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All sourcesNASA NTRSDOE OSTI
NASA NTRS1981

Computational vision

The range of fundamental computational principles underlying human vision that equally apply to artificial and natural systems is surveyed. There emerges from research a view of the structuring of vision systems as a sequence of levels of representation, with the initial levels being primarily iconic (edges, regions, gradients) and the highest symbolic (surfaces, objects, scenes). Intermediate levels are constrained by information made available by preceding levels and information required by subsequent levels. In particular, it appears that physical and three-dimensional surface characteristics provide a critical transition from iconic to symbolic representations. A plausible vision system design incorporating these principles is outlined, and its key computational processes are elaborated.

Barrow, H. G.↗
NASA NTRS2009

Complexity for Survival of Living Systems

A logical connection between the survivability of living systems and the complexity of their behavior (equivalently, mental complexity) has been established. This connection is an important intermediate result of continuing research on mathematical models that could constitute a unified representation of the evolution of both living and non-living systems. Earlier results of this research were reported in several prior NASA Tech Briefs articles, the two most relevant being Characteristics of Dynamics of Intelligent Systems (NPO- 21037), NASA Tech Briefs, Vol. 26, No. 12 (December 2002), page 48; and Self-Supervised Dynamical Systems (NPO- 30634) NASA Tech Briefs, Vol. 27, No. 3 (March 2003), page 72. As used here, living systems is synonymous with active systems and intelligent systems. The quoted terms can signify artificial agents (e.g., suitably programmed computers) or natural biological systems ranging from single-cell organisms at one extreme to the whole of human society at the other extreme. One of the requirements that must be satisfied in mathematical modeling of living systems is reconciliation of evolution of life with the second law of thermodynamics. In the approach followed in this research, this reconciliation is effected by means of a model, inspired partly by quantum mechanics, in which the quantum potential is replaced with an information potential. The model captures the most fundamental property of life - the ability to evolve from disorder to order without any external interference. The model incorporates the equations of classical dynamics, including Newton s equations of motion and equations for random components caused by uncertainties in initial conditions and by Langevin forces. The equations of classical dynamics are coupled with corresponding Liouville or Fokker-Planck equations that describe the evolutions of probability densities that represent the uncertainties. The coupling is effected by fictitious information-based forces that are gradients of the information potential, which, in turn, is a function of the probability densities. The probability densities are associated with mental images both self-image and nonself images (images of external objects that can include other agents). The evolution of the probability densities represents mental dynamics. Then the interaction between the physical and metal aspects of behavior is implemented by feedback from mental to motor dynamics, as represented by the aforementioned fictitious forces. The interaction of a system with its self and nonself images affords unlimited capacity for increase of complexity. There is a biological basis for this model of mental dynamics in the discovery of mirror neurons that learn by imitation. The levels of complexity attained by use of this model match those observed in living systems. To establish a mechanism for increasing the complexity of dynamics of an active system, the model enables exploitation of a chain of reflections exemplified by questions of the form, "What do you think that I think that you think...?" Mathematically, each level of reflection is represented in the form of an attractor performing the corresponding level of abstraction with more details removed from higher levels. The model can be used to describe the behaviors, not only of biological systems, but also of ecological, social, and economics ones.

