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At least 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Adjusting a Full Body Model to Mitigate Inverse Kinematics Artifacts in Opensim

BACKGROUND: In support of Vibration Isolation and Stabilization (VIS) system development for Human Health Countermeasures (HHC) exercise systems in space, such as the European Enhanced Exploration Exercise Device (E4D) [1], dynamic quantities required to model the response of a proposed VIS while considering the effect of VIS motion on the forces between the human and VIS platform were obtained using motion capture data [2]. On occasion, large-amplitude oscillatory spikes were found in the subject’s linear and angular momentum derivatives, affecting analyses that depend on forces and moments derived from motion capture. The purpose of this investigation was to identify causes of these artifacts and techniques for their resolution. METHODS AND RESULTS: To obtain the required human dynamic quantities to drive the VIS simulation, motion capture data was collected containing recorded trajectories of passive retroreflective markers on body landmarks of an exercising subject. Since the full body Rajagopal model [3] was originally used to enhance gait analysis, upper body joints did not require large Ranges of Motion (ROM). We thus modified the Rajagopal model [4, 5] to allow it to be used for upper body intensive exercises like those common to the E4D. OpenSim Inverse Kinematics (IK) [6] was performed using these scaled subject models to generate the joint angles throughout the exercise while minimizing marker error. At times, the arms were observed to ‘snap’ from one configuration to another, causing spike artifacts. Following IK, a custom OpenSim plugin [7] was used to determine the required dynamic quantities including the rates of change of the linear and angular momenta of the human. Since motion capture is recorded at a larger time step than required by the VIS simulation, the human center of mass location was fit with splines and a second derivative taken to obtain the momentum derivative, allowing the VIS simulation to maintain conservation of momentum when appropriate. In a few cases during this stage, artifacts much larger than the expected noise of the second derivatives were introduced. Investigation of cases containing artifacts revealed several modifications that could be made to the OpenSim model to improve IK results. Since OpenSim models use Euler angles and rotation sequences, ‘gimbal lock’ would be encountered in the arms when raised 90 degrees to the side (e.g., T-pose, some hang clean exercise, etc.). This was resolved by reorienting the horizontal axes at the shoulder joint by 45 degrees, placing ‘gimbal lock’ outside common arm ROM, with the arm ROMs adjusted following this change. Elbow and wrist ROMs could also be adjusted to allow realistic motion while at the same time limiting the likelihood of unrealistic orientations. On occasion, the arms flipped backwards when raised above the head. This was prevented by using medial elbow markers in scaling and IK. When medial markers were not available, the acromial joint location in the unscaled model was shifted before model scaling to better align the arm with available markers. Lastly, artifacts which became apparent after taking the second derivatives of spline-fit data were found to occur in cases when the pelvis rotation limit prevented the full range of motion of an exercise. These issues were resolved by unclamping the pelvis rotation limit. Through this investigation, an understanding of conditions leading to IK artifacts was acquired allowing the automation of artifact detection. These artifact detection and mitigation techniques can be applied toward modeling of upper body motions in aerospace and other fields for improved IK results.

C A Bell↗
NASA NTRS1977

A model for the temperature inversion within the atmosphere of Saturn

A model for the temperature inversion within the atmosphere of Saturn is proposed and is shown to be consistent with photometric data in the 17- to 25-micron region. The proposed model incorporates solar heating by some 'aerosol', with the aerosol heating per unit mass of the atmosphere being uniformly distributed throughout that portion of the atmosphere overlying the upper cloud deck. For a methane-to-hydrogen mixing ratio of 0.0007, the model results suggest that 20% of the incident solar radiation is absorbed by the aerosol, while this is reduced to 16% for an enhanced methane mixing ratio of 0.0021.

Tokunaga, A.↗
NASA NTRS1977

Analytic model approach to the inversion of scattering data

An analytic model approach is applied to several simple atmospheric inversion problems. This method gives a sharp determination of aerosol size distribution parameters. It is shown that this analytic approach, together with ground level point sampling data measurements, can be used to infer information on the tropospheric ozone profile.

