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NASA NTRS1999

Tracker: Image-Processing and Object-Tracking System Developed

Tracker is an object-tracking and image-processing program designed and developed at the NASA Lewis Research Center to help with the analysis of images generated by microgravity combustion and fluid physics experiments. Experiments are often recorded on film or videotape for analysis later. Tracker automates the process of examining each frame of the recorded experiment, performing image-processing operations to bring out the desired detail, and recording the positions of the objects of interest. It can load sequences of images from disk files or acquire images (via a frame grabber) from film transports, videotape, laser disks, or a live camera. Tracker controls the image source to automatically advance to the next frame. It can employ a large array of image-processing operations to enhance the detail of the acquired images and can analyze an arbitrarily large number of objects simultaneously. Several different tracking algorithms are available, including conventional threshold and correlation-based techniques, and more esoteric procedures such as "snake" tracking and automated recognition of character data in the image. The Tracker software was written to be operated by researchers, thus every attempt was made to make the software as user friendly and self-explanatory as possible. Tracker is used by most of the microgravity combustion and fluid physics experiments performed by Lewis, and by visiting researchers. This includes experiments performed on the space shuttles, Mir, sounding rockets, zero-g research airplanes, drop towers, and ground-based laboratories. This software automates the analysis of the flame or liquid s physical parameters such as position, velocity, acceleration, size, shape, intensity characteristics, color, and centroid, as well as a number of other measurements. It can perform these operations on multiple objects simultaneously. Another key feature of Tracker is that it performs optical character recognition (OCR). This feature is useful in extracting numerical instrumentation data that are embedded in images. All the results are saved in files for further data reduction and graphing. There are currently three Tracking Systems (workstations) operating near the laboratories and offices of Lewis Microgravity Science Division researchers. These systems are used independently by students, scientists, and university-based principal investigators. The researchers bring their tapes or films to the workstation and perform the tracking analysis. The resultant data files generated by the tracking process can then be analyzed on the spot, although most of the time researchers prefer to transfer them via the network to their offices for further analysis or plotting. In addition, many researchers have installed Tracker on computers in their office for desktop analysis of digital image sequences, which can be digitized by the Tracking System or some other means. Tracker has not only provided a capability to efficiently and automatically analyze large volumes of data, saving many hours of tedious work, but has also provided new capabilities to extract valuable information and phenomena that was heretofore undetected and unexploited.

Klimek, Robert B.↗

NASA NTRS2009

Studying Precipitation Processes in WRF with Goddard Bulk Microphysics in Comparison with Other Microphysical Schemes

A Goddard bulk microphysical parameterization is implemented into the Weather Research and Forecasting (WRF) model. This bulk microphysical scheme has three different options, 2ICE (cloud ice & snow), 3ICE-graupel (cloud ice, snow & graupel) and 3ICE-hail (cloud ice, snow & hail). High-resolution model simulations are conducted to examine the impact of microphysical schemes on different weather events: a midlatitude linear convective system and an Atlantic hurricane. The results suggest that microphysics has a major impact on the organization and precipitation processes associated with a summer midlatitude convective line system. The Goddard 3ICE scheme with the cloud ice-snow-hail configuration agreed better with observations ill of rainfall intensity and having a narrow convective line than did simulations with the cloud ice-snow-graupel and cloud ice-snow (i.e., 2ICE) configurations. This is because the Goddard 3ICE-hail configuration has denser precipitating ice particles (hail) with very fast fall speeds (over 10 m/s) For an Atlantic hurricane case, the Goddard microphysical scheme (with 3ICE-hail, 3ICE-graupel and 2ICE configurations) had no significant impact on the track forecast but did affect the intensity slightly. The Goddard scheme is also compared with WRF's three other 3ICE bulk microphysical schemes: WSM6, Purdue-Lin and Thompson. For the summer midlatitude convective line system, all of the schemes resulted in simulated precipitation events that were elongated in southwest-northeast direction in qualitative agreement with the observed feature. However, the Goddard 3ICE-hail and Thompson schemes were closest to the observed rainfall intensities although the Goddard scheme simulated more heavy rainfall (over 48 mm/h). For the Atlantic hurricane case, none of the schemes had a significant impact on the track forecast; however, the simulated intensity using the Purdue-Lin scheme was much stronger than the other schemes. The vertical distributions of model-simulated cloud species (e.g., snow) are quite sensitive to the microphysical schemes, which is an issue for future verification against satellite retrievals. Both the Purdue-Lin and WSM6 schemes simulated very little snow compared to the other schemes for both the midlatitude convective line and hurricane case. Sensitivity tests with these two schemes showed that increasing the snow intercept, turning off the auto-conversion from snow to graupel, eliminating dry growth, and reducing the transfer processes from cloud-sized particles to precipitation-sized ice collectively resulted in a net increase in those schemes' snow amounts.

