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NASA NTRS2006

Generating CAHV and CAHVOR Images with Shadows in ROAMS

Part of the Rover Analysis, Modeling and Simulation (ROAMS) software that synthesizes images of terrain has been augmented to make the images more realistic. [ROAMS was described in "Simulating Operation of a Planetary Rover" (NPO-30722), NASA Tech Briefs, Vol. 28, No. 9 (September 2004), page 52. ROAMS simulates the operation of a robotic vehicle (rover) exploring terrain on a remote planet.] The images are needed for modeling responses of rover cameras that provide sensory inputs for machine-vision-based algorithms for controlling the motion of the rover. The augmented image-synthesizing part of the ROAMS software supports terrain geometry and texture specifiable by the user, CAHV and CAHVOR camera models, and more-realistic shadowing (see figure). (The letters in "CAHV" represent vectors in a standard photogrammetric model of a pinhole camera. Letters O and R in "CAHVOR" represent vectors used to model distortions.) A contemplated future version of ROAMS would support the CAHVORE model, which represents more-general cameras, including those having fish-eye or other wide-field-of-view lenses. (Letter E in "CAHVORE" represents a vector used to model apparent motion of a camera entrance pupil.)

Madison, Richard↗
NASA NTRS2006

Intersection Monitor for Traffic-Light-Preemption System

The figure shows an intersection monitor that is a key subsystem of an emergency traffic-light-preemption system that could be any of the systems described in the three immediately preceding articles and in Systems Would Preempt Traffic Lights for Emergency Vehicles (NPO-30573), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 36. This unit is so named because it is installed at an intersection, where it monitors the phases (in the sense of timing) of the traffic lights. The mode of operation of this monitor is independent of the type of traffic-light-controller hardware or software in use at the intersection. Moreover, the design of the monitor is such that (1) the monitor does not, by itself, affect the operation of the traffic- light controller and (2) in the event of a failure of the monitor, the trafficlight controller continues to function normally (albeit without preemption). The monitor is installed in series with the traffic-light controller at an intersection. The control signals of interest are monitored by use of high-impedance taps on affected control lines. These taps are fully isolated and further protected by high-voltage diodes that prevent any voltages or short circuits that arise within the monitor from affecting the controller. The signals from the taps are processed digitally and cleaned up by use of high-speed logic gates, and the resulting data are passed on to other parts of the traffic-light-preemption intersection subsystem. The data are compared continuously with data from vehicles and used to calculate timing for reliable preemption of the traffic lights. The pedestrian crossing at the intersection is also monitored, and pedestrians are warned not to cross during preemption.

Bachelder, Aaron↗
NASA NTRS2006

Automated Announcements of Approaching Emergency Vehicles

Street intersections that are equipped with traffic lights would also be equipped with means for generating audible announcements of approaching emergency vehicles, according to a proposal. The means to generate the announcements would be implemented in the intersection- based subsystems of emergency traffic-light-preemption systems like those described in the two immediately preceding articles and in "Systems Would Preempt Traffic Lights for Emergency Vehicles" (NPO-30573), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 36. Preempting traffic lights is not, by itself, sufficient to warn pedestrians at affected intersections that emergency vehicles are approaching. Automated visual displays that warn of approaching emergency vehicles can be helpful as a supplement to preemption of traffic lights, but experience teaches that for a variety of reasons, pedestrians often do not see such displays. Moreover, in noisy and crowded urban settings, the lights and sirens on emergency vehicles are often not noticed until a few seconds before the vehicles arrive. According to the proposal, the traffic-light preemption subsystem at each intersection would generate an audible announcement for example, emergency vehicle approaching, please clear intersection whenever a preemption was triggered. The subsystem would estimate the time of arrival of an approaching emergency vehicle by use of vehicle identity, position, and time data from one or more sources that could include units connected to traffic loops and/or transponders connected to diagnostic and navigation systems in participating emergency vehicles. The intersection-based subsystem would then start the announcement far enough in advance to enable pedestrians to leave the roadway before any emergency vehicles arrive.

