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At least 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
NASA NTRS1995

Laser-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

The invention relates generally to systems for determining the range of an object from a reference point and, in one embodiment, to laser-directed ranging systems useful in telerobotics applications. Digital processing techniques are employed which minimize the complexity and cost of the hardware and software for processing range calculations, thereby enhancing the commercial attractiveness of the system for use in relatively low-cost robotic systems. The system includes a video camera for generating images of the target, image digitizing circuitry, and an associated frame grabber circuit. The circuit first captures one of the pairs of stereo video images of the target, and then captures a second video image of the target as it is partly illuminated by the light beam, suitably generated by a laser. The two video images, taken sufficiently close together in time to minimize camera and scene motion, are converted to digital images and then compared. Common pixels are eliminated, leaving only a digital image of the laser-illuminated spot on the target. Mw centroid of the laser illuminated spot is dm obtained and compared with a predetermined reference point, predetermined by design or calibration, which represents the coordinate at the focal plane of the laser illumination at infinite range. Preferably, the laser and camera are mounted on a servo-driven platform which can be oriented to direct the camera and the laser toward the target. In one embodiment the platform is positioned in response to movement of the operator's head. Position and orientation sensors are used to monitor head movement. The disparity between the digital image of the laser spot and the reference point is calculated for determining range to the target. Commercial applications for the system relate to active range-determination systems, such as those used with robotic systems in which it is necessary to determine the, range to a workpiece or object to be grasped or acted upon by a robot arm end-effector in response to commands generated by an operator. In one embodiment, the system provides a real-time image of the target for the operator as the robot approaches the object. The system is also adapted for use in virtual reality systems in which a remote object or workpiece is to be acted upon by a remote robot arm or other mechanism controlled by an operator.

Wells, Dennis L.↗
NASA NTRS1999

Design of a Day/Night Star Camera System

This paper describes the design of a camera system capable of acquiring stars during both the day and night cycles of a high altitude balloon flight (35-42 km). The camera system will be filtered to operate in the R band (590-810 nm). Simulations have been run using MODTRAN atmospheric code to determine the worse case sky brightness at 35 km. With a daytime sky brightness of 2(exp -05) W/sq cm/str/um in the R band, the sensitivity of the camera system will allow acquisition of at least 1-2 stars/sq degree at star magnitude limits of 8.25-9.00. The system will have an F2.8, 64.3 mm diameter lens and a 1340X1037 CCD array digitized to 12 bits. The CCD array is comprised of 6.8 X 6.8 micron pixels with a well depth of 45,000 electrons and a quantum efficiency of 0.525 at 700 nm. The camera's field of view will be 6.33 sq degree and provide attitude knowledge to 8 arcsec or better. A test flight of the system is scheduled for fall 1999.

Alexander, Cheryl↗
NASA NTRS2000

Photogrammetry of a 5m Inflatable Space Antenna With Consumer Digital Cameras

This paper discusses photogrammetric measurements of a 5m-diameter inflatable space antenna using four Kodak DC290 (2.1 megapixel) digital cameras. The study had two objectives: 1) Determine the photogrammetric measurement precision obtained using multiple consumer-grade digital cameras and 2) Gain experience with new commercial photogrammetry software packages, specifically PhotoModeler Pro from Eos Systems, Inc. The paper covers the eight steps required using this hardware/software combination. The baseline data set contained four images of the structure taken from various viewing directions. Each image came from a separate camera. This approach simulated the situation of using multiple time-synchronized cameras, which will be required in future tests of vibrating or deploying ultra-lightweight space structures. With four images, the average measurement precision for more than 500 points on the antenna surface was less than 0.020 inches in-plane and approximately 0.050 inches out-of-plane.

