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This paper describes the VIGIL system in detail. It discusses the overall approach for the first flight experiment, the results of the experiment and the follow-on experiments that demonstrate real-time target recognition and tracking.
The Isothermal Dendritic Growth Experiment (IDGE) is a microgravity materials science experiment scheduled to fly in the cargo bay of the shuttle on the United States Microgravity Payload (USMP) carrier. The experiment will be operated by real-time control software which will not only monitor and control onboard experiment hardware, but will also communicate, via downlink data and uplink commands, with the Payload Operations Control Center (POCC) at NASA George C. Marshall Space Flight Center (MSFC). The software development approach being used to implement this system began with software functional requirements specification. This was accomplished using the Yourdon/DeMarco methodology as supplemented by the Ward/Mellor real-time extensions. The requirements specification in combination with software prototyping was then used to generate a detailed design consisting of structure charts, module prologues, and Program Design Language (PDL) specifications. This detailed design will next be used to code the software, followed finally by testing against the functional requirements. The result will be a modular real-time control software system with traceability through every phase of the development process.
The Isothermal Dendritic Growth Experiment (IDGE) is a microgravity materials science experiment scheduled to fly in the cargo bay of the shuttle on the United States Microgravity Payload (USMP) carrier. The experiment will be operated by real-time control software which will not only monitor and control onboard experiment hardware, but will also communicate, via downlink data and unlink commands, with the Payload Operations Control Center (POCC) at NASA George C. Marshall Space Flight Center (MSFC). The software development approach being used to implement this system began with software functional requirements specification. This was accomplished using the Yourdon/DeMarco methodology as supplemented by the Ward/Mellor real-time extensions. The requirements specification in combination with software prototyping was then used to generate a detailed design consisting of structure charts, module prologues, and Program Design Language (PDL) specifications. This detailed design will next be used to code the software, followed finally by testing against the functional requirements. The result will be a modular real-time control software system with traceability through every phase of the development process.
For the past twelve months, we have conducted and completed a joint research entitled "Time- Critical Volume Rendering" with NASA Ames. As expected, High performance volume rendering algorithms have been developed by exploring some new faster rendering techniques, including object presence acceleration, parallel processing, and hierarchical level-of-detail representation. Using our new techniques, initial experiments have achieved real-time rendering rates of more than 10 frames per second of various 3D data sets with highest resolution. A couple of joint papers and technique reports as well as an interactive real-time demo have been compiled as the result of this project.
Total ozone data taken by the Nimbus-7 Total Ozone Mapping Spectrometer (TOMS) played a central role in the successful outcome of the 1987 Airborne Antarctic Ozone Experiment. The near-real-time TOMS total ozone observations were suppled within hours of real time to the operations center in Punta Arenas, Chile, over a telecommunications network designed specifically for this purpose. The TOMS data preparation and method of transfer over the telecommunications links are reviewed. This atlas includes a complete set of the near-real-time TOMS orbital overpass data over regions around the Palmer Peninsula of Antarctica for the period of August 8 through September 29, 1987. Also provided are daily polar orthographic projections of TOMS total ozone measurements over the Southern Hemisphere from August through November 1987. In addition, a chronology of the salient points of the experiment, along with some latitudinal cross sections and time series at locations of interest of the TOMS total ozone observations are presented. The TOMS total ozone measurements are evaluated along the flight tracks of each of the ER-2 and DC-8 missions during the experiment. The ozone hole is shown here to develop in a monotonic progression throughout late August and September. The minimum total ozone amount was found on 5 October, when its all-time lowest value of 109 DU is recorded. The hole remains well defined, but fills gradually from mid-October through mid-November. The hole's dissolution is observed here to begin in mid-November, when it elongates and begins to rotate. By the end of November, the south pole is no longer located within the ozone hole.