Bachelder, Aaron↗
NASA NTRS2006

Protein Sensors Based on Optical Ring Resonators

Prototype transducers based on integrated optical ring resonators have been demonstrated to be useful for detecting the protein avidin in extremely dilute solutions. In an experiment, one of the transducers proved to be capable of indicating the presence of avidin at a concentration of as little as 300 pM in a buffer solution a detection sensitivity comparable to that achievable by previously reported protein-detection techniques. These transducers are serving as models for the further development of integrated-optics sensors for detecting small quantities of other proteins and protein-like substances. The basic principle of these transducers was described in Chemical Sensors Based on Optical Ring Resonators (NPO-40601), NASA Tech Briefs, Vol. 29, No. 10 (October 2005), page 32. The differences between the present transducers and the ones described in the cited prior article lie in details of implementation of the basic principle. As before, the resonator in a transducer of the present type is a closed-circuit dielectric optical waveguide. The outermost layer of this waveguide, analogous to the optical cladding layer on an optical fiber, consists of a layer comprising sublayers having indices of refraction lower than that of the waveguide core. The outermost sublayer absorbs the chemical of interest (in this case, avidin). The index of refraction of the outermost sublayer changes with the concentration of absorbed avidin. The resonator is designed to operate with relatively strong evanescent-wave coupling between the outer sublayer and the electromagnetic field propagating along the waveguide core. By virtue of this coupling, the chemically induced change in the index of refraction of the outermost sublayer causes a measurable change in the spectrum of the resonator output.

Lin, Ying↗
NASA NTRS2006

Photodetector Arrays for Multicolor Visible/Infrared Imaging

Monolithic focal-plane arrays of photodetectors capable of imaging the same scenes simultaneously in multiple wavelength bands in the visible and infrared spectral regions have been proposed. In prior visible/infrared imaging systems, it has been standard practice to use separate optical trains to form images in visible and infrared wavelength bands on separate visibleand infrared-photodetector arrays. Because the proposal would enable the detection of images in multiple wavelength bands on the same focal plane, the proposal would make it unnecessary to use multiple optical trains. Hence, multispectral imaging systems could be made more compact and the difficulties of aligning multiple optical trains would be eliminated. Each pixel in an array according to the proposal would contain stacks of several photodetectors. The proposal is a logical extension of prior concepts of arrays of stacked photodetectors for imaging in two or three wavelength bands. For example, such an array was described in Three-Color Focal-Plane Array of Infrared QWIPs (NPO-20683), NASA Tech Briefs, Vol. 24, No. 5 (May 2000), page 26a. In one proposed design, (see figure), each pixel would be divided into four subpixels, one being dedicated to a visible- and-near-infrared (V) band, one to a combination of the V band and a verylong- wavelength infrared (VLWIR) band, one to a combination of the V band and a long-wavelength infrared (LWIR) band, and one to a combination of the V band and a medium-wavelength infrared (MWIR) band. For this purpose, each subpixel would include a GaAs-based positive/intrinsic/negative (PIN) photodiode for detection in the V band stacked with three quantum-well infrared photodetectors (QWIPs), each optimized for one of the aforementioned infrared bands. The stacks of photodetectors in all the subpixels would be identical except for the electrical connections, which would be configured to activate the various wavelengthband combinations.

Gunapala, Sarath↗
NASA NTRS2006

Miniature Oxidizer Ionizer for a Fuel Cell

A proposed miniature device for ionizing the oxygen (or other oxidizing gas) in a fuel cell would consist mostly of a membrane ionizer using the same principles as those of the device described in the earlier article, Miniature Bipolar Electrostatic Ion Thruster (NPO-21057). The oxidizing gas would be completely ionized upon passage through the holes in the membrane ionizer. The resulting positively charged atoms or molecules of oxidizing gas could then, under the influence of the fringe fields of the ionizer, move toward the fuel-cell cathode that would be part of a membrane/electrode assembly comprising the cathode, a solid-electrolyte membrane, and an anode. The electro-oxidized state of the oxidizer atoms and molecules would enhance transfer of them through the cathode, thereby reducing the partial pressure of the oxidizer gas between the ionizer and the fuel-cell cathode, thereby, in turn, causing further inflow of oxidizer gas through the holes in the membrane ionizer. Optionally the ionizer could be maintained at a positive electric potential with respect to the cathode, in which case the resulting electric field would accelerate the ions toward the cathode.

