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At least 1,459 records · Page 81

All sources NASA NTRS DOE OSTI

NASA NTRS1992

Reliable vision-guided grasping

Automated assembly of truss structures in space requires vision-guided servoing for grasping a strut when its position and orientation are uncertain. This paper presents a methodology for efficient and robust vision-guided robot grasping alignment. The vision-guided grasping problem is related to vision-guided 'docking' problems. It differs from other hand-in-eye visual servoing problems, such as tracking, in that the distance from the target is a relevant servo parameter. The methodology described in this paper is hierarchy of levels in which the vision/robot interface is decreasingly 'intelligent,' and increasingly fast. Speed is achieved primarily by information reduction. This reduction exploits the use of region-of-interest windows in the image plane and feature motion prediction. These reductions invariably require stringent assumptions about the image. Therefore, at a higher level, these assumptions are verified using slower, more reliable methods. This hierarchy provides for robust error recovery in that when a lower-level routine fails, the next-higher routine will be called and so on. A working system is described which visually aligns a robot to grasp a cylindrical strut. The system uses a single camera mounted on the end effector of a robot and requires only crude calibration parameters. The grasping procedure is fast and reliable, with a multi-level error recovery system.

Nicewarner, Keith E.↗

NASA NTRS1991

Display format and highlight validity effects on search performance using complex visual displays

Display format and highlight validity were shown to affect visual display search performance; however, these studies were conducted on small, artificial displays of alphanumeric stimuli. A study manipulating these variables was conducted using realistic, complex Space Shuttle information displays. A 2x2x3 within-subjects analysis of variance found that search times were faster for items in reformatted displays than for current displays. The significant format by highlight validity interaction showed that there was little difference in response time to both current and reformatted displays when the highlight validity was applied; however, under the non or invalid highlight conditions, search times were faster with reformatted displays. Benefits of highlighting and reformatting displays to enhance search and the necessity to consider highlight validity and format characteristics in tandem for predicting search performance are discussed.

Donner, Kimberly A.↗

NASA NTRS1991

Using image pyramids for the visualization of large terrain data sets

Viewing terrain data from various remote sensors in three dimensions has proven to be a valuable tool for scientists in understanding a variety of problems. A technique is presented for using image pyramids in such visualization of large terrain data sets, providing up to two orders of magnitude performance enhancement over simpler techniques, while at the same time eliminating false high-frequency information, which causes animations to sparkle.

Stanfill, Daniel F., IV↗

NASA NTRS2008

From Informal Safety-Critical Requirements to Property-Driven Formal Validation

Most of the efforts in formal methods have historically been devoted to comparing a design against a set of requirements. The validation of the requirements themselves, however, has often been disregarded, and it can be considered a largely open problem, which poses several challenges. The first challenge is given by the fact that requirements are often written in natural language, and may thus contain a high degree of ambiguity. Despite the progresses in Natural Language Processing techniques, the task of understanding a set of requirements cannot be automatized, and must be carried out by domain experts, who are typically not familiar with formal languages. Furthermore, in order to retain a direct connection with the informal requirements, the formalization cannot follow standard model-based approaches. The second challenge lies in the formal validation of requirements. On one hand, it is not even clear which are the correctness criteria or the high-level properties that the requirements must fulfill. On the other hand, the expressivity of the language used in the formalization may go beyond the theoretical and/or practical capacity of state-of-the-art formal verification. In order to solve these issues, we propose a new methodology that comprises of a chain of steps, each supported by a specific tool. The main steps are the following. First, the informal requirements are split into basic fragments, which are classified into categories, and dependency and generalization relationships among them are identified. Second, the fragments are modeled using a visual language such as UML. The UML diagrams are both syntactically restricted (in order to guarantee a formal semantics), and enriched with a highly controlled natural language (to allow for modeling static and temporal constraints). Third, an automatic formal analysis phase iterates over the modeled requirements, by combining several, complementary techniques: checking consistency; verifying whether the requirements entail some desirable properties; verify whether the requirements are consistent with selected scenarios; diagnosing inconsistencies by identifying inconsistent cores; identifying vacuous requirements; constructing multiple explanations by enabling the fault-tree analysis related to particular fault models; verifying whether the specification is realizable.

