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NASA NTRS1995

Laser-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

The invention relates generally to systems for determining the range of an object from a reference point and, in one embodiment, to laser-directed ranging systems useful in telerobotics applications. Digital processing techniques are employed which minimize the complexity and cost of the hardware and software for processing range calculations, thereby enhancing the commercial attractiveness of the system for use in relatively low-cost robotic systems. The system includes a video camera for generating images of the target, image digitizing circuitry, and an associated frame grabber circuit. The circuit first captures one of the pairs of stereo video images of the target, and then captures a second video image of the target as it is partly illuminated by the light beam, suitably generated by a laser. The two video images, taken sufficiently close together in time to minimize camera and scene motion, are converted to digital images and then compared. Common pixels are eliminated, leaving only a digital image of the laser-illuminated spot on the target. Mw centroid of the laser illuminated spot is dm obtained and compared with a predetermined reference point, predetermined by design or calibration, which represents the coordinate at the focal plane of the laser illumination at infinite range. Preferably, the laser and camera are mounted on a servo-driven platform which can be oriented to direct the camera and the laser toward the target. In one embodiment the platform is positioned in response to movement of the operator's head. Position and orientation sensors are used to monitor head movement. The disparity between the digital image of the laser spot and the reference point is calculated for determining range to the target. Commercial applications for the system relate to active range-determination systems, such as those used with robotic systems in which it is necessary to determine the, range to a workpiece or object to be grasped or acted upon by a robot arm end-effector in response to commands generated by an operator. In one embodiment, the system provides a real-time image of the target for the operator as the robot approaches the object. The system is also adapted for use in virtual reality systems in which a remote object or workpiece is to be acted upon by a remote robot arm or other mechanism controlled by an operator.

Wells, Dennis L.↗

NASA NTRS1993

Synchronizing Light Pulses With Video Camera

Interface circuit triggers laser or other external source of light to flash in proper frame and field (at proper time) for video recording and playback in "pause" mode. Also increases speed of electronic shutter (if any) during affected frame to reduce visibility of background illumination relative to that of laser illumination.

Kalshoven, James E., Jr.↗

NASA NTRS1976

Solid state television camera

The design, fabrication, and tests of a solid state television camera using a new charge-coupled imaging device are reported. An RCA charge-coupled device arranged in a 512 by 320 format and directly compatible with EIA format standards was the sensor selected. This is a three-phase, sealed surface-channel array that has 163,840 sensor elements, which employs a vertical frame transfer system for image readout. Included are test results of the complete camera system, circuit description and changes to such circuits as a result of integration and test, maintenance and operation section, recommendations to improve the camera system, and a complete set of electrical and mechanical drawing sketches.

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NASA NTRS2006

2D/3D Visual Tracker for Rover Mast

A visual-tracker computer program controls an articulated mast on a Mars rover to keep a designated feature (a target) in view while the rover drives toward the target, avoiding obstacles. Several prior visual-tracker programs have been tested on rover platforms; most require very small and well-estimated motion between consecutive image frames a requirement that is not realistic for a rover on rough terrain. The present visual-tracker program is designed to handle large image motions that lead to significant changes in feature geometry and photometry between frames. When a point is selected in one of the images acquired from stereoscopic cameras on the mast, a stereo triangulation algorithm computes a three-dimensional (3D) location for the target. As the rover moves, its body-mounted cameras feed images to a visual-odometry algorithm, which tracks two-dimensional (2D) corner features and computes their old and new 3D locations. The algorithm rejects points, the 3D motions of which are inconsistent with a rigid-world constraint, and then computes the apparent change in the rover pose (i.e., translation and rotation). The mast pan and tilt angles needed to keep the target centered in the field-of-view of the cameras (thereby minimizing the area over which the 2D-tracking algorithm must operate) are computed from the estimated change in the rover pose, the 3D position of the target feature, and a model of kinematics of the mast. If the motion between the consecutive frames is still large (i.e., 3D tracking was unsuccessful), an adaptive view-based matching technique is applied to the new image. This technique uses correlation-based template matching, in which a feature template is scaled by the ratio between the depth in the original template and the depth of pixels in the new image. This is repeated over the entire search window and the best correlation results indicate the appropriate match. The program could be a core for building application programs for systems that require coordination of vision and robotic motion.