Hartley, Frank↗
NASA NTRS2006

Mixed-Salt/Ester Electrolytes for Low-Temperature Li+ Cells

Electrolytes comprising, variously, LiPF6 or LiPF6 plus LiBF4 dissolved at various concentrations in mixtures of alkyl carbonates and alkyl esters have been found to afford improved low-temperature performance in rechargeable lithium-ion electrochemical cells. These and other electrolytes have been investigated in a continuing effort to extend the lower limit of operating temperatures of such cells. This research at earlier stages, and the underlying physical and chemical principles, were reported in numerous previous NASA Tech Briefs articles, the most recent being Ester-Based Electrolytes for Low-Temperature Li-Ion Cells (NPO-41097), NASA Tech Briefs, Vol. 29, No. 12 (December 2005), page 59. The ingredients of the solvent mixtures include ethylene carbonate (EC), ethyl methyl carbonate (EMC), methyl butyrate (MB), and methyl propionate (MP). The electrolytes were placed in Li-ion cells containing carbon anodes and LiNi0.8Co0.2O2 cathodes, and the electrical performances of the cells were measured over a range of temperatures down to 60 C. The electrolytes that yielded the best low-temperature performances were found to consist, variously, of 1.0 M LiPF6 + 0.4 M LiBF4 or 1.4 LiPF6 in 1EC + 1EMC + 8MP or 1EC + 1EMC + 8MB, where the concentrations of the salts are given in molar units and the proportions of the solvents are by relative volume.

Smart, Marshall↗
NASA NTRS2005

Interactive Display of Scenes with Annotations

ThreeDView is a computer program that enables high-performance interactive display of real-world scenes with annotations. ThreeDView was developed primarily as a component of the Science Activity Planner (SAP) software, wherein it is to be used to display annotated images of terrain acquired by exploratory robots on Mars and possibly other remote planets. The images can be generated from sets of multiple-texture image data in the Visible Scalable Terrain (ViSTa) format, which was described in "Format for Interchange and Display of 3D Terrain Data" (NPO-30600) NASA Tech Briefs, Vol. 28, No. 12 (December 2004), page 25. In ThreeDView, terrain data can be loaded rapidly, the geometric level of detail and texture resolution can be selected, false colors can be used to represent scientific data mapped onto terrain, and the user can select among navigation modes. ThreeDView consists largely of modular Java software components that can easily be reused and extended to produce new high-performance, application-specific software systems for displaying images of three-dimensional real-world scenes.

Vona, Marsette↗
NASA NTRS2005

Patched Off-Axis Bending/Twisting Actuators for Thin Mirrors

Two documents present updates on thin-shell, adjustable, curved mirrors now being developed for use in spaceborne imaging systems. These mirrors at an earlier stage of development were reported in Nanolaminate Mirrors With Integral Figure-Control Actuators (NPO-30221), NASA Tech Briefs, Vol. 26, No. 5 (May 2002), page 80. To recapitulate: These mirrors comprise metallic film reflectors on nanolaminate substrates that contain "in-plane" actuators for controlling surface figures with micron-level precision. The actuators are integral parts of the mirror structures, typically fabricated as patches that are bonded onto the rear (nonreflective) surfaces of the mirror shells. The current documents discuss mathematical modeling of mirror deflections caused by actuators arranged in unit cells distributed across the rear mirror surfaces. One of the documents emphasizes an actuator configuration in which a mirror surface is divided into hexagonal unit cells. Each unit cell contains four rectangular actuator patches in an off-axis cruciform pattern to induce a combination of bending and twisting. For deflections to reduce certain optical aberrations, it is found that, relative to other configurations, this configuration involves a smaller areal density of actuators.

