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At least 415 records · Page 23

Assessing the Capability of Doppler Global Velocimetry To Measure Vortical Flow Fields

A new nonintrusive flow diagnostics instrumentation system, Doppler global velocimetry, is presented. The system is capable of making simultaneous, three-component velocity measurements within a selected measurement plane at video camera rates. These velocity images can provide the researcher with spatial and temporal information about the flow field in a global sense. The investigation of a vortical flow above a 75-degree delta wing comparing standard three-component, fringe-type laser velocimetry measurements with Doppler global velocimetry measurements is presented.

Meyers, James F.↗

Can imaginary head tilt shorten postrotatory nystagmus?

In healthy subjects, head tilt upon cessation of a constant-velocity yaw head rotation shortens the duration of postrotatory nystagmus. The presumed mechanism for this effect is that the velocity storage of horizontal semicircular canal inputs is being discharged by otolith organ inputs which signal a constant yaw head position when the head longitudinal axis is no longer earth-vertical. In the present study, normal subjects were rotated head upright in the dark on a vertical-axis rotational chair at 60 degrees/s for 75 s and were required to perform a specific task as soon as the chair stopped. Horizontal position of the right eye was recorded with an infra-red video camera. The average eye velocity (AEV) was measured over a 30-s interval following chair acceleration/deceleration. The ratios (postrotatory AEV/perrotatory AEV) were 1.1 (SD 0.112) when subjects (N=10) kept their head erect, 0.414 (SD 0.083) when subjects tilted their head forward, 1.003 (SD 0.108) when subjects imagined watching a TV show, 1.012 (SD 0.074) when subjects imagined looking at a painting on a wall, and 0.995 (SD 0.074) when subjects imagined floating in a prone position on a lake. Thus, while actual head tilt reduced postrotatory nystagmus, the imagination tasks did not have a statistically significant effect on postrotatory nystagmus. Therefore, velocity storage does not appear to be under the influence of cortical neural signals when subjects imagine that they are floating in a prone orientation.

Non-NASA Center↗

Three Component Doppler Global Velocimeter Measurements of the Flow Above A Delta Wing

A new measurement technique is being developed by NASA to measure off-surface flow fields. This method, Doppler global velocimetry, will allow quantification of complex three-dimensional flow fields at video camera rates. The entire flow field structure within a selected plane is measured simultaneously rather than by scanned, point-by-point measurements using conventional laser velocimetry. To assess the capability of this new technique, three - component velocity measurements of the vortical flow field above a thin 75-degree delta wing were made in the NASA Langley Basic Aerodynamics Research Tunnel. Measurements were made of the flow field at the 70-percent chord location at angles-of-attack of 20.5 and 40.0 degrees to investigate unburst and burst vortices. For comparison, previous fringe-type laser velocimeter measurements of the flow field at the same conditions are included.

Meyers, James F.↗

Doppler Global Velocimeter Measurements of the Vortical Flow Above a Thin Delta Wing

A new measurement technique is being developed by NASA to measure off-surface flow fields. This method, Doppler global velocimetry, will allow quantification of complex three-dimensional flow fields at video camera rates. The entire flow field structure within a selected plane is measured simultaneously rather than by scanned, point-by-point measurements using conventional laser velocimetry. Data obtained using this technique will be used to correlate with other data sets for verification, and following verification, provide a quantified, highly detailed definition of the flow field. This will help to improve the understanding of fluid physics, supplement and broaden the database required to validate and refine computational fluid dynamics (CFD) models, and improve aircraft design methodology. To assess the capability of the technique, velocity measurements of the vortical flow field above a thin 75-degree delta wing were made in the NASA - Langley Basic Aerodynamics Research Tunnel. Preliminary comparisons of the results were made with similar measurements obtained using a three component laser velocimeter indicate that this technique is capable of describing the entire three - component velocity flow field simultaneously within a measurement plane in real time.

Usry, Jimmy W.↗

Doppler Global Velocimetry: The Next Generation?

A new measurement technique is being developed by NASA to measure off-surface flow fields. This method, Doppler global velocimetry, will allow quantification of complex three-dimensional flow fields at video camera rates. The entire flow field structure within a selected plane is measured simultaneously rather than by scanned, point-by-point measurements using conventional laser velocimetry. To assess the capability of this new technique, velocity measurements of the vortical flow field above a thin 75-degree delta wing were made in the NASA Langley Basic Aerodynamics Research Tunnel. The operation of the system is described along with the techniques developed to process the output images. The results are then compared with similar measurements obtained using a three component laser velocimeter.