Tao, W.K.↗

NASA NTRS2012

Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

tracked vehicles↗

NASA NTRS1982

A vortex wake capturing method for potential flow calculations

A method is presented for modifying finite difference solutions of the potential equation to include the calculation of non-planar vortex wake features. The approach is an adaptation of Baker's 'cloud in cell' algorithm developed for the stream function-vorticity equations. The vortex wake is tracked in a Lagrangian frame of reference as a group of discrete vortex filaments. These are distributed to the Eulerian mesh system on which the velocity is calculated by a finite difference solution of the potential equation. An artificial viscosity introduced by the finite difference equations removes the singular nature of the vortex filaments. Computed examples are given for the two-dimensional time dependent roll-up of vortex wakes generated by wings with different spanwise loading distributions.

Murman, E. M.↗

NASA NTRS1986

A computational transonic flutter boundary tracking procedure

An automated flutter boundary tracking procedure for the efficient calculation of transonic flutter boundaries is presented. The procedure uses aeroelastic responses to march along the boundary by taking steps in speed and Mach number, thereby reducing the number of response calculations previously required to determine a transonic flutter boundary. Flutter boundary results are presented for a typical airfoil section oscillating with pitch and plunge degrees of freedom. These transonic flutter boundaries are in good agreement with exact boundaries calculated using the conventional time-marching method. The tracking procedure is extended to include static aeroelastic twist as a simulation of the static deformation of a wing and contains all of the essential features that are required to apply it to practical three-dimensional cases. The procedure is also applied to flutter boundaries as a function of structural parameters.

Gallman, J. W.↗

NASA NTRS1994

Parallel digital modem using multirate digital filter banks

A new class of architectures for an all-digital modem is presented in this report. This architecture, referred to as the parallel receiver (PRX), is based on employing multirate digital filter banks (DFB's) to demodulate, track, and detect the received symbol stream. The resulting architecture is derived, and specifications are outlined for designing the DFB for the PRX. The key feature of this approach is a lower processing rate then either the Nyquist rate or the symbol rate, without any degradation in the symbol error rate. Due to the freedom in choosing the processing rate, the designer is able to arbitrarily select and use digital components, independent of the speed of the integrated circuit technology. PRX architecture is particularly suited for high data rate applications, and due to the modular structure of the parallel signal path, expansion to even higher data rates is accommodated with each. Applications of the PRX would include gigabit satellite channels, multiple spacecraft, optical links, interactive cable-TV, telemedicine, code division multiple access (CDMA) communications, and others.

Sadr, Ramin↗

NASA NTRS1999

Statistical Perspectives on Stratospheric Transport

Long-lived tropospheric source gases, such as nitrous oxide, enter the stratosphere through the tropical tropopause, are transported throughout the stratosphere by the Brewer-Dobson circulation, and are photochemically destroyed in the upper stratosphere. These chemical constituents, or "tracers" can be used to track mixing and transport by the stratospheric winds. Much of our understanding about the stratospheric circulation is based on large scale gradients and other spatial features in tracer fields constructed from satellite measurements. The point of view presented in this paper is different, but complementary, in that transport is described in terms of tracer probability distribution functions (PDFs). The PDF is computed from the measurements, and is proportional to the area occupied by tracer values in a given range. The flavor of this paper is tutorial, and the ideas are illustrated with several examples of transport-related phenomena, annotated with remarks that summarize the main point or suggest new directions. One example shows how the multimodal shape of the PDF gives information about the different branches of the circulation. Another example shows how the statistics of fluctuations from the most probable tracer value give insight into mixing between different regions of the atmosphere. Also included is an analysis of the time-dependence of the PDF during the onset and decline of the winter circulation, and a study of how "bursts" in the circulation are reflected in transient periods of rapid evolution of the PDF. The dependence of the statistics on location and time are also shown to be important for practical problems related to statistical robustness and satellite sampling. The examples illustrate how physically-based statistical analysis can shed some light on aspects of stratospheric transport that may not be obvious or quantifiable with other types of analyses. An important motivation for the work presented here is the need for synthesis of the large and growing database of observations of the atmosphere and the vast quantities of output generated by atmospheric models.

