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At least 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

Precision Instrument Targeting via Image Registration for the Mars 2020 Rover

A key component of Mars exploration is the operation of robotic instruments on the surface, such as those on board the Mars Exploration Rovers, the Mars Science Laboratory (MSL), and the planned Mars 2020 Rover. As the instruments carried by these rovers have become more advanced, the area targeted by some instruments becomes smaller, revealing more fine-grained details about the geology and chemistry of rocks on the surface. However, thermal fluctuations, rover settling or slipping, and inherent inaccuracies in pointing mechanisms all lead to pointing error that is on the order of the target size (several millimeters) or larger. We show that given a target located on a previously acquired image, the rover can align this with a new image to visually locate the target and refine the current pointing. Due to round-trip communication constraints, this visual targeting must be done efficiently on board the rover using relatively limited computing hardware. We employ existing ORB features for landmark-based image registration, describe and theoretically justify a novel approach to filtering false landmark matches, and employ a random forest classifier to automatically reject failed alignments. We demonstrate the efficacy of our approach using over 3,800 images acquired by Remote Micro-Imager on board the “Curiosity” rover.

Doran, Gary↗
NASA NTRS1979

A method for obtaining practical flutter-suppression control laws using results of optimal control theory

The results of optimal control theory are used to synthesize a feedback filter. The feedback filter is used to force the output of the filtered frequency response to match that of a desired optimal frequency response over a finite frequency range. This matching is accomplished by employing a nonlinear programing algorithm to search for the coefficients of the feedback filter that minimize the error between the optimal frequency response and the filtered frequency response. The method is applied to the synthesis of an active flutter-suppression control law for an aeroelastic wind-tunnel model. It is shown that the resulting control law suppresses flutter over a wide range of subsonic Mach numbers. This is a promising method for synthesizing practical control laws using the results of optimal control theory.

Newson, J. R.↗
NASA NTRS1990

Optical calculation of correlation filters

A method is presented for designing optical correlation filters based on measuring intensity patterns in the Fourier plane. The method can be used in general to design any type of frequency plane filter but is especially attractive in the case of a binary phase only filter (BPOF). The method can produce a filter that is well matched to both the object, its transforming optical system and the spatial light modulator used in the correlator input plane. A working filter was produced using the technique, but the filter response was weak. The suspected causes of the weak output are imprecise Fourier plane positioning, nonlinearities in the recording process, and/or aliasing effects.

Knopp, Jerome↗
NASA NTRS1989

Architectural design of a ground-based deep-space optical reception antenna

An architectural design of a ground-based antenna (telescope) for receiving optical communications from deep space is presented. Physical and optical parameters, and their effect on the performance and cost considerations, are described. The channel capacity of the antenna is 100 kbits/s from Saturn and 5 Mbits/s from Mars. A novel sunshade is designed to permit optical communication even when the deep-space laser source is as close to the sun as 12 deg. Inserts in the tubes of the sunshade permit operations at solar elongations as small as 6 or 3 deg. The Nd:YAG source laser and the Fraunhofer filter (a narrow-band predetection optical filter) are tuned to match the Doppler shifts of the source and background. A typical Saturn-to-earth data link can reduce its source power requirement from 8.2 W to 2 W of laser output by employing a Fraunhofer filter instead of a conventional multilayer dielectric filter.

Kerr, E. L.↗
NASA NTRS1989

Optical calculation of correlation filters for a robotic vision system

A method is presented for designing optical correlation filters based on measuring three intensity patterns: the Fourier transform of a filter object, a reference wave and the interference pattern produced by the sum of the object transform and the reference. The method can produce a filter that is well matched to both the object, its transforming optical system and the spatial light modulator used in the correlator input plane. A computer simulation was presented to demonstrate the approach for the special case of a conventional binary phase-only filter. The simulation produced a workable filter with a sharp correlation peak.