Hickey, Gregory↗
NASA NTRS2005

Two Methods for Efficient Solution of the Hitting-Set Problem

A paper addresses much of the same subject matter as that of Fast Algorithms for Model-Based Diagnosis (NPO-30582), which appears elsewhere in this issue of NASA Tech Briefs. However, in the paper, the emphasis is more on the hitting-set problem (also known as the transversal problem), which is well known among experts in combinatorics. The authors primary interest in the hitting-set problem lies in its connection to the diagnosis problem: it is a theorem of model-based diagnosis that in the set-theory representation of the components of a system, the minimal diagnoses of a system are the minimal hitting sets of the system. In the paper, the hitting-set problem (and, hence, the diagnosis problem) is translated from a combinatorial to a computational problem by mapping it onto the Boolean satisfiability and integer- programming problems. The paper goes on to describe developments nearly identical to those summarized in the cited companion NASA Tech Briefs article, including the utilization of Boolean-satisfiability and integer- programming techniques to reduce the computation time and/or memory needed to solve the hitting-set problem.

Vatan, Farrokh↗
NASA NTRS2005

Biased Randomized Algorithm for Fast Model-Based Diagnosis

A biased randomized algorithm has been developed to enable the rapid computational solution of a propositional- satisfiability (SAT) problem equivalent to a diagnosis problem. The closest competing methods of automated diagnosis are described in the preceding article "Fast Algorithms for Model-Based Diagnosis" and "Two Methods of Efficient Solution of the Hitting-Set Problem" (NPO-30584), which appears elsewhere in this issue. It is necessary to recapitulate some of the information from the cited articles as a prerequisite to a description of the present method. As used here, "diagnosis" signifies, more precisely, a type of model-based diagnosis in which one explores any logical inconsistencies between the observed and expected behaviors of an engineering system. The function of each component and the interconnections among all the components of the engineering system are represented as a logical system. Hence, the expected behavior of the engineering system is represented as a set of logical consequences. Faulty components lead to inconsistency between the observed and expected behaviors of the system, represented by logical inconsistencies. Diagnosis - the task of finding the faulty components - reduces to finding the components, the abnormalities of which could explain all the logical inconsistencies. One seeks a minimal set of faulty components (denoted a minimal diagnosis), because the trivial solution, in which all components are deemed to be faulty, always explains all inconsistencies. In the methods of the cited articles, the minimal-diagnosis problem is treated as equivalent to a minimal-hitting-set problem, which is translated from a combinatorial to a computational problem by mapping it onto the Boolean-satisfiability and integer-programming problems. The integer-programming approach taken in one of the prior methods is complete (in the sense that it is guaranteed to find a solution if one exists) and slow and yields a lower bound on the size of the minimal diagnosis. In contrast, the present approach is incomplete and fast and yields an upper bound on the size of the minimal diagnosis.

Williams, Colin↗
NASA NTRS2005

Simulations of Evaporating Multicomponent Fuel Drops

A paper presents additional information on the subject matter of Model of Mixing Layer With Multicomponent Evaporating Drops (NPO-30505), NASA Tech Briefs, Vol. 28, No. 3 (March 2004), page 55. To recapitulate: A mathematical model of a three-dimensional mixing layer laden with evaporating fuel drops composed of many chemical species has been derived. The model is used to perform direct numerical simulations in continuing studies directed toward understanding the behaviors of sprays of liquid petroleum fuels in furnaces, industrial combustors, and engines. The model includes governing equations formulated in an Eulerian and a Lagrangian reference frame for the gas and drops, respectively, and incorporates a concept of continuous thermodynamics, according to which the chemical composition of a fuel is described by use of a distribution function. In this investigation, the distribution function depends solely on the species molar weight. The present paper reiterates the description of the model and discusses further in-depth analysis of the previous results as well as results of additional numerical simulations assessing the effect of the mass loading. The paper reiterates the conclusions reported in the cited previous article, and states some new conclusions. Some new conclusions are: 1. The slower evaporation and the evaporation/ condensation process for multicomponent-fuel drops resulted in a reduced drop-size polydispersity compared to their single-component counterpart. 2. The inhomogeneity in the spatial distribution of the species in the layer increases with the initial mass loading. 3. As evaporation becomes faster, the assumed invariant form of the molecular- weight distribution during evaporation becomes inaccurate.