Sparling, L. C.↗

NASA NTRS2010

Automated Computer Access Request System

The Automated Computer Access Request (AutoCAR) system is a Web-based account provisioning application that replaces the time-consuming paper-based computer-access request process at Johnson Space Center (JSC). Auto- CAR combines rules-based and role-based functionality in one application to provide a centralized system that is easily and widely accessible. The system features a work-flow engine that facilitates request routing, a user registration directory containing contact information and user metadata, an access request submission and tracking process, and a system administrator account management component. This provides full, end-to-end disposition approval chain accountability from the moment a request is submitted. By blending both rules-based and rolebased functionality, AutoCAR has the flexibility to route requests based on a user s nationality, JSC affiliation status, and other export-control requirements, while ensuring a user s request is addressed by either a primary or backup approver. All user accounts that are tracked in AutoCAR are recorded and mapped to the native operating system schema on the target platform where user accounts reside. This allows for future extensibility for supporting creation, deletion, and account management directly on the target platforms by way of AutoCAR. The system s directory-based lookup and day-today change analysis of directory information determines personnel moves, deletions, and additions, and automatically notifies a user via e-mail to revalidate his/her account access as a result of such changes. AutoCAR is a Microsoft classic active server page (ASP) application hosted on a Microsoft Internet Information Server (IIS).

Snook, Bryan E.↗

NASA NTRS1974

Direct recovery of mean gravity anomalies from satellite to satellite tracking

The direct recovery was investigated of mean gravity anomalies from summed range rate observations, the signal path being ground station to a geosynchronous relay satellite to a close satellite significantly perturbed by the short wave features of the earth's gravitational field. To ensure realistic observations, these were simulated with the nominal orbital elements for the relay satellite corresponding to ATS-6, and for two different close satellites (one at about 250 km height, and the other at about 900 km height) corresponding to the nominal values for GEOS-C. The earth's gravitational field was represented by a reference set of potential coefficients up to degree and order 12, considered as known values, and by residual gravity anomalies obtained by subtracting the anomalies, implied by the potential coefficients, from their terrestrial estimates. It was found that gravity anomalies could be recovered from strong signal without using any a-priori terrestrial information, i.e. considering their initial values as zero and also assigning them a zero weight matrix. While recovering them from weak signal, it was necessary to use the a-priori estimate of the standard deviation of the anomalies to form their a-priori diagonal weight matrix.

Hajela, D. P.↗

NASA NTRS2021

3D Shape Reconstruction of Small Bodies from Sparse Features

The autonomous approach of spacecraft to a small body (comet or asteroid) relies on using all available information at each phase of the approach. This paper presents new algorithms for global shape reconstructions from sparse tracked surface points. These methods leverage estimates from earlier phases, such as rotation pole, as well as a priori knowledge, such as a genus-0 body (i.e. without boundaries or topological holes). A mapping algorithm is proposed, which performs faithful reconstructions while enforcing genus-0 output through spherical parameterization. To estimate the shape of permanently shadowed regions of the body, a symmetry reconstruction method is added to the reconstruction algorithms. This method is shown to substantially increase the reconstruction accuracy but is subject to the symmetry of the body perpendicular to the rotation pole. The proposed mapping algorithm is compared to stateof- the-practice surface reconstruction algorithms, assessing their accuracy and ability to correctly generate genus-0 shape models for 2400 datasets and three small bodies. The proposed spherical parameterization algorithm performed consistently with the state-of-the-practice while being the only algorithm to always produce genus-0 shape models.

Nesnas, Issa↗

NASA NTRS1993

Particle-Displacement Tracking In Particle-Image Velocimetry

Particle images processed rapidly and automatically into velocity-vector maps. This technique requires no processing of photographic plates, no tedious visual recognition and manual designation of large numbers of image features for subsequent processing, little or no interruption by technician and is order of magnitude faster than any of prior techniques.

Wernet, Mark P.↗

NASA NTRS1979

Covariance analyses of satellite-derived mesoscale wind fields

Statistical structure functions have been computed independently for nine satellite-derived mesoscale wind fields that were obtained on two different days. Small cumulus clouds were tracked at 5 min intervals, but since these clouds occurred primarily in the warm sectors of midlatitude cyclones the results cannot be considered representative of the circulations within cyclones in general. The field structure varied considerably with time and was especially affected if mesoscale features were observed. The wind fields on the 2 days studied were highly anisotropic with large gradients in structure occurring approximately normal to the mean flow. Structure function calculations for the combined set of satellite winds were used to estimate random error present in the fields. It is concluded for these data that the random error in vector winds derived from cumulus cloud tracking using high-frequency satellite data is less than 1.75 m/s. Spatial correlation functions were also computed for the nine data sets. Normalized correlation functions were considerably different for u and v components and decreased rapidly as data point separation increased for both components. The correlation functions for transverse and longitudinal components decreased less rapidly as data point separation increased.