Knopp, Jerome↗
NASA NTRS1993

Order-sorting filter transmittance measured with an array detector

The simultaneous measurement of the spectrally and spatially variant transmittance of a linear variable order-sorting filter in a manner that closely resembles its conditions of actual use is described. The transmittance of a prototype order-sorting filter was measured in the 400- to 880-nm wavelength region by illuminating it with the output beam of a spectrophotometer while the filter was attached to the front of a 30 x 32 pixel silicon array detector. The filter was designed to be used in the output beam of a grating spectrometer to prevent the dispersal of higher diffracted orders onto an array detector. Areas of the filter that were spatially matched to the corresponding detector pixel column had measured peak transmittances of about 90 percent that were uniform to within +/- 1.5 percent along a given column. Transmittances for incident wavelengths shorter than the desired bandpass, corresponding to the order overlap region, were measured in the 0.003 range. Line spread function measurements made with the array detector indicated no significant beam spreading caused by inserting the filter into the beam.

Heaney, James B.↗
NASA NTRS1972

On the determination of optimal costly measurement strategies for linear stochastic systems.

This paper presents the formulation of a class of optimization problems dealing with selecting, at each instant of time, one measurement provided by one out of many sensors. Each measurement has an associated measurement cost. The basic problem is then to select an optimal measurement policy, during a specified observation time interval, so that a weighted combination of prediction accuracy and accumulated observation cost is optimized. The current analysis is limited to the class of linear stochastic dynamic systems and measurement subsystems. The problem of selecting the optimal measurement strategy can be transformed into a deterministic optimal control problem. It is shown that the optimal measurement policy and the associated matched Kalman-type filter can be precomputed.

Athans, M.↗
NASA NTRS2004

Carrier Modulation Via Waveform Probability Density Function

Beyond the classic modes of carrier modulation by varying amplitude (AM), phase (PM), or frequency (FM), we extend the modulation domain of an analog carrier signal to include a class of general modulations which are distinguished by their probability density function histogram. Separate waveform states are easily created by varying the pdf of the transmitted waveform. Individual waveform states are assignable as proxies for digital ONEs or ZEROs. At the receiver, these states are easily detected by accumulating sampled waveform statistics and performing periodic pattern matching, correlation, or statistical filtering. No fundamental natural laws are broken in the detection process. We show how a typical modulation scheme would work in the digital domain and suggest how to build an analog version. We propose that clever variations of the modulating waveform (and thus the histogram) can provide simple steganographic encoding.

Williams, Glenn L.↗
NASA NTRS1996

A Compact Prototype of an Optical Pattern Recognition System

In the Technology 2006 Case Studies/Success Stories presentation, we will describe and demonstrate a prototype of a compact optical pattern recognition system as an example of a successful technology transfer and continuuing development of state-of-the-art know-how by the close collaboration among government, academia, and small business via the NASA SBIR program. The prototype consists of a complete set of optical pattern recognition hardware with multi-channel storage and retrieval capability that is compactly configured inside a portable 1'X 2'X 3' aluminum case.

MSF↗
NASA NTRS2006

Carrier Modulation Via Waveform Probability Density Function

Beyond the classic modes of carrier modulation by varying amplitude (AM), phase (PM), or frequency (FM), we extend the modulation domain of an analog carrier signal to include a class of general modulations which are distinguished by their probability density function histogram. Separate waveform states are easily created by varying the pdf of the transmitted waveform. Individual waveform states are assignable as proxies for digital one's or zero's. At the receiver, these states are easily detected by accumulating sampled waveform statistics and performing periodic pattern matching, correlation, or statistical filtering. No fundamental physical laws are broken in the detection process. We show how a typical modulation scheme would work in the digital domain and suggest how to build an analog version. We propose that clever variations of the modulating waveform (and thus the histogram) can provide simple steganographic encoding.

Williams, Glenn L.↗
NASA NTRS2021

Machine Vision based Sample-Tube Localization for Mars Sample Return

A potential Mars Sample Return (MSR) architecture is being jointly studied by NASA and ESA. As currently envisioned, the MSR campaign consists of a series of 3 missions: sample cache, fetch and return to Earth. In this paper, we focus on the fetch part of the MSR, and more specifically the problem of autonomously detecting and localizing sample tubes deposited on the Martian surface. Towards this end, we study two machine-vision based approaches: First, a geometrydriven approach based on template matching that uses hardcoded filters and a 3D shape model of the tube; and second, a data-driven approach based on convolutional neural networks (CNNs) and learned features. Furthermore, we present a large benchmark dataset of sample-tube images, collected in representative outdoor environments and annotated with ground truth segmentation masks and locations. The dataset was acquired systematically across different terrain, illumination conditions and dust-coverage; and benchmarking was performed to study the feasibility of each approach, their relative strengths and weaknesses, and robustness in the presence of adverse environmental conditions.

