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All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Navigation of military and space unmanned ground vehicles in unstructured terrains

Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

Lescoe, Paul↗
NASA NTRS1996

The NIST Real-Time Control System (RCS): A Reference Model Architecture for Computational Intelligence

The Real-time Control System (RCS) developed at NIST and elsewhere over the past two decades defines a reference model architecture for design and analysis of complex intelligent control systems. The RCS architecture consists of a hierarchically layered set of functional processing modules connected by a network of communication pathways. The primary distinguishing feature of the layers is the bandwidth of the control loops. The characteristic bandwidth of each level is determined by the spatial and temporal integration window of filters, the temporal frequency of signals and events, the spatial frequency of patterns, and the planning horizon and granularity of the planners that operate at each level. At each level, tasks are decomposed into sequential subtasks, to be performed by cooperating sets of subordinate agents. At each level, signals from sensors are filtered and correlated with spatial and temporal features that are relevant to the control function being implemented at that level.

Albus, James S.↗
NASA NTRS2001

A semi-automatic method for left ventricle volume estimate: an in vivo validation study

This study aims to the validation of the left ventricular (LV) volume estimates obtained by processing volumetric data utilizing a segmentation model based on level set technique. The validation has been performed by comparing real-time volumetric echo data (RT3DE) and magnetic resonance (MRI) data. A validation protocol has been defined. The validation protocol was applied to twenty-four estimates (range 61-467 ml) obtained from normal and pathologic subjects, which underwent both RT3DE and MRI. A statistical analysis was performed on each estimate and on clinical parameters as stroke volume (SV) and ejection fraction (EF). Assuming MRI estimates (x) as a reference, an excellent correlation was found with volume measured by utilizing the segmentation procedure (y) (y=0.89x + 13.78, r=0.98). The mean error on SV was 8 ml and the mean error on EF was 2%. This study demonstrated that the segmentation technique is reliably applicable on human hearts in clinical practice.

NASA Discipline Cardiopulmonary↗
NASA NTRS1999

Applications of Constituent Data Assimilation Systems

Organizations in Europe, Australia, and the United States have recently broadened constituent assimilation activities beyond that water vapor, which has been assimilated for years in the numerical weather prediction community. Many of these activities have focused on ozone, with some efforts focused on the entire suite of reactive constituents that control the ozone distribution. This talk will draw from results from the near real-time ozone data assimilation system being run by NASA's Data Assimilation Office. This system utilizes ozone observations from both the TOMS and the SBUV instrument to generate global synoptic maps of ozone. The initial application of this product is to provide ozone fields to assist in the atmospheric corrections' that are necessary for the retrieval of information from other NASA instruments. The validation of the ozone assimilation system shows that the assimilated product agrees well with independent HALOE and ozonesonde observations. This suggests that the product is of sufficient quality to be extended to other applications. This talk will enumerate these other applications and present initial results from exploratory research. The applications being considered include estimates of tropospheric ozone, provision of ozone fields for interactive retrievals, use of analysis increments from the assimilation to evaluate model performance, and development of long-term consistent three-dimensional global ozone fields. The results from the exploratory studies are promising, and help demonstrate how assumptions made in the p development of the ozone assimilation impact the other applications. For instance, RMS errors in the current product are large near the tropopause, which is sensitive to the specification of vertical correlation functions, which in turns impacts the amount of ozone analyzed to be in the troposphere. How these sensitivities impact the different applications will also be discussed.

