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NASA NTRS1991

A strongly goal-directed close-range vision system for spacecraft docking

In this presentation, we will propose a strongly goal-oriented stereo vision system to establish proper docking approach motions for automated rendezvous and capture (AR&C). From an input sequence of stereo video image pairs, the system produces a current best estimate of: contact position; contact vector; contact velocity; and contact orientation. The processing demands imposed by this particular problem and its environment dictate a special case solution; such a system should necessarily be, in some sense, minimalist. By this we mean the system should construct a scene description just sufficiently rich to solve the problem at hand and should do no more processing than is absolutely necessary. In addition, the imaging resolution should be just sufficient. Extracting additional information and constructing higher level scene representations wastes energy and computational resources and injects an unnecessary degree of complexity, increasing the likelihood of malfunction. We therefore take a departure from most prior stereopsis work, including our own, and propose a system based on associative memory. The purpose of the memory is to immediately associate a set of motor commands with a set of input visual patterns in the two cameras. That is, rather than explicitly computing point correspondences and object positions in world coordinates and trying to reason forward from this information to a plan of action, we are trying to capture the essence of reflex behavior through the action of associative memory. The explicit construction of point correspondences and 3D scene descriptions, followed by online velocity and point of impact calculations, is prohibitively expensive from a computational point of view for the problem at hand. Learned patterns on the four image planes, left and right at two discrete but closely spaced instants in time, will be bused directly to infer the spacecraft reaction. This will be a continuing online process as the docking collar approaches.

Boyer, Kim L.↗

NASA NTRS1977

Full color hybrid display for aircraft simulators

A full spectrum color monitor, connected to the camera and lens system of a television camera supported by a gantry frame over a terrain model simulating an aircraft landing zone, projects the monitor image onto a lens or screen visually accessible to a trainee in the simulator. A digital computer produces a pattern corresponding to the lights associated with the landing strip onto a monochromatic display, and an optical system projects the calligraphic image onto the same lens so that it is superposed on the video representation of the landing field. The optical system includes a four-color wheel which is rotated between the calligraphic display and the lens, and an apparatus for synchronizing the generation of a calligraphic pattern with the color segments on the color wheel. A servo feedback system responsive to the servo motors on the gantry frame produces an input to the computer so that the calligraphically generated signal corresponds in shape, size and location to the video signal.

Chase, W. D.↗

NASA NTRS1989

Surface characterization and testing II; Proceedings of the Meeting, San Diego, CA, Aug. 10, 11, 1989

Various papers on surface characterization and testing are presented. Individual topics addressed include: simple Hartmann test data interpretation, optimum configuration of the Offner null corrector, system for phase-shifting interferometry in the presence of vibration, fringe variation and visibility in speckle-shearing interferometry, functional integral representation of rough surfaces, calibration of surface heights in an interferometric optical profiler, image formation in common path differential profilometers, SEM of optical surfaces, measuring surface profiles with scanning tunneling microscopes, surface profile measurements of curved parts, high-resolution optical profiler, scanning heterodyne interferometer with immunity from microphonics, real-time crystal axis measurements of semiconductor materials, radial metrology with a panoramic annular lens, surface analysis for the characterization of defects in thin-film processes, Spacelab Optical Viewport glass assembly optical test program for the Starlab mission, scanning differential intensity and phase system for optical metrology.

Greivenkamp, John E.↗

NASA NTRS2001

Remote, Noncontact Strain Sensing by Laser Diffraction Developed

A system was developed at the NASA Glenn Research Center for continually monitoring, in real time, the in-plane strain tensor in opaque solids during high-temperature, long-term mechanical testing. The simple, noncontacting, strain-sensing methodology should also be suitable for measurement in hostile environments. This procedure has obvious advantages over traditional, mechanical, contacting techniques, and it is easier to interpret than moir and speckle interferometric approaches. A two-dimensional metallic grid of micrometer dimensions is applied to a metallographically prepared gauge section on the surface of a tensile test specimen by a standard photolithographic process. The grid on the fixtured specimen is interrogated by an He-Ne laser, and the resulting diffraction pattern is projected backwards onto a translucent screen. A charge-coupled device (CCD) camera is used to image the first-order diffraction peaks from the translucent screen. A schematic representation of the system is shown in the figure.