Meyers, James F.↗

Microgravity Investigation of Crew Reactions in 0-G (MICRO-G)

There is a need for a human factors, technology-based bioastronautics research effort to develop an integrated system that reduces risk and provides scientific knowledge of astronaut-induced loads and motions during long-duration missions on the International Space Station (ISS), which will lead to appropriate countermeasures. The primary objectives of the Microgravity Investigation of Crew Reactions in 0-G (MICRO-GI research effort are to quantify astronaut adaptation and movement as well as to model motor strategies for differing gravity environments. The overall goal of this research program is to improve astronaut performance and efficiency through the use of rigorous quantitative dynamic analysis, simulation and experimentation. The MICRO-G research effort provides a modular, kinetic and kinematic capability for the ISS. The collection and evaluation of kinematics (whole-body motion) and dynamics (reacting forces and torques) of astronauts within the ISS will allow for quantification of human motion and performance in weightlessness, gathering fundamental human factors information for design, scientific investigation in the field of dynamics and motor control, technological assessment of microgravity disturbances, and the design of miniaturized, real-time space systems. The proposed research effort builds on a strong foundation of successful microgravity experiments, namely, the EDLS (Enhanced Dynamics Load Sensors) flown aboard the Russian Mir space station (19961998) and the DLS (Dynamic Load Sensors) flown on Space Shuttle Mission STS-62. In addition, previously funded NASA ground-based research into sensor technology development and development of algorithms to produce three-dimensional (3-0) kinematics from video images have come to fruition and these efforts culminate in the proposed collaborative MICRO-G flight experiment. The required technology and hardware capitalize on previous sensor design, fabrication, and testing and can be flight qualified for a fraction of the cost of an initial spaceflight experiment. Four dynamic load sensors/restraints are envisioned for measurement of astronaut forces and torques. Two standard ISS video cameras record typical astronaut operations and prescribed IVA motions for 3-D kinematics. Forces and kinematics are combined for dynamic analysis of astronaut motion, exploiting the results of the detailed dynamic modeling effort for the quantitative verification of astronaut IVA performance, induced-loads, and adaptive control strategies for crewmember whole-body motion in microgravity. This comprehensive effort, provides an enhanced human factors approach based on physics-based modeling to identify adaptive performance during long-duration spaceflight, which is critically important for astronaut training as well as providing a spaceflight database to drive countermeasure design.

Newman, Dava↗

Parabolic flight reveals independent binocular control of otolith-induced eye torsion

To examine otolith-governed ocular torsion in hyper- and hypogravity, eight subjects, including two astronauts, underwent parabolic flight while seated upright with head fixed. A mask fitted with two video cameras provided synchronized images of both eyes at a rate of 25/sec during 15 parabolas, the individual parabolas separated by a few minutes of level 1 G flight. Three main findings emerged: 1) After the first parabola, most subjects showed differential torsional offset of the two eyes in the 1 G portions between parabolas, compared to the conjugate baseline position of the eyes prior to the first parabola. 2) Changes in binocular torsion in the 0 G and 1.8 G portions of parabolic flight revealed in most subjects systematic reversal of direction. The reversal was consistent within, but not across subjects. 3) Disconjugacy defined as the moment-to-moment difference in the movements of the two eyes, and evaluated without the contribution of the differential offset, found two subjects with relatively high disconjugacy scores, and the remaining six with low scores. On the basis of prior studies (9, 20), we would predict the first two would be subject to SMS, the remainder not. The two astronauts, who did not have SMS on their space missions, fell into the low scoring group. We propose that the disconjugacies may be due to intrinsic asymmetries in the otolith receptors on the two sides of the head, which appear to be independently linked to the extraocular muscles of the two eyes, a phenomenon masked in normal 1 G states by adaptation. The apparently independent control of the two sides cannot be detected by the simpler and more common monocular studies.