Rood, Richard B.↗
NASA NTRS2000

Results from NASA's Near Real Time Ozone Data Assimilation Systems

Organizations in Europe, Australia, and the United States have recently broadened constituent assimilation activities beyond water vapor, which has been assimilated for years in the numerical weather prediction applications. Many of these activities have focused on ozone, with some efforts focused on the entire suite of reactive constituents that control the ozone distribution. This talk will draw from results from the near real-time ozone data assimilation system being run by NASA's Data Assimilation Office. This system utilizes ozone observations from both the TOMS and the SBUV instrument to generate global synoptic maps of ozone. The initial application of this product is to provide ozone fields to assist in the atmospheric corrections' that are necessary for the retrieval of information from other NASA instruments. The validation of the ozone assimilation system shows that the assimilated product agrees well with independent HALOE and ozonesonde observations. Aside from providing a global synoptic map, there is verifiable geophysical information at higher vertical resolution than either of the date types input into the system. This talk will establish the validation results and enumerate applications of the ozone data assimilation system. Results from exploratory research will be presented. The applications being considered include estimates of tropospheric ozone, provision of ozone fields for interactive retrievals, use of analysis increments from the assimilation to evaluate model performance, and development of long-term consistent three-dimensional global ozone fields. The results from the exploratory studies are promising, and help demonstrate how assumptions made in the development of the ozone assimilation impact the other applications. For instance, RMS errors in the current product are large near the tropopause, which is sensitive to the specification of vertical correlation functions, which in turns impacts the amount of ozone analyzed to be in the troposphere. How these sensitivities impact the different applications will also be discussed.

Rood, Richard B.↗
NASA NTRS2001

Left ventricular endocardial surface detection based on real-time 3D echocardiographic data

OBJECTIVE: A new computerized semi-automatic method for left ventricular (LV) chamber segmentation is presented. METHODS: The LV is imaged by real-time three-dimensional echocardiography (RT3DE). The surface detection model, based on level set techniques, is applied to RT3DE data for image analysis. The modified level set partial differential equation we use is solved by applying numerical methods for conservation laws. The initial conditions are manually established on some slices of the entire volume. The solution obtained for each slice is a contour line corresponding with the boundary between LV cavity and LV endocardium. RESULTS: The mathematical model has been applied to sequences of frames of human hearts (volume range: 34-109 ml) imaged by 2D and reconstructed off-line and RT3DE data. Volume estimation obtained by this new semi-automatic method shows an excellent correlation with those obtained by manual tracing (r = 0.992). Dynamic change of LV volume during the cardiac cycle is also obtained. CONCLUSION: The volume estimation method is accurate; edge based segmentation, image completion and volume reconstruction can be accomplished. The visualization technique also allows to navigate into the reconstructed volume and to display any section of the volume.

Non-NASA Center↗
NASA NTRS2000

Validation of real-time three-dimensional echocardiography for quantifying left ventricular volumes in the presence of a left ventricular aneurysm: in vitro and in vivo studies

OBJECTIVES: To validate the accuracy of real-time three-dimensional echocardiography (RT3DE) for quantifying aneurysmal left ventricular (LV) volumes. BACKGROUND: Conventional two-dimensional echocardiography (2DE) has limitations when applied for quantification of LV volumes in patients with LV aneurysms. METHODS: Seven aneurysmal balloons, 15 sheep (5 with chronic LV aneurysms and 10 without LV aneurysms) during 60 different hemodynamic conditions and 29 patients (13 with chronic LV aneurysms and 16 with normal LV) underwent RT3DE and 2DE. Electromagnetic flow meters and magnetic resonance imaging (MRI) served as reference standards in the animals and in the patients, respectively. Rotated apical six-plane method with multiplanar Simpson's rule and apical biplane Simpson's rule were used to determine LV volumes by RT3DE and 2DE, respectively. RESULTS: Both RT3DE and 2DE correlated well with actual volumes for aneurysmal balloons. However, a significantly smaller mean difference (MD) was found between RT3DE and actual volumes (-7 ml for RT3DE vs. 22 ml for 2DE, p = 0.0002). Excellent correlation and agreement between RT3DE and electromagnetic flow meters for LV stroke volumes for animals with aneurysms were observed, while 2DE showed lesser correlation and agreement (r = 0.97, MD = -1.0 ml vs. r = 0.76, MD = 4.4 ml). In patients with LV aneurysms, better correlation and agreement between RT3DE and MRI for LV volumes were obtained (r = 0.99, MD = -28 ml) than between 2DE and MRI (r = 0.91, MD = -49 ml). CONCLUSIONS: For geometrically asymmetric LVs associated with ventricular aneurysms, RT3DE can accurately quantify LV volumes.

