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The Viking program, its characteristics, goals, and investigations are described. The program consists of launching two spacecraft to Mars in 1975 to soft-land on the surface and test for signs of life. Topics discussed include the launch, the journey through space, tracking, Mars orbit and landing, experiments on the search for life, imaging systems, lander camera, water detection experiments, thermal mapping, and a possible weather station on Mars.
This paper presents results of an experimental program conducted to obtain data which can be used for correlations of rotor blade dynamic analyses. Measurements were made of the rotating frequencies and mode shapes of a representative full-scale, two-bladed helicopter rotor in a vacuum. The blades were cantilevered to the hub. Mode shape data were obtained optically using a system of cameras developed specifically for this purpose. Excitation of the rotor was provided by vertical oscillatory motion of the hub. To compare experimental and analytical results, correlations of some experimental measurements with calculations from an existing blade modes computer program based on a Holzer-Myklestad procedure are presented, and the differences between the results are discussed. The experimental and analytical natural frequencies were generally in good agreement as were the principal components of the modal deflections for the flap and lag modes. The torsion mode shape indicated disagreement between the measured and calculated results in regard to the amount of flap and lag motions present in this mode, while the spanwise variations of the measured and calculated torsional components were in agreement.
Circuit provides stable references restoration in addition to temperature compensation. Possible TV monitor applications include traffic and security surveillance systems, where cameras are subject to environmental extremes, as in unheated warehouses or outdoors.
The MASCOT (MIT Astronomical Spectrometer/Camera for Optical Telescopes), an instrument capable of simultaneously performing both direct imaging and spectrometry of faint objects, is examined. An optical layout is given of the instrument which uses two CCD's mounted on the same temperature regulated detector block. Two sources of noise on the signal are discussed: (1) the CCD readout noise, which results in a constant uncertainty in the number of electrons collected from each pixel; and (2) the photon counting noise. The sensitivity of the device is limited by the sky brightness, the overall quantum efficiency, the resolution, and the readout noise of the CCD. Therefore, total system efficiency is calculated at about 15%.
Lens opening of television camera controlled manually from remote location by simple and inexpensive data link without modifications to camera lens system. Allows closeup views of wide-brightness-range events otherwise hazardous for human operator.
The chemistry of the cometary meteoroids was studied by closed circuit television observing systems. Vidicon cameras produce basic data on standard video tape and enable the recording of the spectra of faint shower meteors, consequently the chemical study is extended to smaller particles and we have a larger data bank than is available from the more conventional method of recording meteor spectra by photography. The two main problems in using video tape meteor spectrum records are: (1) the video tape recording has a much lower resolution than the photographic technique; (2) video tape is relatively new type of data storage in astronomy and the methods of quantitative photometry have not yet been fully developed in the various fields where video tape is used. The use of the most detailed photographic meteor spectra to calibrate the video tape records and to make positive identification of the more prominent chemical elements appearing in the spectra may solve the low resolution problem. Progress in the development of standard photometric techniques for the analysis of video tape records of meteor spectra is reported.
The events leading up to Spacelab mission 4, which is to be dedicated exclusively to life sciences experimentation in 1984-85, are described. Out of 400 experiment proposals initially received and assessed, 87 candidates were chosen for definition studies to identify the resources which would be required. These proposals addressed such problems encountered in previous space flights as space motion sickness, cardiovascular deconditioning and muscle wasting, calcium loss, and red cell mass reduction. Additional experiments were selected from bioengineering, plant physiology, and cell biology. Human subjects will consist of a Mission Specialist Astronaut and up to four Payload Specialists. Equipment to be used in experimentation includes biotelemetry systems, microscopes, cameras, centrifuges and refrigerators, all of which have been designed for use in weightless conditions. The 87 candidate experiments will be further reduced to about 20.
A comparison was made of two photogrammetric measurement techniques which can be used for the determination of the spatial loctions of targets. One technique is known as the Direct Linear Transformation (DLT), and the other is referred to as the Bundle method. Each technique utilizes triangulation of image data from two or more cameras, but they differ in their method of determining camera parameters. While the study was performed with simulated data, the geometries, image data accuracies and other parameters were set to simulate conditions for a two-camera, photogrammetric system which will be used at the National Transonic Facility at the NASA's Langley Research Center. For the conditions studied the Bundle technique was found to have smaller errors. Both methods were sensitive to the spatial distribution of control-point targets, but this effected the accuracy of the Bundle algorithm less than that of the DLT algorithm.
Light flashes when shaft reaches predetermined angle. Synchronization system facilitates visualization of flow in high-speed internal-combustion engines. Designed for cinematography and holographic interferometry, system synchronizes camera and light source with predetermined rotational angle of engine shaft. 10-bit resolution of absolute optical shaft encoder adapted, and 2 to tenth power combinations of 10-bit binary data computed to corresponding angle values. Pre-computed angle values programmed into EPROM's (erasable programmable read-only memories) to use as angle lookup table. Resolves shaft angle to within 0.35 degree at rotational speeds up to 73,240 revolutions per minute.
Two documents provide additional information on system described in "Docking System With Video Feedback" (MFS-28421). First document, "Standard Remote Manipulator System Docking Target Augmentation For Automated Docking", emphasizes use of retroreflectors in target. Second document, "Development Of A Video-Based Automatic Rendezvous And Docking System", describes hardware and software of system. System is video-sensor/electronic-feedback control system. Video camera on active or chasing vehicle views target on passive or chased vehicle. Target illuminated by light-emitting diodes on active vehicle. Image-data-processing subsystem converts video image of target into data on relative position, orientation, linear velocity, and angular velocity of two vehicles. Data then used by maneuver-control subsystem to control approach of active vehicle to passive vehicle.