Zak, Michail↗
NASA NTRS2013

Memory-Efficient Onboard Rock Segmentation

Rockster-MER is an autonomous perception capability that was uploaded to the Mars Exploration Rover Opportunity in December 2009. This software provides the vision front end for a larger software system known as AEGIS (Autonomous Exploration for Gathering Increased Science), which was recently named 2011 NASA Software of the Year. As the first step in AEGIS, Rockster-MER analyzes an image captured by the rover, and detects and automatically identifies the boundary contours of rocks and regions of outcrop present in the scene. This initial segmentation step reduces the data volume from millions of pixels into hundreds (or fewer) of rock contours. Subsequent stages of AEGIS then prioritize the best rocks according to scientist- defined preferences and take high-resolution, follow-up observations. Rockster-MER has performed robustly from the outset on the Mars surface under challenging conditions. Rockster-MER is a specially adapted, embedded version of the original Rockster algorithm ("Rock Segmentation Through Edge Regrouping," (NPO- 44417) Software Tech Briefs, September 2008, p. 25). Although the new version performs the same basic task as the original code, the software has been (1) significantly upgraded to overcome the severe onboard re source limitations (CPU, memory, power, time) and (2) "bulletproofed" through code reviews and extensive testing and profiling to avoid the occurrence of faults. Because of the limited computational power of the RAD6000 flight processor on Opportunity (roughly two orders of magnitude slower than a modern workstation), the algorithm was heavily tuned to improve its speed. Several functional elements of the original algorithm were removed as a result of an extensive cost/benefit analysis conducted on a large set of archived rover images. The algorithm was also required to operate below a stringent 4MB high-water memory ceiling; hence, numerous tricks and strategies were introduced to reduce the memory footprint. Local filtering operations were re-coded to operate on horizontal data stripes across the image. Data types were reduced to smaller sizes where possible. Binary- valued intermediate results were squeezed into a more compact, one-bit-per-pixel representation through bit packing and bit manipulation macros. An estimated 16-fold reduction in memory footprint relative to the original Rockster algorithm was achieved. The resulting memory footprint is less than four times the base image size. Also, memory allocation calls were modified to draw from a static pool and consolidated to reduce memory management overhead and fragmentation. Rockster-MER has now been run onboard Opportunity numerous times as part of AEGIS with exceptional performance. Sample results are available on the AEGIS website at http://aegis.jpl.nasa.gov.

Burl, Michael C.↗
NASA NTRS1993

Deriving the intermediate spectra and photocycle kinetics from time-resolved difference spectra of bacteriorhodopsin. The simpler case of the recombinant D96N protein

The bacteriorhodopsin photocycle contains more than five spectrally distinct intermediates, and the complexity of their interconversions has precluded a rigorous solution of the kinetics. A representation of the photocycle of mutated D96N bacteriorhodopsin near neutral pH was given earlier (Varo, G., and J. K. Lanyi. 1991. Biochemistry. 30:5008-5015) as BRhv-->K<==>L<==>M1-->M2--> BR. Here we have reduced a set of time-resolved difference spectra for this simpler system to three base spectra, each assumed to consist of an unknown mixture of the pure K, L, and M difference spectra represented by a 3 x 3 matrix of concentration values between 0 and 1. After generating all allowed sets of spectra for K, L, and M (i.e., M1 + M2) at a 1:50 resolution of the matrix elements, invalid solutions were eliminated progressively in a search based on what is expected, empirically and from the theory of polyene excited states, for rhodopsin spectra. Significantly, the average matrix values changed little after the first and simplest of the search criteria that disallowed negative absorptions and more than one maximum for the M intermediate. We conclude from the statistics that during the search the solutions strongly converged into a narrow region of the multidimensional space of the concentration matrix. The data at three temperatures between 5 and 25 degrees C yielded a single set of spectra for K, L, and M; their fits are consistent with the earlier derived photocycle model for the D96N protein.

NASA Program Exobiology↗
NASA NTRS1993

Comprehensive investigation of HgCdTe metalorganic chemical vapor deposition

The principal objective of this experimental and theoretical research program was to explore the possibility of depositing high quality epitaxial CdTe and HgCdTe at very low pressures through metalorganic chemical vapor deposition (MOCVD). We explored two important aspects of this potential process: (1) the interaction of molecular flow transport and deposition in an MOCVD reactor with a commercial configuration, and (2) the kinetics of metal alkyl source gas adsorption, decomposition and desorption from the growing film surface using ultra high vacuum surface science reaction techniques. To explore the transport-reaction issue, we have developed a reaction engineering analysis of a multiple wafer-in-tube ultrahigh vacuum chemical vapor deposition (UHV/CVD) reactor which allows an estimate of wafer or substrate throughput for a reactor of fixed geometry and a given deposition chemistry with specified film thickness uniformity constraints. The model employs a description of ballistic transport and reaction based on the pseudo-steady approximation to the Boltzmann equation in the limit of pure molecular flow. The model representation takes the form of an integral equation for the flux of each reactant or intermediate species to the wafer surfaces. Expressions for the reactive sticking coefficients (RSC) for each species must be incorporated in the term which represents reemission from a wafer surface. The interactions of MOCVD precursors with Si and CdTe were investigated using temperature programmed desorption (TPD) in ultra high vacuum combined with Auger electron spectroscopy (AES). These studies revealed that diethyltellurium (DETe) and dimethylcadmium (DMCd) adsorb weakly on clean Si(100) and desorb upon heating without decomposing. These precursors adsorb both weakly and strongly on CdTe(111)A, with DMCd exhibiting the stronger interaction with the surface than DETe.