NASA Discipline Cardiopulmonary↗
NASA NTRS1994

Understanding software faults and their role in software reliability modeling

This study is a direct result of an on-going project to model the reliability of a large real-time control avionics system. In previous modeling efforts with this system, hardware reliability models were applied in modeling the reliability behavior of this system. In an attempt to enhance the performance of the adapted reliability models, certain software attributes were introduced in these models to control for differences between programs and also sequential executions of the same program. As the basic nature of the software attributes that affect software reliability become better understood in the modeling process, this information begins to have important implications on the software development process. A significant problem arises when raw attribute measures are to be used in statistical models as predictors, for example, of measures of software quality. This is because many of the metrics are highly correlated. Consider the two attributes: lines of code, LOC, and number of program statements, Stmts. In this case, it is quite obvious that a program with a high value of LOC probably will also have a relatively high value of Stmts. In the case of low level languages, such as assembly language programs, there might be a one-to-one relationship between the statement count and the lines of code. When there is a complete absence of linear relationship among the metrics, they are said to be orthogonal or uncorrelated. Usually the lack of orthogonality is not serious enough to affect a statistical analysis. However, for the purposes of some statistical analysis such as multiple regression, the software metrics are so strongly interrelated that the regression results may be ambiguous and possibly even misleading. Typically, it is difficult to estimate the unique effects of individual software metrics in the regression equation. The estimated values of the coefficients are very sensitive to slight changes in the data and to the addition or deletion of variables in the regression equation. Since most of the existing metrics have common elements and are linear combinations of these common elements, it seems reasonable to investigate the structure of the underlying common factors or components that make up the raw metrics. The technique we have chosen to use to explore this structure is a procedure called principal components analysis. Principal components analysis is a decomposition technique that may be used to detect and analyze collinearity in software metrics. When confronted with a large number of metrics measuring a single construct, it may be desirable to represent the set by some smaller number of variables that convey all, or most, of the information in the original set. Principal components are linear transformations of a set of random variables that summarize the information contained in the variables. The transformations are chosen so that the first component accounts for the maximal amount of variation of the measures of any possible linear transform; the second component accounts for the maximal amount of residual variation; and so on. The principal components are constructed so that they represent transformed scores on dimensions that are orthogonal. Through the use of principal components analysis, it is possible to have a set of highly related software attributes mapped into a small number of uncorrelated attribute domains. This definitively solves the problem of multi-collinearity in subsequent regression analysis. There are many software metrics in the literature, but principal component analysis reveals that there are few distinct sources of variation, i.e. dimensions, in this set of metrics. It would appear perfectly reasonable to characterize the measurable attributes of a program with a simple function of a small number of orthogonal metrics each of which represents a distinct software attribute domain.

Munson, John C.↗
NASA NTRS1981

Real-time multiple-look synthetic aperture radar processor for spacecraft applications

A spaceborne synthetic aperture radar (SAR) having pipeline multiple-look data processing is described which makes use of excessive azimuth bandwidth in radar echo signals to produce multiple-looking images. Time multiplexed single-look image lines from an azimuth correlator go through an energy analyzer which analyzes the mean energy in each separate look to determine the radar antenna electric boresight for use in generating the correct reference functions for the production of high quality SAR images. The multiplexed single look image lines also go through a registration delay to produce multi-look images.

Wu, C.↗
NASA NTRS1983

Real-time MST radar signal processing using a microcomputer running under FORTH

Data on power, correlation time, and velocity were obtained at the Urbana radar using microcomputer and a single floppy disk drive. This system includes the following features: (1) measurement of the real and imaginary components of the received signal at 20 altitudes spaced by 1.5 km; (2) coherent integration of these components over a 1/8-s time period; (3) continuous real time display of the height profiles of the two coherently integrated components; (4) real time calculation of the 1 minute averages of the power and autocovariance function up to 6 lags; (5) output of these data to floppy disk once every 2 minutes; (6) display of the 1 minute power profiles while the data are stored to the disk; (7) visual prompting for the operator to change disks when required at the end of each hour of data; and (8) continuous audible indication of the status of the interrupt service routine. Accomplishments were enabled by two developments: the use of a new correlation algorithm and the use of the FORTH language to manage the various low level and high level procedures involved.

Bowhill, S. A.↗
NASA NTRS1985

An automated methodology development

The design methodology employed in testing the applicability of Ada in large-scale combat simulations is described. Ada was considered as a substitute for FORTRAN to lower life cycle costs and ease the program development efforts. An object-oriented approach was taken, which featured definitions of military targets, the capability of manipulating their condition in real-time, and one-to-one correlation between the object states and real world states. The simulation design process was automated by the problem statement language (PSL)/problem statement analyzer (PSA). The PSL/PSA system accessed the problem data base directly to enhance the code efficiency by, e.g., eliminating non-used subroutines, and provided for automated report generation, besides allowing for functional and interface descriptions. The ways in which the methodology satisfied the responsiveness, reliability, transportability, modifiability, timeliness and efficiency goals are discussed.

