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At least 793 records · Page 44

Summary report: A preliminary investigation into the use of fuzzy logic for the control of redundant manipulators

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.

Cheatham, John B., Jr.↗

Vaporizing particle velocimeter

A velocimeter measures flow characteristics of a flow traveling through a chamber in a given direction. Tracer particles are entrained in the flow and a source of radiant energy produces an output stream directed transversely to the chamber, having a sufficient intensity to vaporize the particles as they pass through the output stream. Each of the vaporized particles explodes to produce a shock wave and a hot core, and a flow visualization system tracks the motion of the hot cores and shock waves to measure the velocity of each tracer particle and the temperature of the flow around the tracer.

Weinstein, Leonard M.↗

TOPEX/Poseidon - The ocean topography experiment

The configuration of the TOPEX/Poseidon mission is discussed in an overview of the launch and experimental objectives related to the deployment planned for 1992. The spacecraft carries equipment for radar altimetry and precise orbit determination, and the instruments are expected to provide precise observations of global ocean dynamics. Six scientific instruments are described including the Laser Retroreflector Array, the Tracking System Receiver, and GPS Demonstration Receiver. Also described are the orbit configuration of the satellite, verification of system performance, and the techniques for data processing. The observations from the TOPEX/Poseidon experiment can provide data that is free of sea-level variabilities and describes the general circulation of the ocean and its variability.

Fu, Lee-Lueng↗

Optical correlators for automated rendezvous and capture

Two dimensional image correlation is a robust technique for recognizing known objects and determining their position with respect to the sensing platform. This capability is of paramount importance to vehicles which must rendezvous and capture using only on-board sensors and processors. Standard digital processors can provide the necessary correlations, but their speed, weight, size and power consumption make them undesirable components of an on-board tracking system. Optical correlators provide correlation results comparable to digital systems, but with a fraction of the size, weight and power and often many times faster. This presentation discusses the application of optical correlators to Automated Rendezvous & Capture (AR&C), and the specific work being done at the Johnson Space Center and DARPA in developing optical correlator technology.

Juday, Richard↗

Concept definition study for an extremely large aerophysics range facility

A conceptual design of a very large aeroballistic range is presented, as are its operational characteristics and procedures. The proposed model launcher is a two-stage light-gas gun, having a launch tube diameter of 254 mm, and the capability of accelerating a 14 kg launch mass to 6.1 km/sec. The gun's 91.4 cm diameter piston is driven by pressurized helium. High pressures in the central breech are contained by a multiple disk arrangement. The blast tank and sabot separation tank are described, as are methods for arresting sabot segments. The conceptual design of the range itself includes a 3.3 m diameter test or flight chamber some 330 m in length. Provisions are made for testing of free flight models and tests in which the model is confined by a track system. Methods for model deceleration and recovery are described. Provisions required for future addition of advanced model launchers such as an electromagnetic launcher or ram accelerator are addressed. Siting and safety issues are also addressed.

Swift, Hallock F.↗

TDRSS orbit determination using short baseline differenced carrier phase

This paper discusses a covariance study on the feasibility of using station-differenced carrier phase on short baselines to track the TDRSS satellites. Orbit accuracies for the TDRSS using station-differenced carrier phase data and range data collected from White Sands, NM are given for various configurations of ground stations and range data precision. A one-sigma-position position accuracy of 25 meters can be achieved using two orthogonal baselines of 100 km for the station-differenced phase data and range data with 1 m accuracy. Relevant configuration parameters for the tracking system and important sources of error are examined. The ability of these data to redetermine the position after a station keeping maneuver is addressed. The BRTS system, which is currently used for TDRSS orbit determination, is briefly described and its errors are given for comparison.

Nandi, S.↗

Ice tracking techniques, implementation, performance, and applications

Present techniques of ice tracking make use both of cross-correlation and of edge tracking, the former being more successful in heavy pack ice, the latter being critical for the broken ice of the pack margins. Algorithms must assume some constraints on the spatial variations of displacements to eliminate fliers, but must avoid introducing any errors into the spatial statistics of the measured displacement field. We draw our illustrations from the implementation of an automated tracking system for kinematic analyses of ERS-1 and JERS-1 SAR imagery at the University of Alaska - the Alaska SAR Facility's Geophysical Processor System. Analyses of the ice kinematic data that might have some general interest to analysts of cloud-derived wind fields are the spatial structure of the fields, and the evaluation and variability of average deformation and its invariants: divergence, vorticity and shear. Many problems in sea ice dynamics and mechanics can be addressed with the kinematic data from SAR.