Raupp, Gregory B.↗
NASA NTRS1975

The effect of intermediate-scale motions on line formation

The problem of LTE and non-LTE line formation in the presence of nonthermal velocity fields with geometric scales between the microscopic and macroscopic limits is investigated in the cases of periodic sinusoidal and sawtooth waves. For a fixed source function (the LTE case), it is shown that time-averaged line profiles progress smoothly from the microscopic to the macroscopic limits as the geometric scale of the motions increases, that the sinusoidal motions produce symmetric time-averaged profiles, and that the sawtooth motions cause a redshift. In several idealized non-LTE cases, it is found that intermediate-scale velocity fields can significantly increase the surface source functions and line-core intensities. Calculations are made for a two-level atom in an isothermal atmosphere for a range of velocity scales and non-LTE coupling parameters and also for a two-level atom and a four-level representation of Na I line formation in the Harvard-Smithsonian Reference Atmosphere (1971) solar model. It is found that intermediate-scale velocity fields in the solar atmosphere could explain the central intensities of the Na I D lines and other strong absorption lines without invoking previously suggested high electron densities.

Shine, R. A.↗
NASA NTRS1987

On singular cases in the design derivative of Green's functional

The author's prior development of a general abstract representation for the design sensitivities of Green's functional for linear structural systems is extended to the case where the structural stiffness vanishes at an internal location. This situation often occurs in the optimal design of structures. Most optimality criteria require that optimally designed beams be statically determinate. For clamped-pinned beams, for example, this is possible only if the flexural stiffness vanishes at some intermediate location. The Green's function for such structures depends upon the stiffness and the location where it vanishes. A precise representation for Green's function's sensitivity to the location of vanishing stiffness is presented for beams and axisymmetric plates.

Reiss, Robert↗
NASA NTRS1975

Jupiter's magnetic field, magnetosphere, and interaction with the solar wind - Pioneer 11

Measurements of the magnetic field vector were obtained continuously throughout the encounter of the spacecraft with the planet Jupiter. Effects of Jupiter on the solar wind are considered along with the characteristics of the magnetopause at both low and intermediate latitudes, the three basic regions within the magnetosphere, and a spherical harmonic analysis of the Pioneer 11 measurements. The spherical harmonic representation has been used to derive contours of the magnetic field strength at the surface of Jupiter.

Smith, E. J.↗
NASA NTRS1989

Region based route planning - Multi-abstraction route planning based on intermediate level vision processing

Intermediate and high level processing operations are performed on vision data for the organization of images into more meaningful, higher-level topological representations by means of a region-based route planner (RBRP). The RBRP operates in terrain scenarios where some or most of the terrain is occluded, proceeding without a priori maps on the basis of two-dimensional representations and gradient-and-roughness information. Route planning is accomplished by three successive abstractions and yields a detailed point-by-point path by searching only within the boundaries of relatively small regions.

Doshi, Rajkumar S.↗
NASA NTRS1988

Object-oriented fault tree evaluation program for quantitative analyses

Object-oriented programming can be combined with fault free techniques to give a significantly improved environment for evaluating the safety and reliability of large complex systems for space missions. Deep knowledge about system components and interactions, available from reliability studies and other sources, can be described using objects that make up a knowledge base. This knowledge base can be interrogated throughout the design process, during system testing, and during operation, and can be easily modified to reflect design changes in order to maintain a consistent information source. An object-oriented environment for reliability assessment has been developed on a Texas Instrument (TI) Explorer LISP workstation. The program, which directly evaluates system fault trees, utilizes the object-oriented extension to LISP called Flavors that is available on the Explorer. The object representation of a fault tree facilitates the storage and retrieval of information associated with each event in the tree, including tree structural information and intermediate results obtained during the tree reduction process. Reliability data associated with each basic event are stored in the fault tree objects. The object-oriented environment on the Explorer also includes a graphical tree editor which was modified to display and edit the fault trees.

