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At least 1,477 records · Page 82
All sourcesNASA NTRSDOE OSTI
NASA NTRS1977

Two measures of performance in a peg-in-hole manipulation task with force feedback

The results are described from two manipulators on a peg-in-hole task, which is part of a continued effort to develop models for human performance with remote manipulators. Task difficulty is varied by changing the diameter of the peg to be inserted in a 50 mm diameter hole. An automatic measuring system records the distance between the tool being held by the manipulator and the receptacle into which it is to be inserted. The data from repeated insertions are processed by computer to determine task times, accumulated distances, and trajectories. Experiments with both the MA-11 cable-connected master-slave manipulator common to hot cell work and the MA-23 servo-controlled manipulator (with and without force feedback) are described. Comparison of these results with previous results of the Ames Manipulator shows that force feedback provides a consistent advantage.

Hill, J. W.↗
NASA NTRS1985

Space Station crew workload - Station operations and customer accommodations

The features of the Space Station which permit crew members to utilize work time for payload operations are discussed. The user orientation, modular design, nonstressful flight regime, in space construction, on board control, automation and robotics, and maintenance and servicing of the Space Station are examined. The proposed crew size, skills, and functions as station operator and mission specialists are described. Mission objectives and crew functions, which include performing material processing, life science and astronomy experiments, satellite and payload equipment servicing, systems monitoring and control, maintenance and repair, Orbital Maneuvering Vehicle and Mobile Remote Manipulator System operations, on board planning, housekeeping, and health maintenance and recreation, are studied.

Shinkle, G. L.↗
NASA NTRS1993

Graphics simulation and training aids for advanced teleoperation

Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations.

Kim, Won S.↗
NASA NTRS1990

Jet Propulsion Laboratory/Kennedy Space Center telerobotic inspection and manipulation demonstration

The goal of this effort is to demonstrate telerobotic inspection and mainpulation of space shuttle payloads in the presence of substantial communications time delays between the operator station and the robotic work space. The processing of space shuttle payloads provides a variety of tasks which are typical of both space shuttle ground operations and Space Station in-flight operations, and communications time delays are inevitable in space operations where the operator station will be light-seconds away from the telerobot. With this demonstration we hope to show the efficacy and safety of robotic technology for ground and space operations. Our approach is to develop an experimental telerobotic system with the remote sensing, actuation and reflex portions located at KSC in Florida, while the operator control station will be located at Jet Propulsion Laboratory (JPL) in California. The JPL portion of the system includes a high-level operator interface, intelligent spatial planning and machine vision, while the KSC portion includes the robot arm, end effectors, cameras and proximity sensors, and the necessary control and communications computers and software. The communications between JPL and KSC are over a limited-bandwidth network channel (19200 baud) with unpredictable and unrepeatable time delays. In FY89 we integrated a basic version of the robotic, communications, and computer hardware, and we developed the software to perform an operator-supervised inspection of a PAM-D satellite upper stage rocket motor and its shuttle support cradle. The demonstration, though severely limited by the bulk of the available computer arm, showed the potential of telerobotics for inspection tasks. In the future, we plan to develop additional capabilities which will allow manipulation tasks to be performed, including removal of dust covers and lens caps, insertion of connectors and batteries, and installation of payload objects.

Wilcox, Brian↗
NASA NTRS1993

Modelling the Shuttle Remote Manipulator System: Another flexible model

High fidelity elastic system modeling algorithms are discussed. The particular system studied is the Space Shuttle Remote Manipulator System (RMS) undergoing full articulated motion. The model incorporates flexibility via a methodology the author has been developing. The technique is based in variational principles, so rigorous boundary condition generation and weak formulations for the associated partial differential equations are realized, yet the analyst need not integrate by parts. The methodology is formulated using vector-dyad notation with minimal use of tensor notation, therefore the technique is believed to be affable to practicing engineers. The objectives of this work are as follows: (1) determine the efficacy of the modeling method; and (2) determine if the method affords an analyst advantages in the overall modeling and simulation task. Generated out of necessity were Mathematica algorithms that quasi-automate the modeling procedure and simulation development. The project was divided into sections as follows: (1) model development of a simplified manipulator; (2) model development of the full-freedom RMS including a flexible movable base on a six degree of freedom orbiter (a rigid-body is attached to the manipulator end-effector); (3) simulation development for item 2; and (4) comparison to the currently used model of the flexible RMS in the Structures and Mechanics Division of NASA JSC. At the time of the writing of this report, items 3 and 4 above were not complete.

