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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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A complex optical system consisting of a 4f optical correlator with programmatic filters under the control of a digital on-board computer that operates at video rates for filter generation, storage, and management is described.
Contour maps provide a general method for recognizing 2-D shapes. All but blank images give rise to such maps, and people are good at recognizing objects and shapes from them. The maps are encoded easily in long feature vectors that are suitable for recognition by an associative memory. These properties of contour maps suggest a role for them in early visual perception. The prevalence of direction sensitive neurons in the visual cortex of mammals supports this view.
The Advanced X-ray Astrophysics Facility will open a clear window into the X-ray universe. This paper presents an overview of the history, objectives, and status of the program and its projected impact on man's knowledge of the cosmos. The program is shown to be a total system composed of subsystems and their interfaces, verification activities, operations considerations, and a comprehensive interface with the scientific community.
Several components of intelligence are defined. Within the context of these definitions an intelligent control system for rocket engines is described. The description includes a framework for development of an intelligent control system, including diagnostics, coordination, and direct control. Some current results and issues are presented.
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It is remarkable that we are able to perceive a stable visual world and judge the directions, orientations, and movements of visual objects given that images move on the retina, the eyes move in the head, the head moves on the body, and the body moves in space. An understanding of the mechanisms underlying perceptual stability and spatial judgements requires precise definitions of relevant coordinate systems. An egocentric frame of reference is defined with respect to some part of the observer. There are four principal egocentric frames of reference, a station-point frame associated with the nodal point of the eye, an retinocentric frame associated with the retina, a headcentric frame associated with the head, and a bodycentric frame (torsocentric) associated with the torso. Additional egocentric frames can be identified with respect to any segment of the body. An egocentric task is one in which the position, orientation, or motion of an object is judged with respect to an egocentric frame of reference. A proprioceptive is a special kind of egocentric task in which the object being judged is also part of the body. An example of a proprioceptive task is that of directing the gaze toward the seen or unseen toe. An exocentric frame of reference is external to the observer. Geographical coordinates and the direction of gravity are examples of exocentric frames of reference. These various frames are listed in tabular form, together with examples of judgements of each type.
Artificial intelligence concepts are applied to robotics. Artificial neural networks, expert systems and laser imaging techniques for autonomous space robots are being studied. A computer graphics laser range finder simulator developed by Wu has been used by Weiland and Norwood to study use of artificial neural networks for path planning and obstacle avoidance. Interest is expressed in applications of CLIPS, NETS, and Fuzzy Control. These applications are applied to robot navigation.
As has been well publicized, the primary mirror of the Hubble Space Telescope was manufactured with an incorrect curvature which results in an aberrated output image. Ball Aerospace, under contract to GSFC, is designing the Corrective Optics Space Telescope Axial Replacement (COSTAR) to provide correcting optics for the existing axial science instruments in the telescope. Integral to COSTAR are the arm deploy mechanisms which position and hold the corrective optic mirrors.
The topics are presented in viewgraph form and include: Frequency Modulated Continuous Wave (FMCW) Laser Radar; a FMCW laser block diagram, current problems; and an individual fiber sensor.
This paper reports an extension of the MIAG algorithm for recognition and motion parameter determination of general 3-D polyhedral objects based on model matching techniques and using movement invariants as features of object representation. Results of tests conducted on the algorithm under conditions simulating space conditions are presented.
The transcript of NASA Administrator Daniel S. Goldin's address to the World Space Congress is presented. The address discusses the current international flavor of space exploration, especially in the context of cooperative ventures with the former Soviet Union, and establishes the need for a return to the Moon. Goldin's speech emphasizes that returning to the moon is only the beginning of a program of exploration that will lead to human investigation of Mars, the rest of the solar system, and beyond. By following this program to its logical conclusion, human beings will eventually establish themselves as a multi-planetary species.
