The flight telerobotic servicer: From functional architecture to computer architecture

After a brief tutorial on the NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) functional architecture, the approach to its implementation is shown. First, interfaces must be defined which are capable of supporting the known algorithms. This is illustrated by considering the interfaces required for the SERVO level of the NASREM functional architecture. After interface definition, the specific computer architecture for the implementation must be determined. This choice is obviously technology dependent. An example illustrating one possible mapping of the NASREM functional architecture to a particular set of computers which implements it is shown. The result of choosing the NASREM functional architecture is that it provides a technology independent paradigm which can be mapped into a technology dependent implementation capable of evolving with technology in the laboratory and in space

Trajectory generation of space telerobots

The purpose is to review a variety of trajectory generation techniques which may be applied to space telerobots and to identify problems which need to be addressed in future telerobot motion control systems. As a starting point for the development of motion generation systems for space telerobots, the operation and limitations of traditional path-oriented trajectory generation approaches are discussed. This discussion leads to a description of more advanced techniques which have been demonstrated in research laboratories, and their potential applicability to space telerobots. Examples of this work include systems that incorporate sensory-interactive motion capability and optimal motion planning. Additional considerations which need to be addressed for motion control of a space telerobot are described, such as redundancy resolution and the description and generation of constrained and multi-armed cooperative motions. A task decomposition module for a hierarchical telerobot control system which will serve as a testbed for trajectory generation approaches which address these issues is also discussed briefly

Model-based vision for space applications

This paper describes a method for tracking moving image features by combining spatial and temporal edge information with model based feature information. The algorithm updates the two-dimensional position of object features by correlating predicted model features with current image data. The results of the correlation process are used to compute an updated model. The algorithm makes use of a high temporal sampling rate with respect to spatial changes of the image features and operates in a real-time multiprocessing environment. Preliminary results demonstrate successful tracking for image feature velocities between 1.1 and 4.5 pixels every image frame. This work has applications for docking, assembly, retrieval of floating objects and a host of other space-related tasks

A general purpose sensitometer for routine sensitometric testing

A Kodak Model 101 sensitometer has been improved from the original design and also been made more versatile so as to be able to expose a greater variety of general-purpose films. Improving the machine has been accomplished by modifying the shutter to produce an exposure time of 1/20 second instead of 1/5 second, thus eliminating reciprocity law failure from calculations, and also complying with the American National Standards Institute specification for exposing continuous -tone films. The previous tungsten lamp has been replaced with a tungsten-halogen lamp. Versatility has been added to the machine by introducing a xenon-flash lamp in the existing lamphouse. Simplicity in operation has been maintained, considering that either system uses the same button for making exposures. One additional control for selecting either source has been added. Both systems perform with 2% repeatability and 2% uniformity across the exposing surface. A system accuracy of + 5% is assigned

Evaluating Strategies to Protect Open Space and Slow Sprawl in the Philadelphia Region

This paper uses the Philadelphia metropolitan region of Bucks, Chester, Delaware, Montgomery, and Philadelphia Counties as a case study, examining historical land use and socioeconomic data to demonstrate the negative effects that urban sprawl has on regional quality of life and the natural and built environment. The paper shows that open space conservation initiatives sponsored by governing bodies and land conservation groups may not be able to keep pace with the rate of sprawl or be able to meet the conservation benchmarks set by the Delaware Valley Regional Planning Commission, the regional Metropolitan Planning Organization, and the GreenSpace Alliance, a regional non profit land conservation group. The paper examines the urban redevelopment and revitalization initiative as an underutilized, but effective tool available to slow sprawl, and the need to combine these initiatives with land protection measures. Evidence is presented that counters claims that sprawl is a natural result of the free market economy that should be allowed to correct itself without intervention. Finally, existing growth management strategies are offered that might be incorporated into future efforts to slow the expansion of the built environment and improve quality of life in the region

NASREN: Standard reference model for telerobot control

A hierarchical architecture is described which supports space station telerobots in a variety of modes. The system is divided into three hierarchies: task decomposition, world model, and sensory processing. Goals at each level of the task dedomposition heirarchy are divided both spatially and temporally into simpler commands for the next lower level. This decomposition is repreated until, at the lowest level, the drive signals to the robot actuators are generated. To accomplish its goals, task decomposition modules must often use information stored it the world model. The purpose of the sensory system is to update the world model as rapidly as possible to keep the model in registration with the physical world. The architecture of the entire control system hierarch is described and how it can be applied to space telerobot applications

Flood of January 19-20, 1996 in New York State

Heavy rain during January 18-19, 1996, combined with unseasonably warm temperatures that caused rapid snowmelt, resulted in widespread flooding throughout New York State. Damages to highways, bridges, and private property exceeded $100 million. The storm and flooding claimed 10 lives, stranded hundreds of people, destroyed or damaged thousands of homes and businesses, and closed hundreds of roads. Forty-one counties in New York were declared federal disaster areas. The most severely affected region was within and surrounding the Catskill Mountains. Damages and losses within Delaware County alone exceeded$20 million.More than 4.5 inches of rain fell on at least 45 inches of melting snow in the Catskill Mountain region during January 18-19 and caused major flooding in the area. The most destructive flooding was along Schoharie Creek and the East and West Branches of the Delaware River. Record peak discharges occurred at 57 U.S. Geological Survey streamflow-gaging stations throughout New York. Maximum discharges at 15 sites, mostly within the Schoharie Creek and Delaware River basins, had recurrence intervals equal to or greater than 100 years. The storage of significant amounts of floodwater in several reservoirs sharply reduced peak discharges downstream. This report presents a summary of peak stages and discharges, precipitation maps, floodflow hydrographs, inflow-outflow hydrographs for several reservoirs, and flood profiles along 83 miles of Schoharie Creek from its headwaters in the Catskill Mountains to its mouth at the Mohawk River

Hierarchical control of intelligent machines applied to space station telerobots

A hierarchical architecture is described which supports space station telerobots in a variety of modes. The system is divided into three hierarchies: task decomposition, world model, and sensory processing. Goals at each level of the task decomposition hierarchy are divided both spatially and temporally into simpler commands for the next lower level. This decomposition is repeated until, at the lowest level, the drive signals to the robot actuators are generated. To accomplish its goals, task decomposition modules must often use information stored in the world model. The purpose of the sensory system is to update the world model as rapidly as possible to keep the model in registration with the physical world. The architecture of the entire control system hierarchy and how it can be applied to space telerobot applications are discussed

Requirements for implementing real-time control functional modules on a hierarchical parallel pipelined system

Analysis of a robot control system leads to a broad range of processing requirements. One fundamental requirement of a robot control system is the necessity of a microcomputer system in order to provide sufficient processing capability.The use of multiple processors in a parallel architecture is beneficial for a number of reasons, including better cost performance, modular growth, increased reliability through replication, and flexibility for testing alternate control strategies via different partitioning. A survey of the progression from low level control synchronizing primitives to higher level communication tools is presented. The system communication and control mechanisms of existing robot control systems are compared to the hierarchical control model. The impact of this design methodology on the current robot control systems is explored