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At least 613 records · Page 34
All sourcesNASA NTRSDOE OSTI
NASA NTRS2008

Vision System Measures Motions of Robot and External Objects

A prototype of an advanced robotic vision system both (1) measures its own motion with respect to a stationary background and (2) detects other moving objects and estimates their motions, all by use of visual cues. Like some prior robotic and other optoelectronic vision systems, this system is based partly on concepts of optical flow and visual odometry. Whereas prior optoelectronic visual-odometry systems have been limited to frame rates of no more than 1 Hz, a visual-odometry subsystem that is part of this system operates at a frame rate of 60 to 200 Hz, given optical-flow estimates. The overall system operates at an effective frame rate of 12 Hz. Moreover, unlike prior machine-vision systems for detecting motions of external objects, this system need not remain stationary: it can detect such motions while it is moving (even vibrating). The system includes a stereoscopic pair of cameras mounted on a moving robot. The outputs of the cameras are digitized, then processed to extract positions and velocities. The initial image-data-processing functions of this system are the same as those of some prior systems: Stereoscopy is used to compute three-dimensional (3D) positions for all pixels in the camera images. For each pixel of each image, optical flow between successive image frames is used to compute the two-dimensional (2D) apparent relative translational motion of the point transverse to the line of sight of the camera. The challenge in designing this system was to provide for utilization of the 3D information from stereoscopy in conjunction with the 2D information from optical flow to distinguish between motion of the camera pair and motions of external objects, compute the motion of the camera pair in all six degrees of translational and rotational freedom, and robustly estimate the motions of external objects, all in real time. To meet this challenge, the system is designed to perform the following image-data-processing functions: The visual-odometry subsystem (the subsystem that estimates the motion of the camera pair relative to the stationary background) utilizes the 3D information from stereoscopy and the 2D information from optical flow. It computes the relationship between the 3D and 2D motions and uses a least-mean-squares technique to estimate motion parameters. The least-mean-squares technique is suitable for real-time implementation when the number of external-moving-object pixels is smaller than the number of stationary-background pixels.

Talukder, Ashit↗
NASA NTRS2003

Accelerating Large Data Analysis By Exploiting Regularities

We present techniques for discovering and exploiting regularity in large curvilinear data sets. The data can be based on a single mesh or a mesh composed of multiple submeshes (also known as zones). Multi-zone data are typical to Computational Fluid Dynamics (CFD) simulations. Regularities include axis-aligned rectilinear and cylindrical meshes as well as cases where one zone is equivalent to a rigid-body transformation of another. Our algorithms can also discover rigid-body motion of meshes in time-series data. Next, we describe a data model where we can utilize the results from the discovery process in order to accelerate large data visualizations. Where possible, we replace general curvilinear zones with rectilinear or cylindrical zones. In rigid-body motion cases we replace a time-series of meshes with a transformed mesh object where a reference mesh is dynamically transformed based on a given time value in order to satisfy geometry requests, on demand. The data model enables us to make these substitutions and dynamic transformations transparently with respect to the visualization algorithms. We present results with large data sets where we combine our mesh replacement and transformation techniques with out-of-core paging in order to achieve significant speed-ups in analysis.

Moran, Patrick J.↗
NASA NTRS1993

A motion detection system for AXAF X-ray ground testing

The concept, implementation, and performance of the motion detection system (MDS) designed as a diagnostic for X-ray ground testing for AXAF are described. The purpose of the MDS is to measure the magnitude of a relative rigid body motion among the AXAF test optic, the X-ray source, and X-ray focal plane detector. The MDS consists of a point source, lens, centroid detector, transimpedance amplifier, and computer system. Measurement of the centroid position of the image of the optical point source provides a direct measure of the motions of the X-ray optical system. The outputs from the detector and filter/amplifier are digitized and processed using the calibration with a 50 Hz bandwidth to give the centroid's location on the detector. Resolution of 0.008 arcsec has been achieved by this system. Data illustrating the performance of the motion detection system are also presented.