Green, A. E. S.↗
NASA NTRS1983

Computation of Jupiter interior models from gravitational inversion theory

Spacecraft measurements of Jupiter have provided the mass, standard pressure level radius, rotation law, internal mass distribution multipole moments, and internal composition and temperature distribution constraints, for the present implementation of a method for deriving planetary interior models that exactly satisfy a set of N gravitational constraints by means of appropriate iteration. The models are not forced to fit the more indirectly derived constraints, which are instead used as conistency checks. In the case of an He mass fraction in the envelope Y of 0.2, the inferred pressure at a mass density of about 0.2 g/cu cm is about a factor of 2 higher than would be indicated by experimental H compression data in the relevant pressure range of 100,000 to one million bar. The inferred pressure distribution is in better agreement with the shock data for a nominal Y value of 0.3 + or - 0.05.

Hubbard, W. B.↗
NASA NTRS1992

An empirical model and an inversion technique for radar scattering from bare soil surfaces

Polarimetric radar measurements were conducted for bare soil surfaces under a variety of roughness and moisture conditions at L-, C-, and X-band frequencies at incidence angles ranging from 10 to 70 deg. Using a laser profiler and dielectric probes, a complete and accurate set of ground truth data were collected for each surface condition, from which accurate measurements were made of the rms height, correlation length, and dielectric constant. Based on knowledge of the scattering behavior in limiting cases and the experimental observations, an empirical model was developed which was found to yield very good agreement with the backscattering measurements of this study, as well as with measurements reported in other investigations. An inversion technique for predicting the rms height of the surface and its moisture content from multipolarized radar observations is developed on the basis of the model.

Oh, Yisok↗
NASA NTRS2010

A Model-Based Probabilistic Inversion Framework for Wire Fault Detection Using TDR

Time-domain reflectometry (TDR) is one of the standard methods for diagnosing faults in electrical wiring and interconnect systems, with a long-standing history focused mainly on hardware development of both high-fidelity systems for laboratory use and portable hand-held devices for field deployment. While these devices can easily assess distance to hard faults such as sustained opens or shorts, their ability to assess subtle but important degradation such as chafing remains an open question. This paper presents a unified framework for TDR-based chafing fault detection in lossy coaxial cables by combining an S-parameter based forward modeling approach with a probabilistic (Bayesian) inference algorithm. Results are presented for the estimation of nominal and faulty cable parameters from laboratory data.

Schuet, Stefan R.↗
NASA NTRS1992

Inversion of snow parameters from passive microwave remote sensing measurements by a neural network trained with a multiple scattering model

Simultaneous inversion of the three parameters was performed which included mean-grain size of ice particles in snow, snow density, and snow temperatures from five brightness temperatures. Good results for the inversion of parameters were obtained using the neural network based on the simulated data computed from the dense media radiative transfer equation that takes into account the effects of multiple scattering.

Tsang, Leung↗
NASA NTRS1985

Study of non-thermal photon production under different scenarios in solar flares. 2: The Compton inverse and Bremsstrahlung models and fittings

Energy spectra of photons emitted from Bremsstrahlung (BR) of energetic electrons with matter, is obtained from the deconvolution of the electron energy spectra. It can be inferred that the scenario for the production of X-rays and gamma rays in solar flares may vary from event to event. However, it is possible in many cases to associated low energy events to impulsive acceleration, and the high energy phase of some events to stochastic acceleration. In both cases, flare particles seem to be strongly modulated by local energy losses. Electric field acceleration, associated to neutral current sheets is a suitable candidate for impulsive acceleration. Finally, that the predominant radiation process of this radiation is the inverse Compton effect due to the local flare photon field.

Perez-Peraza, J.↗
NASA NTRS1993

Two-dimensional modeling of thermal inversion layers in the middle atmosphere of Mars

There is some evidence that the thermal structure of the martian middle atmosphere may be altered in a significant way by the general circulation motions. Indeed, while it is well known that the circulation in the meridional plane is responsible for the reversal of the latitudinal thermal gradient at the solstice through the adiabatic heating due to sinking motions above the winter pole, here we want to emphasize that a likely by-product effect could be the formation of warm layers, mainly located in the winter hemisphere, and exhibiting an inversion of the vertical thermal gradient.