Bellan, Josette↗
NASA NTRS2005

Real-Time Principal-Component Analysis

A recently written computer program implements dominant-element-based gradient descent and dynamic initial learning rate (DOGEDYN), which was described in Method of Real-Time Principal-Component Analysis (NPO-40034) NASA Tech Briefs, Vol. 29, No. 1 (January 2005), page 59. To recapitulate: DOGEDYN is a method of sequential principal-component analysis (PCA) suitable for such applications as data compression and extraction of features from sets of data. In DOGEDYN, input data are represented as a sequence of vectors acquired at sampling times. The learning algorithm in DOGEDYN involves sequential extraction of principal vectors by means of a gradient descent in which only the dominant element is used at each iteration. Each iteration includes updating of elements of a weight matrix by amounts proportional to a dynamic initial learning rate chosen to increase the rate of convergence by compensating for the energy lost through the previous extraction of principal components. In comparison with a prior method of gradient-descent-based sequential PCA, DOGEDYN involves less computation and offers a greater rate of learning convergence. The sequential DOGEDYN computations require less memory than would parallel computations for the same purpose. The DOGEDYN software can be executed on a personal computer.

Duong, Vu↗
NASA NTRS2005

Update on Rover Sequencing and Visualization Program

The Rover Sequencing and Visualization Program (RSVP) has been updated. RSVP was reported in Rover Sequencing and Visualization Program (NPO-30845), NASA Tech Briefs, Vol. 29, No. 4 (April 2005), page 38. To recapitulate: The Rover Sequencing and Visualization Program (RSVP) is the software tool to be used in the Mars Exploration Rover (MER) mission for planning rover operations and generating command sequences for accomplishing those operations. RSVP combines three-dimensional (3D) visualization for immersive exploration of the operations area, stereoscopic image display for high-resolution examination of the downlinked imagery, and a sophisticated command-sequence editing tool for analysis and completion of the sequences. RSVP is linked with actual flight code modules for operations rehearsal to provide feedback on the expected behavior of the rover prior to committing to a particular sequence. Playback tools allow for review of both rehearsed rover behavior and downlinked results of actual rover operations. These can be displayed simultaneously for comparison of rehearsed and actual activities for verification. The primary inputs to RSVP are downlink data products from the Operations Storage Server (OSS) and activity plans generated by the science team. The activity plans are high-level goals for the next day s activities. The downlink data products include imagery, terrain models, and telemetered engineering data on rover activities and state. The Rover Sequence Editor (RoSE) component of RSVP performs activity expansion to command sequences, command creation and editing with setting of command parameters, and viewing and management of rover resources. The HyperDrive component of RSVP performs 2D and 3D visualization of the rover s environment, graphical and animated review of rover predicted and telemetered state, and creation and editing of command sequences related to mobility and Instrument Deployment Device (robotic arm) operations. Additionally, RoSE and HyperDrive together evaluate command sequences for potential violations of flight and safety rules. The products of RSVP include command sequences for uplink that are stored in the Distributed Object Manager (DOM) and predicted rover state histories stored in the OSS for comparison and validation of downlinked telemetry. The majority of components comprising RSVP utilize the MER command and activity dictionaries to automatically customize the system for MER activities.

Cooper, Brian↗
NASA NTRS2005

Custom Sky-Image Mosaics from NASA's Information Power Grid

yourSkyG is the second generation of the software described in yourSky: Custom Sky-Image Mosaics via the Internet (NPO-30556), NASA Tech Briefs, Vol. 27, No. 6 (June 2003), page 45. Like its predecessor, yourSkyG supplies custom astronomical image mosaics of sky regions specified by requesters using client computers connected to the Internet. Whereas yourSky constructs mosaics on a local multiprocessor system, yourSkyG performs the computations on NASA s Information Power Grid (IPG), which is capable of performing much larger mosaicking tasks. (The IPG is high-performance computation and data grid that integrates geographically distributed 18 NASA Tech Briefs, September 2005 computers, databases, and instruments.) A user of yourSkyG can specify parameters describing a mosaic to be constructed. yourSkyG then constructs the mosaic on the IPG and makes it available for downloading by the user. The complexities of determining which input images are required to construct a mosaic, retrieving the required input images from remote sky-survey archives, uploading the images to the computers on the IPG, performing the computations remotely on the Grid, and downloading the resulting mosaic from the Grid are all transparent to the user