Barhorst, Alan A.↗
NASA NTRS1994

The extent of burning in African savanna

The temporal and spatial distribution of African savanna grassland fires has been examined, and the areal extent of these fires has been estimated for the subequatorial African continent. African savanna fires have been investigated using remote sensing techniques and imagery collected by low-light sensors on Defense Meteorological Satellite Program (DMSP) satellites and by the Advanced Very High Resolution Radiometer (AVHRR) which is aboard polar orbiting National Oceanic and Atmospheric Administration (NOAA) satellites. DMSP imagery has been used to map the evolution of savanna burning over all of the African continent and the analysis of AVHRR imagery has been used to estimate the areal extent of the burning in the southern hemispheric African savannas. The work presented primarily reflects the analysiscompleted for the year 1987. However, comparisons have been made with other years and the representativeness of the 1987 analysis is discussed.

Cahoon, D. R. JR.↗
NASA NTRS2004

Passive Remote Sensing of Cloud Ice Particles

Hurricanes, blizzards and other weather events are important to understand not only for disaster preparation, but also to track the global energy balance and to improve weather and climate forecasts. For several decades, passive radiometers and active radars on aircraft and satellites have been employed to remotely sense rain rates and the properties of liquid particles. In the past few years the relationships between frozen particles and millimeter-wave observations have become understood well enough to estimate the properties of ice in clouds. A brief background of passive remote sensing of precipitation will be presented followed by a focused discussion of recent research at NASA Goddard Space Flight Center estimating the properties of frozen particles in clouds. The retrievals are for (1) ice that will eventually melt into rain, (2) for solid precipitation falling in northern climates, and (3) cirrus ice clouds. The electromagnetic absorption and scattering properties and differences of liquid rain versus frozen particles will be summarized for frequencies from 6 to 340+ GHz. Challenges of this work including surface emissivity variability, non-linear and under-constrained relationships, and frozen particle unknowns will be discussed. Retrieved cloud particle contents and size distributions for ice above the melting layer in hurricanes, retrieved snowfall rates for a blizzard, and cirrus ice estimates will be presented. Future directions of this work will also be described.

Skofronick-Jackson, Gail↗
NASA NTRS1994

NASA/DOD Aerospace Knowledge Diffusion Research Project. Paper 39: The role of computer networks in aerospace engineering

This paper presents selected results from an empirical investigation into the use of computer networks in aerospace engineering. Such networks allow aerospace engineers to communicate with people and access remote resources through electronic mail, file transfer, and remote log-in. The study drew its subjects from private sector, government and academic organizations in the U.S. aerospace industry. Data presented here were gathered in a mail survey, conducted in Spring 1993, that was distributed to aerospace engineers performing a wide variety of jobs. Results from the mail survey provide a snapshot of the current use of computer networks in the aerospace industry, suggest factors associated with the use of networks, and identify perceived impacts of networks on aerospace engineering work and communication.

Bishop, Ann P.↗
NASA NTRS2012

NASA InterCenter Collaboration Increases ROI

Funding for National Aeronautics and Space Administration (NASA) space mission operations is tighter than ever in the current environment of federal government deficit reductions. Conventional wisdom would expect this environment to drive increasing competition between NASA centers for the limited available funds. However, recent inter-center activities at the Huntsville Operations Support Center (HOSC) at NASA's Marshall Space Flight Center emphasize collaboration rather than competition and demonstrate the value of partnerships to increase the return on shrinking investments. These efforts cover a variety of activities and potential returns. To facilitate sharing data from test and verification through operations without levying requirements on data format or software tools, the HOSC is working with multiple centers on an evolutionary path toward a distributed data architecture and archive. The approach reduces the required investment by allowing the partners to reuse their existing formats and tools, while facilitating gone ]stop h user visibility into and controlled access to the full complement of data regardless of user or data location. The HOSC is also working on two activities to promote sharing operations implementations and leveraging the experts and expertise across multiple NASA sites. In one, the use of Consultative Committee for Space Data Systems (CCSDS) standards for the message abstraction layer provides an interoperability layer on top of existing ground data system communication architectures. This allows missions to select the most appropriate solutions for their requirements with a minimal investment in rehosting the components in a coherent operational environment. The other emphasizes shared tools and increased remote access to minimize travel for tests and critical activities and reduce the floor space required for a dedicated operations center. This paper summarizes these and other inter-center collaboration activities at the HOSC and the benefits that each can bring, not just to the participants, but to the broader operations community.