Pappa, Richard S.↗
NASA NTRS2002

Daytime Aspect Camera for Balloon Altitudes

We have designed, built, and flight-tested a new star camera for daytime guiding of pointed balloon-borne experiments at altitudes around 40 km. The camera and lens are commercially available, off-the-shelf components, but require a custom-built baffle to reduce stray light, especially near the sunlit limb of the balloon. This new camera, which operates in the 600- to 1000-nm region of the spectrum, successfully provides daytime aspect information of approx. 10 arcsec resolution for two distinct star fields near the galactic plane. The detected scattered-light backgrounds show good agreement with the Air Force MODTRAN models used to design the camera, but the daytime stellar magnitude limit was lower than expected due to longitudinal chromatic aberration in the lens. Replacing the commercial lens with a custom-built lens should allow the system to track stars in any arbitrary area of the sky during the daytime.

Dietz, Kurt L.↗
NASA NTRS2005

The Mars Exploration Rover Cameras: A Status Report

With more than 68,000 images returned from the surface of Mars to date, the Mars Exploration Rover (MER) camera suite continues to perform extremely well. Image signal to noise ratios (SNRs) are greater than 200:1, flat fields remain stable, and single-pixel degradation has been negligible. Acting as the eyes of the robotic field geologists, the 18 MER cameras continue to play a leading role in major scientific findings at both Gusez Crater and Meridiana Planum. All 4 types of cameras, the hazard avoidance (Hazcam), navigation (Navcam), the color panoramic (Pancam) and the microscopic imager (MI), continue to return data from the Martian surface from both Rovers. In addition to the rover cameras, each lander utilized a descent imager (DI) to help facilitate safe landing and provide landing site context. The Pancam and MI are part of the scientific instrument payload of the rovers. In addition to gathering gathering science image data, the Pacams also support sun finding and measure atmospheric dust optical depth. The Hazcam and Navcam stereo pairs are used for traverse planning, autonomous navigation and general imaging.

Schwochert, M. A.↗
NASA NTRS1994

Thermal Design of the Cassini Narrow Angle Camera

The Narrow Angle Camera (NAC) is one of two cameras in the Imaging Science Subsystem (ISS) on the Cassini Spacecraft (S/C), the second camera is a Voyager-inherited Wide Angle Camera (WAC). Cassini is currently planned to be launched in October 1997 and will arrive at Saturn for a four year tour in June 2004. The Narrow Angle Optics are a Ritchey Chretien type Optics, has a focal length of 2000 mm, a relative aperture of f/10.5, a spectral range of 200 to 1100 nm, 24 filters, a pixel field of view of 6.0 microradian/pixel, and has a field of view of 3.5 x 3.5 degrees. The sensor is a Charged Couple Device (CCD), 1024 x 1024 pixels with a pixel size of 12 x 12 um, a full well greater than 50,000 e-, on chip processing of up to 800,000 e- pixel summation, a dark current of less than 0.1 e-/pixel/sec at operating temperature, and a charge transfer efficiency of 0.99999 at operating temperature...

Hoffman, Pamela↗
NASA NTRS2007

Pan and Tilt Platform for a Thermal Vacuum Video Camera

The purpose of the Space Simulation Test Engineering (SSTE) Section at NASA Goddard Space Flight Center is "to provide full service test support, engineering expertise, and state-of-the-art facilities to perform simulated space and thermal cycle testing of Earth orbit and deep space flight hardware"(ref. 1). During the Integration & Testing phase of space flight projects, flight hardware must successfully demonstrate its functionality under conditions similar to the actual environment experienced in space. When testing hardware with mechanical components, such as antenna extensions, door openings, or solar panel deployments, visual observation would allow test personnel to verify mechanical operations in real-time. A video camera can supply data that the usual sensors inside a TV chamber cannot provide. Since mechanical functional testing could affect multiple regions of a test item, a camera with a fixed position may not be able to monitor and record the performance of different components of a mechanism, especially for large test items. By mounting the camera to a Pan and Tilt Platform, the camera can cover a larger area and its field-of-view (FOV) will increase significantly. This paper details the design process for the Pan and Tilt Platform.