Hawley, L. R.↗
NASA NTRS1988

Mission telemetry system monitor: A real-time knowledge-based system

The Galileo Mission Telemetry System (MTS) has a cluster of computer subsystems configured as a star network. The MTS handles the real-time processing of spacecraft telemetry and ground monitor data. Large volumes of status and fault messages are generated as a result of changes in the system environment. These messages are triggered by the conditions that exist on any one particular subsystem or device. The order of message generation is in time sequence and does not always correlate to the function sequence of active processes. A significant number of messages provide context with varying degrees of uncertainty. As such, highly skilled telemetry controllers are required to regularly go through high volumes of messages generated by the MTS to identify, diagnose, and isolate faults. A knowledge-based system prototype is being developed to monitor the Galileo Mission Telemetry System performance. The system design approach features temporal reasoning, uncertainty management, and intelligent graphic user interfaces.

Mouneimne, Samih A.↗
NASA NTRS1992

Anthropomorphic teleoperation: Controlling remote manipulators with the DataGlove

A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs.

Hale, J. P., II↗
NASA NTRS1992

Coherent 1-micron lidar measurements of atmospheric-turbulence-induced spatial decorrelation using a multielement heterodyne detector array

A coherent 1-micron Nd:YAG lidar system is employed to measure directly the reduced spatial coherence length rho 0 of the lidar returns caused by atmospheric turbulence. The experiments were conducted by using a 2 x 2 heterodyne detector array, which permitted real-time spatial correlation measurements of the lidar returns at two different detector spacings. The spatial correlation coefficients and spatial coherence length of the lidar returns from a hard target were measured during a day-to-night time period when the atmospheric turbulence parameter, Cn-squared, was measured to vary from 2 x 10 exp -13 to 2 x 10 exp -4 m exp -2/3. These directly measured values of rho 0 as a function of Cn-squared were found to be in good agreement with theoretical predictions.

Chan, Kin P.↗
NASA NTRS1993

Ionospheric calibration for single frequency altimeter measurements

This report investigates the potential of using Global Positioning System (GPS) data and a model of the ionosphere to supply a measure of the sub-satellite Total Electron Current (TEC) of the required accuracy (10 TECU rms) for the purpose of calibrating single frequency radar altimeter measurements. Since climatological (monthly mean) models are known to be in error by as much as 50 percent, this work focused on the Parameterized Real-Time Ionospheric Specification Model (PRISM) which has the capability to improve model accuracy by ingesting (adjusting to) in situ ionospheric measurements. A set of globally distributed TEC measurements were generated using GPS data and were used as input to improve the accuracy of the PRISM model. The adjusted PRISM TEC values were compared to TOPEX dual frequency TEC measurements (which are considered truth) for a number of TOPEX sub-satellite tracks. The adjusted PRISM values generally compared to the TOPEX measurements within the 10 TECU accuracy requirements when the sub-satellite track passed within 300 to 400 km of the GPS TEC data or when the track passed through a night time ionosphere. However, when the sub-satellite points were greater than 300 to 400 km away from the GPS TEC data or when a local noon ionosphere was sampled, the adjusted PRISM values generally differed by greater than 10 TECU rms with data excursions from the TOPEX TEC measurements of as much as 40 TECU (an 8 cm path delay error at K band). Therefore, it can be concluded from this analysis that an unrealistically large number of GPS stations would be needed to predict sub-satellite TEC at the 10 TECU level in the day time ionosphere using a model such as PRISM. However, a technique currently being studied at the Jet Propulsion Laboratory (JPL) may provide a means of supplying adequate TEC data to meet the 10 TECU ionospheric correction accuracy when using a realistic number of ionospheric stations. This method involves using global GPS TEC data to estimate a global grid of vertical ionospheric TEC as a function of time (i.e. every one half hour) in a sun-fixed longitude frame. Working in a sun-fixed longitude frame, one is not limited by the spatial decorrelation distance of the ionosphere, but instead is limited more by the temporal correlations of the ionosphere in the sun-fixed frame which are a smaller effect. It is the opinion of the authors that using the global sun-fixed TEC grid data, in particular, ingesting it into PRISM, offers the best possibility of meeting the 10 TECU ionospheric correction accuracy requirement, and should be the subject of further study.