Arenberg, Jonathan W.↗
NASA NTRS1984

The impact of latent heat release on synoptic-scale vertical motions and the development of an extratropical cyclone system

This study investigates the influence of stable and convective latent heat release on synoptic-scale vertical motions and the corresponding evolution of an extratropical cyclone during a 48 h period of strong development. The cyclone's early evolution was dominated by dry dynamical processes. By midway through the period, however, forcing by latent heat release accounted for over 50 percent of the upward vertical motions, with the convective component dominating. The cyclone's development was most intense during the second 24 h, despite a decrease in latent heat release. During the latter period, the reduced direct latent heat influence may have been augmented by an indirect influence, in which pre-existing dry dynamical forcing was enhanced by diabatic intensification of vorticity and thermal gradients.

Smith, P. J.↗
NASA NTRS1999

Interaction Between Tropical Convection and its Embedding Environment: An Energetics Analysis of a 2-D Cloud Resolving Simulation

The phase relation between the perturbation kinetic energy (K') associated with the tropical convection and the horizontal-mean moist available potential energy (bar-P) associated with environmental conditions is investigated by an energetics analysis of a numerical experiment. This experiment is performed using a 2-D cloud resolving model forced by the TOGA-COARE derived vertical velocity. The imposed upward motion leads to a decrease of bar-P directly through the associated vertical advective cooling, and to an increase of K' directly through cloud related processes, feeding the convection. The maximum K' and its maximum growth rate lags and leads, respectively, the maximum imposed large-scale upward motion by about 1-2 hours, indicating that convection is phase locked with large-scale forcing. The dominant life cycle of the simulated convection is about 9 hours, whereas the time scales of the imposed large-scale forcing are longer than the diurnal cycle. In the convective events, maximum growth of K' leads maximum decay of the perturbation moist available potential energy (P') by about 3 hours through vertical heat transport by perturbation circulation, and perturbation cloud heating. Maximum decay of P' leads maximum decay of bar-P by about one hour through the perturbation radiative, processes, the horizontal-mean cloud heating, and the large-scale vertical advective cooling. Therefore, maximum gain of K' occurs about 4-5 hours before maximum decay of bar-P.

Li, Xiaofan↗
NASA NTRS1990

Simulations and observations of cloudtop processes

Turbulent entrainment at zero mean shear stratified interfaces has been studied extensively in the laboratory and theoretically for the classical situation in which density is a passive tracer of the mixing and the turbulent motions producing the entrainment are directed toward the interface. It is the purpose of the numerical simulations and data analysis to investigate these processes and, specifically, to focus on the following questions: (1) Can local cooling below cloudtop play an important role in setting up convective circulations within the cloud, and bringing about entrainment; (2) Can Cloudtop Entrainment Instability (CEI) alone lead to runaway entrainment under geophysically realistic conditions; and (3) What are the important mechanisms of entrainment at cloudtop under zero or low mean shear conditions.

Siems, S. T.↗
NASA NTRS1993

Multi-center Airborne Coherent Atmospheric Wind Sensor (MACAWS)