Non-NASA Center↗

The Effects of Gravity on the Crystallization Behavior of Heavy Metal Fluoride Glasses

Heavy metal fluoride glasses are used in such applications as fiber lasers and laser amplifiers. ZrF4-BaF2-LaF3-AlF3-NaF (ZBLAN) is one of the more commonly used heavy metal fluoride glasses. ZBLAN is an infrared transmitter and has a theoretical attenuation coefficient of 0.002 db/km. However, due to impurities and small crystallites this attenuation coefficient has not been achieved to date. ZBLAN is a fragile glass which can lead to rapid crystallization, if the glass is not cooled rapidly to below the glass transition temperature or if the glass is reheated near the crystallization temperature for any period of time. Studies carried on at Marshall Space Flight Center and the University of Alabama in Huntsville since 1993 have shown that heating ZBLAN glass at the crystallization temperature in reduced gravity results in a suppression of crystallization when compared to ZBLAN processed in unit gravity. These studies utilized NASA's KC-135 aircraft and the Conquest sounding rocket. In the first series of experiments, short lengths of ZBLAN fiber were heated to the crystallization temperature in reduced gravity on board the KC- 135 and the Conquest sounding rocket and compared with fibers heated in unit gravity. The fibers processed in reduced gravity showed no evidence of crystallization when studied with x-ray diffraction and scanning electron microscopy. However, the fibers processed in unit gravity were completely crystallized. Subsequent experiments included heating small pieces of ZBLAN glass at the crystallization temperature while viewing with a video camera to follow the crystallization phenomenon. In this experiment crystallization was observed in reduced gravity, however, it was suppressed when compared to heating in unit gravity. In the most recent experiment on board the KC-135, rapid thermal analysis of ZBLAN was performed. A mechanism to explain the observations has been proposed. This mechanism is based on shear thinning whereby, the glass undergoes a reduction in viscosity in the 10(exp 5) - 10(exp 7) poise range, allowing more rapid diffusion and thus crystallization. It is proposed that this mechanism is suppressed in reduced gravity. An experiment is presently being conducted to test this theory. With increased knowledge of ZBLAN behavior in reduced gravity, three low earth orbit tiber drawing facilities have been designed. One would be suitable for use on the International Space Station, another while aboard the Space Shuttle and the third system is a fully automated facility which would operate independently of the ISS or Shuttle in a free float mode. The primary benefits of free floating a facility in LEO includes a higher quality of microgravity and reduced safety concerns since it is not in a manned environment.

Tucker, Dennis S.↗

Model Deformation Measurements at a Cryogenic Wind Tunnel Using Photogrammetry

A photogrammetric closed circuit television system to measure model deformation at the National Transonic Facility (NTF) is described. The photogrammetric approach was chosen because of its inherent rapid data recording of the entire object field. Video cameras are used to acquire data instead of film cameras due to the inaccessibility of cameras which must be housed within the cryogenic, high pressure plenum of this facility. Data reduction procedures and the results of tunnel tests at the NTF are presented.

Burner, A. W.↗

Reproducible Crystal Growth Experiments in Microgravity Science Glovebox at the International Space Station (SUBSA Investigation)

Solidification Using a Baffle in Sealed Ampoules (SUBSA) is the first investigation conducted in the Microgravity Science Glovebox (MSG) Facility at the International Space Station (ISS) Alpha. 8 single crystals of InSb, doped with Te and Zn, were directionally solidified in microgravity. The experiments were conducted in a furnace with a transparent gradient section, and a video camera, sending images to the earth. The real time images (i) helped seeding, (ii) allowed a direct measurement of the solidification rate. The post-flight characterization of the crystals includes: computed x-ray tomography, Secondary Ion Mass Spectroscopy (SIMS), Hall measurements, Atomic Absorption (AA), and 4 point probe analysis. For the first time in microgravity, several crystals having nearly identical initial transients were grown. Reproducible initial transients were obtained with Te-doped InSb. Furthermore, the diffusion controlled end-transient was demonstrated experimentally (SUBSA 02). From the initial transients, the diffusivity of Te and Zn in InSb was determined.