Lankford, Kimberly↗
NASA NTRSDate not supplied

Space-qualified Chalcogenide Materials through ISS MISSE Exposure —From Property to Application

In March 2021, twenty-four samples of various phase change materials (PCMs - Ge2Sb2Te5, Ge2Sb2Se4Te1, and Sb2Se3) along with metasurface optical components comprised of these PCMs, were delivered to the International Space Station (ISS) as part of the Materials International Space Station Experiment (MISSE-14) test campaign [1]. Although PCMs have previously been noted for their resilience to various forms of radiation [2], they had not been tested in a realistic space environment until this exposure campaign with joint NASA and MIT collaboration. During the six-month total open exposure time in low earth orbit (LEO), high-resolution cameras scanned and captured photographs of the samples to detect changes as a function of time along with on-orbit measured temperature, UV radiation, total atomic oxygen fluence, and total ionizing radiation doses. The samples were returned to NASA Langley Research Center in March 2022 for post-flight characterization. This duplicated the preflight characterization (i.e., material composition and crystallinity that limits switching speed, index contrast, loss, etc.) conducted before launch. The space sector has witnessed tremendous growth within the past decade—not only from government agencies but also entrants from the private sector. Future growth in the capabilities of Earth observation, deep space, and planetary surface missions using miniaturized spacecraft platforms can only be sustained by innovations in the design of remote sensors and other sub-systems. Active metasurface optics with enhanced tunability and reconfigurability continues to redefine the boundaries of optical science [3]. The introduction of PCM technology and associated optical devices will help to accelerate the adoption of new architectures for reduced size, weight, power, and cost (SWaP-C) platforms in space.Here we introduce results obtained from the MISSE-14 mission related to space qualification of PCM-based optic devices and constituent materials. We then discuss our recent work developing active integrated photonic devices and metasurface optics based on PCMs for space applications. This includes tunable and reconfigurable optical metasurface devices to support NASA space communication and LIDAR applications. PCMs are quickly becoming interesting photonics materials but questions related to mission suitability remain, particularly in regard to key properties like figures-of-merit (FOM, Δn/Δk), glass forming temperatures, and phase transition speeds. This talk will describe efforts to afford researchers the ability to have access to cost-effective data on exposure-induced changes to PCM fundamental physical and optical properties to assess their utility for space applications. The MISSE-14 sample exposure campaign allows a complete understanding of the limitations of the PCMs for various space-based electronic and optoelectronic applications.

Chalcogenide Phase change material↗
NASA NTRS2010

Employing Geodatabases for Planetary Mapping Conduct - Requirements, Concepts and Solutions

Planetary geologic mapping has become complex in terms of merging and co-registering a variety of different datasets for analysis and mapping. But it has also become more convenient when it comes to conducting actual (geoscientific) mapping with the help of desktop Geographic Information Systems (GIS). The complexity and variety of data, however, are major issues that need to be taken care of in order to provide mappers with a consistent and easy-to-use mapping basis. Furthermore, a high degree of functionality and interoperability of various commercial and open-source GIS and remote sensing applications allow mappers to organize map data, map components and attribute data in a more sophisticated and intuitional way when compared to workflows 15 years ago. Integration of mapping results of different groups becomes an awkward task as each mapper follows his/her own style, especially if mapping conduct is not coordinated and organized programmatically. Problems of data homogenization start with various interpretations and implementations of planetary map projections and reference systems which form the core component of any mapping and analysis work. If the data basis is inconsistent, mapping results in terms of objects georeference become hard to integrate. Apart from data organization and referencing issues, which are important on the mapping as well as the data-processing side of every project, the organization of planetary geologic map units and attributes, as well as their representation within a common GIS environment, are key components that need to be taken care of in a consistent and persistent way.