Bajracharya, Max↗

NASA NTRS2015

Precision of FLEET Velocimetry Using High-Speed CMOS Camera Systems

Femtosecond laser electronic excitation tagging (FLEET) is an optical measurement technique that permits quantitative velocimetry of unseeded air or nitrogen using a single laser and a single camera. In this paper, we seek to determine the fundamental precision of the FLEET technique using high-speed complementary metal-oxide semiconductor (CMOS) cameras. Also, we compare the performance of several different high-speed CMOS camera systems for acquiring FLEET velocimetry data in air and nitrogen free-jet flows. The precision was defined as the standard deviation of a set of several hundred single-shot velocity measurements. Methods of enhancing the precision of the measurement were explored such as digital binning (similar in concept to on-sensor binning, but done in post-processing), row-wise digital binning of the signal in adjacent pixels and increasing the time delay between successive exposures. These techniques generally improved precision; however, binning provided the greatest improvement to the un-intensified camera systems which had low signal-to-noise ratio. When binning row-wise by 8 pixels (about the thickness of the tagged region) and using an inter-frame delay of 65 microseconds, precisions of 0.5 meters per second in air and 0.2 meters per second in nitrogen were achieved. The camera comparison included a pco.dimax HD, a LaVision Imager scientific CMOS (sCMOS) and a Photron FASTCAM SA-X2, along with a two-stage LaVision HighSpeed IRO intensifier. Excluding the LaVision Imager sCMOS, the cameras were tested with and without intensification and with both short and long inter-frame delays. Use of intensification and longer inter-frame delay generally improved precision. Overall, the Photron FASTCAM SA-X2 exhibited the best performance in terms of greatest precision and highest signal-to-noise ratio primarily because it had the largest pixels.

Peters, Christopher J.↗

NASA NTRS1992

Enhanced orbital gyrocompassing by the optical flow sensed by an Earth-pointing camera

A new method for improving the orbital gyrocompassing process involving the attitude angle estimation of an earth-pointing satellite in low-Earth orbit uses an electro-optical sensor for direct measurement of the satellite azimuth angle. Simulations have shown that this additional measurement drastically reduces the estimator convergence time, especially when the sun sensor is rendered ineffective, e.g., by high solar elevations. The azimuth-sensing method is based on estimation of the image shift between successive picture frames of an on-board, Earth-pointing, charge-coupled device (CCD) full-matrix camera. The shift-estimation algorithm is based on minimizing a cost function which expresses mean-squared differences in brightness patterns of selected areas of the two frames. An extensive evaluation program with a computer-controlled 2-axis light table and actual satellite images has demonstrated high robustness for a wide range of variation of parameters including image texture content; camera focal length; sampling rate; and number of pixels processed. It was shown to be possible to estimate the azimuth angle within 0.1-0.2 degrees, for a suitably chosen parameter set.

Topaz, Leora↗

NASA NTRS2002

Speaking Volumes About 3-D

In 1999, Genex submitted a proposal to Stennis Space Center for a volumetric 3-D display technique that would provide multiple users with a 360-degree perspective to simultaneously view and analyze 3-D data. The futuristic capabilities of the VolumeViewer(R) have offered tremendous benefits to commercial users in the fields of medicine and surgery, air traffic control, pilot training and education, computer-aided design/computer-aided manufacturing, and military/battlefield management. The technology has also helped NASA to better analyze and assess the various data collected by its satellite and spacecraft sensors. Genex capitalized on its success with Stennis by introducing two separate products to the commercial market that incorporate key elements of the 3-D display technology designed under an SBIR contract. The company Rainbow 3D(R) imaging camera is a novel, three-dimensional surface profile measurement system that can obtain a full-frame 3-D image in less than 1 second. The third product is the 360-degree OmniEye(R) video system. Ideal for intrusion detection, surveillance, and situation management, this unique camera system offers a continuous, panoramic view of a scene in real time.

