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At least 631 records · Page 35

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include realtime, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify & other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

Evidence for a Broad Relativistic Iron Line from the Neutron Star LMXB Ser X-1

We report on an analysis of XMM-Newton data from the neutron star low mass X-ray binary (LMXB) Serpens X-1 (Ser X-1). Spectral analysis of EPIC PN data indicates that the previously known broad iron Ka emission line in this source has a significantly skewed structure with a moderately extended red wing. The asymmetric shape of the line is well described with the laor and diskline models in XSPEC, which strongly supports an inner accretion disk origin of the line. To our knowledge this is the first strong evidence for a relativistic line in a neutron star LMXB. This finding suggests that the broad lines seen in other neutron star LMXBs likely originate from the inner disk as well. Detailed study of such lines opens up a new way to probe neutron star parameters and their strong gravitational fields. The laor model describes the line from Ser X-1 somewhat better than diskline, and suggests that the inner accretion disk radius is less than 6GM/c(exp 2). This is consistent with the weak magnetic fields of LMXBs, and may point towards a high compactness and rapid spin of the neutron star. Finally, the inferred source inclination angle in the approximate range 50-60 deg is consistent with the lack of dipping from Ser X-1.

Bhattacharyya, Sudip↗

Real-time Detection of Moving Objects from Moving Vehicles Using Dense Stereo and Optical Flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time. dense stereo system to include realtime. dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop. computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

moving object detection↗

Foam Spray Cooling Heat Transfer Performance Study

Previous studies have shown that spray cooling heat flux enhancement may be attained using enhanced surfaces. However, most enhanced surface spray cooling studies have been limited to extended and/or embedded surface structures. This study investigates the effect of foam on spray cooling heat flux. The foam used was graphite Poco Foam. The foam piece was attached to a copper block with a cross-sectional area of 2.0 cm(sup 2) using high thermal conductivity epoxy as the thermal interface material (TIM). Measurements were also obtained on a heater block with a flat surface for purposes of baseline comparison. A 2x2 nozzle array was used with PF-5060 as the working fluid. Thermal performance data was obtained under nominally degassed conditions (chamber pressure of 41.4 kPa). Results show that the highest heat flux (CHF) attained was 113 W/cm(sup 2) using the graphite Poco Foam.

Silk, E. A.↗

Slot Nozzle Effects for Reduced Sonic Boom on a Generic Supersonic Wing Section

NASA has conducted research programs to reduce or eliminate the operational restrictions of supersonic aircraft over populated areas. Restrictions are due to the disturbance from the sonic boom, caused by the coalescence of shock waves formed off the aircraft. Results from two-dimensional computational fluid dynamic (CFD) analyses (performed on a baseline Mach 2.0 nozzle in a simulated Mach 2.2 flow) indicate that over-expanded and under-expanded operation of the nozzle has an effect on the N-wave boom signature. Analyses demonstrate the feasibility of reducing the magnitude of the sonic boom N-wave by controlling the nozzle plume interaction with the nozzle boat tail shock structure. This work was extended to study the impact of integrating a high aspect ratio exhaust nozzle or long slot nozzle on the trailing edge of a supersonic wing. The nozzle is operated in a highly under-expanded condition, creating a large exhaust plume and a shock at the trailing edge of the wing. This shock interacts with and suppresses the expansion wave caused by the wing, a major contributor to the sonic boom signature. The goal was to reduce the near field pressures caused by the expansion using a slot nozzle located at the wing trailing edge. Results from CFD analysis on a simulated wing cross-section and a slot nozzle indicate potential reductions in sonic boom signature compared to a baseline wing with no propulsion or trailing edge exhaust. Future studies could investigate if this effect could be useful on a supersonic aircraft for main propulsion, auxiliary propulsion, or flow control.

Castner, Raymond S.↗

Mercury's Atmosphere and Magnetosphere: MESSENGER Third Flyby Observations

MESSENGER's third flyby of Mercury en route to orbit insertion about the innermost planet took place on 29 September 2009. The earlier 14 January and 6 October 2008 encounters revealed that Mercury's magnetic field is highly dipolar and stable over the 35 years since its discovery by Mariner 10; that a structured, temporally variable exosphere extends to great altitudes on the dayside and forms a long tail in the anti-sunward direction; a cloud of planetary ions encompasses the magnetosphere from the dayside bow shock to the downstream magnetosheath and magnetotail; and that the magnetosphere undergoes extremely intense magnetic reconnect ion in response to variations in the interplanetary magnetic field. Here we report on new results derived from observations from MESSENGER's Mercury Atmospheric and Surface Composition Spectrometer (MASCS), Magnetometer (MAG), and Energetic Particle and Plasma Spectrometer (EPPS) taken during the third flyby.

