Project Title:

Telerobotic Rendezvous and Docking Vision System Architecture

05.01-2878
Telerobotic Rendezvous and Docking Vision
	System Architecture
Triangle Research and Development Corp.
PO Box 12696
Research Triangle Park, NC 27709
Benjamin T. Gravely  (919-467-2878)
GSFC -- NAS5-30292

Abstract:

	 The innovation defined in this project is a microcomputer-based, vision-system
architecture which allows a robot system to identify an object, determine its range
and orientation, and access explicit structural data on the acquired object for mating
with other objects.
	In the Phase I effort, under controlled image conditions, computer algorithms were
developed to decode identification markings and to determine the range and orientation
of the target object to high accuracy  The average execution time of 3.6 seconds
was greater than the program objective of 0.25 to 0.50 seconds because of slow data
transfer in the prototype system and the use of BASIC programming language. The procedures
were used on a robot to demonstrate the capture and placement of objects.

Potential Commercial Application:

Potential Commercial Application: Applications for autonomous or shared autonomous
operations are likely in space station operations, large-scale civil construction,
operations in hazardous environments (nuclear, underwater, fire fighting), identification
and retrieval of warehoused items and medical samples, and manufacturing components.