This paper describes a novel computational model for dynamic vision which promises to be both powerful and robust. Furthermore the paradigm is ideal for an active vision system where camera vergence changes dynamically. Its basis is the retinotopically indexed object-centered encoding of the early visual information. Specifically, the relative distances of objects to a set of referents is encoded in image registered maps. To illustrate the efficacy of the method, it is applied to the problem of dynamic stereo vision. Integration of depth information over multiple frames obtained by a moving robot generally requires precise information about the relative camera position from frame to frame. Usually, this information can only be approximated. The method facilitates the integration of depth information without direct use or knowledge of camera motion.
A 'time dilation' push-broom imaging CCD sensor is being considered for certification of landing and roving sites for the exploration of Mars. It will be used to certify several 10 x 10 km candidate sites and to identify rocks and holes of 1 m or larger at those sites, using an optical sensor with 0.25 m resolution. This will require a high-resolution large-aperture camera and a camera-pointing system designed for high accuracy and stability. To reduce the data rate and increase the exposure time, the imaging time will be stretched out by a factor of eight over the time required to fly directly over the imaged site. Six parallel data storage strings will be used to reduce the data acquisition rate, allowing each string to process a manageable 25 Mb/s.
The Rice University Department of Mechanical Engineering and Materials Sciences' Robotics Group designed and built an eight degree of freedom redundant manipulator. Fuzzy logic was proposed as a control scheme for tasks not directly controlled by a human operator. In preliminary work, fuzzy logic control was implemented for a camera tracking system and a six degree of freedom manipulator. Both preliminary systems use real time vision data as input to fuzzy controllers. Related projects include integration of tactile sensing and fuzzy control of a redundant snake-like arm that is under construction.
Application of Virtual Reality (VR) technology offers much promise to enhance and accelerate the development of Reusable Launch Vehicle (RLV) infrastructure and operations while simultaneously reducing developmental and operational costs. One of the primary cost areas in the RLV concept that is receiving special attention is maintenance and refurbishment operations. To produce and operate a cost effective RLV, turnaround cost must be minimized. Designing for maintainability is a necessary requirement in developing RLVs. VR can provide cost effective methods to design and evaluate components and systems for maintenance and refurbishment operations. The National Aeronautics and Space Administration (NASA)/Marshall Space Flight Center (MSFC) is beginning to utilize VR for design, operations development, and design analysis for RLVs. A VR applications program has been under development at NASA/MSFC since 1989. The objectives of the MSFC VR Applications Program are to develop, assess, validate, and utilize VR in hardware development, operations development and support, mission operations training and science training. The NASA/MSFC VR capability has also been utilized in several applications. These include: 1) the assessment of the design of the late Space Station Freedom Payload Control Area (PCA), the control room from which onboard payload operations are managed; 2) a viewing analysis of the Tethered Satellite System's (TSS) "end-of-reel" tether marking options; 3) development of a virtual mockup of the International Space Welding Experiment for science viewing analyses from the Shuttle Remote Manipulator System elbow camera and as a trainer for ground controllers; and 4) teleoperations using VR. This presentation will give a general overview of the MSFC VR Applications Program and describe the use of VR in design analyses, operations development, and training for RLVs.
While the initial development phase of Doppler Global Velocimetry (DGV) has been successfully completed, there remains a critical next phase to be conducted, namely the determination of an error budget to provide quantitative bounds for measurements obtained by this technology. This paper describes a laboratory investigation that consisted of a detailed interrogation of potential error sources to determine their contribution to the overall DGV error budget. A few sources of error were obvious; e.g., iodine vapor adsorption lines, optical systems, and camera characteristics. However, additional non-obvious sources were also discovered; e.g., laser frequency and single-frequency stability, media scattering characteristics, and interference fringes. This paper describes each identified error source, its effect on the overall error budget, and where possible, corrective procedures to reduce or eliminate its effect.
The present invention presents a high-speed electromechanical shutter which has at least two rotary beam choppers that are synchronized using a phase-locked loop electronic control to reduce the duty cycle. These choppers have blade means that can comprise discs or drums, each having about 60 (+/- 15) slots which are from about 0.3 to about 0.8 mm wide and about 5 to about 20 nun long (radially) which are evenly distributed through out 360 deg, and a third rotary chopper which is optically aligned has a small number of slots, such as for example, 1 to 10 slots which are about 1 to about 2 mm wide and about 5 to about 20 mm long (radially). Further the blade means include phase slots that allow the blade means to be phase locked using a closed loop control circuit. In addition, in a preferred embodiment, the system also has a leaf shutter. Thus the invention preferably achieves a gate width of less than about 100 microseconds, using motors that operate at 3000 to 10,OOO rpm, and with a phase jitter of less than about 1.5 microseconds, and further using an aperture with more than about 75% optical transmission with a clear aperture of about 0.8 -10 nun. The system can be synchronized to external sources at 0 6 kHz lasers, data acquisition systems, and cameras.
The Imaging System on the Mars Exploration Rovers has successfully operated on the surface of Mars for over one Earth year. An overview of the surface imaging activities is provided, along with a summary of the image data acquired to date.
Eastman Kodak Company, Rochester, New York is a broad-based firm which produces photographic apparatus and supplies, fibers, chemicals and vitamin concentrates. Much of the company's research and development effort is devoted to photographic science and imaging technology, including laser technology. Eastman Kodak is using a COSMIC computer program called LACOMA in the analysis of laser optical systems and camera design studies. The company reports that use of the program has provided development time savings and reduced computer service fees.