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33 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗
NASA NTRS1991

Nimbus-7 TOMS Antarctic ozone atlas: August - December 1990

Because of the great environmental significance of ozone and to support continuing research at the Antarctic and other Southern Hemisphere stations, the development of the 1990 ozone hole was monitored using data from the Nimbus-7 Total Ozone Mapping Spectrometer (TOMS) instrument, produced in near-real-time. This Atlas provides a complete set of daily polar orthographic projections of the TOMS total ozone measurements over the Southern Hemisphere for the period 1 Aug. through 31 Dec. 1990. The 1990 ozone hole developed in a manner similar to that of 1987 and 1989, reaching a comparable depth in early October. This was in sharp contrast to the much weaker hold of 1988. The 1990 ozone hole remained at polar latitudes as it filled in Nov., in contrast to other recent years when the hold drifted to mid-latitudes before disappearing. Daily ozone values above selected Southern Hemisphere stations are presented, along with comparisons of the 1990 ozone distribution to that of other years. A new calibration scheme (Version 6) was used to process 1990 ozone values, as well as to reprocess those of previous years.

Krueger, Arlin J.↗
NASA NTRS1992

Nimbus-7 Total Ozone Mapping Spectrometer (TOMS) Antarctic ozone atlas: August through November 1991

Because of the great environmental significance of stratospheric ozone, and to support continuing research at the Antarctic Southern Hemisphere stations, the development of the 1991 ozone hole was monitored using data from the Nimbus-7 Total Ozone Mapping Spectrometer (TOMS) instrument, produced in near-real-time. This atlas provides a complete set of daily polar orthographic projections of the TOMS total ozone measurements over the Southern Hemisphere for the period August 1 through November 30, 1991. The 1991 ozone hole developed in a manner similar to that of the 1987, 1989, and 1990 holes, reaching a comparable depth in early October. However, the 1991 ozone hole filled far more rapidly than in 1987 or 1989, and nearly 4 weeks earlier than in 1990.

Krueger, Arlin J.↗
NASA NTRS1993

The Halogen Occultation Experiment

The Halogen Occultation Experiment (HALOE) uses solar occultation to measure vertical profiles of O3, HCl, HF, CH4, H2O, NO, NO2, aerosol extinction, and temperature versus pressure with an instantaneous vertical field of view of 1.6 km at the earth limb. Latitudinal coverage is from 80 deg S to 80 deg N over the course of 1 year and includes extensive observations of the Antarctic region during spring. The altitude range of the measurements extends from about 15 km to about 60-130 km, depending on channel. Experiment operations have been essentially flawless, and all performance criteria either meet or exceed specifications. Internal data consistency checks, comparisons with correlative measurements, and qualitative comparisons with 1985 atmospheric trace molecule spectroscopy (ATMOS) results are in good agreement. Examples of pressure versus latitude cross sections and a global orthographic projection for the September 21 to October 15, 1992, period show the utility of CH4, HF, and H2O as tracers, the occurrence of dehydration in the Antarctic lower stratosphere, the presence of the water vapor hygropause in the tropics, evidence of Antarctic air in the tropics, the influence of Hadley tropical upwelling, and the first global distribution of HCl, HF, and NO throughout the stratosphere. Nitric oxide measurements extend through the lower thermosphere.

Russell, James M., III↗
NASA NTRS1993

Constraints on the rate of discharge and duration of the Mangala Valles flood

Interest in Mangala Valles remains high within the planetary science community. This is justified because the survey mission images provide us with nearly complete coverage of the system at high resolution. Upcoming high resolution topography from the Mars Observer Laser Altimeter will enable the application of flood discharge models with an unprecedented level of detail. Previous work on the Mangala Valles problem has relied on the available low resolution topography. This has limited the ability of workers to constrain discharge calculations to only within several-order-of-magnitude estimates. Local determinations of channel depths via shadow length measurements and photoclinometric profiling are much more accurate, but can only be applied to steep slopes (and/or low sun elevations) in the case of shadow measurements, or across relatively short distances (to avoid changes in albedo along asymmetric photoclinometric profiles). We are taking stereo parallax measurements from medium resolution Viking Orbiter images, which provide a valuable intermediate check of the topography between those measurements made thus far and the upcoming Mars Observer data. The images used are from orbits 034A and 637A, and cover Mangala Valles from the source graben in Memnonia Fossae to the beginning of the bifurcated reach (at 9.5 deg lat., 151.5 deg lon.). These images are about 300 m/pixel and 250 m/pixel, respectively. Both sets of images were orthographically projected to 250 m/pixel. The separation angle between left-right pairs is approximately 52 degrees. This results in a vertical accuracy on the order of plus or minus 260 m. Though this is still somewhat coarse, the channel relief is clearly resolved. Preliminary profiles across Mangala Valles and the large topographic ridge to the east are shown on the following page. An east-west regional tilt that resulted from slight scaling differences in the digital data has been 'removed' by visually estimating a regional datum on the stereo pairs. North-south variations in scale have not yet been adjusted for, so the zero datum for each profile was simply taken to be the high water line of the channel itself. Our depth measurement for the source breach of about 750 m agrees reasonably well with values of 700-1000 m determined from shadow measurements.