Theodore, B.↗
NASA NTRS2005

Joint Inversion and Forward Modeling of Gravity and Magnetic Data in the Ismenius Region of Mars

The unexpected discovery of remanent crustal magnetism on Mars was one of the most intriguing results from the Mars Global Surveyor mission. The origin of the pattern of magnetization remains elusive. Correlations with gravity and geology have been examined to better understand the nature of the magnetic anomalies. In the area of the Martian dichotomy between 50 and 90 degrees E (here referred to as the Ismenius Area), we find that both the Bouguer and the isostatic gravity anomalies appear to correlate with the magnetic anomalies and a buried fault, and allow for a better constraint on the magnetized crust].

Milbury, C. A.↗
NASA NTRSDate not supplied

Hyperspectral Sounder Spectral Fingerprinting: Using Machine Learning Techniques to Enhance Model-Based Physical Inversion

Different retrieval algorithms have been developed to process top-of-atmosphere (TOA) spectral radiance data provided by hyperspectral infrared sounder missions. Those algorithms are either optimal estimation method (OEM) based schemes with radiative transfer calculation involved in the retrieval process, or machine learning based methods that allow ultra-efficient data procession but lack of radiometric consistency validation based on the directly measured information. Combining both approaches leverages their respective technical advantages, leading to more accurate results. This study introduces a hyperspectral sounder fingerprinting algorithm to explore this hybrid approach. This approach involves the use of a spectral information-based classification method to identify an reference geophysical state and the corresponding radiative kernel. This enables the efficient retrieval of geophysical variables of interest through a radiative kernel-based linear inversion procedure. The fingerprinting method has been applied to analyze a decade-long hyperspectral sounder data record.

Wan Wu↗
NASA NTRS1987

Inverse problems in the modeling of vibrations of flexible beams

The formulation and solution of inverse problems for the estimation of parameters which describe damping and other dynamic properties in distributed models for the vibration of flexible structures is considered. Motivated by a slewing beam experiment, the identification of a nonlinear velocity dependent term which models air drag damping in the Euler-Bernoulli equation is investigated. Galerkin techniques are used to generate finite dimensional approximations. Convergence estimates and numerical results are given. The modeling of, and related inverse problems for the dynamics of a high pressure hose line feeding a gas thruster actuator at the tip of a cantilevered beam are then considered. Approximation and convergence are discussed and numerical results involving experimental data are presented.

Banks, H. T.↗
NASA NTRS2003

Aerosol Models for the CALIPSO Lidar Inversion Algorithms

We use measurements and models to develop aerosol models for use in the inversion algorithms for the Cloud Aerosol Lidar and Imager Pathfinder Spaceborne Observations (CALIPSO). Radiance measurements and inversions of the AErosol RObotic NETwork (AERONET1, 2) are used to group global atmospheric aerosols using optical and microphysical parameters. This study uses more than 105 records of radiance measurements, aerosol size distributions, and complex refractive indices to generate the optical properties of the aerosol at more 200 sites worldwide. These properties together with the radiance measurements are then classified using classical clustering methods to group the sites according to the type of aerosol with the greatest frequency of occurrence at each site. Six significant clusters are identified: desert dust, biomass burning, urban industrial pollution, rural background, marine, and dirty pollution. Three of these are used in the CALIPSO aerosol models to characterize desert dust, biomass burning, and polluted continental aerosols. The CALIPSO aerosol model also uses the coarse mode of desert dust and the fine mode of biomass burning to build a polluted dust model. For marine aerosol, the CALIPSO aerosol model uses measurements from the SEAS experiment 3. In addition to categorizing the aerosol types, the cluster analysis provides all the column optical and microphysical properties for each cluster.

