Real-time tracking of objects for a KC-135 microgravity experiment

The design of a visual tracking system for use on the Extra-Vehicular Activity Helper/Retriever (EVAHR) is discussed. EVAHR is an autonomous robot designed to perform numerous tasks in an orbital microgravity environment. Since the ability to grasp a freely translating and rotating object is vital to the robot's mission, the EVAHR must analyze range image generated by the primary sensor. This allows EVAHR to locate and focus its sensors so that an accurate set of object poses can be determined and a grasp strategy planned. To test the visual tracking system being developed, a mathematical simulation was used to model the space station environment and maintain dynamics on the EVAHR and any other free floating objects. A second phase of the investigation consists of a series of experiments carried out aboard a KC-135 aircraft flying a parabolic trajectory to simulate microgravity

L. Tucker to Cornelia L. Littlefield (31 March 1824)

Lillia Skipwith Tucker (daughter of Sir Peyton Skipwith, baronet, of Mecklenburg County, VA/ Prestwould Plantation and his first wife, Ann Miller), writes to her sister-in-law, Cornelia L. Littlefield. Lillia married first George Carter and then St. George Tucker, and Cornelia was married to Lillia\u27s brother Peyton (her second marriage). Lillia\u27s is a life with many medical hardships, both her own and those of her family and friends. She asks for news of other family members.https://egrove.olemiss.edu/skipwith/1009/thumbnail.jp

Aflatoxin B1 in Corn Silage

Nineteen piles and bunk silos of corn silage were sampled in late fall of 1976 and early spring of 1977. These samples were assayed for aflatoxin Bl, a potent mycotoxin, using a newly developed procedure. No aflatoxin Bl (<5 ug/kg) was detected in any of the 270 samples of corn silage

Needs Assessment of Microcomputers in Vocational Agriculture Classrooms as Perceived by Selected Oklahoma Vocational Agriculture Teachers and Superintendents

Agricultural Educatio

Using AI/expert system technology to automate planning and replanning for the HST servicing missions

This paper describes a knowledge-based system that has been developed to automate planning and scheduling for the Hubble Space Telescope (HST) Servicing Missions. This new system is the Servicing Mission Planning and Replanning Tool (SM/PART). SM/PART has been delivered to the HST Flight Operations Team (FOT) at Goddard Space Flight Center (GSFC) where it is being used to build integrated time lines and command plans to control the activities of the HST, Shuttle, Crew and ground systems for the next HST Servicing Mission. SM/PART reuses and extends AI/expert system technology from Interactive Experimenter Planning System (IEPS) systems to build or rebuild time lines and command plans more rapidly than was possible for previous missions where they were built manually. This capability provides an important safety factor for the HST, Shuttle and Crew in case unexpected events occur during the mission

Object recognition and pose estimation of planar objects from range data

The Extravehicular Activity Helper/Retriever (EVAHR) is a robotic device currently under development at the NASA Johnson Space Center that is designed to fetch objects or to assist in retrieving an astronaut who may have become inadvertently de-tethered. The EVAHR will be required to exhibit a high degree of intelligent autonomous operation and will base much of its reasoning upon information obtained from one or more three-dimensional sensors that it will carry and control. At the highest level of visual cognition and reasoning, the EVAHR will be required to detect objects, recognize them, and estimate their spatial orientation and location. The recognition phase and estimation of spatial pose will depend on the ability of the vision system to reliably extract geometric features of the objects such as whether the surface topologies observed are planar or curved and the spatial relationships between the component surfaces. In order to achieve these tasks, three-dimensional sensing of the operational environment and objects in the environment will therefore be essential. One of the sensors being considered to provide image data for object recognition and pose estimation is a phase-shift laser scanner. The characteristics of the data provided by this scanner have been studied and algorithms have been developed for segmenting range images into planar surfaces, extracting basic features such as surface area, and recognizing the object based on the characteristics of extracted features. Also, an approach has been developed for estimating the spatial orientation and location of the recognized object based on orientations of extracted planes and their intersection points. This paper presents some of the algorithms that have been developed for the purpose of recognizing and estimating the pose of objects as viewed by the laser scanner, and characterizes the desirability and utility of these algorithms within the context of the scanner itself, considering data quality and noise

Embracing Service Learning Opportunities: Student Perceptions of Service Learning as an Aid to Effectively Learn Course Material

Educators are aware of the benefits of service learning such as retention or application of course concepts. Students enrolled in courses with a service learning assignment may not be aware of the benefits or may not see the assignment as beneficiary. This study examined student perceptions of service learning to determine if students’ perceptions matched educator perceptions in the literature. Overall, students make the connection between the assignment and course material. Results and themes are discussed

Cleaning verification by air/water impingement

This paper will discuss how the Kennedy Space Center intends to perform precision cleaning verification by Air/Water Impingement in lieu of chlorofluorocarbon-113 gravimetric nonvolatile residue analysis (NVR). Test results will be given that demonstrate the effectiveness of the Air/Water system. A brief discussion of the Total Carbon method via the use of a high temperature combustion analyzer will also be given. The necessary equipment for impingement will be shown along with other possible applications of this technology

Eriophyid mites in classical biological control of weeds: Progress and challenges

A classical biological control agent is an exotic host-specific natural enemy, which is intentionally introduced to obtain long-term control of an alien invasive species. Among the arthropods considered for this role, eriophyid mites are likely to possess the main attributes required: Host specificity, efficacy, and long-lasting effects. However, so far, only a few species have been approved for release. Due to their microscopic size and the general lack of knowledge regarding their biology and behavior, working with eriophyids is particularly challenging. Furthermore, mites disperse in wind, and little is known about biotic and abiotic constraints to their population growth. All these aspects pose challenges that, if not properly dealt with, can make it particularly difficult to evaluate eriophyids as prospective biological control agents and jeopardize the general success of control programs. We identified some of the critical aspects of working with eriophyids in classical biological control of weeds and focused on how they have been or may be addressed. In particular, we analyzed the importance of accurate mite identification, the difficulties faced in the evaluation of their host specificity, risk assessment of nontarget species, their impact on the weed, and the final steps of mite release and post-release monitoring