Patterson-Hine, F. A.↗
NASA NTRS1995

On the Character of the Zeros of Polynomials Relevant to the Small Curvature Approximation in Asymptotic Diffraction Theory

In dealing with the problem of estimating the high frequency coupling between two antennas mounted on a non-metallic aircraft skin, one is faced with approximation of the spectral integrals representing the propagation of rays along the geodesics of the surface between the antennas. When the antennas are sufficiently separated, the integrals can be conveniently represented as a rapidly convergent residue series. On the other hand, when the antennas are in close proximity, the residue series fails to converge rapidly and a power series representation proves to be efficacious. [Paknys and Wang, IEEE Trans. AP-35(3), 1987, 293-298]. When the effective surface impedance is not small, an intermediate region of separation appears in which neither the residue series nor the power series is effective. Recently, an asymptotic formalism was presented [Pogorzelski, National Radio Science Meeting, Boulder, CO, January 1995] which extends the earlier work of Bremmer [IRE Trans. AP-6, 1958, 267-272] and Wait curvature approximation' to the case of general (non-azimuthal) ray directions on the surface of a cylinder (excluding only axial propagation). Based on the formulation of Pearson [Radio Sci. 21(4), 1986] this asymptotic formalism provided a means of approximating the spectral integrals in the intermediate region of separation.

Zeros Polynomials↗
NASA NTRS1977

Bandwidth compression of synthetic aperture radar imagery by quantization of raw radar data

A study is made of the effects of quantization of the radar returns transmitted from aircraft or spacecraft employing a synthetic aperture radar system. The study is based on the output images obtained after one-bit, two-bit, and eight-bit quantizations and comparing the results to ground truth. In this way the degradation resulting from data or bandwidth reduction is determined. Quantization is evaluated in terms of crater scene, number of looks, and transmission error rate. It is found that two-bit quantization of raw radar data from homogeneous scenes processed to 32 looks yields nearly all the details of the original. One-bit quantization of raw radar data from homogeneous scenes processed to 32 looks yields a good visual representation of the scene but some fine detail is lost and the absolute reflectivity level is not reliable. Image quality is observed to improve with more looks and video and intermediate frequency quantization are not distinguishable even for one-bit quantizations. Image quality is not influenced by bit error rates less than about 2 to the -7th power.

Lipes, R. G.↗
NASA NTRS1980

Calculations of the variability of ice cloud radiative properties at selected solar wavelengths

This study shows that there is surprising little difference in values of reflectance, absorptance, and transmittance for many of the intermediate-size particle spectra. Particle size distributions with mode radii ranging from approximately 50 to 300 microns, irrespective of particle shape and nearly independent of the choice of size distribution representation, give relatively similar flux values. The very small particle sizes, however, have significantly larger values of reflectance and transmittance with corresponding smaller values of absorptance than do the larger particle sizes. The very large particle modes produce very small values of reflectance and transmittance along with very large values of absorptance. Such variations are particularly noticeable when plotted as a function of wavelength.

Welch, R. M.↗
NASA NTRS1989

Report on the 2-D Model Intercomparison Workshop held January 11-16, 1987 in Fort Myers Beach, Florida, chapter 2

In the attempts to understand the processes which affect ozone in the stratosphere, and to predict future ozone levels, a variety of computer models were developed and employed. To oversimplify somewhat, the models range from 1-D models with intricately detailed photochemistry but only the crudest representation of transport, to 3-D general circulation models with intricately detailed dynamics and no photochemistry at all. Each of these has its appropriate uses. It was felt that there was much to be gained from intermediate models incorporating an extensive treatment of photochemistry with a dynamical framework which at least recognizes that atmospheric motions are advective as well as diffusive, and that both chemistry and dynamics are subject to latitudinal and seasonal variations. Thus the 2-D, zonally averaged models have begun to play a larger role in the last seven years, both in attempting to understand observed distributions of trace species and in attempting to assess the probable effects of antropogenic perturbations. There are many choices to be made in developing the model. It was the purpose of the 2-D model Intercomparison Workshop to permit discussion of the choices made and the behavior of the resulting models. The goal was not to identify a best set of choices, but rather to identify areas in which the models are sensitive to the choices made, and to develop a sense of where these models as a class do well or poorly in simulating the observed atmosphere.

