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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 325 records · Page 18
All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

MER-DIMES : a planetary landing application of computer vision

During the Mars Exploration Rovers (MER) landings, the Descent Image Motion Estimation System (DIMES) was used for horizontal velocity estimation. The DIMES algorithm combines measurements from a descent camera, a radar altimeter and an inertial measurement unit. To deal with large changes in scale and orientation between descent images, the algorithm uses altitude and attitude measurements to rectify image data to level ground plane. Feature selection and tracking is employed in the rectified data to compute the horizontal motion between images. Differences of motion estimates are then compared to inertial measurements to verify correct feature tracking. DIMES combines sensor data from multiple sources in a novel way to create a low-cost, robust and computationally efficient velocity estimation solution, and DIMES is the first use of computer vision to control a spacecraft during planetary landing. In this paper, the detailed implementation of the DIMES algorithm and the results from the two landings on Mars are presented.

landing systems↗
NASA NTRS2012

Real-time Accurate Surface Reconstruction Pipeline for Vision Guided Planetary Exploration Using Unmanned Ground and Aerial Vehicles

This report discusses work completed over the summer at the Jet Propulsion Laboratory (JPL), California Institute of Technology. A system is presented to guide ground or aerial unmanned robots using computer vision. The system performs accurate camera calibration, camera pose refinement and surface extraction from images collected by a camera mounted on the vehicle. The application motivating the research is planetary exploration and the vehicles are typically rovers or unmanned aerial vehicles. The information extracted from imagery is used primarily for navigation, as robot location is the same as the camera location and the surfaces represent the terrain that rovers traverse. The processed information must be very accurate and acquired very fast in order to be useful in practice. The main challenge being addressed by this project is to achieve high estimation accuracy and high computation speed simultaneously, a difficult task due to many technical reasons.

computer vision↗
NASA NTRS2013

Autonomous Vision-Based Tethered-Assisted Rover Docking

Many intriguing science discoveries on planetary surfaces, such as the seasonal flows on crater walls and skylight entrances to lava tubes, are at sites that are currently inaccessible to state-of-the-art rovers. The in situ exploration of such sites is likely to require a tethered platform both for mechanical support and for providing power and communication. Mother/daughter architectures have been investigated where a mother deploys a tethered daughter into extreme terrains. Deploying and retracting a tethered daughter requires undocking and re-docking of the daughter to the mother, with the latter being the challenging part. In this paper, we describe a vision-based tether-assisted algorithm for the autonomous re-docking of a daughter to its mother following an extreme terrain excursion. The algorithm uses fiducials mounted on the mother to improve the reliability and accuracy of estimating the pose of the mother relative to the daughter. The tether that is anchored by the mother helps the docking process and increases the system's tolerance to pose uncertainties by mechanically aligning the mating parts in the final docking phase. A preliminary version of the algorithm was developed and field-tested on the Axel rover in the JPL Mars Yard. The algorithm achieved an 80% success rate in 40 experiments in both firm and loose soils and starting from up to 6 m away at up to 40 deg radial angle and 20 deg relative heading. The algorithm does not rely on an initial estimate of the relative pose. The preliminary results are promising and help retire the risk associated with the autonomous docking process enabling consideration in future martian and lunar missions.

Axel docking↗
NASA NTRS2016

Characterization of Stereo Vision Performance for Roving at the Lunar Poles

Surface rover operations at the polar regions of airless bodies, particularly the Moon, are of particular interest to future NASA science missions such as Resource Prospector (RP). Polar optical conditions present challenges to conventional imaging techniques, with repercussions to driving, safeguarding and science. High dynamic range, long cast shadows, opposition and white out conditions are all significant factors in appearance. RP is currently undertaking an effort to characterize stereo vision performance in polar conditions through physical laboratory experimentation with regolith simulants, obstacle distributions and oblique lighting.