The experiment Particle Pushing and Engulfment by Solidifying Interfaces (PEP) was conducted during the USMP-4 (United States Microgravity Payload-4) mission on board the shuttle Columbia in November 1997. This experiment has its place within the framework of a long-term scientific effort to understand the physics of particle pushing. The first flight experiment of this kind was performed with a metal matrix composite on board STS-78 in the summer of 1996. The use of opaque matrices limits the evaluation to pre-and post-flight comparison of particle locations within the sample. By using transparent matrices the interaction of one or multiple particles with an advancing solid/liquid (SL) interface can be studied in-situ. If this observation can then directly be transmitted from the orbiter to the scientists by video down-link, a real-time execution of the experiment is possible in a micro-gravity environment. Part of this experiment was an extensive training of the payload specialists to perform the experiment in orbit. This was further enhanced by the availability of video down-link and direct communication with the astronauts. Even though the PEP experiment is aimed at understanding the interaction of a liquid/solid interface with insoluble particles and thus is fundamental in scope, the prospective applications are not. Possible applications range from improved metal matrix composites to understanding and preventing frost heaving affecting roads.
In the field of vibration testing, the interaction between the structure being tested and the instrumentation hardware used to perform the test is a critical issue. This is particularly true when testing massive structures (e.g. satellites), because due to physical design and manufacturing limits, the dynamics of the testing facility often couples with the test specimen one in the frequency range of interest. A further issue in this field is the standard use of a closed loop real-time vibration control scheme, which could potentially shift poles and change damping of the aforementioned coupled system. Virtual shaker testing is a novel approach to deal with these issues. It means performing a simulation which closely represents the real vibration test on the specific facility by taking into account all parameters which might impact the dynamic behavior of the specimen. In this paper, such a virtual shaker testing approach is developed. It consists of the following components: (1) Either a physical-based or an equation-based coupled electro-mechanical lumped parameter shaker model is created. The model parameters are obtained from manufacturer's specifications or by carrying out some dedicated experiments; (2) Existing real-time vibration control algorithm are ported to the virtual simulation environment; and (3) A structural model of the test object is created and after defining proper interface conditions structural modes are computed by means of the well-established Craig-Bampton CMS technique. At this stage, a virtual shaker test has been run, by coupling the three described models (shaker, control loop, structure) in a co-simulation routine. Numerical results have eventually been correlated with experimental ones in order to assess the robustness of the proposed methodology.
This paper describes a two-axis drive system for pointing a high-gain antenna. Motion about each axis is provided by identical drive mechanisms. The drive is unique in that only three gear passes are required to obtain the necessary 900:1 gear reduction. The drive system is a primary element of an experiment that will provide a real-time data link between Nimbus and certain ground stations. In this experiment data are transmitted from Nimbus to the applications technology satellite, which relays the data to ground stations.
The NASA Integrated Vehicle Health Management (IVHM) Technology Experiment for X-37 was intended to run IVHM software on-board the X-37 spacecraft. The X-37 is intended to be an unpiloted vehicle that would orbit the Earth for up to 21 days before landing on a runway. The objectives of the experiment were to demonstrate the benefits of in-flight IVHM to the operation of a Reusable Launch Vehicle, to advance the Technology Readiness Level of this IVHM technology within a flight environment, and to demonstrate that the IVHM software could operate on the Vehicle Management Computer. The scope of the experiment was to perform real-time fault detection and isolation for X-37's electrical power system and electro-mechanical actuators. The experiment used Livingstone, a software system that performs diagnosis using a qualitative, model-based reasoning approach that searches system-wide interactions to detect and isolate failures. Two of the challenges we faced were to make this research software more efficient so that it would fit within the limited computational resources that were available to us on the X-37 spacecraft, and to modify it so that it satisfied the X-37's software safety requirements. Although the experiment is currently unfunded, the development effort had value in that it resulted in major improvements in Livingstone's efficiency and safety. This paper reviews some of the details of the modeling and integration efforts, and some of the lessons that were learned.
In September 1988 the Earth and Planetary Atmospheres Group of the Space Sciences Laboratory of the University of California at Berkeley flew an experiment on a high-altitude sounding rocket launched from the NASA Wallops Flight Facility in Virginia. The experiment, BEARS (Berkeley EUV Airglow Rocket Spectrometer), was designed to obtain spectroscopic data on the composition and structure of the earth's upper atmosphere. Consideration is given to the objectives of the BEARS experiment; the computer interface and software; the use of remote data transmission; and calibration, integration, and flight operations.