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NASA NTRS2012

High-Speed Edge-Detecting Line Scan Smart Camera

A high-speed edge-detecting line scan smart camera was developed. The camera is designed to operate as a component in a NASA Glenn Research Center developed inlet shock detection system. The inlet shock is detected by projecting a laser sheet through the airflow. The shock within the airflow is the densest part and refracts the laser sheet the most in its vicinity, leaving a dark spot or shadowgraph. These spots show up as a dip or negative peak within the pixel intensity profile of an image of the projected laser sheet. The smart camera acquires and processes in real-time the linear image containing the shock shadowgraph and outputting the shock location. Previously a high-speed camera and personal computer would perform the image capture and processing to determine the shock location. This innovation consists of a linear image sensor, analog signal processing circuit, and a digital circuit that provides a numerical digital output of the shock or negative edge location. The smart camera is capable of capturing and processing linear images at over 1,000 frames per second. The edges are identified as numeric pixel values within the linear array of pixels, and the edge location information can be sent out from the circuit in a variety of ways, such as by using a microcontroller and onboard or external digital interface to include serial data such as RS-232/485, USB, Ethernet, or CAN BUS; parallel digital data; or an analog signal. The smart camera system can be integrated into a small package with a relatively small number of parts, reducing size and increasing reliability over the previous imaging system..

Prokop, Norman F.↗

NASA NTRS2007

Aerial Videography From Locally Launched Rockets

A method of quickly collecting digital imagery of ground areas from video cameras carried aboard locally launched rockets has been developed. The method can be used, for example, to record rare or episodic events or to gather image data to guide decisions regarding treatment of agricultural fields or fighting wildfires. The method involves acquisition and digitization of a video frame at a known time along with information on the position and orientation of the rocket and camera at that time. The position and orientation data are obtained by use of a Global Positioning System receiver and a digital magnetic compass carried aboard the rocket. These data are radioed to a ground station, where they are processed, by a real-time algorithm, into georeferenced position and orientation data. The algorithm also generates a file of transformation parameters that account for the variation of image magnification and distortion associated with the position and orientation of the camera relative to the ground scene depicted in the image. As the altitude, horizontal position, and orientation of the rocket change between image frames, the algorithm calculates the corresponding new georeferenced position and orientation data and the associated transformation parameters. The output imagery can be rendered in any of a variety of formats. The figure presents an example of one such format.

Lyle, Stacey D.↗

NASA NTRS1966

Sensory, Decision and Control Systems: April to July 1966

The quarter reported here for the NASA contract, and the longer period reported for the Air Force contract, saw the development of two system concepts for the transmission of video data from a remote location to Earth. In the simpler system, a stereoscopic outline together with other data such as reflectance and possibly the texture of objects will be transmitted to Earth. The objects considered are those larger than a predetermined size and within a predetermined range. From the stereoscopic outlines presented to the operator on Earth he will decide what objects he would like pictured in full TV frames and order these transmitted. In the more elaborate system, TV cameras will be carried on a vehicle and the direction in which the vehicle moves will be chosen by an onboard decision computer. Perceptual decisions may also be made to identify objects whose characteristics have been reported to Earth and whose value to the Earth observer has been communicated back to the perceptual computer. The assembly of cameras, perceptual computer, decision computer and vehicle is called a robot. Photosensors for this robot are television cameras, the first models of which have been tested under computer control. A model of both the perceptual computer and the decision computer has been simulated. It consists of 12 modules, each of which makes an initial guess as to what the response to incoming data should be. Each takes the data from all other modules and combines it in a nonlinear fashion with the data coming directly into it to arrive at a mixed guess as to what act should be performed. When 60% of the modules vote 0. 5 probability for one act, that act is performed. Convergence to a satisfactory decision took from 5 to 25 time steps. The model of the frog's retina previously reported is here extended to that part of the brain, called the tectum, where the frog begins to respond to objects detected by the retina.

