipment. It can also be used as remote, nonelectrical switch in hazardous environments.
NASA’s Goddard Space Flight Center has been developing lidar to remotely measure CO2 and CH4 in the Earth’s atmosphere. The ultimate goal is to make space-based satellite measurements with global coverage. We are working on maturing the technology readiness of a fiber-based, 1.57-micron wavelength laser transmitter designed for use in atmospheric CO2 remote-sensing. To this end, we are building a ruggedized prototype to demonstrate the required power and performance and survive the required environment. We are building a fiber-based master oscillator power amplifier (MOPA) laser transmitter architecture. The laser is a wavelength-locked, single frequency, externally modulated DBR operating at 1.57-micron followed by erbium-doped fiber amplifiers. The last amplifier stage is a polarization-maintaining, very-large-mode-area fiber with ~1000 μm2 effective area pumped by a Raman fiber laser. The optical output is single-frequency, one microsecond pulses with >450 μJ pulse energy, 7.5 KHz repetition rate, single spatial mode, and > 20 dB polarization extinction.
This paper details software tools developed to remotely command experimental apparatus, and to acquire and visualize the associated data in soft real time. The work was undertaken because commercial products failed to meet the needs. This work has identified six key factors intrinsic to development of quality research laboratory software. Capabilities include access to all new instrument functions without any programming or dependence on others to write drivers or virtual instruments, simple full screen text-based experiment configuration and control user interface, months of continuous experiment run-times, order of 1% CPU load for condensed matter physics experiment described here, very little imposition of software tool choices on remote users, and total remote control from anywhere in the world over the Internet or from home on a 56 Kb modem as if the user is sitting in the laboratory. This work yielded a set of simple robust tools that are highly reliable, resource conserving, extensible, and versatile, with a uniform simple interface.
The work preformed during the Summer 2010 by Peter Fast. The main tasks assigned were to update and improve the X-48 Flight Maneuver Database and conduct an Airspace Constraint Analysis for the Remotely Operated Aircraft Area used to flight test Unmanned Arial Vehicles. The final task was to develop and demonstrate a working knowledge of flight control theory.
The U.S. Bureau of Reclamation identified the remote sensing of evapotranspiration (ET) as an important water flux for study and designated a test site in the Lower Colorado River basin. A consortium of groups will work together with the goal to develop more accurate and cost effective techniques using the enhanced spatial and temporal coverage afforded by remote sensing. ET is a critical water loss flux where improved estimation should lead to better management of Reclamation responsibilities. There are several areas where NASA satellite and modeling data may be useful to meet Reclamation's objectives for improved ET estimation. In this paper we outline one possible contribution to use NASA's data integration capability of the Land Information System (LIS) to provide a merger of observational (in situ and satellite) with physical process models to provide estimates of ET and other water availability outputs (e.g., runoff, soil moisture) retrospectively, in near real-time, and also providing short-term predictions.
Sometimes referred to as regenerative life support systems, the concept includes an enclosed self-sufficient habitat that can independently support life for years on end. Such a system aims not only to produce its own food and water but to purify air and convert waste into useful byproducts. In the early 1990s, NASA was planning for an extended stay on Mars, and Bubenheim and his Ames colleagues were concentrating efforts on creating a complete ecological system to sustain human crewmembers during their time on the Red Planet. The main barrier to developing such a system, he says, is energy. Mars has no power plants, and a regenerative system requires equipment that runs on electricity to do everything from regulating humidity in the atmosphere to monitoring the quality of recycled water. The Ames group started looking at how to best make power on a planet that is millions of miles away from Earth and turned to a hybrid concept combining wind and solar power technologies. The reason was that Mars experiences frequent dust storms that can block nearly all sunlight. When theres a dust storm and the wind is blowing, the wind system could be the dominant power source. When the wind is not blowing and the sun is out, photovoltaics could be the dominant source, says Bubenheim.To develop and test the wind power technology, Ames turned to a remote, harsh environment here on Earth: the South Pole. The South Pole was a really good analog for Mars, says Bubenheim. The technology features for going to Mars were the same technology features needed to make something work at the South Pole.Around the same time that NASA started investigating energy technologies for the Red Planet, the National Science Foundation (NSF) was working on a redesign of their station at the South Pole. To power its operations, NSF used fuel that it flew to the remote location, but the Foundation recognized the benefits of also using onsite renewable energy technologies. In the winter they have small crews and their power requirements are less, says Bubenheim. In the summers, they bring in larger groups and photovoltaics could supply a lot of power. Using renewable energy technology could be a way of reducing the amount of fuel they have to fly in.Technology TransferTo advance wind turbine technology to meet the requirements of extremely harsh environments like that on Mars, Ames partnered with NSF and the Department of Energy. It was clear that a lot of the same features were also desirable for the cold regions of the Earth, says Bubenheim. NASA took the leadership on the team because we had the longest-term technology a Mars turbine. Years before, NSF had worked with a company called Northern Power Systems (NPS), based in Barre, Vermont, to deploy a 3-kilowatt wind turbine on Black Island off the coast of Antarctica.Sometimes referred to as regenerative life support systems, the concept includes an enclosed self-sufficient