Slavin, James A.↗

Slot Nozzle Effects for Reduced Sonic Boom on a Generic Supersonic Wing Section

NASA has conducted research programs to reduce or eliminate the operational restrictions of supersonic aircraft over populated areas. Restrictions are due to the disturbance from the sonic boom, caused by the coalescence of shock waves formed off the aircraft. Results from two-dimensional computational fluid dynamic (CFD) analyses (performed on a baseline Mach 2.0 nozzle in a simulated Mach 2.2 flow) indicate that over-expanded and under-expanded operation of the nozzle has an effect on the N-wave boom signature. Analyses demonstrate the feasibility of reducing the magnitude of the sonic boom N-wave by controlling the nozzle plume interaction with the nozzle boat tail shock structure. This work was extended to study the impact of integrating a high aspect ratio exhaust nozzle or long slot nozzle on the trailing edge of a supersonic wing. The nozzle is operated in a highly under-expanded condition, creating a large exhaust plume and a shock at the trailing edge of the wing. This shock interacts with and suppresses the expansion wave caused by the wing, a major contributor to the sonic boom signature. The goal was to reduce the near field pressures caused by the expansion using a slot nozzle located at the wing trailing edge. Results from CFD analysis on a simulated wing cross-section and a slot nozzle indicate potential reductions in sonic boom signature compared to a baseline wing with no propulsion or trailing edge exhaust. Future studies could investigate if this effect could be useful on a supersonic aircraft for main propulsion, auxiliary propulsion, or flow control.

Caster, Raymond S.↗

Xenia Mission: Spacecraft Design Concept

The proposed Xenia mission will, for the first time, chart the chemical and dynamical state of the majority of baryonic matter in the universe. using high-resolution spectroscopy, Xenia will collect essential information from major traces of the formation and evolution of structures from the early universe to the present time. The mission is based on innovative instrumental and observational approaches: observing with fast reaction gamma-ray bursts (GRBs) with a high spectral resolution. This enables the study of their (star-forming) environment from the dark to the local universe and the use of GRBs as backlight of large-scale cosmological structures, observing and surveying extended sources with high sensitivity using two wide field-of-view x-ray telescopes - one with a high angular resolution and the other with a high spectral resolution.

Hopkins, R. C.↗

Hierarchical Safety Cases

We introduce hierarchical safety cases (or hicases) as a technique to overcome some of the difficulties that arise creating and maintaining industrial-size safety cases. Our approach extends the existing Goal Structuring Notation with abstraction structures, which allow the safety case to be viewed at different levels of detail. We motivate hicases and give a mathematical account of them as well as an intuition, relating them to other related concepts. We give a second definition which corresponds closely to our implementation of hicases in the AdvoCATE Assurance Case Editor and prove the correspondence between the two. Finally, we suggest areas of future enhancement, both theoretically and practically.

Denney, Ewen W.↗

Viscoelastoplastic Deformation and Damage Response of Titanium Alloy, Ti-6Al-4V, at Elevated Temperatures

Time-dependent deformation and damage behavior can significantly affect the life of aerospace propulsion components. Consequently, one needs an accurate constitutive model that can represent both reversible and irreversible behavior under multiaxial loading conditions. This paper details the characterization and utilization of a multi-mechanism constitutive model of the GVIPS class (Generalized Viscoplastic with Potential Structure) that has been extended to describe the viscoelastoplastic deformation and damage of the titanium alloy Ti-6Al-4V. Associated material constants were characterized at five elevated temperatures where viscoelastoplastic behavior was observed, and at three elevated temperatures where damage (of both the stiffness reduction and strength reduction type) was incurred. Experimental data from a wide variety of uniaxial load cases were used to correlate and validate the proposed GVIPS model. Presented are the optimized material parameters, and the viscoelastoplastic deformation and damage responses at the various temperatures.

Arnold, Steven M.↗

Precise Truss Assembly Using Commodity Parts and Low Precision Welding

Hardware and software design and system integration for an intelligent precision jigging robot (IPJR), which allows high precision assembly using commodity parts and low-precision bonding, is described. Preliminary 2D experiments that are motivated by the problem of assembling space telescope optical benches and very large manipulators on orbit using inexpensive, stock hardware and low-precision welding are also described. An IPJR is a robot that acts as the precise "jigging", holding parts of a local structure assembly site in place, while an external low precision assembly agent cuts and welds members. The prototype presented in this paper allows an assembly agent (for this prototype, a human using only low precision tools), to assemble a 2D truss made of wooden dowels to a precision on the order of millimeters over a span on the order of meters. The analysis of the assembly error and the results of building a square structure and a ring structure are discussed. Options for future work, to extend the IPJR paradigm to building in 3D structures at micron precision are also summarized.