Detry, R.↗
NASA NTRS1977

Numerical comparison of Kalman filter algorithms - Orbit determination case study

Numerical characteristics of various Kalman filter algorithms are illustrated with a realistic orbit determination study. The case study of this paper highlights the numerical deficiencies of the conventional and stabilized Kalman algorithms. Computational errors associated with these algorithms are found to be so large as to obscure important mismodeling effects and thus cause misleading estimates of filter accuracy. The positive result of this study is that the U-D covariance factorization algorithm has excellent numerical properties and is computationally efficient, having CPU costs that differ negligibly from the conventional Kalman costs. Accuracies of the U-D filter using single precision arithmetic consistently match the double precision reference results. Numerical stability of the U-D filter is further demonstrated by its insensitivity to variations in the a priori statistics.

Bierman, G. J.↗
NASA NTRS1976

Numerical comparison of discrete Kalman filter algorithms - Orbit determination case study

Numerical characteristics of various Kalman filter algorithms are illustrated with a realistic orbit determination study. The case study of this paper highlights the numerical deficiencies of the conventional and stabilized Kalman algorithms. Computational errors associated with these algorithms are found to be so large as to obscure important mismodeling effects and thus cause misleading estimates of filter accuracy. The positive result of this study is that the U-D covariance factorization algorithm has excellent numerical properties and is computationally efficient, having CPU costs that differ negligibly from the conventional Kalman costs. Accuracies of the U-D filter using single precision arithmetic consistently match the double precision reference results. Numerical stability of the U-D filter is further demonstrated by its insensitivity to variations in the a priori statistics.

Bierman, G. J.↗
NASA NTRSDate not supplied

Climate Absolute Radiance and Refractivity Observatory (CLARREO) Pathfinder Intercalibration Data Analysis Strategy

One of the prime science objectives of NASA’s Climate Absolute Radiance and Refractivity Observatory (CLARREO) Pathfinder (CPF) mission is to acquire unprecedentedly accurate Système Internationale (SI)-traceable Earth-view measurements that can be used as reference for intercalibrating the Clouds and the Earth’s Radiant Energy System (CERES) and Visible Infrared Imaging Radiometer Suite (VIIRS) instruments onboard NOAA-20 satellite. The hyperspectral nature of CPF measurements will significantly reduce spectrally induced biases when intercalibrating multiband or broadband satellite instruments with CPF. This advancement eliminates the requirement for spectral band adjustment factors, representing a substantial improvement in sensor intercalibration studies. The CPF intercalibration team is aiming to achieve a maximum intercalibration methodology uncertainty of 0.3 % (k=1). Our studies have revealed that the most significant contribution to the targeted uncertainty budget originates from the combined effects of spatial and temporal matching errors. Spatial matching error arises from discrepancies in CPF and target instrument pixel resolution and geolocation uncertainty, while temporal matching error is caused by changes in scene radiances over time, occurring between when the target and reference instruments observe the same scenes. To estimate the maximum expected uncertainty contribution from these sources, spatial and temporal matching noise analyses were conducted using algorithmically filtered Landsat 9 Operational Land Imager (OLI) and Geostationary Operational Environmental Satellite (GOES)-16 ABI CONUS scan data as proxies for CPF and target instruments. In the upcoming conference presentation, we will elaborate on the methodology employed in these experiments, provide details of the data filtering algorithms, and present results of the spatial and temporal matching uncertainty analyses.