Cimatti, Alessandro↗

NASA NTRS2009

Internet Protocol Display Sharing Solution for Mission Control Center Video System

With the advent of broadcast television as a constant source of information throughout the NASA manned space flight Mission Control Center (MCC) at the Johnson Space Center (JSC), the current Video Transport System (VTS) characteristics provides the ability to visually enhance real-time applications as a broadcast channel that decision making flight controllers come to rely on, but can be difficult to maintain and costly. The Operations Technology Facility (OTF) of the Mission Operations Facility Division (MOFD) has been tasked to provide insight to new innovative technological solutions for the MCC environment focusing on alternative architectures for a VTS. New technology will be provided to enable sharing of all imagery from one specific computer display, better known as Display Sharing (DS), to other computer displays and display systems such as; large projector systems, flight control rooms, and back supporting rooms throughout the facilities and other offsite centers using IP networks. It has been stated that Internet Protocol (IP) applications are easily readied to substitute for the current visual architecture, but quality and speed may need to be forfeited for reducing cost and maintainability. Although the IP infrastructure can support many technologies, the simple task of sharing ones computer display can be rather clumsy and difficult to configure and manage to the many operators and products. The DS process shall invest in collectively automating the sharing of images while focusing on such characteristics as; managing bandwidth, encrypting security measures, synchronizing disconnections from loss of signal / loss of acquisitions, performance latency, and provide functions like, scalability, multi-sharing, ease of initial integration / sustained configuration, integration with video adjustments packages, collaborative tools, host / recipient controllability, and the utmost paramount priority, an enterprise solution that provides ownership to the whole process, while maintaining the integrity of the latest technological displayed image devices. This study will provide insights to the many possibilities that can be filtered down to a harmoniously responsive product that can be used in today's MCC environment.

Brown, Michael A.↗

NASA NTRS2007

Accident/Mishap Investigation System

InvestigationOrganizer (IO) is a Web-based collaborative information system that integrates the generic functionality of a database, a document repository, a semantic hypermedia browser, and a rule-based inference system with specialized modeling and visualization functionality to support accident/mishap investigation teams. This accessible, online structure is designed to support investigators by allowing them to make explicit, shared, and meaningful links among evidence, causal models, findings, and recommendations.

Keller, Richard↗

NASA NTRS2010

The OTOLITH Experiment - Assessment of Otolith Function During Postflight Re-adaption

The ongoing "Otolith" experiment is designed to comprehensively assess the otolith function during the re-adaptation phase after spaceflight. The novel protocol includes unilateral testing of each of the two otolith organs the utricle and the saccule. To assess utricle function, the otolith-ocular response (OOR) and the subjective visual vertical (SVV) are measured during unilateral centrifugation, which permits independent stimulation of the right and left ear. Measurement of the unilateral otolith-ocular response (uOOR) yields information on the response behaviour of the right and left peripheral utricles, whereas the SVV reflects the behaviour of the entire pathway from the peripheral otolith receptors to the vestibular cortex. Thus, by comparative evaluation of the results from the two tests, the degree of peripheral versus central adaptation during the post-flight period can be determined. To assess unilateral saccule function, vestibular evoked myogenic potentials (VEMP) are recorded. Since the saccules are predominantly aligned to gravity, and interplay with the antigravity muscles, it is hypothesised that these potentials shall be altered after spaceflight. To date the study has been conducted with 5 of a planned 8 short-flight Shuttle astronauts. Preliminary results will be discussed together with those from clinical studies of dizziness patients, where the same test protocol is employed. ACKNOWLEDGEMENT This work is supported by the German Aerospace Center (Grant DLR W130729) and is conducted under the auspices of ESA, in cooperation with NASA.