Parker, T. J.↗
NASA NTRS1995

Noachian and Hesperian modification of the original Chryse impact basin topography

We prospose a new center and ring assignment for the original Chryse impact basin based upon photogeologic mapping of Noachian outcrops and re-examination of the published geology using orthographic projections. While others have centered the Chryse impact on the topographic low associated with Hesperian volcanic and fluvial deposits, we suggest that the center of the Noachian-age excavation cavity was located approximately 800 km to the north, and that the basin topography was modified significantly from the Noachian into the Hesperian. Evolution of the topographic low included structural modification by a later impact centered in Acidalia, restricted volcanic deposition and loading, localized subsidence, and restricted deposition from the circum-Chryse outlfow channels.

Stockman, S. A.↗
NASA NTRS1997

Misperceptions of angular velocities influence the perception of rigidity in the kinetic depth effect

Accuracy in discriminating rigid from nonrigid motion was investigated for orthographic projections of three-dimension rotating objects. In 3 experiments the hypothesis that magnitudes of angular velocity are misperceived in the kinetic depth effect was tested, and in 4 other experiments the hypothesis that misperceiving angular velocities leads to misperceiving rigidity was tested. The principal findings were (a) the magnitude of perceived angular velocity is derived heuristically as a function of a property of the first-order optic flow called deformation and (b) perceptual performance in discriminating rigid from nonrigid motion is accurate in cases when the variability of the deformations of the individual triplets of points of the stimulus displays favors this interpretation and not accurate in other cases.

NASA Center ARC↗
NASA NTRSDate not supplied

Uncertainty Estimates for Fitting Zernike Polynomials to Discrete Data

Zernike polynomials are a widely used metric in modern optical analysis. They conveniently represent surfaces as a series of weighted terms corresponding to various optical aberrations. Ideally, each term is independent of others in the series, but Zernike polynomials lose this property when working with sets of discrete data. This gives rise to uncertainty in each polynomial’s actual contribution and affects metrology and simulation estimates of their relative weights. Several factors influencing these estimates are the number and arrangement of sample locations, the method for calculating the weights, and the total number of Zernike terms used in the calculation. Discussed is the uncertainty associated with linear regression using random sampling. Other topics reviewed are complex Zernike polynomials and vector spaces of functions.

Zernike Polynomials↗
NASA NTRS1982

Computational aspects of remapping digital imagery

One of the advantages of automated cartography is that map data stored in the digital computer can be plotted or displayed at any scale or projection by recomputing the coordinates of the data. This is especially easy in the case of vector (graphics) data but in the case of digital image (raster) data, remapping is a more difficult operation. Examples of the remapping of digital imagery would include rectification of a LANDSAT MSS to an orthographic or Mercator projection, warping of one image to register with another, or rotation, scale, or aspect changes of a digital image. Use of general purpose computers and array processors for this task will be covered. Data processing error will be discussed for each modelling/warping approach.

Zobrist, A. L.↗
NASA NTRS1989

A graphics package for meteorological data, version 1.5

A plotting package has been developed to simplify the task of plotting meteorological data. The calling sequences and examples of high level yet flexible routines which allow contouring, vectors and shading of cylindrical, polar, orthographic and Mollweide (egg) projections are given. Routines are also included for contouring pressure-latitude and pressure-longitude fields with linear or log scales in pressure (interpolation to fixed grid interval is done automatically). Also included is a fairly general line plotting routine. The present version (1.5) produces plots on WMS laser printers and uses graphics primitives from WOLFPLOT.