vanGasselt, Stephan↗
NASA NTRS2011

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

Exploring planetary surfaces typically involves traversing challenging and unknown terrain and acquiring in-situ measurements at designated locations using arm-mounted instruments. We present field results for a new implementation of an autonomous capability that enables a rover to traverse and precisely place an arm-mounted instrument on remote targets. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover's mast cameras. The rover then autonomously traverse the rocky terrain for a distance of 10 - 15 m, tracks the target(s) of interest during the traverse, positions itself for approaching the target, and then precisely places an arm-mounted instrument within 2-3 cm from the originally designated target. The rover proceeds to acquire science measurements with the instrument. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight thread-the-needle maneuvers. We integrated these algorithms on the newly refurbished Athena Mars research rover and fielded them in the JPL Mars Yard. We conducted 43 runs with targets at distances ranging from 5 m to 15 m and achieved a success rate of 93% for placement of the instrument within 2-3 cm.

Mars Exploration Rover (MER)↗
NASA NTRS2016

CATS Aerosol Typing and Future Directions

The Cloud Aerosol Transport System (CATS), launched in January of 2015, is a lidar remote sensing instrument that will provide range-resolved profile measurements of atmospheric aerosols and clouds from the International Space Station (ISS). CATS is intended to operate on-orbit for at least six months, and up to three years. Status of CATS Level 2 and Plans for the Future:Version. 1. Aerosol Typing (ongoing): Mode 1: L1B data released later this summer; L2 data released shortly after; Identify algorithm biases (ex. striping, FOV (field of view) biases). Mode 2: Processed Released Currently working on correcting algorithm issues. Version 2 Aerosol Typing (Fall, 2016): Implementation of version 1 modifications Integrate GEOS-5 aerosols for typing guidance for non spherical aerosols. Version 3 Aerosol Typing (2017): Implementation of 1-D Var Assimilation into GEOS-5 Dynamic lidar ratio that will evolve in conjunction with simulated aerosol mixtures.

McGill, Matt↗
NASA NTRS2011

Autonomous rover traverse and precise arm placement on remotely designated targets

Exploring planetary surfaces typically involves traversing challenging and unknown terrain and acquiring insitu measurements at designated locations using arm-mounted instruments. We present field results for a new implementation of an autonomous capability that enables a rover to traverse and precisely place an arm-mounted instrument on remote targets. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover’s mast cameras. The rover then autonomously traverses the rocky terrain for a distance of 10 – 15 m, tracks the target(s) of interest during the traverse, positions itself for approaching the target, and then precisely places an arm-mounted instrument within 2-3 cm from the originally designated target. The rover proceeds to acquire science measurements with the instrument. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight thread-the-needle maneuvers. We integrated these algorithms on the newly refurbished Athena Mars research rover and fielded them in the JPL Mars Yard. We conducted 43 runs with targets at distances ranging from 5 m to 15 m and achieved a success rate of 93% for placement of the instrument within 2-3 cm.

Volpe, Richard↗
NASA NTRS1980

Remote sensing data applied to the evaluation of soil erosion caused by land-use. Ribeirao Anhumas Basin Area: A case study

Formerly covered by a tropical forest, the study area was deforested in the early 40's for coffee plantation and cattle raising, which caused intense gully erosion problems. To develop a method to analyze the relationship between land use and soil erosion, visual interpretations of aerial photographs (scale 1:25.000), MSS-LANDSAT imagery (scale 1:250,000), as well as automatic interpretation of computer compatible tapes by IMAGE-100 system were carried out. From visual interpretation the following data were obtained: land use and cover tapes, slope classes, ravine frequency, and a texture sketch map. During field work, soil samples were collected for texture and X-ray analysis. The texture sketch map indicate that the areas with higher slope angles have a higher susceptibilty to the development of gullies. Also, the over carriage of pastureland, together with very friable lithologies (mainly sandstone) occuring in that area, seem to be the main factors influencing the catastrophic extension of ravines in the study site.

Dejesusparada, N.↗
NASA NTRS1981

Structure of the knowledge base for an expert labeling system

One of the principal objectives of the NASA AgRISTARS program is the inventory of global crop resources using remotely sensed data gathered by Land Satellites (LANDSAT). A central problem in any such crop inventory procedure is the interpretation of LANDSAT images and identification of parts of each image which are covered by a particular crop of interest. This task of labeling is largely a manual one done by trained human analysts and consequently presents obstacles to the development of totally automated crop inventory systems. However, development in knowledge engineering as well as widespread availability of inexpensive hardware and software for artificial intelligence work offers possibilities for developing expert systems for labeling of crops. Such a knowledge based approach to labeling is presented.