Ostrogorsky, A.↗

Lunar and Planetary Science XXXVI, Part 22

The Lunar and Planetary Science XXXVI, Part 22 is presented. The topics include: 1) Pressure Histories from Thin and Thick Shock-induced Melt Veins in Meteorites; 2) Nano-structured Minerals as Signature of Microbial Activity; 3) The Insoluble Carbonaceous Material of CM Chondrites as Possible Source of Discrete Organics During the Asteroidal Aqueous Phase; 4) Discovery of Abundant Presolar Silicates in Subgroups of Antarctic Micrometeorites; 5) Characteristics of a Seismometer for the LUNAR-A Penetrator; 6) Heating Experiments of the HaH 262 Eucrite and Implication for the Metamorphic History of Highly Metamorphosed Eucrites; 7) Measurements of Ejecta Velocity Distribution by a High-Speed Video Camera; 8) Petrological Comparison of Mongolian Jalanash Ureilite and Twelve Antarctic Ureilites; 9) Metallographic Cooling Rate of IVA Irons Revisited; 10) Inhomogeneous Temperature Distribution in Chondrules in Shock-Wave Heating Model; 11) Subsurface Weathering of Rocks and Soils at Gusev Crater; 12) Extinct Radioactivities in the Early Solar System and the Mean Age of the Galaxy; 13) Correlation of Rock Spectra with Quantitative Morphologic Indices: Evidence for a Single Rock Type at the Mars Pathfinder Landing Site; 14) Silicon Isotopic Ratios of Presolar Grains from Supernovae; 15) Current Status and Readiness on In-Situ Exploration of Asteroid Surface by MINERVA Rover in Hayabusa Mission; 16) Long Formation Period of Single CAI: Combination of O and Mg Isotope Distribution; 17) Supra-Canonical Initial 26Al/27Al Indicate a 105 Year Residence Time for CAIs in the Solar Proto-Planetary Disk; 18) Evolution of Mercury's Obliquity; 19) First Results from the Huygens Surface Science Package; 20) Polyhedral Serpentine Grains in CM Chondrites; 21) Mountainous Units in the Martian Gusev Highland Region: Volcanic, Tectonic, or Impact Related? 22) Petrography of Lunar Meteorite MET 01210, A New Basaltic Regolith Breccia; 23) Earth-Moon Impacts at ~300 Ma and ~500 Ma Ago; 24) Chemical and Isotopic Analyses of Apollo 16 Glasses: An Integrated Approach; 25) Measuring the Surfaces on Mars; 26) Melting in Martian Snowbanks; 27) The Effect of Ni on Fe-FeS Phase Relations: Implications for the Chemistry of the Martian Core; 28) Shorelines in the Western United States as Analogs for Hypothesized Shoreline Features on Mars; 29) Al and Ti Isotopic Ratios of Presolar SiC Grains of Type Z; 30) Physicochemical Conditions of Clinopyroxene Crystallization in the Parental Bodies of Ordinary Chondrites; 31) Metamorphosed CM and CI Carbonaceous Chondrites Could be from the Breakup of the Same Earth-crossing Asteroid; 32) Aqueous Alteration and Hydrogen Generation on Parent Bodies of Unequilibrated Ordinary Chondrites: Thermodynamic Modeling for the Semarkona Composition; and 33) Preliminary Analysis of Relative Abundances of Hydrothermal Alteration Products in the C1-N10, Y6-N19, and Yax-1_863.51 Impact Melt Samples, Chicxulub Structure, Mexico

Source record↗

Jet Noise Reduction

The Acoustics Branch is responsible for reducing noise levels for jet and fan components on aircraft engines. To do this, data must be measured and calibrated accurately to ensure validity of test results. This noise reduction is accomplished by modifications to hardware such as jet nozzles, and by the use of other experimental hardware such as fluidic chevrons, elliptic cores, and fluidic shields. To insure validity of data calibration, a variety of software is used. This software adjusts the sound amplitude and frequency to be consistent with data taken on another day. Both the software and the hardware help make noise reduction possible. work properly. These software programs were designed to make corrections for atmosphere, shear, attenuation, electronic, and background noise. All data can be converted to a one-foot lossless condition, using the proper software corrections, making a reading independent of weather and distance. Also, data can be transformed from model scale to full scale for noise predictions of a real flight. Other programs included calculations of Over All Sound Pressure Level (OASPL), Effective Perceived Noise Level (EPNL). OASPL is the integration of sound with respect to frequency, and EPNL is weighted for a human s response to different sound frequencies and integrated with respect to time. With the proper software correction, data taken in the NATR are useful in determining ways to reduce noise. display any difference between two or more data files. Using this program and graphs of the data, the actual and predicted data can be compared. This software was tested on data collected at the Aero Acoustic Propulsion Laboratory (AAPL) using a variety of window types and overlaps. Similarly, short scripts were written to test each individual program in the software suite for verification. Each graph displays both the original points and the adjusted points connected with lines. During this summer, data points were taken during a live experiment at the AAPL to measure Nozzle Acoustic Test Rig (NATR) background noise levels. Six condenser microphones were placed in strategic locations around the dome and the inlet tunnel to measure different noise sources. From the control room the jet was monitored with the help of video cameras and other sensors. The data points were recorded, reduced, and plotted, and will be used to plan future modifications to the NATR. The primary goal to create data reduction test programs and provide verification was completed. As a result of the internship, I learned C/C++, UNIX/LINUX, Excel, and acoustic data processing methods. I also recorded data at the AAPL, then processed and plotted it. These data would be useful to compare against existing data. In addition, I adjusted software to work on the Mac OSX platform. And I used the available training resources.