Komendera, Erik↗

Multiple Probe Measurements at Uranus Motivated By Spatial Variability

Motivation: Spatial variations in the temperature field and composition of Uranus' atmosphere demonstrate a need for multiple entry probes to characterize vertical profiles in multiple locations. We will review variation of composition and temperature, which are produced by dynamical processes on a range of scales from global (polar anomalies, zonal bands) to regional (vortices, storms) [1–2]. In particular, the spatial variation of convective activity is not well understood based on existing remote sensing observations [3]. Understanding how these processes operate, and how they modulate variable composition, is key to constraining bulk atmospheric abundances. Abundances in turn provide cosmochemical constraints on planetary origins. Secondary probes at Uranus: Key measurements for secondary probes are temperature-pressure profiles, along with compositional profiles. Radio occultations are limited to shallow levels less than ~2 bar [4]. In situ temperature-pressure measurements (or atmospheric structure measurements) can unambiguously extend these results to deeper levels. Measurements with vertical resolution of at least 2 km are needed to characterize anomalies like the 1.2-bar feature from the Voyager 2 occultation at 2–6° S [4], which supports a range of temperature gradients depending on assumptions of composition. Simultaneous measurements of temperature, pressure, and composition are key to understanding this class of features. Species such as methane, hydrogen sulfide, and ammonia must be measured along a probe descent profile because they vary over several orders of magnitude due to the strong temperature dependence of their saturation vapor pressures [e.g., 5]. Results of these measurements can be interpreted to understand the potential for moist convective activity in the atmosphere. Lessons from the other giant planets: On Jupiter, the Galileo Probe's entry into a meteorologically distinct five-micron hot spot led many to interpret the local composition as column-stretched, so that well-mixed abundances were reached at deeper levels than in surrounding, unperturbed regions [6–8]. Ground-based microwave measurements and Juno data now indicate that the deep depletion of ammonia is a very widespread atmospheric characteristic not limited to 5-µm hot spots [9–11]. But in the absence of multiple probes, we do not know if the other volatiles H2S and H2O behave in the same way. The open questions for the Jupiter case strongly motivate sending multiple probes to Uranus. On Saturn, retrievals of NH3 and PH3 abundances at shallow levels vary with latitude [12], but it is unknown how deep these differences extend, which is why a Saturn probe (or probes) was a mission theme for NASA's New Frontiers 4 and 5 opportunities [13]. Challenges for secondary probes: Cost is an issue due to the perception that it involves sacrifices to other mission elements. Spacecraft trajectories may be constrained by needs for orbit insertion that limit probe deliveries to different latitudes, and additional limitations may be placed on communication windows for probe descent phases (particularly if multiple probes are released from the orbiter simultaneously) [14]. Finally, composition sensors for miniature secondary probes are not at the required technological maturity [15]. Mass spectrometers are typically too large, massive, and powerhungry, while smaller nanosensors are only beginning to be developed for planetary missions. Finally, the need for probe survival heating is most easily met by radioisotope heat sources, but these require regulatory approvals that are even more difficult to satisfy compared to standard environmental reviews [16], unless the secondary probe is designed as a core element of a mission. References: [1] Molter E.M., et al. (2021) PSJ, 2, 3. [2] Rowe-Gurney N., et al. (2021) Icar, 365, 114506. [3] Hueso R., Sánchez-Lavega A. (2019) SSRv, 215, 52. [4] Lindal G.F., et al. (1987) JGR, 92, 14987– 15001. [5] Simon A.A., et al. (2022) RemS, 14, 1518. [6] Atreya, S.K., et al. (1997) in The Three Galileos: The Man, the Spacecraft, the Telescope, pp. 249–260 (C. Barbieri et al., eds.). [7] Showman A.P., Ingersoll A.P. (1998) Icar, 132, 205–220. [8] Friedson A.J. (2005) Icar, 177, 1–17. [9] de Pater I., et al. (2001) Icar, 149, 66–78. [10] Li C., et al. (2017) GeoRL, 44, 5317–5325. [11] de Pater I., et al. (2019) Icar, 322, 168–191. [12] Fletcher L.N., et al. (2009) Icar, 202, 543–564. [13] National Research Council (2011) Vision and Voyages. [14] Sayanagi K.M., et al. (2020) SSRv, 216, 72. [15] Wong M.H. et al. (2021) BAAS, 53, 486. [16] Zide A., Mendoza-Hill A., Cheney D. (2022) COSPAR Abstracts H0.6-0012-22.