This effort involves development of a calibrated, pulsed coherent CO2 Doppler lidar, followed by a carefully-planned and -executed program of multi-dimensional wind velocity and aerosol backscatter measurements from the NASA DC-8 research aircraft. The lidar, designated as the Multi-center Airborne Coherent Atmospheric Wind Sensor (MACAWS), will be applicable to two research areas. First, MACAWS will enable specialized measurements of atmospheric dynamical processes in the planetary boundary layer and free troposphere in geographic locations and over scales of motion not routinely or easily accessible to conventional sensors. The proposed observations will contribute fundamentally to a greater understanding of the role of the mesoscale, helping to improve predictive capabilities for mesoscale phenomena and to provide insights into improving model parameterizations of sub-grid scale processes within large-scale circulation models. As such, it has the potential to contribute uniquely to major, multi-institutional field programs planned for the mid 1990's. Second, MACAWS measurements can be used to reduce the degree of uncertainty in performance assessments and algorithm development for NASA's prospective Laser Atmospheric Wind Sounder (LAWS), which has no space-based instrument heritage. Ground-based lidar measurements alone are insufficient to address all of the key issues. To minimize costs, MACAWS is being developed cooperatively by the lidar remote sensing groups of the Jet Propulsion Laboratory, NOAA Wave Propagation Laboratory, and MSFC using existing lidar hardware and manpower resources. Several lidar components have already been exercised in previous airborne lidar programs (for example, MSFC Airborne Doppler Lidar System (ADLS) used in 1981,4 Severe Storms Wind Measurement Program; JPL Airborne Backscatter Lidar Experiment (ABLE) used in 1989,90 Global Backscatter Experiment Survey Missions). MSFC has been given responsibility for directing the overall program of instrument development and scientific measurement. The focus of current research and plans for next year are presented.

Rhothermel, Jeffry↗
NASA NTRS1983

Drop motion in a rotating immiscible liquid body

The interaction of liquids is an important part of many processes and is often used for such purposes as causing a separation of solution components by mass transfer between phases, allowing a chemical reaction between liquids or their components, providing direct contact heating or cooling, or creating emulsions. Containerless space processing may well involve the interaction of liquids in the form of drops. For example it may be desirable to form an alloy in space by merger of two or more drops. Encapsulation of a volatile liquid by a second less volatile and immiscible liquid might be a means for avoiding volatilization. Rotation of such systems would enhance mixing where desirable and/or provide means for drop management. In this study, single drop behavior in rotating liquid bodies is studied experimentally.

Annamalai, P.↗
NASA NTRS1985

Transport processes research

Fundamental research in reduced gravity on transport processes occurring during crystallization and/or during solidification processes was studied. The details of the transport processes in various materials processing modes will be systematically studied. A Shuttle experiment will be planned to provide a better understanding of the role of fluid motion on the formation of morphological patterns and roles of these patterns in solid composition. The approach to the research will involve theoretical modeling of transport processes, non-incursive ground-based laboratory measurements of model systems, and the definition of requirements for space experimentation.

Saville, D. A.↗
NASA NTRS1978

Studies of convection in a solidifying system with surface tension at reduced gravity

The low gravity environment of Earth's orbit is being seriously considered for experimentation on the production of materials in space. Most of such materials processes inevitably involve either the solidification of melt or the melting of solids. Inherent in most fluid mechanisms with temperature gradients is convective motion. A study is presented for the onset of convection in a solidifying system in an environment which is similar to that encountered in space processing. Since the study is for a low gravity condition, the only driving mechanism considered is that due to the variation of surface tension force at the free surface of the melt layer. Two simple solidification models were considered, one in which the solidification process enters in the perturbation system and another in which the melt is solidifying at a constant rate. The results show that the solidification process will bring about convection in the melt earlier than otherwise.

Antar, B. N.↗
NASA NTRS1967

Improved head-controlled TV system produces high-quality remote image

Manipulator operator uses an improved resolution tv camera/monitor positioning system to view the remote handling and processing of reactive, flammable, explosive, or contaminated materials. The pan and tilt motions of the camera and monitor are slaved to follow the corresponding motions of the operators head.

Goertz, R.↗
NASA NTRS1972

Note on the origin of Jupiter's magnetic field

The effect of the coriolis force was examined for stability of rotating hydromagnetic systems. It is shown that the effect of this force is to inhibit the onset of instability which leads to convective motion in these systems. The possibility of the existence of a dynamo process in Jupiter's interior is discussed, taking into account the effect of the coriolis force.

Sakurai, K.↗
NASA NTRS1972

Review of coherent optical data processing

The fundamental features of coherent optical data processing systems are reviewed for potential application to image processing. The application of optical spatial filtering to image mapping and cloud motion is discussed.