Lui, Yan↗
NASA NTRS2007

Results of On-Orbit Testing of an Extra-Vehicular Infrared Camera Inspection System

This paper will discuss an infrared camera inspection system that has been developed to allow astronauts to demonstrate the ability to inspect reinforced carbon-carbon (RCC) components on the space shuttle as part of extra-vehicular activities (EVA) while in orbit. Presented will be the performance of the EVA camera system coupled with solar heating for inspection of damaged RCC specimens and NDE standards. The data presented was acquired during space shuttle flights STS-121 and STS-115 as well during a staged EVA from the ISS. The EVA camera system was able to detect flatbottom holes as small as 2.54cm in diameter with 25% material loss. Results obtained are shown to be comparable to ground-based thermal inspections performed in the laboratory using the same camera and simulated solar heating. Data on both the time history of the specimen temperature and the ability of the inspection system to image defects due to impact will likewise be presented.

Howell, Patricia A.↗
NASA NTRS2008

Automated Camera Array Fine Calibration

Using aerial imagery, the JPL FineCalibration (JPL FineCal) software automatically tunes a set of existing CAHVOR camera models for an array of cameras. The software finds matching features in the overlap region between images from adjacent cameras, and uses these features to refine the camera models. It is not necessary to take special imagery of a known target and no surveying is required. JPL FineCal was developed for use with an aerial, persistent surveillance platform.

Clouse, Daniel↗
NASA NTRS2009

Digital Camera Control for Faster Inspection

Digital Camera Control Software (DCCS) is a computer program for controlling a boom and a boom-mounted camera used to inspect the external surface of a space shuttle in orbit around the Earth. Running in a laptop computer in the space-shuttle crew cabin, DCCS commands integrated displays and controls. By means of a simple one-button command, a crewmember can view low- resolution images to quickly spot problem areas and can then cause a rapid transition to high- resolution images. The crewmember can command that camera settings apply to a specific small area of interest within the field of view of the camera so as to maximize image quality within that area. DCCS also provides critical high-resolution images to a ground screening team, which analyzes the images to assess damage (if any); in so doing, DCCS enables the team to clear initially suspect areas more quickly than would otherwise be possible and further saves time by minimizing the probability of re-imaging of areas already inspected. On the basis of experience with a previous version (2.0) of the software, the present version (3.0) incorporates a number of advanced imaging features that optimize crewmember capability and efficiency.

Brown, Katharine↗
NASA NTRS2001

A Quasi-Static Method for Determining the Characteristics of a Motion Capture Camera System in a "Split-Volume" Configuration

To confidently report any data collected from a video-based motion capture system, its functional characteristics must be determined, namely accuracy, repeatability and resolution. Many researchers have examined these characteristics with motion capture systems, but they used only two cameras, positioned 90 degrees to each other. Everaert used 4 cameras, but all were aligned along major axes (two in x, one in y and z). Richards compared the characteristics of different commercially available systems set-up in practical configurations, but all cameras viewed a single calibration volume. The purpose of this study was to determine the accuracy, repeatability and resolution of a 6-camera Motion Analysis system in a split-volume configuration using a quasistatic methodology.

Miller, Chris↗
NASA NTRS2005

Video-Camera-Based Position-Measuring System

A prototype optoelectronic system measures the three-dimensional relative coordinates of objects of interest or of targets affixed to objects of interest in a workspace. The system includes a charge-coupled-device video camera mounted in a known position and orientation in the workspace, a frame grabber, and a personal computer running image-data-processing software. Relative to conventional optical surveying equipment, this system can be built and operated at much lower cost; however, it is less accurate. It is also much easier to operate than are conventional instrumentation systems. In addition, there is no need to establish a coordinate system through cooperative action by a team of surveyors. The system operates in real time at around 30 frames per second (limited mostly by the frame rate of the camera). It continuously tracks targets as long as they remain in the field of the camera. In this respect, it emulates more expensive, elaborate laser tracking equipment that costs of the order of 100 times as much. Unlike laser tracking equipment, this system does not pose a hazard of laser exposure. Images acquired by the camera are digitized and processed to extract all valid targets in the field of view. The three-dimensional coordinates (x, y, and z) of each target are computed from the pixel coordinates of the targets in the images to accuracy of the order of millimeters over distances of the orders of meters. The system was originally intended specifically for real-time position measurement of payload transfers from payload canisters into the payload bay of the Space Shuttle Orbiters (see Figure 1). The system may be easily adapted to other applications that involve similar coordinate-measuring requirements. Examples of such applications include manufacturing, construction, preliminary approximate land surveying, and aerial surveying. For some applications with rectangular symmetry, it is feasible and desirable to attach a target composed of black and white squares to an object of interest (see Figure 2). For other situations, where circular symmetry is more desirable, circular targets also can be created. Such a target can readily be generated and modified by use of commercially available software and printed by use of a standard office printer. All three relative coordinates (x, y, and z) of each target can be determined by processing the video image of the target. Because of the unique design of corresponding image-processing filters and targets, the vision-based position- measurement system is extremely robust and tolerant of widely varying fields of view, lighting conditions, and varying background imagery.