Kenny, Patrick↗

Reflective Focused Schlieren System Improved for Use in 10- by 10-Foot Supersonic Wind Tunnel

The reflective focused schlieren system that was developed for use in the 10- by 10-Foot Supersonic Wind Tunnel (10x10 SWT) at the NASA Glenn Research Center at Lewis Field as part of the Unstart Test Program was improved this past year. In April 1999, the development and use of the system was presented at the Supersonic Tunnel Association International in Bedford, England. A focused schlieren system is similar to a standard schlieren system in that shock waves coming from an object in supersonic flow can be seen using a standard video camera. Unlike the standard schlieren system, which produces a two-dimensional schlieren image, a focused schlieren system can produce a threedimensional image. The preceding drawing shows the components of the reflective focused schlieren system being developed for use in the 10x10 SWT. Although the system worked well for the Unstart Test Program, it was not sensitive enough to be classified as a facility capability. Therefore, a program was implemented to improve the sensitivity of the reflective focused schlieren system so that it could be a facility capability for Glenn's 10x10 SWT. Several techniques were implemented to increase the sensitivity and to improve the overall operation of the system. These included refinement of the source grid, improvement in the cutoff grid production, improvement of the source grid and cutoff grid alignment, installation of an improved light source, and incorporation of an image-enhancing system. These changes are being implemented with the system set up in the laboratory. A checkout test of the system is planned in the 10x10 SWT in March 2000. Of these techniques, the most developed is the refinement of the source grid. The original system had a pattern of -in. by -in. squares on -in. centers (distance between the center points of adjacent squares). This gave a ratio of light to dark (reflective to nonreflective area) of 3:1. The recommended ratio is 1:1. In order to accomplish this, a pattern of -in.-diameter dots on 3/8-in. centers was developed. Preliminary tests with this pattern showed an increase in system sensitivity and image clarity. Further testing and refinement are scheduled. The former and improved dot patterns are shown. The use of glass plates to produce the cutoff grid improved the cutoff grid's quality and helped to align it with the source grid. The cutoff grid, which is the negative of the source grid, is made by exposing photography film (or glass plates) to the proper light while it is installed in the focused schlieren system. The exposed film or plate is removed from the system and then developed as a photograph negative. Because the glass plates are rigid, they eliminate the risk of distortion when the negative is reinstalled in the system and realigned with the source grid.

Williamson, Gary Scott↗

In-Vacuum Photogrammetry of a 10-Meter Solar Sail

In July 2004, a 10-meter solar sail structure developed by L Garde, Inc. was tested in vacuum at the NASA Glenn 30-meter Plum Brook Space Power Facility in Sandusky, Ohio. The three main objections of the test were to demonstrate unattended deployment from a stowed configuration, to measure the deployed shape of the sail at both ambient and cryogenic room temperatures, and to measure the deployed structural dynamic characteristics (vibration modes). This paper summarizes the work conducted to fulfill the second test objective. The deployed shape was measured photogrammetrically in vacuum conditions with four 2-megapixel digital video cameras contained in custom made pressurized canisters. The canisters included high-intensity LED ring lights to illuminate a grid of retroreflective targets distributed on the solar sail. The test results closely matched pre-test photogrammetry numerical simulations and compare well with ABAQUS finite-element model predictions.