Schreiner, William S.↗
NASA NTRS1994

Simplifying operations with an uplink/downlink integration toolkit

The Operations Engineering Lab (OEL) at JPL has developed a simple, generic toolkit to integrate the uplink/downlink processes, (often called closing the loop), in JPL's Multimission Ground Data System. This toolkit provides capabilities for integrating telemetry verification points with predicted spacecraft commands and ground events in the Mission Sequence Of Events (SOE) document. In the JPL ground data system, the uplink processing functions and the downlink processing functions are separate subsystems that are not well integrated because of the nature of planetary missions with large one-way light times for spacecraft-to-ground communication. Our new closed-loop monitoring tool allows an analyst or mission controller to view and save uplink commands and ground events with their corresponding downlinked telemetry values regardless of the delay in downlink telemetry and without requiring real-time intervention by the user. An SOE document is a time-ordered list of all the planned ground and spacecraft events, including all commands, sequence loads, ground events, significant mission activities, spacecraft status, and resource allocations. The SOE document is generated by expansion and integration of spacecraft sequence files, ground station allocations, navigation files, and other ground event files. This SOE generation process has been automated within the OEL and includes a graphical, object-oriented SOE editor and real-time viewing tool running under X/Motif. The SOE toolkit was used as the framework for the integrated implementation. The SOE is used by flight engineers to coordinate their operations tasks, serving as a predict data set in ground operations and mission control. The closed-loop SOE toolkit allows simple, automated integration of predicted uplink events with correlated telemetry points in a single SOE document for on-screen viewing and archiving. It automatically interfaces with existing real-time or non real-time sources of information, to display actual values from the telemetry data stream. This toolkit was designed to greatly simplify the user's ability to access and view telemetry data, and also provide a means to view this data in the context of the commands and ground events that are used to interpret it. A closed-loop system can prove especially useful in small missions with limited resources requiring automated monitoring tools. This paper will discuss the toolkit implementation, including design trade-offs and future plans for enhancing the automated capabilities.

Murphy, Susan C.↗
NASA NTRS1995

Optoelectronic Particle-Fallout Sensor

Portable optoelectronic system monitors fallout of small particles (dust and fibers) onto surface at given location during extended time. Data on accumulated fallout downloaded from system to computer for display and analysis. Typical display is plot of signal proportional to amount of accumulated fallout as function of time and read to determine when contamination occurs. In many cases, possible to establish correlations between accumulations of particles and activities in vicinity. Also capable of signaling alarm in event contamination by fallout exceeds specified level. System made very inexpensively and used to monitor accumulation of dust and fibers associated with motion of air in variety of environments. Phenomena monitored indirectly by use of system might include circulation of air in buildings, and human and animal activity. Also serves as auxiliary intrusion monitor (though probably not real-time alarm) in sealed room because motion of intruder inevitably stirs up some dust.

Ihlefeld, Curtis↗
NASA NTRS2003

Development of an Efficient Binaural Simulation for the Analysis of Structural Acoustic Data

Applying binaural simulation techniques to structural acoustic data can be very computationally intensive as the number of discrete noise sources can be very large. Typically, Head Related Transfer Functions (HRTFs) are used to individually filter the signals from each of the sources in the acoustic field. Therefore, creating a binaural simulation implies the use of potentially hundreds of real time filters. This paper details two methods of reducing the number of real-time computations required by: (i) using the singular value decomposition (SVD) to reduce the complexity of the HRTFs by breaking them into dominant singular values and vectors and (ii) by using equivalent source reduction (ESR) to reduce the number of sources to be analyzed in real-time by replacing sources on the scale of a structural wavelength with sources on the scale of an acoustic wavelength. The ESR and SVD reduction methods can be combined to provide an estimated computation time reduction of 99.4% for the structural acoustic data tested. In addition, preliminary tests have shown that there is a 97% correlation between the results of the combined reduction methods and the results found with the current binaural simulation techniques

Johnson, Marty E.↗