Freedman, Marc R.↗

NASA NTRS2010

The Spatial Vision Tree: A Generic Pattern Recognition Engine- Scientific Foundations, Design Principles, and Preliminary Tree Design

New foundational ideas are used to define a novel approach to generic visual pattern recognition. These ideas proceed from the starting point of the intrinsic equivalence of noise reduction and pattern recognition when noise reduction is taken to its theoretical limit of explicit matched filtering. This led us to think of the logical extension of sparse coding using basis function transforms for both de-noising and pattern recognition to the full pattern specificity of a lexicon of matched filter pattern templates. A key hypothesis is that such a lexicon can be constructed and is, in fact, a generic visual alphabet of spatial vision. Hence it provides a tractable solution for the design of a generic pattern recognition engine. Here we present the key scientific ideas, the basic design principles which emerge from these ideas, and a preliminary design of the Spatial Vision Tree (SVT). The latter is based upon a cryptographic approach whereby we measure a large aggregate estimate of the frequency of occurrence (FOO) for each pattern. These distributions are employed together with Hamming distance criteria to design a two-tier tree. Then using information theory, these same FOO distributions are used to define a precise method for pattern representation. Finally the experimental performance of the preliminary SVT on computer generated test images and complex natural images is assessed.

Rahman, Zia-ur↗

NASA NTRSDate not supplied

Three-Dimensional Structure and Modeling of a Normal Bifurcated Shock Train from Experimental Measurements

An asymmetric, bifurcated normal shock train in a Mach 2 constant area, rectangular duct is investigated in the University of Michigan Direct Connect Isolator facility. High-speed schlieren imaging, wall static pressure measurements, surface oil flow visualization, and particle image velocimetry of a shock train are synthesized into a three-dimensional representation of shock train structure. This visualization is then used to inform the underlying flow physics of the distributed fluid dynamical processes along the structure. The detailed, three-dimensional morphology of the flow profile entering the shock train is shown to have a significant impact on the separated flow morphology of the shock train. This results in skewed supersonic core flow with alternating separation bubbles in the surrounding boundary layers. Finally, the efficacy of the prevailing pseudo-shock models in the literature is analyzed with the support of the available flow measurements. None are found to simultaneously model both the pressure and streamwise Mach number profile of the UMDCI pseudo-shock.

Hypersonics↗

NASA NTRSDate not supplied

Three-Dimensional Structure and Modeling of a Normal Bifurcated Shock Train from Experimental Measurements

An asymmetric, normal bifurcated shock train in a Mach 2 constant area, rectangular duct is investigated in the University of Michigan Direct Connect Isolator facility. High-speed schlieren imaging, wall static pressure measurements, surface oil flow visualization, and particle image velocimetry of the shock train are synthesized into a three-dimensional representation. This visualization is then used to inform the underlying flow physics of the distributed fluid dynamical processes along the shock train. The detailed, three-dimensional morphology of the flow profile entering the shock train is shown to have a significant impact on the separated flow morphology of the shock train. This results in a skewed supersonic core flow with alternating separation bubbles in the surrounding boundary layers. Finally, the efficacy of the prevailing pseudo-shock models in the literature is analyzed with the support of the available flow measurements. None are found to model both the pressure and streamwise Mach number profile of the UMDCI pseudo-shock. Note: This presentation is accompanied by the video presentation that can be downloaded for viewing and is formatted as an mp4 with a runtime of 10 min 15 secs.

Hypersonics↗

NASA NTRS1976

Computer measurement and representation of the heart in two and three dimensions

Methods for the measurement and display by minicomputer of cardiac images obtained from fluoroscopy to permit an accurate assessment of functional changes are discussed. Heart contours and discrete points can be digitized automatically or manually, with the recorded image in a video, cine, or print format. As each frame is digitized it is assigned a code name identifying the data source, experiment, run, view, and frame, and the images are filed for future reference in any sequence. Two views taken at the same point in the heart cycle are used to compute the spatial position of the ventricle apex and the midpoint of the aortic valve. The remainder of the points on the chamber border are corrected for the linear distortion of the X-rays by projection to a plane containing the chord between the apex and the aortic valve center and oriented so that lines perpendicular to the chord are parallel to the image intensifier face. The image of the chamber surface is obtained by generating circular cross sections with diameters perpendicular to the major chord. The transformed two- and three-dimensional imagery can be displayed in either static or animated form using a graphics terminal.

