Selected topics in robotics for space exploration

Papers and abstracts included represent both formal presentations and experimental demonstrations at the Workshop on Selected Topics in Robotics for Space Exploration which took place at NASA Langley Research Center, 17-18 March 1993. The workshop was cosponsored by the Guidance, Navigation, and Control Technical Committee of the NASA Langley Research Center and the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) at RPI, Troy, NY. Participation was from industry, government, and other universities with close ties to either Langley Research Center or to CIRSSE. The presentations were very broad in scope with attention given to space assembly, space exploration, flexible structure control, and telerobotics

NASA high performance computing and communications program

The National Aeronautics and Space Administration's HPCC program is part of a new Presidential initiative aimed at producing a 1000-fold increase in supercomputing speed and a 100-fold improvement in available communications capability by 1997. As more advanced technologies are developed under the HPCC program, they will be used to solve NASA's 'Grand Challenge' problems, which include improving the design and simulation of advanced aerospace vehicles, allowing people at remote locations to communicate more effectively and share information, increasing scientist's abilities to model the Earth's climate and forecast global environmental trends, and improving the development of advanced spacecraft. NASA's HPCC program is organized into three projects which are unique to the agency's mission: the Computational Aerosciences (CAS) project, the Earth and Space Sciences (ESS) project, and the Remote Exploration and Experimentation (REE) project. An additional project, the Basic Research and Human Resources (BRHR) project exists to promote long term research in computer science and engineering and to increase the pool of trained personnel in a variety of scientific disciplines. This document presents an overview of the objectives and organization of these projects as well as summaries of individual research and development programs within each project

Computational methods and software systems for dynamics and control of large space structures

Two key areas of crucial importance to the computer-based simulation of large space structures are discussed. The first area involves multibody dynamics (MBD) of flexible space structures, with applications directed to deployment, construction, and maneuvering. The second area deals with advanced software systems, with emphasis on parallel processing. The latest research thrust in the second area involves massively parallel computers

Automatic visual recognition using parallel machines

Invariant features and quick matching algorithms are two major concerns in the area of automatic visual recognition. The former reduces the size of an established model database, and the latter shortens the computation time. This dissertation, will discussed both line invariants under perspective projection and parallel implementation of a dynamic programming technique for shape recognition. The feasibility of using parallel machines can be demonstrated through the dramatically reduced time complexity. In this dissertation, our algorithms are implemented on the AP1000 MIMD parallel machines. For processing an object with a features, the time complexity of the proposed parallel algorithm is O(n), while that of a uniprocessor is O(n2). The two applications, one for shape matching and the other for chain-code extraction, are used in order to demonstrate the usefulness of our methods. Invariants from four general lines under perspective projection are also discussed in here. In contrast to the approach which uses the epipolar geometry, we investigate the invariants under isotropy subgroups. Theoretically speaking, two independent invariants can be found for four general lines in 3D space. In practice, we show how to obtain these two invariants from the projective images of four general lines without the need of camera calibration. A projective invariant recognition system based on a hypothesis-generation-testing scheme is run on the hypercube parallel architecture. Object recognition is achieved by matching the scene projective invariants to the model projective invariants, called transfer. Then a hypothesis-generation-testing scheme is implemented on the hypercube parallel architecture

Probabilistic structural mechanics research for parallel processing computers

Aerospace structures and spacecraft are a complex assemblage of structural components that are subjected to a variety of complex, cyclic, and transient loading conditions. Significant modeling uncertainties are present in these structures, in addition to the inherent randomness of material properties and loads. To properly account for these uncertainties in evaluating and assessing the reliability of these components and structures, probabilistic structural mechanics (PSM) procedures must be used. Much research has focused on basic theory development and the development of approximate analytic solution methods in random vibrations and structural reliability. Practical application of PSM methods was hampered by their computationally intense nature. Solution of PSM problems requires repeated analyses of structures that are often large, and exhibit nonlinear and/or dynamic response behavior. These methods are all inherently parallel and ideally suited to implementation on parallel processing computers. New hardware architectures and innovative control software and solution methodologies are needed to make solution of large scale PSM problems practical