Vanderlugt, A.↗
NASA NTRS1978

The benefits of using short interval satellite images to derive winds for tropical cyclones

During the 1975, 1976, and 1977, NOAA's National Environmental Satellite Service and NASA's Goddard Space Flight Center conducted a cooperative program to determine the optimum resolution and frequency of satellite images for deriving winds to study and forecast tropical cyclones. Rapid scan images were obtained at 7.5 minute interval from SMS-2 for hurricane Eloise and cyclone Caroline, and at 3 minute intervals from GOES-1 for tropical storms Belle, Holly, and Anita. Cloud motions were derived from these images using the Atmospheric and Oceanographic Information Processing System. Winds that were derived from the movement of upper and lower tropospheric level clouds using rapid scan data were compared with the 15 and 30 minute interval data. Greater than 10 (5) times as many clouds could be tracked to obtain winds using 3 and 7.5 minute rapid scan images as when using 15 or 30 minute interval images. A few bright areas within the central dense overcast which appeared to be moving with the winds at low levels were tracked.

Rodgers, E.↗
NASA NTRS1983

Reports on crustal movements and deformations

This Catalog of Reports on Crustal Movements and Deformation is a structured bibliography of scientific papers on the movements of the Earth crust. The catalog summarizes by various subjects papers containing data on the movement of the Earth's surface due to tectonic processes. In preparing the catalog we have included studies of tectonic plate motions, spreading and convergence, microplate rotation, regional crustal deformation strain accumulation and deformations associated with the earthquake cycle, and fault motion. We have also included several papers dealing with models of tectonic plate motion and with crustal stress. Papers which discuss tectonic and geologic history but which do not present rates of movements or deformations and papers which are primarily theoretical analyses have been excluded from the catalog. An index of authors cross-referenced to their publications also appears in the catalog. The catalog covers articles appearing in reviewed technical journals during the years 1970-1981. Although there are citations from about twenty journals most of the items come from the following publications: Journal of Geophysical Research, Tectonophysics, Geological Society of America Bulletin of the Seismological Society of America, Nature, Science, Geophysical Journal of the Royal Astronomical Society, Earth and Planetary Science Letters, and Geology.

Cohen, S. C.↗
NASA NTRS1983

Experimental study using Nearfield Acoustical Holography of sound transmission fuselage sidewall structures

This project involves the development of the Nearfield Acoustic Holography (NAH) technique (in particular its extension from single frequency to wideband noise measurement) and its application in a detailed study of the noise radiation characteristics of several samples of aircraft sidewall panels. With the extensive amount of information provided by the NAH technique, the properties of the sound field radiated by the panels may be correlated with their structure, mounting, and excitation (single frequency or wideband, spatially correlated or uncorrelated, structure-borne). The work accomplished at the beginning of this grant period included: (1) Calibration of the 256 microphone array and test of its accuracy. (2) extension of the facility to permit measurements on wideband noise sources. The extensions incuded the addition of high-speed data acquisition hardware and an array processor, and the development of new software. (3) Installation of motion picture graphics for correlating panel motion with structure, mounting, radiation, etc. (4) Development of new holographic data processing techniques.

Maynard, J. D.↗
NASA NTRS1983

Motion driven by the interface

Due to the reduction in buoyant forces aboard orbiting spacecraft such as the Space Shuttle, fluid motion driven by gradients in interfacial tension will be important in the processing of materials in space. In this paper, preliminary results from a study of surface tension driven flow in a pendant drop are reported. The drop is heated from above, and the resulting temperature gradients on the drop surface give rise to interfacial tension gradients. These, in turn, drive a circulation in the drop which is made visible by suitable tracers. The velocities are measured using a video technique, and the data on core velocities are found to agree well with results from a predictive theoretical model.

Jayaraj, K.↗