Control system↗

NASA NTRS1979

Real-time video-image analysis

Digitizer and storage system allow rapid random access to video data by computer. RAPID (random-access picture digitizer) uses two commercially-available, charge-injection, solid-state TV cameras as sensors. It can continuously update its memory with each frame of video signal, or it can hold given frame in memory. In either mode, it generates composite video output signal representing digitized image in memory.

Eskenazi, R.↗

NASA NTRS2010

High-Speed PLIF Imaging of Hypersonic Transition over Discrete Cylindrical Roughness

In two separate test entries, advanced laser-based instrumentation has been developed and applied to visualize the hypersonic flow over cylindrical protrusions on a flat plate. Upstream of these trips, trace quantities of nitric oxide (NO) were seeded into the boundary layer. The protuberances were sized to force laminar-to-turbulent boundary layer transition. In the first test, a 10-Hz nitric oxide planar laser-induced fluorescence (NO PLIF) flow visualization system was used to provide wide-field-of-view, high-resolution images of the flowfield. The images had sub-microsecond time resolution. However these images, obtained with a time separation of 0.1 sec, were uncorrelated with each other. Fluorescent oil-flow visualizations were also obtained during this test. In the second experiment, a laser and camera system capable of acquiring NO PLIF measurements at 1 million frames per second (1 MHz) was used. This system had lower spatial resolution, and a smaller field of view, but the images were time correlated so that the development of the flow structures could be observed in time.

Danehy, P. M.↗

NASA NTRS2010

Autonomous Exploration for Gathering Increased Science

The Autonomous Exploration for Gathering Increased Science System (AEGIS) provides automated targeting for remote sensing instruments on the Mars Exploration Rover (MER) mission, which at the time of this reporting has had two rovers exploring the surface of Mars (see figure). Currently, targets for rover remote-sensing instruments must be selected manually based on imagery already on the ground with the operations team. AEGIS enables the rover flight software to analyze imagery onboard in order to autonomously select and sequence targeted remote-sensing observations in an opportunistic fashion. In particular, this technology will be used to automatically acquire sub-framed, high-resolution, targeted images taken with the MER panoramic cameras. This software provides: 1) Automatic detection of terrain features in rover camera images, 2) Feature extraction for detected terrain targets, 3) Prioritization of terrain targets based on a scientist target feature set, and 4) Automated re-targeting of rover remote-sensing instruments at the highest priority target.

Bornstein, Benjamin J.↗

NASA NTRS1992

A 5-18 micron array camera for high-background astronomical imaging

A new infrared array camera system using a Hughes/SBRC 58 x 62 pixel hybrid Si:Ga array detector has been successfully applied to high-background 5-18-micron astronomical imaging observations. The off-axis reflective optical system minimizes thermal background loading and produces diffraction-limited images with negligible spatial distortion. The noise equivalent flux density (NEFD) of the camera at 10 microns on the 3.0-m NASA/Infrared Telescope Facility with broadband interference filters and 0.26 arcsec pixel is NEFD = 0.01 Jy/sq rt min per pixel (1sigma), and it operates at a frame rate of 30 Hz with no compromise in observational efficiency. The electronic and optical design of the camera, its photometric characteristics, examples of observational results, and techniques for successful array imaging in a high- background astronomical application are discussed.

Gezari, Daniel Y.↗

DOE OSTI2026

Hyperspectral radiance mapping and chromatic correction for temperature measurement in laser-heated diamond anvil cells