Moorthi, Shrinivas↗
NASA NTRS2011

Long Term Missions at the Sun-Earth Libration Point L1: ACE, SOHO, and WIND

Three heliophysics missions -- the Advanced Composition Explorer (ACE), Solar Heliospheric Observatory (SOHO), and the Global Geoscience WIND -- have been orbiting the Sun-Earth interior libration point L1 continuously since 1997, 1996, and 2004, respectively. ACE and WIND (both NASA missions) and SOHO (an ESA-NASA joint mission) are all operated from the NASA Goddard Space Flight Center (GSFC). While ACE and SOHO have been dedicated libration point orbiters since their launches, WIND has had also a remarkable 10-year career flying a deep-space, multiple lunar-flyby trajectory prior to 2004. That era featured 36 targeted lunar flybys with excursions to both L1 and L2 before its final insertion in L1 orbit. A figure depicts the orbits of the three spacecraft, showing projections of the orbits onto the orthographic planes of a solar rotating ecliptic frame of reference. The SOHO orbit is a quasi-periodic halo orbit, where the frequencies of the in-plane and out-of-plane motions are practically equal. Such an orbit is seen to repeat itself with a period of approximately 178 days. For ACE and WIND, the frequencies of the in-plane and out-of-plane motions are unequal, giving rise to the characteristic Lissajous motion. ACE's orbit is of moderately small amplitude, whereas WIND's orbit is a large-amplitude Lissajous of dimensions close to those of the SOHO halo orbit. As motion about the collinear points is inherently unstable, stationkeeping maneuvers are necessary to prevent orbital decay and eventual escape from the L1 region. Though the three spacecraft are dissimilar (SOHO is a 3-axis stabilized Sun pointer, WIND is a spin-stabilized ecliptic pole pointer, and ACE is also spin-stabilized with its spin axis maintained between 4 and 20 degrees of the Sun), the stationkeeping technique for the three is fundamentally the same. The technique consists of correcting the energy of the orbit via a delta-V directed parallel or anti-parallel to the Spacecraft-to-Sun line. SOHO achieves this using thrusters oriented in line with the solar direction. WIND achieves the delta-V via pulsing radial thrusters when aligned with the Sun. ACE uses axial thrusters to apply delta-V with a component that is 94% or more aligned with the ACE-Sun line. Sunward thrust adds energy to the orbit preventing decay back toward Earth. Thrust directed anti-Sunward takes energy out of the L1 orbit, thereby preventing escape from the Earth-Moon system into independent heliocentric orbit. Libration point orbit stationkeeping delta-V costs grow exponentially with time elapsed from the last maneuver performed. The doubling time constant is approximately 16 days. For the sake of fuel conservation, and for limiting the absolute magnitude of propulsion performance errors, stationkeeping maneuvers should be performed before the delta-V grows too large; for our purposes 'too large' is considered to be greater than 0.5 m/sec. In practice, the typical interval between burns for this trio is about three months, and the typical delta-V is much smaller than 0.5 m/sec. Typical annual stationkeeping costs have been around 1.0 m/sec for ACE and WIND, and much less than that for SOHO. All three spacecraft have ample fuel remaining; barring contingencies all three could, in principle, be maintained at L1 for decades to come. This paper will review the L1 orbits and the mission history of ACE, WIND, and SOHO, and describe the stationkeeping techniques and orbit maneuver experience. The Lissajous phase control that was practiced for ACE during the period from 1999 to 2001 will also be briefly discussed. The final section will consider the future of these ongoing missions.

Roberts, Craig E.↗
NASA NTRS1980

The mosaics of Mars: As seen by the Viking Lander cameras

The mosaics and derivative products produced from many individual high resolution images acquired by the Viking Lander Camera Systems are described: A morning and afternoon mosaic for both cameras at the Lander 1 Chryse Planitia site, and a morning, noon, and afternoon camera pair at Utopia Planitia, the Lander 11 site. The derived products include special geometric projections of the mosaic data sets, polar stereographic (donut), stereoscopic, and orthographic. Contour maps and vertical profiles of the topography were overlaid on the mosaics from which they were derived. Sets of stereo pairs were extracted and enlarged from stereoscopic projections of the mosaics.

Levinthal, E. C.↗
NASA NTRS1986

Orthographic terrain views using data derived from digital elevation models

A fast algorithm for producing three-dimensional orthographic terrain views uses digital elevation data and co-registered imagery. These views are created using projective geometry and are designed for display on high-resolution raster graphics devices. The algorithm's effectiveness is achieved by (1) the implementation of two efficient gray-level interpolation routines that offer the user a choice between speed and smoothness, and (2) a unique visible surface determination procedure based on horizon angles derived from the elevation data set.

Dubayah, R. O.↗
NASA NTRS2011

Orthographic Stereo Correlator on the Terrain Model for Apollo Metric Images

A stereo correlation method on the object domain is proposed to generate the accurate and dense Digital Elevation Models (DEMs) from lunar orbital imagery. The NASA Ames Intelligent Robotics Group (IRG) aims to produce high-quality terrain reconstructions of the Moon from Apollo Metric Camera (AMC) data. In particular, IRG makes use of a stereo vision process, the Ames Stereo Pipeline (ASP), to automatically generate DEMs from consecutive AMC image pairs. Given camera parameters of an image pair from bundle adjustment in ASP, a correlation window is defined on the terrain with the predefined surface normal of a post rather than image domain. The squared error of back-projected images on the local terrain is minimized with respect to the post elevation. This single dimensional optimization is solved efficiently and improves the accuracy of the elevation estimate.

Terrain Model↗