Rothrock, D. A.↗

Integrated mobile robot control

This paper describes the structure, implementation, and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation, path specification and tracking, human interfaces, fast communication, and multiple client support. The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Navlab autonomous vehicle. In addition, performance results from positioning and tracking systems are reported and analyzed.

Amidi, Omead↗

Signal processing of jet noise from flyover test data

Narrow-band spectra characterizing jet noise are constructed from flyover acoustic measurements. Radar and c-band tracking systems provided the aircraft position histories which enabled directivity and smear angles from the aircraft to each microphone to be computed. These angles are based on source emission time and thus give some idea about the directivity of the radiated sound field due to jet noise. Simulated spectra are included in the paper to demonstrate spectral broadening due to smear angle. The acoustic data described in the study has application to community noise analysis, noise source characterization and validation of prediction models. Both broadband-shock noise and turbulent mixing noise are observed in the spectra. A detailed description of the signal processing procedures is provided.

Kelly, Jeffrey J.↗

Dual passband dichroic plate for X-band

A need arose in the NASA Deep Space Network, a worldwide tracking system, for a dichroic plate that would be transparent at two desired frequency bands in the X-band region and be totally reflective at S-band. The dual-passband dichroic plate that was developed to meet the technical requirements is a thick metallic plate having an array of periodic round holes filled with Teflon plugs. Test results on an experimental prototype plate indicate that it is technically possible to design a dielectrically filled dichroic plate that meets all of these technical requirements.

Otoshi, T. Y.↗

Robust attitude control for Cassini spacecraft flying by Titan

This paper summarizes a few years attitude control design work on Cassini spacecraft with emphasis on the mission of Titan flyby. The study consists of modeling of the spacecraft dynamics, fuel sloshing, aerodynamic disturbance, controller design, nonlinear simulation, and establishing geometric command profiles. Both classical bang-bang control and modern robust H-infinity control have been designed and evaluated in nonlinear simulation to access the system tracking performance. Design procedures as well as their critical design issues are discussed in detail. Full model nonlinear simulations indicate that a simple 12-state H-infinity controller achieves better radar tracking performance than the classical bang-bang controller with less fuel throughout the flyby mission. Detailed robustness analysis of both designs will be published elsewhere.

Chiang, R.↗

Effects of window size and shape on accuracy of subpixel centroid estimation of target images

A new algorithm is presented for increasing the accuracy of subpixel centroid estimation of (nearly) point target images in cases where the signal-to-noise ratio is low and the signal amplitude and shape vary from frame to frame. In the algorithm, the centroid is calculated over a data window that is matched in width to the image distribution. Fourier analysis is used to explain the dependency of the centroid estimate on the size of the data window, and simulation and experimental results are presented which demonstrate the effects of window size for two different noise models. The effects of window shape were also investigated for uniform and Gaussian-shaped windows. The new algorithm was developed to improve the dynamic range of a close-range photogrammetric tracking system that provides feedback for control of a large gap magnetic suspension system (LGMSS).

Welch, Sharon S.↗

Activities involving aeronautical, space science, and technology support for minority institutions

The Final Report addressed the activities with which the Interracial Council for Business Opportunity (ICBO) was involved over the past 12 months. ICBO was involved in the design and development of a CARES Student Tracking System Software (CARES). Cares is intended to provide an effective means of maintaining relevant current and historical information on NASA-funded students through a range of educational program initiatives. ICBP was extensively involved in the formation of a minority university consortium amd implementation of collaborative research activities by the consortium as part of NASA's Mission to Planet Earth/Earth Observing System. ICBO was involved in the formation of an HBCU/MI Consortium to facilitate technology transfer efforts to the small and minority business community in their respective regions.