Clarke, A. H.↗

NASA NTRS2011

Arctic Collaborative Environment: A New Multi-National Partnership for Arctic Science and Decision Support

The Arctic Collaborative Environment (ACE) project is a new international partnership for information sharing to meet the challenges of addressing Arctic. The goal of ACE is to create an open source, web-based, multi-national monitoring, analysis, and visualization decision-support system for Arctic environmental assessment, management, and sustainability. This paper will describe the concept, system architecture, and data products that are being developed and disseminated among partners and independent users through remote access.

Laymon, Charles A,↗

NASA NTRS2014

Intelligent UAS Sense-and-Avoid Utilizing Global Constraints

Sense-and-avoid (SAA) is a critical research topic for enabling the operation of Unmanned Aircraft Systems (UAS) in civilian airspace. SAA involves two planning related problems: 1) plan-recognition to predict the future trajectory of nearby aircraft, and 2) path planning to avoid conflicts with nearby aircraft that pose a threat. We have designed and built components of a novel intelligent sense-and-avoid (iSAA) reasoning framework that takes into account information about aircraft type, transponder code, communications, local routes, airports, airspace, terrain, and weather to more accurately predict near- and medium-term trajectories of nearby aircraft. By using this additional information both the on-board control software and the ground-based UAS operator can make more informed, intelligent decisions to effectively predict and avoid conflicts and maintain separation. While this capability benefits all categories of UASs operating under both Instrument Flight Rules (IFR) and Visual Flight Rules (VFR), it is absolutely essential for allowing smaller UASs to operate VFR at low altitude in uncontrolled airspace for operations such as survey work, wildlife tracking, aerial photography, utilities inspection, crop dusting, and package delivery.

unmanned aircraft systems↗

NASA NTRS2018

Space Science and Technology Partnership Forum: In-Space Assembly Data Collection and Analysis

The Space Science and Technology Partnership Forum was established in 2015 to identify synergistic efforts and technologies across the government. In-Space Assembly (iSA) is the focus of the topic area that NASA is currently coordinating with other government agencies. This paper focuses on the data collection process, the data analysis of that information, and preliminary insights gleaned from the data. The goal of the analysis is to understand the linkages within the collected data, identifying synergies and gaps, and provide visualization of the current state of iSA needs and capability development across the government. Capability roadmaps, Venn diagrams, bubble charts, and scorecards (an overview of each individual iSA capability) are used to visualize the results of this analysis, which reveals areas of possible inter-agency collaboration, investment gaps in capabilities relative to the need, and capabilities that warrant engagement across multiple agencies to eliminate potential inefficiencies.

Arney, Dale C.↗

NASA NTRS2018

Space Science and Technology Partnership Forum: In-Space Assembly Data Collection and Analysis

Dale C Arney↗

NASA NTRS2024

MBSE (SysML) and Digital Twin Integration to Support Engineering Analysis & Design

Problem Statement: The complexity of Gateway systems and of managing the integrated safety analysis have made traditional methods of engineering analysis and design increasingly challenging. To address these challenges, a prototype that integrate Model-Based Systems Engineering (MBSE) with Digital Twin technology has been developed to demonstrate the utilities and functions. Project Goal: Develop a prototype of a Digital Twin Of Gateway ECLSS IMV system to enhance fault management analysis through collaboration, visualization, and simulation. Overall Project Results / Accomplishments: - Developed extension to streamline the integration of SysML models with the Digital Twin platform - Demonstrated the capability to aggregate any relevant information and provide simulation integration within the DT prototype. - Generated digital twin simulation using SysML Activity Diagrams - Implemented a complex trade study use case based on the integrated SysML-Digital Twin infrastructure