The validation tests conducted on the Control/Structures Interaction (CSI) Computer System (CCS)/Remote Interface Unit (RIU) is discussed. The CCS/RIU consists of a commercially available, Langley Research Center (LaRC) programmed, space flight qualified computer and a flight data acquisition and filtering computer, developed at LaRC. The tests were performed in the Space Structures Research Laboratory (SSRL) and included open loop excitation, closed loop control, safing, RIU digital filtering, and RIU stand alone testing with the CSI Evolutionary Model (CEM) Phase-0 testbed. The test results indicated that the CCS/RIU system is comparable to ground based systems in performing real-time control-structure experiments.
Real-time coordination of visual information with high-speed manipulator control is studied in the context of three-dimensional robotic catching. All path planning for the catch occurs in real-time during the half-second that the targeted object is airborne. A trajectory-matching algorithm is used that combines an observer with a varying-strength filter, an error estimator, and an initial motion algorithm. The results are demonstrated experimentally using a real-time vision system and a four-degree-of-freedom, cable-driven arm with a workspace of 4.2 m3 and speed capabilities of up to 2.0 m/s.
The Above Real-Time Training (ARTT) concept is a unique approach to training high performance skills. ARTT refers to a training paradigm that places the operator in a simulated environment that functions at faster than normal time. Such a training paradigm represents a departure from the intuitive, but not often supported, feeling that the best practice is determined by the training environment with the highest fidelity. This approach is hypothesized to provide greater 'transfer value' per simulation trial, by incorporating training techniques and instructional features into the simulator. These techniques allow individuals to acquire these critical skills faster and with greater retention. ARTT also allows an individual trained in 'fast time' to operate at what appears to be a more confident state, when the same task is performed in a real-time environment. Two related experiments are discussed. The findings appear to be consistent with previous findings that show positive effects of task variation during training. Moreover, ARTT has merit in improving or maintaining transfer with sharp reductions in training time. There are indications that the effectiveness of ARTT varies as a function of task content and possibly task difficulty. Other implications for ARTT are discussed along with future research directions.
The Materials Exposure Facility (MEF) is being proposed by LaRC as the first long-term space materials exposure facility with real-time interaction with materials experiments in actual conditions of orbital space flight. The MEF is proposed as a Space Station external payload dedicated to technology advancement in spacecraft materials and coatings research. This paper will define a set of potential logistics for removing the MEF from the Shuttle cargo bay and the process required for transferring the MEF to a specific external payload site on Space Station Freedom (SSF). The SSF UF-2 configuration is used for this study. The kinematics and ability to successfully perform the appropriate MEF maneuvers required were verified. During completion of this work, the Space Station was redesigned and the International Space Station Alpha (ISSA) configuration evolved. The transfer procedure for SSF was valid for ISSA; however, a verification of kinematics and clearances was essential. Also, SSF and ISSA robotic interfaces with the Orbiter were different.
Earth science activities at NASA Ames are research in atmospheric and ecosystem science, development of remote sensing and in situ sampling instruments, and their integration into scientific research platform aircraft. The use of satellite communications can greatly extend the capability of these agency research platform aircraft. Current projects and plans involve satellite links on the Perseus UAV and the ER-2 via TDRSS and a proposed experiment on the NASA Advanced Communications Technology Satellite. Provisions for data links on the Perseus research platform, via TDRSS S-band multiple access service, have been developed and are being tested. Test flights at Dryden are planned to demonstrate successful end-to-end data transfer. A Unisys Corp. airborne satcom STARLink system is being integrated into an Ames ER-2 aircraft. This equipment will support multiple data rates up to 43 Mb/s each via the TDRS S Ku-band single access service. The first flight mission for this high-rate link is planned for August 1995. Ames and JPL have proposed an ACTS experiment to use real-time satellite communications to improve wildfire research campaigns. Researchers and fire management teams making use of instrumented aircraft platforms at a prescribed burn site will be able to communicate with experts at Ames, the U.S. Forest Service, and emergency response agencies.