Computational methods and software systems for dynamics and control of large space structures

This final report on computational methods and software systems for dynamics and control of large space structures covers progress to date, projected developments in the final months of the grant, and conclusions. Pertinent reports and papers that have not appeared in scientific journals (or have not yet appeared in final form) are enclosed. The grant has supported research in two key areas of crucial importance to the computer-based simulation of large space structure. The first area involves multibody dynamics (MBD) of flexible space structures, with applications directed to deployment, construction, and maneuvering. The second area deals with advanced software systems, with emphasis on parallel processing. The latest research thrust in the second area, as reported here, involves massively parallel computers

High-performance computing for vision

Vision is a challenging application for high-performance computing (HPC). Many vision tasks have stringent latency and throughput requirements. Further, the vision process has a heterogeneous computational profile. Low-level vision consists of structured computations, with regular data dependencies. The subsequent, higher level operations consist of symbolic computations with irregular data dependencies. Over the years, many approaches to high-speed vision have been pursued. VLSI hardware solutions such as ASIC's and digital signal processors (DSP's) have provided good processing speeds on structured low-level vision tasks. Special purpose systems for vision have also been designed. Currently, there is growing interest in using general purpose parallel systems for vision problems. These systems offer advantages of higher performance, sofavare programmability, generality, and architectural flexibility over the earlier approaches. The choice of low-cost commercial-off-theshelf (COTS) components as building blocks for these systems leads to easy upgradability and increased system life. The main focus of the paper is on effectively using the COTSbased general purpose parallel computing platforms to realize high-speed implementations of vision tasks. Due to the successful use of the COTS-based systems in a variety of high performance applications, it is attractive to consider their use for vision applications as well. However, the irregular data dependencies in vision tasks lead to large communication overheads in the HPC systems. At the University of Southern California, our research efforts have been directed toward designing scalable parallel algorithms for vision tasks on the HPC systems. In our approach, we use the message passing programming model to develop portable code. Our algorithms are specified using C and MPI. In this paper, we summarize our efforts, and illustrate our approach using several example vision tasks. To facilitate the analysis and development of scalable algorithms, a realistic computational model of the parallel system must be used. Several such models have been proposed in the literature. We use the General-purpose Distributed Memory (GDM) model which is a simple but realistic model of state-of-theart parallel machines. Using the GDM model, generic algorithmic techniques such as data remapping, overlapping of communication with computation, message packing, asynchronous execution, and communication scheduling are developed. Using these techniques, we have developed scalable algorithms for many vision tasks. For instance, a scalable algorithm for linear approximation has been developed using the asynchronous execution technique. Using this algorithm, linear feature extraction can be performed in 0.065 s on a 64 node SP-2 for a 512 × 512 image. A serial implementation takes 3.45 s for the same task. Similarly, the communication scheduling and decomposition techniques lead to a scalable algorithm for the line grouping task. We believe that such an algorithmic approach can result in the development of scalable and portable solutions for vision tasks. © 1996 IEEE Publisher Item Identifier S 0018-9219(96)04992-4.published_or_final_versio

Algorithms for security in robotics and networks

The dissertation presents algorithms for robotics and security. The first chapter gives an overview of the area of visibility-based pursuit-evasion. The following two chapters introduce two specific algorithms in that area. The algorithms are based on research done together with Dr. Giora Slutzki and Dr. Steven LaValle. Chapter 2 presents a polynomial-time algorithm for clearing a polygon by a single 1-searcher. The result is extended to a polynomial-time algorithm for a pair of 1-searchers in Chapter 3.;Chapters 4 and 5 contain joint research with Dr. Srini Tridandapani, Dr. Jason Jue and Dr. Michael Borella in the area of computer networks. Chapter 4 presents a method of providing privacy over an insecure channel which does not require encryption. Chapter 5 gives approximate bounds for the link utilization in multicast traffic