MBSE↗

NASA NTRS2010

Visual Impairment/Intracranial Pressure Risk Assessment

Since 2006 there have been 6 reported cases of altered visual acuity and intracranial pressure (ICP) in long duration astronauts. In order to document this risk and develop an integrated approach to its mitigation, the NASA Space Life Sciences Directorate (SLSD) and Human Research Program (HRP) have chosen to use the Human System Risk Board (HSRB) and the risk management analysis tool (RMAT). The HSRB is the venue in which the stakeholders and customers discuss and vet the evidence and the RMAT is the tool that facilitates documentation and comparison of the evidence across mission profiles as well as identification of risk factors, and documentation of mitigation strategies. This process allows for information to be brought forward and dispositioned so that it may be properly incorporated into the RMAT and contribute to the design of the research and mitigation plans. The evidence thus far has resulted in the identification of a visual impairment/intracranial pressure (VIIP) project team, updating of both short and long duration medical requirements designed to assess visual acuity, and a research plan to characterize this issue further. In order to understand this issue more completely, a plan to develop an Accelerated Research Collaboration (ARC) has been approved by the HSRB. The ARC is a novel research model pioneered by the Myelin Repair Foundation. It is a patient centered research model that brings together researchers and clinicians, under the guidance of a scientific advisory panel, to collaborate and produce results much quickly than accomplished through traditional research models. The data and evidence from the updated medical requirements and the VIIP ARC will be reviewed at the HSRB on a regular basis. Each review package presented to the HSRB will include an assessment and recommendation with respect to continuation of research, countermeasure development, occupational surveillance modalities, selection criteria, etc. This process will determine the course of the VIIP project and ultimately how SLSD and HRP mitigate this emerging human health and performance risk.

Fogarty, Jennifer A.↗

NASA NTRS2020

ICESat-2 Tracking App for Public Engagement

Information regarding the predicted ground tracks of Earth observing satellites is typically difficult to find and understand for the general public. This paper will describe and demonstrate an iOS mobile application for tracking NASA’s ICESat-2 (Ice, Cloud, and land Elevation Satellite 2), making it easier for users to see exactly when the satellite will be passing over any location in the world. ICESat-2, launched in 2018, uses green lasers to track elevation changes in polar ice and indirectly measure trees, land, and water, providing a precise height map of our planet. Most satellite tracking mobile apps display information about where a specific satellite is at that given moment and when it will be passing over the user’s location in the near future. ICESat-2 the app differs by allowing users to search for data about the satellite’s future flybys relative to a specific search location and radius that they get to choose. The search results include points up to three months into the future. By supplying user-centric results, users are provided relevant data in an easy-to- access manner. Additionally, this data is very clear to visualize in-app through maps, pins, and ground track lines. This becomes an incredibly useful tool not only to plan an observation of the satellite as it passes, but also for knowing when elevation data for a specific area will be available. In addition, this flyby information helps students and citizen scientists take more valuable tree height measurements to better validate the elevation data collected by the satellite. To achieve this outreach product, three key components were developed. These include a Python script to simplify the raw ground track data, a Node.js server that actively takes requests, and the iOS app itself. From initial beta tests, it has been noted that providing users with a map for visual awareness of search radius and result coordinates gives them a more comprehensive understanding of the data. Overall, by cleaning the raw data and making it available in a much more accessible and easier to understand way, ICESat-2 the app has exceeded expectations in providing educational and exciting data for all.

Harbeck, Kaitlin↗

NASA NTRS1992

Reliable vision-guided grasping

Automated assembly of truss structures in space requires vision-guided servoing for grasping a strut when its position and orientation are uncertain. This paper presents a methodology for efficient and robust vision-guided robot grasping alignment. The vision-guided grasping problem is related to vision-guided 'docking' problems. It differs from other hand-in-eye visual servoing problems such as tracking in that the distance from the target is a relevant servo parameter. The methodology described in this paper is a hierarchy of levels in which the vision/robot interface is decreasingly 'intelligent', and increasingly fast. Speed is achieved primarily by information reduction. This reduction exploits the use of region-of-interest windows in the image plane and feature motion prediction. These reductions invariably require stringent assumptions about the image. Therefore, at a higher level, these assumptions are verified using slower, more reliable methods. This hierarchy provides for robust error recovery in that when a lower-level routine fails, the next-higher routine will be called and so on. A working system is described which visually aligns a robot to grasp a cylindrical strut. The system uses a single camera mounted on the end effector of a robot and requires only crude calibration parameters. The grasping procedure is fast and reliable, with a multi-level error recovery system.