Rajaram, N. S.↗
NASA NTRS1995

An Investigation of Multipath Effects on the GPS System During Auto-Rendezvous and Capture

The proposed use of a Cargo Transport Vehicle (CTV) to carry hardware to the Space Station Freedom (SSF) during the construction phase of the SSF project requires remote maneuvering of the CTV. The CTV is not a manned vehicle. Obtaining the relative positions of the CTV and SSF for remote auto-rendezvous and capture (AR&C) scenarios will rely heavily on the Global Positioning System (GPS). The GPS system is expected to guide the CTV up to a distance of 100 to 300 meters from the SSF. At some point within this range, an optical docking system will take over the remote guidance for capture. During any remote guidance by GPS it is possible that significant multipath signals may be caused by large objects in the vicinity of the module being remotely guided. This could alter the position obtained by the GPS system from the actual position. Due to the nature of the GPS signals, it has been estimated that if the difference in distance between the Line of Sight (LOS) path and the multipath is greater than 300 meters, the GPS system is capable of discriminating between the direct signal and the reflected (or multipath) signal. However, if the path difference is less than 300 meters, one must be concerned. This report details the work accomplished by the Electromagnetic Simulations Laboratory at Marquette University over the period December 1993 to May 1995. This work is an investigation of the strength and phase of a multipath signal arriving at the CTV relative to the direct or line of sight (LOS) signal. The signal originates at a GPS satellite in half geo-stationary orbit and takes two paths to the CTV: (1) the direct or LOS path from the GPS satellite to the CTV; and (2) a scattered path from the GPS satellite to the SSF module and then to the CTV. The scattering from a cylinder has been computed using the physical optics approximation for the current. No other approximations or assumptions have been made including no assumptions regarding the far field or Fresnel field approximations. The integrations required to obtain the scattered field have been computed numerically using an N dimensional Romberg integration. The total scattered electric field is then projected onto the RCP component in the direction of propagation only. The direct or line of sight signal is then used to compute the relative strength and phase of the scattered field. The trajectory of the CTV has been parameterized into 4,214 points that are calculated for each of the geometries investigated. The motion of the CTV between points is small enough for the magnitude data (dB down from direct signal) to appear very smooth; however, because of the distances and wavelengths involved, the phase of the scattered field relative to the direct signal varies very rapidly.

Richie, James E.↗
NASA NTRS2001

Application of Remote Sensing to Assess the Impact of Short Term Climate Variability on Coastal Sedimentation

The University of Wisconsin and Louisiana State University have teamed to study the forcing of winter season cold frontal wind systems on sediment distribution patterns and geomorphology in the Louisiana coastal zone. Wind systems associated with cold fronts have been shown to modify coastal circulation and resuspend sediments along the microtidal Louisiana coast. The assessment includes quantifying the influence of cumulative winter season atmospheric forcing (through surface wind observations) from year to year in response to short term climate variability, such as El Nino events. A correlation between winter cyclone frequency and the strength of El Nino events has been suggested. The atmospheric forcing data are being correlated to geomorphic measurements along western Louisiana's prograding muddy coast. Remote sensing data is being used to map and track sediment distribution patterns for various wind conditions. Transferring a suspended sediment concentration (SSC) algorithm to EOS MODIS observations will enable estimates of SSC in case 2 waters over the global domain. Progress in Year 1 of this study has included data collection and analysis of wind observations for atmospheric forcing characterization, a field activity (TX-2001) to collect in situ water samples with co-incident remote sensing measurements from the NASA ER-2 based MODIS Airborne Simulator (MAS) and the EOS Terra based MODerate resolution Imaging Spectroradiometer (MODIS) instruments, aerial photography and of sediment burial pipe field measurements along the prograding muddy Chenier Plain coast of western Louisiana for documenting coastal change in that dynamic region, and routine collection of MODIS 250 in resolution data for monitoring coastal sediment patterns. The data sets are being used in a process to transfer an SSC estimation algorithm to the MODIS platform. Work is underway on assessing coastal transport for the winter 2000-01 season. Water level data for use in a Geomorphic Impact Index, which relates wind energy, water level conditions, and geomorphic change along the microtidal western Louisiana coastline is being assembled.

Moeller, Christopher C.↗