Jacob, Joseph↗
NASA NTRS2005

Insect-Inspired Optical-Flow Navigation Sensors

Integrated circuits that exploit optical flow to sense motions of computer mice on or near surfaces ( optical mouse chips ) are used as navigation sensors in a class of small flying robots now undergoing development for potential use in such applications as exploration, search, and surveillance. The basic principles of these robots were described briefly in Insect-Inspired Flight Control for Small Flying Robots (NPO-30545), NASA Tech Briefs, Vol. 29, No. 1 (January 2005), page 61. To recapitulate from the cited prior article: The concept of optical flow can be defined, loosely, as the use of texture in images as a source of motion cues. The flight-control and navigation systems of these robots are inspired largely by the designs and functions of the vision systems and brains of insects, which have been demonstrated to utilize optical flow (as detected by their eyes and brains) resulting from their own motions in the environment. Optical flow has been shown to be very effective as a means of avoiding obstacles and controlling speeds and altitudes in robotic navigation. Prior systems used in experiments on navigating by means of optical flow have involved the use of panoramic optics, high-resolution image sensors, and programmable imagedata- processing computers.

Thakoor, Sarita↗
NASA NTRS2005

Progress in Insect-Inspired Optical Navigation Sensors

Progress has been made in continuing efforts to develop optical flight-control and navigation sensors for miniature robotic aircraft. The designs of these sensors are inspired by the designs and functions of the vision systems and brains of insects. Two types of sensors of particular interest are polarization compasses and ocellar horizon sensors. The basic principle of polarization compasses was described (but without using the term "polarization compass") in "Insect-Inspired Flight Control for Small Flying Robots" (NPO-30545), NASA Tech Briefs, Vol. 29, No. 1 (January 2005), page 61. To recapitulate: Bees use sky polarization patterns in ultraviolet (UV) light, caused by Rayleigh scattering of sunlight by atmospheric gas molecules, as direction references relative to the apparent position of the Sun. A robotic direction-finding technique based on this concept would be more robust in comparison with a technique based on the direction to the visible Sun because the UV polarization pattern is distributed across the entire sky and, hence, is redundant and can be extrapolated from a small region of clear sky in an elsewhere cloudy sky that hides the Sun.

Thakoor, Sarita↗
NASA NTRS2005

Ester-Based Electrolytes for Low-Temperature Li-Ion Cells

Electrolytes comprising LiPF6 dissolved at a concentration of 1.0 M in five different solvent mixtures of alkyl carbonates have been found to afford improved performance in rechargeable lithium-ion electrochemical cells at temperatures as low as -70 C. These and other electrolytes have been investigated in continuing research directed toward extending the lower limit of practical operating temperatures of Li-ion cells. This research at earlier stages, and the underlying physical and chemical principles, were reported in numerous previous NASA Tech Briefs articles, the most recent being Low-EC-Content Electrolytes for Low-Temperature Li-Ion Cells (NPO-30226), NASA Tech Briefs, Vol. 27, No. 1 (January 2003), page 46. The ingredients of the present solvent mixtures are ethylene carbonate (EC), ethyl methyl carbonate (EMC), methyl butyrate (MB), methyl propionate (MP), ethyl propionate (EP), ethyl butyrate (EB), and ethyl valerate (EV). In terms of volume proportions of these ingredients, the present solvent mixtures are 1EC + 1EMC + 8MB, 1EC + 1EMC + 8EB, 1EC + 1EMC + 8MP, 1EC + 1EMC + 8EV, and 1EC + 9EMC. These electrolytes were placed in Liion cells containing carbon anodes and LiNi0.8Co0.2O2 cathodes, and the low-temperature electrical performances of the cells were measured. The cells containing the MB and MP mixtures performed best.

Smart, Marshall↗