Michael H Wong↗

Integrating Forest Structural Diversity Measurement Into Ecological Research

The measurement of forest structure has evolved steadily due to advances in technology, methodology, and theory. Such advances have greatly increased our capacity to describe key forest structural elements and resulted in a range of measurement approaches from traditional analog tools such as measurement tapes to highly derived and computationally intensive methods such as advanced remote sensing tools (e.g., lidar, radar). This assortment of measurement approaches results in structural metrics unique to each method, with the caveat that metrics may be biased or constrained by the measurement approach taken. While forest structural diversity (FSD) metrics foster novel research opportunities, understanding how they are measured or derived, limitations of the measurement approach taken, as well as their biological interpretation is crucial for proper application. We review the measurement of forest structure and structural diversity—an umbrella term that includes quantification of the distribution of functional and biotic components of forests. We consider how and where these approaches can be used, the role of technology in measuring structure, how measurement impacts extend beyond research, and current limitations and potential opportunities for future research.

Jeff W. Atkins↗

Chemical order transitions within extended interfacial segregation zones in NbMoTaW

Interfacial segregation and chemical short-range ordering influence the behavior of grain boundaries in complex concentrated alloys. In this study, we use atomistic modeling of a NbMoTaW refractory complex concentrated alloy to provide insight into the interplay between these two phenomena. Hybrid Monte Carlo and molecular dynamics simulations are performed on columnar grain models to identify equilibrium grain boundary structures. Here our results reveal extended near-boundary segregation zones that are much larger than traditional segregation regions, which also exhibit chemical patterning that bridges the interfacial and grain interior regions. Furthermore, structural transitions pertaining to an A2-to-B2 transformation are observed within these extended segregation zones. Both grain size and temperature are found to significantly alter the widths of these regions. An analysis of chemical short-range order indicates that not all pairwise elemental interactions are affected by the presence of a grain boundary equally, as only a subset of elemental clustering types are more likely to reside near certain boundaries. The results emphasize the increased chemical complexity that is associated with near-boundary segregation zones and demonstrate the unique nature of interfacial segregation in complex concentrated alloys.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Simultaneous Aerodynamic and Structural Design Optimization (SASDO) for a 3-D Wing

The formulation and implementation of an optimization method called Simultaneous Aerodynamic and Structural Design Optimization (SASDO) is shown as an extension of the Simultaneous Aerodynamic Analysis and Design Optimization (SAADO) method. It is extended by the inclusion of structure element sizing parameters as design variables and Finite Element Method (FEM) analysis responses as constraints. The method aims to reduce the computational expense. incurred in performing shape and sizing optimization using state-of-the-art Computational Fluid Dynamics (CFD) flow analysis, FEM structural analysis and sensitivity analysis tools. SASDO is applied to a simple. isolated, 3-D wing in inviscid flow. Results show that the method finds the saine local optimum as a conventional optimization method with some reduction in the computational cost and without significant modifications; to the analysis tools.

Gumbert, Clyde R.↗

Novel Method Used to Inspect Curved and Tubular Structural Materials

At the NASA Lewis Research Center, a technique for the ultrasonic characterization of plates has been extended to tubes and to curved structures in general. In this technique, one performs measurements that yield a thickness-independent value of the local through-the-thickness speed of sound in a specimen. From such measurements at numerous locations across the specimen, one can construct a map of velocity as a function of location. The gradients of velocity indicated by such a map indicate local through-the-thickness-averaged microstructural parameters that affect the speed of sound. Such parameters include the pore volume fraction, mass density, fiber volume fraction (in the case of a composite material), and chemical composition. Apparatus was designed to apply the technique to tubular and other curved specimens.

Roth, Don J.↗

Structures and Free Energies of Cerium Ions in Acidic Electrolytes

The Ce 3+ /Ce 4+ redox potential changes with the electrolyte, which could be due to unequal anion complexation free energies between Ce 3+ and Ce 4+ or a change in the solvent electrostatic screening. Ce complexation with anions and solvent screening also affect the solubility of Ce and charge transfer kinetics for electrochemical reactions involving waste remediation and energy storage. Here, we report the structures and free energies of cerium complexes n seven acidic electrolytes based on Extended X-ray Absorption Fine Structure, LTV vis, and Density Functional Theory calculations. Ce 3+ coordinates with nine water molecules as [Ce(H 2 O) 9 ] 3+ in all studied electrolytes. However, Ce 4+ complexes with anions in all electrolytes except HClO 4 . Thus, our results suggest that Ce 4+ anion complexation leads to the large shifts in standard redox potential. Long range screening effects are smaller than the anion complexation energies but could be responsible for changes in the Ce solubility with acid.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