Lane, John↗
NASA NTRS2005

Data-Acquisition Software for PSP/TSP Wind-Tunnel Cameras

Wing-Viewer is a computer program for acquisition and reduction of image data acquired by any of five different scientificgrade commercial electronic cameras used at Langley Research center to observe wind-tunnel models coated with pressure or temperature-sensitive paints (PSP/TSP). Wing-Viewer provides full automation of camera operation and acquisition of image data, and has limited data-preprocessing capability for quick viewing of the results of PSP/TSP test images. Wing- Viewer satisfies a requirement for a standard interface between all the cameras and a single personal computer: Written by use of Microsoft Visual C++ and the Microsoft Foundation Class Library as a framework, Wing-Viewer has the ability to communicate with the C/C++ software libraries that run on the controller circuit cards of all five cameras.

Amer, Tahani R.↗
NASA NTRS2012

Qualification of Engineering Camera for Long-Duration Deep Space Missions

Qualification and verification of advanced electronic packaging and interconnect technologies, and various other types of hardware elements for the Mars Exploration Rover s Spirit and Opportunity (MER)/Mars Science Laboratory (MSL) flight projects, has been performed to enhance the mission assurance. The qualification of hardware (engineering camera) under extreme cold temperatures has been performed with reference to various Mars-related project requirements. The flight-like packages, sensors, and subassemblies have been selected for the study to survive three times the total number of expected diurnal temperature cycles resulting from all environmental and operational exposures occurring over the life of the flight hardware, including all relevant manufacturing, ground operations, and mission phases. Qualification has been performed by subjecting above flight-like hardware to the environmental temperature extremes, and assessing any structural failures or degradation in electrical performance due to either overstress or thermal cycle fatigue. Engineering camera packaging designs, charge-coupled devices (CCDs), and temperature sensors were successfully qualified for MER and MSL per JPL design principles. Package failures were observed during qualification processes and the package redesigns were then made to enhance the reliability and subsequent mission assurance. These results show the technology certainly is promising for MSL, and especially for longterm extreme temperature missions to the extreme temperature conditions. The engineering camera has been completely qualified for the MSL project, with the proven ability to survive on Mars for 2010 sols, or 670 sols times three. Finally, the camera continued to be functional, even after 2010 thermal cycles.

Ramesham, Rajeshuni↗
NASA NTRS2012

OH Planar Laser Induced Fluorescence (PLIF) Measurements for the Study of High Pressure Flames: An Evaluation of a New Laser and a New Camera System

Planar laser induced fluorescence (PLIF) is used by the Combustion Branch at the NASA Glenn Research Center (NASA Glenn) to assess the characteristics of the flowfield produced by aircraft fuel injectors. To improve and expand the capabilities of the PLIF system new equipment was installed. The new capabilities of the modified PLIF system are assessed by collecting OH PLIF in a methane/air flame produced by a flat flame burner. Specifically, the modifications characterized are the addition of an injection seeder to a Nd:YAG laser pumping an optical parametric oscillator (OPO) and the use of a new camera with an interline CCD. OH fluorescence results using the injection seeded OPO laser are compared to results using a Nd:YAG pumped dye laser with ultraviolet extender (UVX). Best settings of the new camera for maximum detection of PLIF signal are reported for the controller gain and microchannel plate (MCP) bracket pulsing. Results are also reported from tests of the Dual Image Feature (DIF) mode of the new camera which allows image pairs to be acquired in rapid succession. This allows acquisition of a PLIF image and a background signal almost simultaneously. Saturation effects in the new camera were also investigated and are reported.

