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At least 73 records · Page 4

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NASA NTRS1980

Automated optical navigation with application to Galileo

This paper presents an overview of an automated optical navigation (AON) system, a lower-cost, faster, earth-based stepping stone to onboard systems. AON provides estimation (orbit determination) and maneuver subsystems which are automatically linked to provide the fast response required by the Galileo mission, AON's first user. A real-time interactive executive schedules the subsystems to run concurrently or sequentially and enables interactive computer-graphics displays designed to speed evaluation and certification of navigation solutions. A compact trajectory integrator provides a favorable combination of speed and accuracy. Resident on a low-cost minicomputer and coded primarily in HAL/S, the NASA standard language for flight software, AON approaches a prototype for autonomous onboard navigation systems of the future.

Klumpp, A. R.↗

NASA NTRS1981

International space policy and the interests of the United States and developing countries

The paper discusses principles which must be upheld in order to protect U.S. interests in space, the potential impact of the Moon Treaty on these principles, how to satisfy the legitimate needs of developing countries while protecting U.S. interests, and how to enhance the probability of success in future negotiations concerning space. It is suggested that, in order to preserve the rights of its citizens and industry to exploit space, the United States must make a strong effort to help solve the problems of the developing countries, maintain a strong space program, and develop and follow a space policy that reflects the interests of the American people.

Bon, B.↗

NASA NTRS1987

Real-time model-based vision system for object acquisition and tracking

A machine vision system is described which is designed to acquire and track polyhedral objects moving and rotating in space by means of two or more cameras, programmable image-processing hardware, and a general-purpose computer for high-level functions. The image-processing hardware is capable of performing a large variety of operations on images and on image-like arrays of data. Acquisition utilizes image locations and velocities of the features extracted by the image-processing hardware to determine the three-dimensional position, orientation, velocity, and angular velocity of the object. Tracking correlates edges detected in the current image with edge locations predicted from an internal model of the object and its motion, continually updating velocity information to predict where edges should appear in future frames. With some 10 frames processed per second, real-time tracking is possible.

Wilcox, Brian↗

NASA NTRS1988

Neutral stellar winds that drive bipolar outflows in low-mass protostars

The Arecibo radio telescope at the 21-cm line of atomic hydrogen has been used to detect a neutral atomic wind in the bipolar flow source HH 7-11. An atomic mass of about 0.015 solar associated with the rapidly flowing gas is deduced. The stellar mass-loss rate is roughly 3 x 10 to the -6th solar mass/yr if the crossing time of the decelerating wind is 5000 yr. The excess emission in the H I line core gives a total duration of the outflow of about 70,000 yr. A detailed analysis of the H I line shape yields a reasonable deceleration rate for the atomic wind if the stellar wind continuously entrains ambient molecular gas as it propagates from the protostar. A stellar wind with the described characteristics and a terminal velocity of 170 km/s would be more than sufficient to drive the known extended CO bipolar outflow in HH 7-11.

Lizano, Susana↗

NASA NTRS1987

Sensing and perception research for space telerobotics at JPL

PIFLEX is a pipelined-image processor that can perform elaborate computations whose exact nature is not fixed in the hardware, and that can handle multiple images. A wire-wrapped prototype PIFEX module has been produced and debugged, using a version of the convolver composed of three custom VLSI chips (plus the line buffers). A printed circuit layout is being designed for use with a single-chip convolver, leading to production of a PIFEX with about 120 modules. A high-level language for programming PIFEX has been designed, and a compiler will be written for it. The camera calibration software has been completed and tested. Two more terms in the camera model, for lens distortion, probably will be added later. The acquisition and tracking system has been designed and most of it has been coded in Pascal for the MicroVAX-II. The feature tracker, motion stereo module and stereo matcher have executed successfully. The model matcher is still under development, and coding has begun on the tracking initializer. The object tracker was running on a different computer from the VAX, and preliminary runs on real images have been performed there. Once all modules are working, optimization and integration will begin. Finally, when a sufficiently large PIFEX is available, appropriate parts of acquisition and tracking, including much of the feature tracker, will be programmed into PIFEX, thus increasing the speed and robustness of the system.

Gennery, Donald B.↗

NASA NTRS1988

Molecules, grains, and shocks - A comparison of CO, H I, and IRAS data

The IR and H I properties and CO content of a set of 26 isolated, roughly degree-sized interstellar clouds are compared. It is argued that G230.1-28.4, the cloud with the narrowest H I line, has recently been shocked by the same collision that a neighboring cloud, G228.0-28.6, is currently undergoing. The ratio S(100)/N(H I) is found to range up to much larger values than predicted theoretically, where N(H) represents the column density of H nuclei and S(100) is the 100 micron surface brightness. Clouds with the highest such values are observed to contain CO, and it is inferred that they contain H2. The (H2/H I) ratio of a cloud increases as the measure of its internal velocity differences decreases. The dependence of S(60)/S(100) on V(LSR) implies that fast shocks preferentially destroy large grains or produce small grains, or both.