NASA Research and Education Network (NREN) ground truthing is a method of verifying the scientific validity of satellite images and clarifying irregularities in the imagery. Ground-truthed imagery can be used to locate geological compositions of interest for a given area. On Mars, astronaut scientists could ground truth satellite imagery from the planet surface and then pinpoint optimum areas to explore. These astronauts would be able to ground truth imagery, get results back, and use the results during extravehicular activity without returning to Earth to process the data from the mission. NASA's first ground-truthing experiment, performed on June 25 in the Utah desert, demonstrated the ability to extend powerful computing resources to remote locations. Designed by Dr. Richard Beck of the Department of Geography at the University of Cincinnati, who is serving as the lead field scientist, and assisted by Dr. Robert Vincent of Bowling Green State University, the demonstration also involved researchers from the NASA Glenn Research Center and the NASA Ames Research Center, who worked with the university field scientists to design, perform, and analyze results of the experiment. As shown real-time Hyperion satellite imagery (data) is sent to a mass storage facility, while scientists at a remote (Utah) site upload ground spectra (data) to a second mass storage facility. The grid pulls data from both mass storage facilities and performs up to 64 simultaneous band ratio conversions on the data. Moments later, the results from the grid are accessed by local scientists and sent directly to the remote science team. The results are used by the remote science team to locate and explore new critical compositions of interest. The process can be repeated as required to continue to validate the data set or to converge on alternate geophysical areas of interest.
The Ground/Orbiter Lasercomm Demonstration (GOLD) is an optical communications demonstraton between the Japanese Engineering Test Satellite (ETS-VI) and an optical ground transmitting and receiving station at the Table Mountain Facility. GOLD was an experiment that demonstrated real-time international collaboration.
An effort is under way to develop noninvasive neuro-electric interfaces through which human operators could control systems as diverse as simple mechanical devices, computers, aircraft, and even spacecraft. The basic idea is to use electrodes on the surface of the skin to acquire electromyographic (EMG) signals associated with gestures, digitize and process the EMG signals to recognize the gestures, and generate digital commands to perform the actions signified by the gestures. In an experimental prototype of such an interface, the EMG signals associated with hand gestures are acquired by use of several pairs of electrodes mounted in sleeves on a subject s forearm (see figure). The EMG signals are sampled and digitized. The resulting time-series data are fed as input to pattern-recognition software that has been trained to distinguish gestures from a given gesture set. The software implements, among other things, hidden Markov models, which are used to recognize the gestures as they are being performed in real time. Thus far, two experiments have been performed on the prototype interface to demonstrate feasibility: an experiment in synthesizing the output of a joystick and an experiment in synthesizing the output of a computer or typewriter keyboard. In the joystick experiment, the EMG signals were processed into joystick commands for a realistic flight simulator for an airplane. The acting pilot reached out into the air, grabbed an imaginary joystick, and pretended to manipulate the joystick to achieve left and right banks and up and down pitches of the simulated airplane. In the keyboard experiment, the subject pretended to type on a numerical keypad, and the EMG signals were processed into keystrokes. The results of the experiments demonstrate the basic feasibility of this method while indicating the need for further research to reduce the incidence of errors (including confusion among gestures). Topics that must be addressed include the numbers and arrangements of electrodes needed to acquire sufficient data; refinements in the acquisition, filtering, and digitization of EMG signals; and methods of training the pattern- recognition software. The joystick and keyboard simulations were chosen for the initial experiments because they are familiar to many computer users. It is anticipated that, ultimately, interfaces would utilize EMG signals associated with movements more nearly natural than those associated with joysticks or keyboards. Future versions of the pattern-recognition software are planned to be capable of adapting to the preferences and day-today variations in EMG outputs of individual users; this capability for adaptation would also make it possible to select gestures that, to a given user, feel the most nearly natural for generating control signals for a given task (provided that there are enough properly positioned electrodes to acquire the EMG signals from the muscles involved in the gestures).