habitat that can independently support life for years on end. Such a system aims not only to produce its own food and water but to purify air and convert waste into useful byproducts. In the early 1990s, NASA was planning for an extended stay on Mars, and Bubenheim and his Ames colleagues were concentrating efforts on creating a complete ecological system to sustain human crewmembers during their time on the Red Planet. The main barrier to developing such a system, he says, is energy. Mars has no power plants, and a regenerative system requires equipment that runs on electricity to do everything from regulating humidity in the atmosphere to monitoring the quality of recycled water. The Ames group started looking at how to best make power on a planet that is millions of miles away from Earth and turned to a hybrid concept combining wind and solar power technologies. The reason was that Mars experiences frequent dust storms that can block nearly all sunlight. When there's a dust storm and the wind is blowing, the wind system could be the dominant power source. When the wind is not blowing and the sun is out, photovoltaics could be the dominant source, says Bubenheim.To develop and test the wind power technology, Ames turned to a remote, harsh environment here on Earth: the South Pole. The South Pole was a really good analog for Mars, says Bubenheim. The technology features for going to Mars were the same technology features needed to make something work at the South Pole.Around the same time that NASA started investigating energy technologies for the Red Planet, the National Science Foundation (NSF) was working on a redesign of their station at the South Pole. To power its operations, NSF used fuel that it flew to the remote location, but the Foundation recognized the benefits of also using onsite renewable energy technologies. In the winter they have small crews and their power requirements are less, says Bubenheim. In the summers, they bring in larger groups and photovoltaics could supply a lot of power. Using renewable energy technology could be a way of reducing the amount of fuel they have to fly in.Technology Transfer To advance wind turbine technology to meet the requirements of extremely harsh environments like that on Mars, Ames partnered with NSF and the Department of Energy. It was clear that a lot of the same features were also desirable for the cold regions of the Earth, says Bubenheim. NASA took the leadership on the team because we had the longest-term technology a Mars turbine.
The main challenge of this project was to design an aircraft that will achieve stability while flying without a horizontal tail. The project focused on both the design, analysis and construction of a remotely piloted, elliptical shaped flying wing. The design team was composed of four sub-groups each of which dealt with the different aspects of the design, namely aerodynamics, stability and control, propulsion, and structures. Each member of the team initially researched the background information pertaining to specific facets of the project. Since previous work on this topic was limited, most of the focus of the project was directed towards developing an understanding of the natural instability of the aircraft. Once the design team entered the conceptual stage of the project, a series of compromises had to be made to satisfy the unique requirements of each sub-group. As a result of the numerous calculations and iterations necessary, computers were utilized extensively. In order to visualize the design and layout of the wing, engines and control surfaces, a solid modeling package was used to evaluate optimum design placements. When the design was finalized, construction began with the help of all the members of the project team. The nature of the carbon composite construction process demanded long hours of manual labor. The assembly of the engine systems also required precision hand work. The final product of this project is the Elang, a one-of-a-kind remotely piloted aircraft of composite construction powered by two ducted fan engines.
In the 1970s NASA and the Department of Agriculture attempted to use the new Landsat MSS system for agricultural purposes. The program had relatively little success. With the advent of differential GPS, yield monitors on harvest equipment and higher spatial resolution remote sensing systems it seemed likely the situation should be reexamined. Therefore, a campaign of data acquisition involving remote sensing and other modalities with dependent research was assembled and funded by the Space Grant Consortia in Alabama and Georgia. The design of the remote sensing data acquisition was driven by the biology and physics of the crop system and limited by the available sensor platforms. Major parameters included crop stage, spatial resolution, seasonal and daily weather conditions, and which portion of the EM spectrum would actually capture the most discriminating information. Joint visible and Near IR with Thermal IR would permit use of existing indices, such as greenness, as well as phenomena driven by the plant' s evapotranspiration. Spatial resolution in the 2-5 meter range was chosen, avoiding many complexities caused by aliasing crop row spacing at, higher resolutions yet finer than the harvester's tightest recording rate. This dictates use of an airborne system. Use of an airborne system also makes scheduling around weather much simpler than use of satellite data. Active video calibration was recognized as essential if quantitative measures were ever to be obtained or reproduced. The system would also have to have onboard geoOF1 Based on these elements 3 data acquisitions have been flown. Seven flight lines were flown twice in 1998 and 16 lines flown in 1999. Total raw data is several GBytes. All of the data has now been geometrically corrected and some preliminary analysis accomplished. The thermal bands have an extremely high correlation with yield. For one@test case with corn, correlation in excess of 0.86 was obtained from a data acquisition two months prior to harvest! Soil images show significant within field variation in clay, soil brightness and emissivity. Light wind has been found to effect the reflectance and temperature of broad leaf crops, including soybeans, cotton and peanuts. Clearly, this work has already demonstrated some very important results. With continued development of the remote sensing technology there is good reason to believe this research will soon be able to help the individual farmer.