Maddox, R. A.↗

NASA NTRS1975

Atmosphere explorer /AE-C/ adaptive mission design and trajectory performance

The preflight mission design and in-flight execution are presented to illustrate the actual utilization of the adaptive nature of this mission. Spacecraft systems (propulsion, attitude, accelerometer) and software (maneuver program) features which contribute to the adaptive trajectory flexibility are discussed. Descriptions of procedures used to handle low perigee maneuver operations (to 130 km), for achieving ground track control and orbit phasing, for making a transition from elliptical to circular orbits, and for circular orbit restoration and maintenance are presented in detail. The 85 maneuvers made during the first 17 months of the mission are summarized.

Barbieri, R. W.↗

NASA NTRS1982

Response of a Doppler canceling system to plane gravitational waves

This paper discusses the interaction of long periodic gravitational waves with a three-link microwave system known as the Doppler canceling system. This system, which was developed for a gravitational red-shift experiment, uses one-way and two-way Doppler information to construct the beat signal of two reference oscillators moving with respect to each other. The geometric-optics approximation is used to derive the frequency shift produced on a light signal propagating in a gravitational-wave space-time. The signature left on the Doppler-cancelled beat by bursts and continuous gravitational waves is analyzed. A comparison is made between the response to gravitational waves of the Doppler canceling system and that of a (NASA) Doppler tracking system which employs two-way, round-trip radio waves. A threefold repetition of the gravitational wave form is found to be a common feature of the response functions of both systems. These two functions otherwise exhibit interesting differences.

Caporali, A.↗

NASA NTRS1986

Satellite contributions to convective scale weather analysis and forecasting

Severe weather phenomena which are amenable to remote sensing by satellite instruments and having resolution fine enough to discern mesoscale features are described. GOES satellites acquire imagery with 1 km resolution in the visible band and 8 km at IR wavelengths. Animation of the images allows tracking the evolution and motions of clouds, which are the prime indicators of convective activity. Sample satellite imagery of sea, lake and river breezes which reveal differential heating processes, the effect of early morning cloud cover, thunderstorm outflow processes, and mesoscale convective systems are provided. Techniques for analyzing the satellite data to predict the onset of severe weather are discussed.

Purdom, James F. W.↗

NASA NTRS1989

REDEX: The ranging equipment diagnostic expert system

REDEX, an advanced prototype expert system that diagnoses hardware failures in the Ranging Equipment (RE) at NASA's Ground Network tracking stations is described. REDEX will help the RE technician identify faulty circuit cards or modules that must be replaced, and thereby reduce troubleshooting time. It features a highly graphical user interface that uses color block diagrams and layout diagrams to illustrate the location of a fault. A semantic network knowledge representation technique was used to model the design structure of the RE. A catalog of generic troubleshooting rules was compiled to represent heuristics that are applied in diagnosing electronic equipment. Specific troubleshooting rules were identified to represent additional diagnostic knowledge that is unique to the RE. Over 50 generic and 250 specific troubleshooting rules have been derived. REDEX is implemented in Prolog on an IBM PC AT-compatible workstation. Block diagram graphics displays are color-coded to identify signals that have been monitored or inferred to have nominal values, signals that are out of tolerance, and circuit cards and functions that are diagnosed as faulty. A hypertext-like scheme is used to allow the user to easily navigate through the space of diagrams and tables. Over 50 graphic and tabular displays have been implemented. REDEX is currently being evaluated in a stand-alone mode using simulated RE fault scenarios. It will soon be interfaced to the RE and tested in an online environment. When completed and fielded, REDEX will be a concrete example of the application of expert systems technology to the problem of improving performance and reducing the lifecycle costs of operating NASA's communications networks in the 1990's.

Luczak, Edward C.↗

NASA NTRS1989

REDEX - The ranging equipment diagnostic expert system

Luczak, Edward C.↗

NASA NTRS2008

Spatial Coverage Planning and Optimization for Planetary Exploration

We are developing onboard planning and scheduling technology to enable in situ robotic explorers, such as rovers and aerobots, to more effectively assist scientists in planetary exploration. In our current work, we are focusing on situations in which the robot is exploring large geographical features such as craters, channels or regional boundaries. In to develop valid and high quality plans, the robot must take into account a range of scientific and engineering constraints and preferences. We have developed a system that incorporates multiobjective optimization and planning allowing the robot to generate high quality mission operations plans that respect resource limitations and mission constraints while attempting to maximize science and engineering objectives. An important scientific objective for the exploration of geological features is selecting observations that spatially cover an area of interest. We have developed a metric to enable an in situ explorer to reason about and track the spatial coverage quality of a plan. We describe this technique and show how it is combined in the overall multiobjective optimization and planning algorithm.

autonomy↗