Guthrie, Paul D.↗
NASA NTRS1999

Magnetic Photon Splitting: The S-Matrix Formulation in the Landau Representation

Calculations of reaction rates for the third-order QED process of photon splitting gamma yields gamma.gamma in strong magnetic fields traditionally have employed either the effective Lagrangian method or variants of Schwinger's proper-time technique. Recently, Mentzel, Berg and Wunner [1] presented an alternative derivation via an S-matrix formulation in the Landau representation. Advantages of such a formulation include the ability to compute rates near pair resonances above pair threshold. This paper presents new developments of the Landau representation formalism as applied to photon splitting, providing significant, advances beyond the work of [1] by summing over the spin quantum numbers of the electron propagators, and analytically integrating over the component of momentum of the intermediate states that is parallel to field. The ensuing tractable expressions for the scattering amplitudes are satisfyingly compact, and of an appearance familiar to S-matrix theory applications. Such developments can facilitate numerical computations of splitting considerably both below and above pair threshold. Specializations to two regimes of interest are obtained, namely the limit of highly supercritical fields and the domain where photon energies are far inferior to that for the threshold of single-photon pair creation. In particular, for the first time the low-frequency amplitudes are simply expressed in terms of the Gamma function, its integral and its derivatives. In addition, the equivalence of the asymptotic forms in these two domains to extant results from effective Lagrangian/proper- time formulations is demonstrated.

Baring, Matthew G.↗
NASA NTRS1989

Optical Matrix.Matrix Multiplier

Proposed apparatus for optical multiplication of two matrices based on Stanford optical vector.matrix multiplier. Does not require redundant representation of one of matrices. Because apparatus performs multiplication in fully parallel manner, incorporated as subsystem into large optical-processing system. Optical matrix.matrix multiplier processes inputs in fully parallel fashion, without redundant matrix images or ancillary intermediate electronic processing.

Gheen, Gregory↗
NASA NTRS1988

Functional reasoning in diagnostic problem solving

This work is one facet of an integrated approach to diagnostic problem solving for aircraft and space systems currently under development. The authors are applying a method of modeling and reasoning about deep knowledge based on a functional viewpoint. The approach recognizes a level of device understanding which is intermediate between a compiled level of typical Expert Systems, and a deep level at which large-scale device behavior is derived from known properties of device structure and component behavior. At this intermediate functional level, a device is modeled in three steps. First, a component decomposition of the device is defined. Second, the functionality of each device/subdevice is abstractly identified. Third, the state sequences which implement each function are specified. Given a functional representation and a set of initial conditions, the functional reasoner acts as a consequence finder. The output of the consequence finder can be utilized in diagnostic problem solving. The paper also discussed ways in which this functional approach may find application in the aerospace field.

Sticklen, Jon↗
NASA NTRS1990

Obtaining an equivalent beam

In modeling a complex structure the researcher was faced with a component that would have logical appeal if it were modeled as a beam. The structure was a mast of a robot controlled gantry crane. The structure up to this point already had a large number of degrees of freedom, so the idea of conserving grid points by modeling the mast as a beam was attractive. The researcher decided to make a separate problem of of the mast and model it in three dimensions with plates, then extract the equivalent beam properties by setting up the loading to simulate beam-like deformation and constraints. The results could then be used to represent the mast as a beam in the full model. A comparison was made of properties derived from models of different constraints versus manual calculations. The researcher shows that the three-dimensional model is ineffective in trying to conform to the requirements of an equivalent beam representation. If a full 3-D plate model were used in the complete representation of the crane structure, good results would be obtained. Since the attempt is to economize on the size of the model, a better way to achieve the same results is to use substructuring and condense the mast to equivalent end boundary and intermediate mass points.

Butler, Thomas G.↗