Development of a machine vision system for automated structural assembly

Research is being conducted at the LaRC to develop a telerobotic assembly system designed to construct large space truss structures. This research program was initiated within the past several years, and a ground-based test-bed was developed to evaluate and expand the state of the art. Test-bed operations currently use predetermined ('taught') points for truss structural assembly. Total dependence on the use of taught points for joint receptacle capture and strut installation is neither robust nor reliable enough for space operations. Therefore, a machine vision sensor guidance system is being developed to locate and guide the robot to a passive target mounted on the truss joint receptacle. The vision system hardware includes a miniature video camera, passive targets mounted on the joint receptacles, target illumination hardware, and an image processing system. Discrimination of the target from background clutter is accomplished through standard digital processing techniques. Once the target is identified, a pose estimation algorithm is invoked to determine the location, in three-dimensional space, of the target relative to the robots end-effector. Preliminary test results of the vision system in the Automated Structural Assembly Laboratory with a range of lighting and background conditions indicate that it is fully capable of successfully identifying joint receptacle targets throughout the required operational range. Controlled optical bench test results indicate that the system can also provide the pose estimation accuracy to define the target position

UC-278 Cyber Security in Blockchain

Blockchain is a growing technology that utilizes a decentralized public record of transactions. It is not only used for cryptocurrency, but also IoT, financial systems, healthcare, supply chain, etc. Although blockchain is quite robust, it is not invulnerable. This project will explain and demonstrate several weaknesses of blockchain and how to prevent them. We will demonstrate the following attacks and how to prevent them using Solidity: Transaction Order Dependence, Denial of Service, Replay Attack, Writing of Arbitrary Storage Address Attack, Weak Randomness, and Honeypot Attack

Support of Helicopter 'Free Flight' Operations in the 1996 Olympics

The microcosm of activity surrounding the 1996 Olympic Games provided researchers an opportunity for demonstrating state-of-the art technology in the first large-scale deployment of a prototype digital communication/navigation/surveillance system in a confined environment. At the same time it provided an ideal opportunity for transportation officials to showcase the merits of an integrated transportation system in meeting the operational needs to transport time sensitive goods and provide public safety services under real-world conditions. Five aeronautical CNS functions using a digital datalink system were chosen for operational flight testing onboard 91 aircraft, most of them helicopters, participating in the Atlanta Short-Haul Transportation System. These included: GPS-based Automatic Dependent Surveillance, Cockpit Display of Traffic Information, Controller-Pilot Communications, Graphical Weather Information (uplink), and Automated Electronic Pilot Reporting (downlink). Atlanta provided the first opportunity to demonstrate, in an actual operating environment, key datalink functions which would enhance flight safety and situational awareness for the pilot and supplement conventional air traffic control. The knowledge gained from such a large-scale deployment will help system designers in development of a national infrastructure where aircraft would have the ability to navigate autonomously

Vehicle-Level Reasoning Systems: Integrating System-Wide Data to Estimate the Instantaneous Health State

At the aircraft level, a Vehicle-Level Reasoning System (VLRS) can be developed to provide aircraft with at least two significant capabilities: improvement of aircraft safety due to enhanced monitoring and reasoning about the aircrafts health state, and also potential cost savings by enabling Condition Based Maintenance (CBM). Along with the benefits of CBM, an important challenge facing aviation safety today is safeguarding against system and component failures and malfunctions. Faults can arise in one or more aircraft subsystem their effects in one system may propagate to other subsystems, and faults may interact

Strongly Correlated Cerium Systems: Non-Kondo Mechanism for Moment Collapse

We present an ab initio based method which gives clear insight into the interplay between the hybridization, the coulomb exchange, and the crystal-field interactions, as the degree of 4f localization is varied across a series of strongly correlated cerium systems. The results for the ordered magnetic moments, magnetic structure, and ordering temperatures are in excellent agreement with experiment, including the occurence of a moment collapse of non-Kondo origin. In contrast, standard ab initio density functional calculations fail to predict, even qualitatively, the trend of the unusual magentic properties.Comment: A shorter version of this has been submitted to PR

Baseline Assessment and Prioritization Framework for IVHM Integrity Assurance Enabling Capabilities

Fundamental to vehicle health management is the deployment of systems incorporating advanced technologies for predicting and detecting anomalous conditions in highly complex and integrated environments. Integrated structural integrity health monitoring, statistical algorithms for detection, estimation, prediction, and fusion, and diagnosis supporting adaptive control are examples of advanced technologies that present considerable verification and validation challenges. These systems necessitate interactions between physical and software-based systems that are highly networked with sensing and actuation subsystems, and incorporate technologies that are, in many respects, different from those employed in civil aviation today. A formidable barrier to deploying these advanced technologies in civil aviation is the lack of enabling verification and validation tools, methods, and technologies. The development of new verification and validation capabilities will not only enable the fielding of advanced vehicle health management systems, but will also provide new assurance capabilities for verification and validation of current generation aviation software which has been implicated in anomalous in-flight behavior. This paper describes the research focused on enabling capabilities for verification and validation underway within NASA s Integrated Vehicle Health Management project, discusses the state of the art of these capabilities, and includes a framework for prioritizing activities

Star Formation and the Growth of Stellar Mass

Recent observations have demonstrated a significant growth in the integrated stellar mass of the red sequence since z=1, dominated by a steadily increasing number of galaxies with stellar masses M* < 10^11 M_sun. In this paper, we use the COMBO-17 photometric redshift survey in conjunction with deep Spitzer 24 micron data to explore the relationship between star formation and the growth of stellar mass. We calculate `star formation rate functions' in four different redshift slices, splitting also into contributions from the red sequence and blue cloud for the first time. We find that the growth of stellar mass since z=1 is consistent with the integrated star formation rate. Yet, most of the stars formed are in blue cloud galaxies. If the stellar mass already in, and formed in, z<1 blue cloud galaxies were to stay in the blue cloud the total stellar mass in blue galaxies would be dramatically overproduced. We explore the expected evolution of stellar mass functions, finding that in this picture the number of massive M* > 3x10^10 M_sun blue galaxies would also be overproduced; i.e., most of the new stars formed in blue cloud galaxies are in the massive galaxies. We explore a simple truncation scenario in which these `extra' blue galaxies have their star formation suppressed by an unspecified mechanism or mechanisms; simple cessation of star formation in these extra blue galaxies is approximately sufficient to build up the red sequence at M*<10^11 M_sun.Comment: 9 Pages; ApJ in pres

Automation and robotics considerations for a lunar base

An envisioned lunar outpost shares with other NASA missions many of the same criteria that have prompted the development of intelligent automation techniques with NASA. Because of increased radiation hazards, crew surface activities will probably be even more restricted than current extravehicular activity in low Earth orbit. Crew availability for routine and repetitive tasks will be at least as limited as that envisioned for the space station, particularly in the early phases of lunar development. Certain tasks are better suited to the untiring watchfulness of computers, such as the monitoring and diagnosis of multiple complex systems, and the perception and analysis of slowly developing faults in such systems. In addition, mounting costs and constrained budgets require that human resource requirements for ground control be minimized. This paper provides a glimpse of certain lunar base tasks as seen through the lens of automation and robotic (A&R) considerations. This can allow a more efficient focusing of research and development not only in A&R, but also in those technologies that will depend on A&R in the lunar environment