In laser-heated diamond anvil cell (DAC) experiments, the effective heated region typically decreases in size with increasing pressure, leading to steeper thermal gradients. Under these conditions, chromatic aberration in the optical path from sample to detector can significantly create bias in spectro-radiometric temperature measurement. We present a radiance-mapping approach using a hyperspectral camera that records 25 spectral channels spanning 605–875 nm at each pixel in a single exposure, providing spatially and spectrally resolved radiance in each frame. This enables chromatic effects to be recorded and corrected in data processing. We developed a procedure for hyperspectral mapping, involving per-camera calibration, crosstalk removal, measured spectral throughput functions, and optional sub-pixel co-registration to minimize chromatic distortion. The calibrated radiance maps are then used to derive temperature maps of the laser-heated hotspots. For smaller heating spots, the radiance mapping approach reveals chromatic shifts that conventional spectro-radiometric methods cannot quantify. Ambient-pressure heating experiments confirm accurate temperature retrieval. At high pressure, application of the hyperspectral system to a platinum-heating experiment at 12 GPa demonstrates stable temperature reconstruction under steep thermal gradients. Beyond mitigating chromatic aberrations, the ability to diagnose optical artifacts separately from emissivity variations during controlled test experiments or in situ suggests a path toward more rigorous spectral emissivity analysis and improved modeling of thermal transport in laser-heated DAC experiments.

47 OTHER INSTRUMENTATION↗

DOE OSTI2022

Correction and calibration of atmospheric impact observations in GOES GLM data

The Earth's atmosphere is impacted daily by both meteoroids and artificial objects. Calibrated observations of the emitted light at sufficiently high sampling rates can enable or improve the estimation of impactor attributes such as size, cohesion, trajectory, and composition, but are difficult to obtain owing to the unpredictability, brevity, and high dynamic (brightness) range of impacts. Ground-based camera systems have successfully monitored small regions of the atmosphere at video frame rates and with limited radiometric capabilities, but most impacts occur over the 70% of the Earth's surface covered by water and are therefore missed by these networks. The Geostationary Lightning Mapper (GLM) instruments aboard Geostationary Operational Environmental Satellites 16 and 17 provide near-hemispherical coverage at 500 frames per second. These data have been shown to contain the signatures of many independently confirmed impacts, often from both viewing angles simultaneously, and constitute an observational resource that is currently unparalleled in the public domain. NASA's Asteroid Threat Assessment Project has implemented an automated impact detection pipeline that processes data from GLM daily. Given a detected impact, the GLM data contain a wealth of information for use in quantitative follow-up analyses. However, impact events differ from lightning in ways that violate key assumptions built into GLM's design. The result is that GLM's onboard processing introduces errors into pixel observations of impact events and the calibrated energies near the periphery of the detector may be substantially overestimated. We present methods for mitigating these and other issues to produce a data product more suitable for impact analyses than the existing GLM lightning product.

58 GEOSCIENCES↗

NASA NTRS1983

Thunderstorm observations from Space Shuttle

Results of the Nighttime/Daytime Optical Survey of Lightning (NOSL) experiments done on the STS-2 and STS-4 flights are covered. During these two flights of the Space Shuttle Columbia, the astronaut teams of J. Engle and R. Truly, and K. Mattingly II and H. Hartsfield took motion pictures of thunderstorms with a 16 mm cine camera. Film taken during daylight showed interesting thunderstorm cloud formations, where individual frames taken tens of seconds apart, when viewed as stereo pairs, provided information on the three-dimensional structure of the cloud systems. Film taken at night showed clouds illuminated by lightning with discharges that propagated horizontally at speeds of up to 10 to the 5th m/sec and extended for distances on the order of 60 km or more.

Vonnegut, B.↗

NASA NTRS2000

A Simple Approach for Calibrating Imaging Systems with a Solid-State Sensor

Solid-state array imaging has become an indispensable tool for various modem scientific instrumentation and industrial applications. Often in experiments, use of an imaging system with linear response is very desirable. The linearity of commercial products, however, has yet to be accurately determined in order to assess their nonlinearity effects. Linearity is affected both by sensors and electronics. It is also very desirables to employ low-cost products if we can provide the performance comparable of expensive ones through calibration. Here, we present a very simple approach for approximately checking linearity of imaging systems and also a simple calibration method for precisely measuring intensity ratio or relative intensity variation. These methods can be readily implemented with existing equipment. The calibration method works well with an intermediate-grade analog sensor interfaced by a frame grabber. In our initial attempt for calibration, the nonlinearity of the camera can be reduced from about five percent to much less than one percent in standard deviation.

Leslie, Fred W.↗