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Summary of AXAF calibration requirements

The following summarizes requirements on the High Resolution Mirror Assembly (HRMA) and HRMA/SI calibration. The lists of calibration measurements assume that the HRMA meets the CTT requirement that the XRCF test environment shall have not more than a 10 percent effect on the encircled energy in 1 arcsec and that it can be calibrated to 1 percent. This implies that the offloading scheme has been implemented in the HRMA. It should be remembered that there are additional calibrations needed for: aspect system; tracking; gyros; other parts of the PCAS; spacecraft timing and checks on timing accuracy for all SIs after integration in the spacecraft; ficucial lights and periscope; alignments; optical metrology data: lengths and diameters with errors on mirror elements and optical interferometer data on surface figure; and throughput and imaging stability test: an end-to-end test that can be used after the XRCF to verify that the x-ray throughput and imaging quality have not been degraded. The tables presented give a summary of the integration times for HRMA and HRMA/SI calibration.

Kellogg, E.↗

LET spectra measurements from the STS-35 CPDs

Linear energy transfer (LET) spectra derived form automated track analysis system (ATAS) track parameter measurements for crew passive dosimeters (CPD's) flown with the astronauts on STS-35 are plotted. The spread between the seven individual spectra is typical of past manual measurements of sets of CPD's. This difference is probably due to the cumulative net shielding variations experienced by the CPD's as the astronauts carrying them went about their activities on the Space Shuttle. The STS-35 mission was launched on Dec. 2, 1990, at 28.5 degrees inclination and 352-km altitude. This is somewhat higher than the nominal 300-km flights and the orbit intersects more of the high intensity trapped proton region in the South Atlantic Anomaly (SAA). However, in comparison with APD spectra measured on earlier lower altitude missions (STS-26, -29, -30, -32), the flux spectra are all roughly comparable. This may be due to the fact that the STS-35 mission took place close to solar maximum (Feb. 1990), or perhaps to shielding differences. The corresponding dose and dose equivalent spectra for this mission are shown. The effect of statistical fluctuations at the higher LET values, where track densities are small, is very noticeable. This results in an increased spread within the dose rate and dose equivalent rate spectra, as compared to the flux spectra. The contribution to dose and dose equivalent per measured track is much greater in the high LET region and the differences, though numerically small, are heavily weighted in the integral spectra. The optimum measurement and characterization of the high LET tails of the spectra represent an important part of the research into plastic nuclear track detector (PNTD) response. The integral flux, dose rate, dose equivalent rate and mission dose equivalent for the seven astronauts are also given.

Source record↗

Multi-spacecraft coherent Doppler and ranging for interplanetary-navigation

Future plans for planetary exploration currently include using multiple spacecraft to simultaneously explore one planet. This never before encountered situation places new demands on tracking systems used to support navigation. One possible solution to the problem of heavy ground resource conflicts is the use of multispacecraft coherent radio metric data, also known as, bent-pipe data. Analysis of the information content of these data types show that the information content of multi-spacecraft Doppler is dependent only on the frequency of the final downlink leg and is independent of the frequencies used on other legs. Numerical analysis shows that coherent bent-pipe data can provide significantly better capability to estimate the location of a lander on the surface of Mars than can direct lander to Earth radio metric data. However, this is complicated by difficulties in separating the effect of a lander position error from that of an orbiter position error for single passes of data.

Pollmeier, Vincent M.↗

Operational considerations of using GPS for spacecraft navigation

The Flight Dynamics Facility (FDF) at the NASA Goddard Space Flight Center (GSFC) has provided operational spacecraft orbit support for many years, currently generating orbit products for about 20 satellites. To date, operational orbit determination in the FDF has been performed on the ground using data from ground-based or space-based tracking systems. Current development of spaceborne Global Positioning System (GPS) receivers is projected to have a significant effect on the support needed for operational satellite navigation. This paper identifies the functions performed in spacecraft navigation and examines and quantifies how the functions and support levels will be affected as onboard GPS receivers are implemented on spacecraft. Cases are considered spacecraft using or not using NASA ground and space networks resources.

Hart, Roger C.↗

High Resolution Microwave Survey

Research information on radar tracking systems, computer animation of star formation, footage of solar systems, and desert radar equipment and research facilities are contained in this video. Frank Drake, President of SETI (Search for Extraterrestrial Intelligence) Institute is interviewed along with Jill Tarter, NASA's High Resolution Microwave Survey Project Scientist.

Scheibe, J.↗