Heiles, Carl↗

NASA NTRS1987

The sensing and perception subsystem of the NASA research telerobot

A useful space telerobot for on-orbit assembly, maintenance, and repair tasks must have a sensing and perception subsystem which can provide the locations, orientations, and velocities of all relevant objects in the work environment. This function must be accomplished with sufficient speed and accuracy to permit effective grappling and manipulation. Appropriate symbolic names must be attached to each object for use by higher-level planning algorithms. Sensor data and inferences must be presented to the remote human operator in a way that is both comprehensible in ensuring safe autonomous operation and useful for direct teleoperation. Research at JPL toward these objectives is described.

Wilcox, B.↗

NASA NTRS1990

The JPL/KSC telerobotic inspection demonstration

An ASEA IRB90 robotic manipulator with attached inspection cameras was moved through a Space Shuttle Payload Assist Module (PAM) Cradle under computer control. The Operator and Operator Control Station, including graphics simulation, gross-motion spatial planning, and machine vision processing, were located at JPL. The Safety and Support personnel, PAM Cradle, IRB90, and image acquisition system, were stationed at the Kennedy Space Center (KSC). Images captured at KSC were used both for processing by a machine vision system at JPL, and for inspection by the JPL Operator. The system found collision-free paths through the PAM Cradle, demonstrated accurate knowledge of the location of both objects of interest and obstacles, and operated with a communication delay of two seconds. Safe operation of the IRB90 near Shuttle flight hardware was obtained both through the use of a gross-motion spatial planner developed at JPL using artificial intelligence techniques, and infrared beams and pressure sensitive strips mounted to the critical surfaces of the flight hardward at KSC. The Demonstration showed that telerobotics is effective for real tasks, safe for personnel and hardware, and highly productive and reliable for Shuttle payload operations and Space Station external operations.

Mittman, David↗

NASA NTRS1989

Autonomous sensor-based dual-arm satellite grappling

Dual-arm satellite grappling involves the integration of technologies developed in the Sensing and Perception (S&P) Subsystem for object acquisition and tracking, and the Manipulator Control and Mechanization (MCM) Subsystem for dual-arm control. S&P acquires and tracks the position, orientation, velocity, and angular velocity of a slowly spinning satellite, and sends tracking data to the MCM subsystem. MCM grapples the satellite and brings it to rest, controlling the arms so that no excessive forces or torques are exerted on the satellite or arms. A 350-pound satellite mockup which can spin freely on a gimbal for several minutes, closely simulating the dynamics of a real satellite is demonstrated. The satellite mockup is fitted with a panel under which may be mounted various elements such as line replacement modules and electrical connectors that will be used to demonstrate servicing tasks once the satellite is docked. The subsystems are housed in three MicroVAX II microcomputers. The hardware of the S&P Subsystem includes CCD cameras, video digitizers, frame buffers, IMFEX (a custom pipelined video processor), a time-code generator with millisecond precision, and a MicroVAX II computer. Its software is written in Pascal and is based on a locally written vision software library. The hardware of the MCM Subsystem includes PUMA 560 robot arms, Lord force/torque sensors, two MicroVAX II computers, and unimation pneumatic parallel grippers. Its software is written in C, and is based on a robot language called RCCL. The two subsystems are described and test results on the grappling of the satellite mockup with rotational rates of up to 2 rpm are provided.

Wilcox, Brian↗

NASA NTRS1990

A large bubble around the Crab Nebula

IRAS and 21 cm observations of the interstellar medium around the Crab nebula show evidence of a large bubble surrounded by a partial shell. If located at the canonical 2 kpc distance of the Crab pulsar, the shell is estimated to have a radius of about 90 pc and to contain about 50,000 solar masses of swept-up gas. The way in which interior conditions of this bubble can have important implications for observations of the Crab are described, and the fashion in which presupernova evolution of the pulsar progenitor has affected its local environment is described.

Romani, Roger W.↗

NASA NTRS1991

Robot Grasps Rotating Object

Experimental robotic system semiautomatically grasps rotating object, stops rotation, and pulls object to rest in fixture. Based on combination of advanced techniques for sensing and control, constructed to test concepts for robotic recapture of spinning artificial satellites. Potential terrestrial applications for technology developed with help of system includes tracking and grasping of industrial parts on conveyor belts, tracking of vehicles and animals, and soft grasping of moving objects in general.

