NASA In-Space Inspection Workshop Johnson Space Center Houston, Texas July 15-16, 2014 Optical Tracking for NDE Sensor Scanning Cybernet Systems Corporation 3885 Research Park Drive Ann Arbor, Michigan 48108 www.cybernet.com Program Lead: Kevin Tang Senior Developer: Doug Haanpaa
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NASA In-Space Inspection Workshop Johnson Space Center
Houston, TexasJuly 15-16, 2014
Optical Tracking for NDE Sensor Scanning
Cybernet Systems Corporation3885 Research Park DriveAnn Arbor, Michigan 48108 www.cybernet.com
Program Lead: Kevin TangSenior Developer: Doug Haanpaa
Agenda
About Cybernet
Challenges of Scan Tracking
Tracker Technology Innovations
Mini-Tracker for In-Space Inspection
Broader Applications
Questions
Optical Tracking for NDE Sensor Scanning | NASA In-Space Inspection Workshop 2014 2
www.cybernet.com
About Cybernet
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“Amplifying Human Performance Through Advanced Technology”
Founded in 1989 in Ann Arbor, Michigan Woman-Owned Business, ~50 employees 37 U.S. Patents granted and similar number Pending
Centers of Excellence: Automated Systems
Autonomous Robotics
Artificial Intelligence
Human Computer Interaction
Computer Vision Development
Position Location and Navigation
High Speed Inspection
Gesture Recognition
Network Appliances
Cyber Security
Ann Arbor Headquarters
Orlando Division
Optical Tracking for NDE Sensor Scanning | NASA In-Space Inspection Workshop 2014
www.cybernet.com
Cybernet Staff
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Extremely skilled, creative, and technically diverse engineering staff including EE/CS/ME/HCI/Optics/EP
Over 30 Degreed Engineers including 12 Ph.D. and Masters
Over 20 years of system development including in-theater support of DoD
Over 300 development contracts completed
Optical Tracking for NDE Sensor Scanning | NASA In-Space Inspection Workshop 2014
www.cybernet.com
Cybernet Project Highlights
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Automated Ammo Equipment
Tibbitts Award Winner
6-Axis Force Feedback
Hand Controllers
Automated Material Handling Technology
Optical Tracking for NDE Sensor Scanning | NASA In-Space Inspection Workshop 2014
www.cybernet.com
Challenges of Scan Tracking
No good way to track and map where sensor has scanned
Remembering covered areas (inaccurate, inconsistent)
Manually laying down grid (slow, laborsome)
Wheeled encoders (missing data, zero-G operation)
X-Y axis scanners (cumbersome, missed areas)
www.cybernet.com
Optical Tracking for NDE Sensor Scanning | NASA In-Space Inspection Workshop 2014 6
X-Y Encoder
Encoder Wheel Encoder Wheel Attached to
UT Transducer
Challenges of Scan Tracking
Need minimal repositioning for large component inspection such as space station modules and launch rockets
Need minimal size, weight and power for in-space inspection such as ISS pressure wall
Current scan tracking methods are wired or powered
www.cybernet.com
Optical Tracking for NDE Sensor Scanning | NASA In-Space Inspection Workshop 2014 7
Tracker Technology Innovations
Optical Tracking for NDE Sensor Scanning | NASA In-Space Inspection Workshop 2014 8
www.cybernet.com
SBIR effort 2010-2014 under K. Elliott Cramer, NASA LaRC
Designed to support large area NDE flaw mapping of thermography scans to speed up inspection, re-inspection, and construction of composites
Automatically tracks high accuracy 3D position and pose
Localizes NDE sensor with passive tracking cubes without wires
Displays coverage map of scanned areas at scan time
Tracker Technology Innovations
Optical Tracking for NDE Sensor Scanning | NASA In-Space Inspection Workshop 2014 9
Adapted to support depot maintenance at Tinker AFB (left)Fuselage scan coverage map showing missed areas (right)
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Tracker system and display
The Tracker combines a pan-tilt head, hi-resolution SLR camera with telephoto, wide-angle video camera, laser rangefinder, tripod, dolly, and utility case