Sensor Characterization↗
NASA NTRS2024

Enhancing Metal Additive Manufacturing Training with the Advanced Vision Language Model: A Pathway to Immersive Augmented Reality Training for Non-Experts

This paper introduces an innovative training system for the Renishaw AM400 metal printer, leveraging the synergy of the advanced Vision Language Model (VLM) with Augmented Reality (AR) within the Digital Twins (DT) framework. Aimed at overcoming the limitations of conventional training methods in metal additive manufacturing (AM), our system integrates AR to provide an immersive learning environment, enhancing the real-world experience with interactive digital overlays. The core of the system lies in its use of VLM, which, pre-trained on diverse datasets, excels in processing multi-modal data, thereby offering nuanced and contextually relevant guidance for trainees. Key experiments demonstrate the system’s effectiveness, particularly highlighting the usage of VLM as an Artificial Intelligence (AI) agent to integrate external tools like YOLO-v7 for valve state classification and CRAFT for control panel text recognition. This approach significantly improves recognition accuracy, operational understanding, and human–machine interaction, especially for non-expert users, making complex metal AM operations more accessible. The research not only showcases the potential of AR and VLM in industrial training but also sets a new standard for smart manufacturing practices, indicating broader applications in various industrial domains.

Metal additive manufacturing↗
NASA NTRS1967

Peripheral vision displays

Peripheral vision displays for presenting dynamic tracking information while landing high-speed aircraft, rendezvousing spacecraft, or performing other difficult control tasks

RENDEZVOUS SPACECRAFT↗
NASA NTRS1971

The influence of vision on susceptibility to acute motion sickness studied under quantifiable stimulus-response conditions

Twenty-four healthy men, 22 to 25 years of age, were exposed to stressful accelerations in a rotating room until acute mild motion sickness was elicited. Thirteen subjects in one group were exposed first with eyes open and later with eyes covered; the reverse order was used with the remaining eleven in the other group. The stressful accelerations were generated by requiring the subject to execute 120 standardized head movements at each 1-rpm increase in angular velocity until the desired endpoint was reached. When susceptibility to motion sickness with eyes open and covered is compared, 19 subjects were more susceptible with eyes open, three with eyes covered, and in the remaining two susceptibility was the same. The maximum difference in velocity between trial 1 and 2 was 7 rpm when susceptibility was greater with eyes open and 3 rpm when it was greater with eyes covered; the means, respectively, were 3.2 and 2.0 rpm. Among subjects manifesting greater susceptibility with eyes open than covered the group differences were small, indicating little or no adaptation effects. The findings are discussed mainly on the basis that vision may act also to decrease susceptibility under the stimulus conditions described.

Oosterveld, W. J.↗
NASA NTRS1973

Vision

Some data on human vision, important in present and projected space activities, are presented. Visual environment and performance and structure of the visual system are also considered. Visual perception during stress is included.

Taylor, J. H.↗
NASA NTRS1973

Robot Vision

The operation of a system is described that is built both to model the vision of primate animals, including man, and serve as a pre-prototype of possible object recognition system. It was employed in a series of experiments to determine the practicability of matching left and right images of a scene to determine the range and form of objects. The experiments started with computer generated random-dot stereograms as inputs and progressed through random square stereograms to a real scene. The major problems were the elimination of spurious matches, between the left and right views, and the interpretation of ambiguous regions, on the left side of an object that can be viewed only by the left camera, and on the right side of an object that can be viewed only by the right camera.

Sutro, L. L.↗
NASA NTRS1974

Rotary acceleration of a subject inhibits choice reaction time to motion in peripheral vision

Twelve pilots were tested in a rotation device with visual simulation, alone and in combination with rotary stimulation, in experiments with variable levels of acceleration and variable viewing angles, in a study of the effect of S's rotary acceleration on the choice reaction time for an accelerating target in peripheral vision. The pilots responded to the direction of the visual motion by moving a hand controller to the right or left. Visual-plus-rotary stimulation required a longer choice reaction time, which was inversely related to the level of acceleration and directly proportional to the viewing angle.

Borkenhagen, J. M.↗
NASA NTRS1975

Multiparameter vision testing apparatus

Compact vision testing apparatus is described for testing a large number of physiological characteristics of the eyes and visual system of a human subject. The head of the subject is inserted into a viewing port at one end of a light-tight housing containing various optical assemblies. Visual acuity and other refractive characteristics and ocular muscle balance characteristics of the eyes of the subject are tested by means of a retractable phoroptor assembly carried near the viewing port and a film cassette unit carried in the rearward portion of the housing (the latter selectively providing a variety of different visual targets which are viewed through the optical system of the phoroptor assembly). The visual dark adaptation characteristics and absolute brightness threshold of the subject are tested by means of a projector assembly which selectively projects one or both of a variable intensity fixation target and a variable intensity adaptation test field onto a viewing screen located near the top of the housing.

Hunt, S. R., Jr.↗