Nicewarner, Keith E.↗

NASA NTRS1992

A visual display aid for planning rover traversals

An interactive graphical planning system has been developed, which allows a human operator to design and check traversals (cross-country paths) for a planetary rover vehicle. The display provides the operator with necessary information about the terrain and indicates violations of operational or dynamic constraints on the rover. The operator can select different kinds of two-dimensional maps as well as a perspective view of the rover environment to plan the traversals. An experiment has been carried out to determine the ability of the operator to estimate the rover attitude in a large variety of situations. It turned out that the estimation error is highly dependent on the rover attitude itself. This result can be used to determine a vertical scale for the perspective representation of the terrain which avoids an underestimation of dangerous rover attitudes.

Bernard, Herbert F.↗

DOE OSTI2025

Accelerating discoveries at DIII-D with the Integrated Research Infrastructure

DIII-D research is being accelerated by leveraging high performance computing (HPC) and data resources available through the National Energy Research Scientific Computing Center (NERSC) Superfacility initiative. As part of this initiative, a high-resolution, fully automated, whole discharge kinetic equilibrium reconstruction workflow was developed that runs at the NERSC for most DIII-D shots in under 20 min. This has eliminated a long-standing research barrier and opened the door to more sophisticated analyses, including plasma transport and stability. These capabilities would benefit from being automated and executed within the larger Department of Energy Advanced Scientific Computing Research program’s Integrated Research Infrastructure (IRI) framework. The goal of IRI is to empower researchers to meld DOE’s world-class research tools, infrastructure, and user facilities seamlessly and securely in novel ways to radically accelerate discovery and innovation. For transport, we are looking at producing flux matched profiles and also using particle tracing to predict fast ion heat deposition from neutral beam injection before a shot takes place. Our starting point for evaluating plasma stability focuses on the pedestal limits that must be navigated to achieve better confinement. This information is meant to help operators run more effective experiments, so it needs to be available rapidly inside the DIII-D control room. So far this has been achieved by ensuring the data is available with existing tools, but as more novel results are produced new visualization tools must be developed. In addition, all of the high-quality data we have generated has been collected into databases that can unlock even deeper insights. This has already been leveraged for model and code validation studies as well as for developing AI/ML surrogates. The workflows developed for this project are intended to serve as prototypes that can be replicated on other experiments and can be run to provide timely and essential information for ITER, as well as next stage fusion power plants.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

NASA NTRS2005

Spatial Extent of a Deep Moonquake Nest: A Preliminary Report of Reexamination

Deep moonquakes, occurring at depths about halfway to the center of the Moon, were discovered during the Apollo lunar landing missions, 1969-1972. Their near-monthly occurrence with nearly identical waveforms at any given seismic station suggests that they are strongly influenced by tides, caused by the Earth and the Sun, acting on certain limited regions of the deep lunar interior. However, much about them is unknown, why they are restricted to certain depths and to limited source regions (nests), and what they tell us about the nature of the material and dynamics of the interior of the Moon. A piece of information helpful to decipher their true nature is the spatial extent and distribution of their hypocenters. The occurrence of nearly identical waveforms suggests groups of hypocenters appear in close proximity to one another, but can we tell how closely they are located and how they are distributed? The Apollo PSE (Passive Seismic Experiment) data from all stations of the seismic network were received in real time at a common receiving station on Earth in digital form. This provided extremely high inter-station timing accuracy not achievable for most earthquake data on Earth at that time. We took advantage of this to compute relative locations of waveform-matched events, and concluded that deep moonquake foci in the A1 moonquake nest were concentrated on a nearly horizontal plane of less than 1 km in diameter. This earlier study was based on deep moonquake events visually identified on seismograms. A recent reanalysis of earlier unidentified seismic events fully utilizing the high capability of present-day computers expanded the list of positively identified deep moonquakes by more than a factor of five. The new list contains many events that are not visually matched in waveforms, yet correlated at a significant level when cross-correlated with a computer. Thus it became imperative to reexamine the spatial distribution of deep moonquake hypocenters including the newly identified events. Additional information is included in the original extended abstract.

Nakamura, Yosio↗