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  • 1
    Electronic Resource
    Electronic Resource
    Dissertation abstracts (1990)
    Springer
    Machine vision and applications 3 (1990), S. 59-60 
    Details
    ISSN: 1432-1769
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01211453
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    Paper (German National Licenses)
    Fulltext
  • 2
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    Dissertation abstracts (1990)
    Springer
    Details
    Publication Date: 1990-12-01
    Print ISSN: 0932-8092
    Electronic ISSN: 1432-1769
    Topics: Computer Science
    Published by Springer
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    PAPER CURRENT
  • 3
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    TRAC based sensing for autonomous rendezvous (1991)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: This paper describes a TRAC (Targeting Reflective Alignment Concept) based sensing system for use in an autonomous rendezvous and docking experiment. The proposed experiment will utilize a COMET (COMmercial Experiment Transporter) based target satellite and a second chase vehicle. The sensor system consists of a target mounted on the target vehicle and a vision based sensor on the chase vehicle. The target has both active and passive components to enable the evaluation of both technologies. The chase vehicle will possess structured lighting and a single off the shelf camera.
    Keywords: ASTRODYNAMICS
    Type: NASA, Washington, NASA Automated Rendezvous and Capture Review. A Compilation of the Abstracts; 1 p
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 4
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    TRAC based sensing for autonomous rendezvous (1991)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The Targeting Reflective Alignment Concept (TRAC) sensor is to be used in an effort to support an Autonomous Rendezvous and Docking (AR&D) flight experiment. The TRAC sensor uses a fixed-focus, fixed-iris CCD camera and a target that is a combination of active and passive components. The system experiment is anticipated to fly in 1994 using two Commercial Experiment Transporters (COMET's). The requirements for the sensor are: bearing error less than or equal to 0.075 deg; bearing error rate less than 0.3 deg/sec; attitude error less than 0.5 deg.; and attitude rate error less than 2.0 deg/sec. The range requirement depends on the range and the range rate of the vehicle. The active component of the target is several 'kilo-bright' LED's that can emit 2500 millicandela with 40 milliwatts of input power. Flashing the lights in a known pattern eliminates background illumination. The system should be able to rendezvous from 300 meters all the way to capture. A question that arose during the presentation: What is the life time of the LED's and their sensitivity to radiation? The LED's should be manufactured to Military Specifications, coated with silicon dioxide, and all other space qualified precautions should be taken. The LED's will not be on all the time so they should easily last the two-year mission.
    Keywords: SPACECRAFT DESIGN, TESTING AND PERFORMANCE
    Type: NASA, Washington, NASA Automated Rendezvous and Capture Review. Executive Summary; p 7-8
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 5
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    Self calibrating autoTRAC (1994)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The work reported here demonstrates how to automatically compute the position and attitude of a targeting reflective alignment concept (TRAC) camera relative to the robot end effector. In the robotics literature this is known as the sensor registration problem. The registration problem is important to solve if TRAC images need to be related to robot position. Previously, when TRAC operated on the end of a robot arm, the camera had to be precisely located at the correct orientation and position. If this location is in error, then the robot may not be able to grapple an object even though the TRAC sensor indicates it should. In addition, if the camera is significantly far from the alignment it is expected to be at, TRAC may give incorrect feedback for the control of the robot. A simple example is if the robot operator thinks the camera is right side up but the camera is actually upside down, the camera feedback will tell the operator to move in an incorrect direction. The automatic calibration algorithm requires the operator to translate and rotate the robot arbitrary amounts along (about) two coordinate directions. After the motion, the algorithm determines the transformation matrix from the robot end effector to the camera image plane. This report discusses the TRAC sensor registration problem.
    Keywords: CYBERNETICS
    Type: NASA-CR-196930 , NAS 1.26:196930
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 6
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    Visionless TRAC (1992)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: This final report documents the activities during a sabbatical. Leo Monford was the principal NASA contact for this work. The work supported a flight experiment planned by the Space Research Consortium which investigated the potential of using a Targeting Reflective Alignment Concept (TRAC) sensor to automatically rendezvous satellites. Other work supported the Explorer flight experiment by providing TRAC reflectors for future rendezvous experiments. The third project initiated was a visionless TRAC sensing concept called the PSD concept.
    Keywords: SPACECRAFT DESIGN, TESTING AND PERFORMANCE
    Type: NASA-CR-190732 , NAS 1.26:190732
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 7
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    Long range targeting for space based rendezvous (1995)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The work performed under this grant supported the Dexterous Flight Experiment one STS-62 The project required developing hardware and software for automating a TRAC sensor on orbit. The hardware developed by for the flight has been documented through standard NASA channels since it has to pass safety, environmental, and other issues. The software has not been documented previously, therefore, this report provides a software manual for the TRAC code developed for the grant.
    Keywords: COMPUTER PROGRAMMING AND SOFTWARE
    Type: NASA-CR-197890 , NAS 1.26:197890
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 8
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    Evaluation of the Shuttle remote manipulator (1993)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The objective initially proposed was to analyze shuttle remote manipulator (SRM) performance data collected during a Shuttle Flight. The data was to consist of video TRAC data collected via a video recorder. Unfortunately, the flight never collected the data due to higher priority experiments superseding it. As a result, the research team at Texas A&M was directed to work on several other pressing issues regarding the TRAC sensor. All but one of these issues were reported earlier in the form of periodic status reports. In fulfillment of the grant conditions, the last issue investigated is being reported as the final report. Ordinarily, a TRAC sensor determines the orientation of an object by analyzing the image reflected from a mirror target. The concern addressed is to develop a method for using the TRAC sensor when the target does not reflect a usable image.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-194351 , NAS 1.26:194351
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 9
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    Local sensory control of a dexterous end effector (1990)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: A numerical scheme was developed to solve the inverse kinematics for a user-defined manipulator. The scheme was based on a nonlinear least-squares technique which determines the joint variables by minimizing the difference between the target end effector pose and the actual end effector pose. The scheme was adapted to a dexterous hand in which the joints are either prismatic or revolute and the fingers are considered open kinematic chains. Feasible solutions were obtained using a three-fingered dexterous hand. An algorithm to estimate the position and orientation of a pre-grasped object was also developed. The algorithm was based on triangulation using an ideal sensor and a spherical object model. By choosing the object to be a sphere, only the position of the object frame was important. Based on these simplifications, a minimum of three sensors are needed to find the position of a sphere. A two dimensional example to determine the position of a circle coordinate frame using a two-fingered dexterous hand was presented.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-187710 , NAS 1.26:187710
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 10
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    Completing the forward kinematic calibration of open loop manipulators when single point position sensors are used (1989)
    In:  Other Sources
    Details
    Publication Date: 2019-07-12
    Description: Single-point sensors can measure the position of one point fixed to a manipulator's end effector. When single-point sensors have been used for calibration, it has not been possible to calibrate the orientation of the tool. Furthermore, it can be difficult to calibrate the sensor system. Results in the literature seldom provide a complete kinematic calibration of the manipulator. Presented here is a technique that enables single-point sensors to gather sufficient information to complete kinematic calibration. In addition, the method can reduce the burden of calibrating the sensor system.
    Keywords: MECHANICAL ENGINEERING
    Type: Journal of Robotic Systems (ISSN 0741-2223); 6; 19-33
    Format: text
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    NASA TECHNICAL REPORTS
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