Omar, Ali H.↗
NASA NTRS2012

Improvement of Aerosol Optical Depth Retrieval from MODIS Spectral Reflectance over the Global Ocean Using New Aerosol Models Archived from AERONET Inversion Data and Tri-axial Ellipsoidal Dust Database

New over-ocean aerosol models are developed by integrating the inversion data from the Aerosol Robotic Network (AERONET) sun/sky radiometers with a database for the optical properties of tri-axial ellipsoid particles. The new aerosol models allow more accurate retrieval of aerosol optical depth (AOD) from the Moderate Resolution Imaging Spectroradiometer (MODIS) in the case of high AOD (AOD greater than 0.3). The aerosol models are categorized by using the fine-mode fraction (FMF) at 550 nm and the singlescattering albedo (SSA) at 440 nm from the AERONET inversion data to include a variety of aerosol types found around the globe. For each aerosol model, the changes in the aerosol optical properties (AOPs) as functions of AOD are considered to better represent aerosol characteristics. Comparisons of AODs between AERONET and MODIS for the period from 2003 to 2010 show that the use of the new aerosol models enhances the AOD accuracy with a Pearson coefficient of 0.93 and a regression slope of 0.99 compared to 0.92 and 0.85 calculated using the MODIS Collection 5 data. Moreover, the percentage of data within an expected error of +/-(0.03 + 0.05xAOD) is increased from 62 percent to 64 percent for overall data and from 39 percent to 51 percent for AOD greater than 0.3. Errors in the retrieved AOD are further characterized with respect to the Angstrom exponent (AE), scattering angle, SSA, and air mass factor (AMF). Due to more realistic AOPs assumptions, the new algorithm generally reduces systematic errors in the retrieved AODs compared with the current operational algorithm. In particular, the underestimation of fine-dominated AOD and the scattering angle dependence of dust-dominated AOD are significantly mitigated as results of the new algorithm's improved treatment of aerosol size distribution and dust particle nonsphericity.

aerosol optical depth↗
NASA NTRS1994

Directional and polarimetric effects in the optical domain

Papers focused on land surface, atmospheric, and ocean properties are reported. Specific comments pertaining to polarization, models and inversion, and measurements, are given. Recommendations are: continued research into the application potential of the BRDF (Bidirectional Reflectance Distribution Function) and polarization properties of ground surface and atmospheric targets; three dimensional models, which account for the statistical behavior of remotely sensed data, should be extended and inverted in order to support analysis of data potentially covering rolling terrain such that pixels represent heterogeneous mixtures of surface cover types and project ground footprints with sizes between 10 to 6 km, the ground pixel sizes of planned future sensors; available reflectance models should be further validated by means of multi dimensional (directional, spectral, temporal) field data and existing models should be intercompared in more depth to evaluate their performance and limitations; existing methods for model inversion should be validated in more depth in order to quantify the practical limitations and the expected accuracy of the parameters retrieved and new approaches should be developed based upon apriori knowledge of plant canopy development and spectral BRDF properties; there is a need to establish a protocol of validation and intercomparison of the indices and compositing techniques which have been proposed during these last years.

Vanderbilt, V. C.↗
NASA NTRS2023

Unifying Radiative Transfer Models in Computer Graphics and Remote Sensing, Part II: A Differentiable, Polarimetric Forward Model and Validation

The constellation of Earth-observing satellites continuously collects measurements of scattered radiance, which must be transformed into geophysical parameters in order to answer fundamental scientific questions about the Earth. Retrieval of these parameters requires highly flexible, accurate, and fast forward and inverse radiative transfer models. Existing forward models used by the remote sensing community are typically accurate and fast, but sacrifice flexibility by assuming the atmosphere or ocean is composed of plane-parallel layers. Monte Carlo forward models can handle more complex scenarios such as 3D spatial heterogeneity, but are relatively slower. We propose looking to the computer graphics community for inspiration to improve the statistical efficiency of Monte Carlo forward models and explore new approaches to inverse models for remote sensing. In Part 2 of this work, we demonstrate that Monte Carlo forward models in computer graphics are capable of sufficient accuracy for remote sensing by extending Mitsuba 3, a forward and inverse modeling framework recently developed in the computer graphics community, to simulate simple atmosphere-ocean systems and show that our framework is capable of achieving error on par with codes currently used by the remote sensing community on benchmark results.

Radiative transfer↗