Intercalibration↗
NASA NTRS2004

A Review of the Match Technique as Applied to AASE-2/EASOE and SOLVE/THESEO 2000

We apply the GSFC trajectory model with a series of ozonesondes to derive ozone loss rates in the lower stratosphere for the AASE-2/EASOE mission (January - March 1992) and for the SOLVE/THESEO 2000 mission (January - March 2000) in an approach similar to Match. Ozone loss rates are computed by comparing the ozone concentrations provided by ozonesondes launched at the beginning and end of the trajectories connecting the launches. We investigate the sensitivity of the Match results on the various parameters used to reject potential matches in the original Match technique and conclude that only a filter based on potential vorticity changes along the calculated back trajectory seems necessary. Our study also demonstrates that calculated ozone loss rates can vary by up to a factor of two depending upon the precise trajectory paths calculated for each trajectory. As a result an additional systematic error might need to be added to the statistical uncertainties published with previous Match results. The sensitivity to the trajectory path is particularly pronounced in the month of January, the month during which the largest ozone loss rate discrepancies between photochemical models and Match are found. For most of the two study periods, our ozone loss rates agree with those previously published. Notable exceptions are found for January 1992 at 475 K and late February/early March 2000 at 450 K, both periods during which we find less loss than the previous studies. Integrated ozone loss rates in both years compare well with those found in numerous other studies and in a potential vorticity/potential temperature approach shown previously and in this paper. Finally, we suggest an alternate approach to Match using trajectory mapping that appears to more accurately reflect the true uncertainties associated with Match and reduces the dependence upon filters that may bias the results of Match through the rejection of greater than or equal to 80% of the matched sonde pairs and >99% of matched observations.

Morris, Gary A.↗
NASA NTRS1982

Design of analytical failure detection using secondary observers

The problem of designing analytical failure-detection systems (FDS) for sensors and actuators, using observers, is addressed. The use of observers in FDS is related to the examination of the n-dimensional observer error vector which carries the necessary information on possible failures. The problem is that in practical systems, in which only some of the components of the state vector are measured, one has access only to the m-dimensional observer-output error vector, with m or = to n. In order to cope with these cases, a secondary observer is synthesized to reconstruct the entire observer-error vector from the observer output error vector. This approach leads toward the design of highly sensitive and reliable FDS, with the possibility of obtaining a unique fingerprint for every possible failure. In order to keep the observer's (or Kalman filter) false-alarm rate under a certain specified value, it is necessary to have an acceptable matching between the observer (or Kalman filter) models and the system parameters. A previously developed adaptive observer algorithm is used to maintain the desired system-observer model matching, despite initial mismatching or system parameter variations. Conditions for convergence for the adaptive process are obtained, leading to a simple adaptive law (algorithm) with the possibility of an a priori choice of fixed adaptive gains. Simulation results show good tracking performance with small observer output errors, while accurate and fast parameter identification, in both deterministic and stochastic cases, is obtained.

Sisar, M.↗
NASA NTRS2007

Remote and Ground Truth Spectral Measurement Comparisons

FORMOSAT III are a set of six research satellites from Taiwan that were launched in April 2006. The satellites are in 800 km, 71 degree inclination orbits and separated by 24 degrees in ascending node. Ground truth spectral measurements were taken of outer surface materials on FORMOSAT III. From those measurements, a computer model was built to predict the spectral reflectance, which included phase angle and orientation of the spacecraft relative to the observer. However, materials exposed to the space environment have exhibited spectral changes including a darkening and a reddening of the spectra. This reddening was seen as an increase in slope of the reflectance as the wavelength increases. Therefore, the model of pristine materials was augmented to include the space weathering effects. Remote data were collected on two of the six FORMOSAT satellites using the 1.6 meter telescope at AMOS (Air Force Maui Optical and Supercomputing) site with the Spica spectrometer. Due to the separation in ascending node, observations were made on whichever one of the six satellites was visible on that specific night. Three nights of data were collected using the red (6000 9500 angstroms) filter and two nights of data were collected using the blue (3200 -6600 angstroms) filter. A comparison of the data showed a good match to the pristine model for the blue filter region. The absorption feature near 5500 angstroms due to the copper colored Kapton multi-layer insulation (MLI) was very apparent in the remote samples and a good fit to the data was seen in both satellites observed. The features in the red filter regime agreed with the pristine model up through 7000 angstroms where the reddening begins and the slope of the remote sample increases. A comparison of the two satellites showed similar features in the red and blue filter regions, i.e. the satellites were aging at the same rate. A comparison of the pristine model to the first month of remote measurements showed the amount by which the satellite had reddened. This information was used in the space weathered model to predict the second month s reflectance measurement. The results showed that the reddening did not increase from the first month of observations to the second. A third month of data will be necessary to determine if the reddening occurs instantly and then stabilizes with time or if the effect continues to increase with time.

Abercromby, Kira Jorgensen↗