Meyer, Chris G.↗

Solid Hydrogen Experiments for Atomic Propellants: Particle Formation, Imaging, Observations, and Analyses

This report presents particle formation observations and detailed analyses of the images from experiments that were conducted on the formation of solid hydrogen particles in liquid helium. Hydrogen was frozen into particles in liquid helium, and observed with a video camera. The solid hydrogen particle sizes and the total mass of hydrogen particles were estimated. These newly analyzed data are from the test series held on February 28, 2001. Particle sizes from previous testing in 1999 and the testing in 2001 were similar. Though the 2001 testing created similar particles sizes, many new particle formation phenomena were observed: microparticles and delayed particle formation. These experiment image analyses are some of the first steps toward visually characterizing these particles, and they allow designers to understand what issues must be addressed in atomic propellant feed system designs for future aerospace vehicles.

Palaszewski, Bryan↗

Real-time Enhancement, Registration, and Fusion for a Multi-Sensor Enhanced Vision System

Over the last few years NASA Langley Research Center (LaRC) has been developing an Enhanced Vision System (EVS) to aid pilots while flying in poor visibility conditions. The EVS captures imagery using two infrared video cameras. The cameras are placed in an enclosure that is mounted and flown forward-looking underneath the NASA LaRC ARIES 757 aircraft. The data streams from the cameras are processed in real-time and displayed on monitors on-board the aircraft. With proper processing the camera system can provide better-than- human-observed imagery particularly during poor visibility conditions. However, to obtain this goal requires several different stages of processing including enhancement, registration, and fusion, and specialized processing hardware for real-time performance. We are using a real-time implementation of the Retinex algorithm for image enhancement, affine transformations for registration, and weighted sums to perform fusion. All of the algorithms are executed on a single TI DM642 digital signal processor (DSP) clocked at 720 MHz. The image processing components were added to the EVS system, tested, and demonstrated during flight tests in August and September of 2005. In this paper we briefly discuss the EVS image processing hardware and algorithms. We then discuss implementation issues and show examples of the results obtained during flight tests. Keywords: enhanced vision system, image enhancement, retinex, digital signal processing, sensor fusion

Hines, Glenn D.↗

Multiphase Flow Technology Impacts on Thermal Control Systems for Exploration

The Two-Phase Flow Facility (TPHIFFy) Project focused on bridging the critical knowledge gap by developing and demonstrating critical multiphase fluid products for advanced life support, thermal management and power conversion systems that are required to enable the Vision for Space Exploration. Safety and reliability of future systems will be enhanced by addressing critical microgravity fluid physics issues associated with flow boiling, condensation, phase separation, and system stability. The project included concept development, normal gravity testing, and reduced gravity aircraft flight campaigns, in preparation for the development of a space flight experiment implementation. Data will be utilized to develop predictive models that could be used for system design and operation. A single fluid, two-phase closed thermodynamic loop test bed was designed, assembled and tested. The major components in this test bed include: a boiler, a condenser, a phase separator and a circulating pump. The test loop was instrumented with flow meters, thermocouples, pressure transducers and both high speed and normal speed video cameras. A low boiling point surrogate fluid, FC-72, was selected based on scaling analyses using preliminary designs for operational systems. Preliminary results are presented which include flow regime transitions and some observations regarding system stability.

McQuillen, John↗

Real-time Enhancement, Registration, and Fusion for an Enhanced Vision System

Over the last few years NASA Langley Research Center (LaRC) has been developing an Enhanced Vision System (EVS) to aid pilots while flying in poor visibility conditions. The EVS captures imagery using two infrared video cameras. The cameras are placed in an enclosure that is mounted and flown forward-looking underneath the NASA LaRC ARIES 757 aircraft. The data streams from the cameras are processed in real-time and displayed on monitors on-board the aircraft. With proper processing the camera system can provide better-than-human-observed imagery particularly during poor visibility conditions. However, to obtain this goal requires several different stages of processing including enhancement, registration, and fusion, and specialized processing hardware for real-time performance. We are using a real-time implementation of the Retinex algorithm for image enhancement, affine transformations for registration, and weighted sums to perform fusion. All of the algorithms are executed on a single TI DM642 digital signal processor (DSP) clocked at 720 MHz. The image processing components were added to the EVS system, tested, and demonstrated during flight tests in August and September of 2005. In this paper we briefly discuss the EVS image processing hardware and algorithms. We then discuss implementation issues and show examples of the results obtained during flight tests.

Hines, Glenn D.↗