Wilcox, Brian H.↗

NASA NTRS1989

Molecules, grains, and shocks: A comparison of CO, H I, and IRAS data

The IR and H I properties, and CO content were compared for a set of 26 isolated, degree-sized interstellar clouds. The comparisons offer some conclusions concerning the effects of kinematics on molecular content and grain size distribution. It was also found that some clouds must have very large fractions of their total Carbon in the form of polycyclic aromatic hydrocarbons.

Heiles, Carl↗

NASA NTRS1989

Infrared cirrus point sources

The IRAS discovered a large number of unresolved sources which were more intense at 100 microns than at shorter IR wavelengths. A sample of these point sources was isolated which are located in regions of very low Galactic H I column density. Whereas it was initially believed these sources to be prime candidates for a class of previously unknown astronomical object, the observations has proven that most of these sources are associated with the interstellar medium (ISM) of our Galaxy.

Reach, William T.↗

NASA NTRS1990

Detection of an expanding H I shell in the old supernova remnant CTB 80

An expanding H I shell associated with the SNR CTB 80 has been detected. The expansion velocity and size indicate that the H I shell is an SNR shell. The center, shape, and mass of the shell match those of the IR shell detected by Fesen et al. (1988), supporting the idea that the pulsar has caught up with the SW portion of the shell and has produced its peculiar radio morphology. The shell's large 60 to 100 micron ratio implies that the larger grains may have been preferentially destroyed by the shock.

Koo, Bon-Chul↗

NASA NTRS1991

Telerobotic ground-remote operations

The Telerobotic Ground-Remote Operations task consists of development of a demonstration local-site operator control station that includes a graphical user interface (GUI) for control of a remote robot, and development of operator-assisted perception algorithms and software that will provide flexible and accurate world modeling capabilities. The topics covered are presented in view graph form and include: (1) local site development configuration; (2) system design; (3) operator control station (local site) software block diagram; (4) operator-assisted perception; and (5) program status.

Bon, Bruce↗

NASA NTRS1992

Multibody interference at transonic Mach numbers

An experimental and computational study has been made of the forces and moments on multibody configurations at Mach numbers from 0.6 to 1.2. The interference forces and moments that occur on symmetric double and triple body configurations at zero angle of attack are examined in detail. In all cases, the normal interference force is always in a direction to pull the bodies together and the moment about the 0.5L point is always to rotate the tips of the bodies away from the center of the configuration. The axial interference force (pressure drag at zero angle of attack) increases the drag per store as additional stores are added to the configuration. The effect of angle of attack on the interference is relatively small.

Chapman, Gary T.↗

NASA NTRS1992

Dynamics of wind bubbles and superbubbles. I - Slow winds and fast winds. II - Analytic theory

The paper describes the overall evolution of wind-blown bubbles in a uniform medium from the initial, free-expansion stage to the final stage in which the pressure of the ambient medium is significant. The concepts of slow and fast winds, which naturally arise from consideration of radiative losses at the free-expansion stage, are introduced. The evolution of bubbles in a plane-parallel disk, where the density decreases steeply along a vertical direction, is considered. The questions of when a bubble can break out of a thin galactic disk and how they evolve after the breakout are discussed. After breakout, bubbles can evolve into jets. Steady, collimated jets can form only over a limited range of wind luminosity and Mach number; astronomical jets are likely to be unsteady and/or hydromagnetic. The results are applied to the neutral stellar wind in the HH 7-11 region, to the north polar spur, and to the galactic winds in starburst galaxies. The evolution of wind-blown bubbles in a power-law density distribution is investigated. Characteristic evolutionary time scales, as well as the equation of motion for both the swept-up gas and the wind shock in each evolutionary stage are obtained.

Koo, Bon-Chul↗

NASA NTRS1992

Galactic worms. I - Catalog of worm candidates

A catalog of candidates for the Galactic worms that are possibly the walls surrounding the superbubbles is compiled; 118 isolated structures that appear both in H I and in IR (60 and 100 microns). Fifty-two are possibly associated with H II regions. It is found that the 100-micron emissivity increases systematically toward the Galactic interior, which is consistent with the increase of the general interstellar radiation field. The 100-micron emissivity of the structures associated with the H II regions is larger than that of the structures without associated H II regions. The 60-100-micron ratio is large, 0.28 +/- 0.03, which may indicate that the grains associated with the atomic gas have a relatively large population of small grains. Thirty-five structures appear in the 408-MHz continuum. The IR and the radio continuum properties suggest that the 408-MHz continuum emission in those structures is very likely thermal. The implications of these results on the ionization of gas far from the Galactic plane are discussed.

Koo, Bon-Chul↗