Tedder, Sarah↗
NASA NTRS2012

360 deg Camera Head for Unmanned Sea Surface Vehicles

The 360 camera head consists of a set of six color cameras arranged in a circular pattern such that their overlapping fields of view give a full 360 view of the immediate surroundings. The cameras are enclosed in a watertight container along with support electronics and a power distribution system. Each camera views the world through a watertight porthole. To prevent overheating or condensation in extreme weather conditions, the watertight container is also equipped with an electrical cooling unit and a pair of internal fans for circulation.

Townsend, Julie A.↗
NASA NTRS2014

Performance Characterization of the Chromospheric Lyman-Alpha Spectro-Polarimeter (CLASP) CCD Cameras

The Chromospheric Lyman-Alpha Spectro-Polarimeter (CLASP) is a sounding rocket instrument currently being developed by NASA's Marshall Space Flight Center (MSFC), the National Astronomical Observatory of Japan (NAOJ), and other partners. The goal of this instrument is to observe and detect the Hanle effect in the scattered Lyman-Alpha UV (121.6nm) light emitted by the Sun's chromosphere. The polarized spectrum imaged by the CCD cameras will capture information about the local magnetic field, allowing for measurements of magnetic strength and structure. In order to make accurate measurements of this effect, the performance characteristics of the three on- board charge-coupled devices (CCDs) must meet certain requirements. These characteristics include: quantum efficiency, gain, dark current, read noise, and linearity. Each of these must meet predetermined requirements in order to achieve satisfactory performance for the mission. The cameras must be able to operate with a gain of 2.0+/- 0.5 e--/DN, a read noise level less than 25e-, a dark current level which is less than 10e-/pixel/s, and a residual non- linearity of less than 1%. Determining these characteristics involves performing a series of tests with each of the cameras in a high vacuum environment. Here we present the methods and results of each of these performance tests for the CLASP flight cameras.

solar↗
NASA NTRS2017

Linearity Analysis and Efficiency Testing of The Chromospheric Lyman-Alpha Spectro-Polarimeter (CLASP) Science Cameras for Flight

To unveil the complexity of the solar atmosphere, measurement of the magnetic field in the upper chromosphere and transition region is fundamentally important, as this is where the forces transition from plasma to magnetic field dominated. Measurements of the field are also needed to elucidate the energy transport from the lower atmospheric regions to the corona beyond. Such an advance in heliospheric knowledge became possible with the first flight of the international solar sounding rocket mission, CLASP. For the first time, linear polarization was measured in Hydrogen Lyman-Alpha at 121.60 nm in September 2015. For linear polarization measurements in this emission line, high sensitivity is required due to the relatively weak polarization signal compared to the intensity. To achieve this high sensitivity, a low-noise sensor is required with good knowledge of its characterization, including linearity. This work presents further refinement of the linearity characterization of the cameras flown in 2015. We compared the current from a photodiode in the light path to the digital response of the detectors. Pre-flight CCD linearity measurements were taken for all three flight cameras and calculations of the linear fits and residuals were performed. However, the previous calculations included a smearing pattern and a digital saturation region on the detectors which were not properly taken into account. The calculations have been adjusted and were repeated for manually chosen sub-regions on the detectors that were found not to be affected. We present a brief overview of the instrument, the calibration data and procedures, and a comparison of the old and new linearity results. The CLASP cameras will be reused for the successor mission, CLASP2, which will measure the Magnesium II h & k emission lines between 279.45 nm and 280.35 nm. The new approach will help to better prepare for and to improve the camera characterization for CLASP2.

linearit↗