Rasmussen, D.↗

NASA NTRS1981

The interactive astronomical data analysis facility - image enhancement techniques to Comet Halley

PDP 11/40 computer is at the heart of a general purpose interactive data analysis facility designed to permit easy access to data in both visual imagery and graphic representations. The major components consist of: the 11/40 CPU and 256 K bytes of 16-bit memory; two TU10 tape drives; 20 million bytes of disk storage; three user terminals; and the COMTAL image processing display system. The application of image enhancement techniques to two sequences of photographs of Comet Halley taken in Egypt in 1910 provides evidence for eruptions from the comet's nucleus.

Kinglesmith, D. A., III↗

NASA NTRS1994

A visual detection model for DCT coefficient quantization

The discrete cosine transform (DCT) is widely used in image compression and is part of the JPEG and MPEG compression standards. The degree of compression and the amount of distortion in the decompressed image are controlled by the quantization of the transform coefficients. The standards do not specify how the DCT coefficients should be quantized. One approach is to set the quantization level for each coefficient so that the quantization error is near the threshold of visibility. Results from previous work are combined to form the current best detection model for DCT coefficient quantization noise. This model predicts sensitivity as a function of display parameters, enabling quantization matrices to be designed for display situations varying in luminance, veiling light, and spatial frequency related conditions (pixel size, viewing distance, and aspect ratio). It also allows arbitrary color space directions for the representation of color. A model-based method of optimizing the quantization matrix for an individual image was developed. The model described above provides visual thresholds for each DCT frequency. These thresholds are adjusted within each block for visual light adaptation and contrast masking. For given quantization matrix, the DCT quantization errors are scaled by the adjusted thresholds to yield perceptual errors. These errors are pooled nonlinearly over the image to yield total perceptual error. With this model one may estimate the quantization matrix for a particular image that yields minimum bit rate for a given total perceptual error, or minimum perceptual error for a given bit rate. Custom matrices for a number of images show clear improvement over image-independent matrices. Custom matrices are compatible with the JPEG standard, which requires transmission of the quantization matrix.

Ahumada, Albert J., Jr.↗

NASA NTRS1982

Three-dimensional stylus profilometry

The method of three-dimensional stylus profilometry is presented together with a computer-based system for transforming the surface topography of a specimen into an intensity image. Examples are given in which intensity images obtained by stylus profilometry are compared with scanning electron micrographs and two other representations of the stylus data. The comparisons are made for three types of surface irregularities: a discrete feature, a periodic profile surface, and a random profile surface. It is shown that stylus profilometry provides high vertical resolution for low sloped surfaces and thus can be useful in revealing features not easily detectable with other methods.

Teague, E. C.↗

NASA NTRS1985

Visualization of computer-generated flow fields

Flow field variables are visualized using color representations described on surfaces that are interpolated from computational grids and transformed to digital images. The color at a point on a surface represents the magnitude of a variable, and several surfaces can be included in a single digital image. Typically the surfaces are a boundary surface, a windward surface, and a crossflow surface. Sequences of images, in pictorial form, are presented to describe an entire flow field or a time history of a flow field. Several examples are presented.

Smith, R.↗

NASA NTRS1987

Graphics and Flow Visualization of Computer Generated Flow Fields

Flow field variables are visualized using color representations described on surfaces that are interpolated from computational grids and transformed to digital images. Techniques for displaying two and three dimensional flow field solutions are addressed. The transformations and the use of an interactive graphics program for CFD flow field solutions, called PLOT3D, which runs on the color graphics IRIS workstation are described. An overview of the IRIS workstation is also described.

Kathong, M.↗

NASA NTRS1989

Alternative representations of visual space

This paper discusses a method for delineating and testing hypotheses about the relationship between the retinal images and the three-dimensional visual space they serve. The method may be used under the conditions of changing eye position, occlusion by structures that are part of or are mounted on the observer, occlusions by environmental objects, defects of the visual field, and variables that alter the focus of environmental imagery on the retinas.