Display methodologies are explored for fusing images gathered by millimeter wave sensors with images rendered from an on-board terrain data base to facilitate visually guided flight and ground operations in low visibility conditions. An approach to fusion based on multiresolution image representation and processing is described which facilitates fusion of images differing in resolution within and between images. To investigate possible fusion methods, a workstation-based simulation environment is being developed.
U.S. space policy is discussed in terms of present and planned activities in the solar system and beyond to develop a concept for expanding space travel. The history of space exploration is briefly reviewed with references to the Mariner II, Apollo, and Discoverer programs. Attention is given to the issues related to return trips to the moon, sprint vs repetitive missions to Mars, and the implications of propulsion needs. The concept of terraforming other bodies within the solar system so that they can support human activity is identified as the next major phase of exploration. The following phase is considered to be the use of robotic or manned missions that extend beyond the solar system. Reference is given to a proposed Thousand Astronomical Units mission as a precursor to exploratory expansion into the universe, and current robotic mission activities are mentioned.
An obstacle detection approach to rotorcraft flight is described which is based on feature tracking and recursive range estimation. Flight characteristics are taken into account. A range map derived on the basis of this approach provides an advisory display to the pilot and can serve as input to an automatic obstacle-avoidance guidance system. A NASA CH-47 Chinook helicopter was used to develop an image and rotorcraft flight data base for verification of obstacle detection concepts. The performance of the passive range estimation algorithms is demonstrated using both laboratory image and flight image data.
This paper describes a method for tracking moving image features by combining spatial and temporal edge information with model based feature information. The algorithm updates the two-dimensional position of object features by correlating predicted model features with current image data. The results of the correlation process are used to compute an updated model. The algorithm makes use of a high temporal sampling rate with respect to spatial changes of the image features and operates in a real-time multiprocessing environment. Preliminary results demonstrate successful tracking for image feature velocities between 1.1 and 4.5 pixels every image frame. This work has applications for docking, assembly, retrieval of floating objects and a host of other space-related tasks.
This work was aimed at exploring means for utilizing computer technology in quality inspection and evaluation. Inspection of metallic welds was selected as the main application for this development and primary emphasis was placed on visual inspection, as opposed to other inspection methods, such as radiographic techniques. Emphasis was placed on methodologies with the potential for use in real-time quality control systems. Because quality evaluation is somewhat subjective, despite various efforts to classify discontinuities and standardize inspection methods, the task of using a computer for both inspection and evaluation was not trivial. The work started out with a review of the various inspection techniques that are used for quality control in welding. Among other observations from this review was the finding that most weld defects result in abnormalities that may be seen by visual inspection. This supports the approach of emphasizing visual inspection for this work. Quality control consists of two phases: (1) identification of weld discontinuities (some of which may be severe enough to be classified as defects), and (2) assessment or evaluation of the weld based on the observed discontinuities. Usually the latter phase results in a pass/fail judgement for the inspected piece. It is the conclusion of this work that the first of the above tasks, identification of discontinuities, is the most challenging one. It calls for sophisticated image processing and image analysis techniques, and frequently ad hoc methods have to be developed to identify specific features in the weld image. The difficulty of this task is generally not due to limited computing power. In most cases it was found that a modest personal computer or workstation could carry out most computations in a reasonably short time period. Rather, the algorithms and methods necessary for identifying weld discontinuities were in some cases limited. The fact that specific techniques were finally developed and successfully demosntrated to work illustrates that the general approach taken here appears to be promising for commercial development of computerized quality inspection systems. Inspection based on these techniques may be used to supplement or substitute more elaborate inspection methods, such as x-ray inspections.
A new fuzzy set based technique that was developed for decision making is discussed. It is a method to generate fuzzy decision rules automatically for image analysis. This paper proposes a method to generate rule-based approaches to solve problems such as autonomous navigation and image understanding automatically from training data. The proposed method is also capable of filtering out irrelevant features and criteria from the rules.