Arditi, Aries↗

NASA NTRS1993

Identification of modeled ocean plumes in Greenland gyre ERS-1 SAR data

Oceanic convective plumes modeled with a thermobaric large-eddy simulation and driven by conditions similar to those of the Greenland Sea are compared to observations from ERS-1 Synthetic Aperture Radar (SAR) data from the Greenland Sea for the winter of 1992. In both form and size the two representations are seen to compare favorably. The plume-filled area of the SAR image occupies a region about 20 km by 90 km at the ice edge of the open water in 'Nordbukta', the large seasonal ice retreat, in the 'Odden' ice protuberance in the southern Greenland gyre. In the SAR data the plumes appear to be ice covered while the convective-return areas are open.

Carsey, Frank D.↗

NASA NTRS2002

Physiological Feedback Method and System

A method and system provide physiological feedback for a patient and/or physician. At least one physiological effect experienced by a body part of a patient is measured noninvasively. A three-dimensional graphics model serving as an analogous representation of the body part is altered in accordance with the measurements. A binocular image signal representative of the three-dimensional graphics model so-altered is displayed for the patient and/or physician in a virtual reality environment.

Pope, Alan T.↗

NASA NTRSDate not supplied

Clutter Assessment for an Autonomous Multi-Agent Search Mission

This paper presents a method for evaluating the amount of clutter in a region where autonomous vehicles in a multi-agent system must operate based on LIDAR point cloud measurements. The point cloud is used to generate an occupancy grid which is then projected onto a 2D plane of vehicle motion, constituting an image. A series of Gaussian radial basis functions (GRBFs) is created, each centered at an occupied pixel in a 2D image, and summed together to form the clutter field. The clutter field is a representation of the density and permeability of the space at each coordinate. The clutter field is then approximated such that iso-clutter contours are simple geometric objects so that intelligent machine assets can easily query the distance between them and any given point in an environment. In this way, agents are able to determine whether to enter into or steer away from areas of interest. Each vehicle has a clutter threshold representing the clutter value of the space in which it can safely maneuver. The iso-clutter contour corresponding to a vehicle’s clutter threshold is treated as the boundary of an obstacle to be avoided. A simulation is presented where a multi-agent system is tasked with persistent observation of a cluttered area. Each vehicle in the simulation has a different clutter threshold. The vehicles use a potential field-based guidance algorithm, and an allocation of vehicles to specific regions of the space emerges.

multi-agent↗

NASA NTRSDate not supplied

Predictive Modeling of Carbon Ablators

Efforts to build a Predictive Material Modeling (PMM) framework from the micro-scale to the macro-scale are presented in this abstract. To reduce the need for extensive testing, accelerate the design cycle process, and reduce uncertainty margins applied to final designs, NASA is developing simulation and modeling tools that enable characterization of material properties and response to high-enthalpy environments. The Porous Microstructure Analysis (PuMA) code has been developed for computing macroscale (volume averaged) properties of porous materials using microscale images from micro-computed tomography (micro-CT). Microscale modeling requires a realistic representation of a material microstructure; these are obtained either synthetically during the design of the material or through X-ray micro-CT. Volume averaged properties are then used to inform macroscale material response models, such as those implemented in the Porous-material Analysis Toolbox based on OpenFOAM (PATO) software, also actively developed by NASA. The computational model in PATO is a generic heat and mass transfer model for porous reactive materials containing several solid phases and a single gas phase. The detailed chemical interactions occurring between the solid phases and the gas phase are modeled at the pore scale assuming local thermal equilibrium. These tools were developed to efficiently interface with other pre-existing codes such as SPARTA (direct simulation Monte Carlo), DPLR (hypersonic CFD), NEQAIR (radiative transport) and DAKOTA (uncertainty quantification and optimization). Detailed flight data (Mars Science Laboratory [MSL] Entry Descent and Landing Instrument [MEDLI]) is critical for validating these computational tools for NASA applications. Examples of modeling ablative material response using these codes will be presented including 3D simulations of the full-scale heatshield of the MSL capsule. The simulations demonstrate the ability of the modern material response code, PATO, to handle the material response of geometrically complex and large domains, through the use of massively parallel computations.

Thermal Protection Systems↗