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NASA NTRS1994

The use of interactive computer vision and robot hand controllers for enhancing manufacturing safety

Current available robotic systems provide limited support for CAD-based model-driven visualization, sensing algorithm development and integration, and automated graphical planning systems. This paper describes ongoing work which provides the functionality necessary to apply advanced robotics to automated manufacturing and assembly operations. An interface has been built which incorporates 6-DOF tactile manipulation, displays for three dimensional graphical models, and automated tracking functions which depend on automated machine vision. A set of tools for single and multiple focal plane sensor image processing and understanding has been demonstrated which utilizes object recognition models. The resulting tool will enable sensing and planning from computationally simple graphical objects. A synergistic interplay between human and operator vision is created from programmable feedback received from the controller. This approach can be used as the basis for implementing enhanced safety in automated robotics manufacturing, assembly, repair and inspection tasks in both ground and space applications. Thus, an interactive capability has been developed to match the modeled environment to the real task environment for safe and predictable task execution.

Marzwell, Neville I.↗

NASA NTRS1994

In-flight scale/distortion calibration of the Hubble Space Telescope fixed-head star trackers

This paper describes an in-flight scale and distortion calibration procedure that has been developed for the Ball Aerospace Systems Division Fixed-Head Star Trackers (FHST's) used on the Hubble Space Telescope (HST). The FHST is a magnetically focused and deflected imaging sensor that is designed to track stars as faint as m(sub v) = 5.7 over an 8 degree by 8 degree field of view. Raw FHST position measurements are accurate to approximately 200 arcseconds, but this can be improved to 10-15 arcseconds by processing the raw measurements through calibration polynomials that correct for flat field, temperature intensity, and magnetic field effects. The coefficients for these polynomials were initially determined using ground test data. On HST the use of three FHST's is an integral part of the preliminary attitude update procedures required before the acquisition of guide stars for science observations. To this end, FHST-based attitude determination having single-axis errors no worse than 22 arcseconds (1 sigma) is required. In early 1991 it became evident that one of the HST FHST's was experiencing a significant change in its optical scale. By mid-1993 the size of this error had grown to a point that, if not corrected, it would correspond to a maximum position error on the order of 100 arcseconds. Subsequent investigations demonstrated that substantial, uncompensated cubic distortion effects had also developed, the maximum contribution to position errors from the cubic terms being on the order of 30 arcseconds. To ensure accurate FHST-based attitude updates, procedures have been developed to redetermine the FHST scale and distortion calibration coefficients based on in-flight data gathered during normal HST operations. These scale and distortion calibrations have proven very effective operationally, and procedures are in place to monitor FHST calibration changes on a continuing basis.

Mccutcheon, R.↗

NASA NTRS1994

Produce documents and media information

Lightning data and information were collected from the United States, Germany, France, Brazil, China, and Australia for the dual purposes of compiling a global lightning data base and producing publications on the Marshall Space Flight Center's lightning program. Research covers the history of lightning, the characteristics of a storm, types of lightningdischarges, observations from airplanes and spacecraft, the future fole of planes and spacecraft in lightning studies, lightning detection networks, and the relationships between lightning and rainfall. Descriptions of the Optical Transient Dectector, the Lightning Imaging Sensor, and the Lightning Mapper Sensor are included.

Alzmann, Melanie A.↗

NASA NTRS1994

Field and data analysis studies related to the atmospheric environment

This report summarizes work on a broad array of projects including: (1) applications of meteorological and/or oceanographic satellites; (2) improvement of the current set of NASA/USAF lightning related launch commit criteria rules; (3) the design, building, testing and deployment of a set of cylindrical field mills for aircraft use; (4) the study of marginal electrification storm conditions in relationship to the current launch commit rules for the space shuttle and various other launch vehicles using an instrumented aircraft; (5) support of the DC-8 and ER-2 lightning instrument package as part of both the Tropical Ocean - Global Atmospheric/Coupled Ocean-Atmospheric Response Experiment and the Convection and Moisture Experiment; (6) design of electronic circuitry and microprocessor firmware for the NASA Advanced Ground Based Field Mill; (7) design and testing of electronic and computer instrumentation for atmospheric electricity measurements; (8) simulating observations from a lightning imaging sensor on the Tropical Rainfall Measuring satellite; and (9) supporting scientific visualization and the development of computer software tools.

Kidder, Stanley↗

NASA NTRS1993

The difference between laboratory and in-situ pixel-averaged emissivity: The effects on temperature-emissivity separation

Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) is a Japanese future imaging sensor which has five channels in thermal infrared (TIR) region. To extract spectral emissivity information from ASTER and/or TIMS data, various temperature-emissivity (T-E) separation methods have been developed to date. Most of them require assumptions on surface emissivity, in which emissivity measured in a laboratory is often used instead of in-situ pixel-averaged emissivity. But if these two emissivities are different, accuracies of separated emissivity and surface temperature are reduced. In this study, the difference between laboratory and in-situ pixel-averaged emissivity and its effect on T-E separation are discussed. TIMS data of an area containing both rocks and vegetation were also processed to retrieve emissivity spectra using two T-E separation methods.

Matsunaga, Tsuneo↗

NASA NTRS1996

VLF long-range lightning location using the arrival time difference technique (ATD)

A new network of VLF receiving systems is currently being developed in the USA to support NASA's Tropical Rain Measuring Mission (TRMM). The new network will be deployed in the east coast of the US, including Puerto Rico, and will be operational in late 1995. The system should give affordable, near real-time, accurate lightning locating capabilities at long ranges and with extended coverage. It is based on the Arrival Time Difference (ATD) method of Lee (1986; 1990). The ATD technique is based on the estimation of the time of arrival of sferics detected over an 18 kHz bandwith. The ground system results will be compared and complemented with satellite optical measurements gathered with the already operational Optical Transient Detector (OTD) instrument and in due course with its successor the Lightning Imaging Sensor (LIS). Lightning observations are important to understand atmospheric electrification phenomena, discharge processes, associated phenomena on earth (e.g. whistlers, explosive Spread-F) and other planets. In addition, lightning is a conspicuous indicator of atmospheric activity whose potential is just beginning to be recognized and utilized. On more prosaic grounds, lightning observations are important for protection of life, property and services.

Ierkic, H. Mario↗

NASA NTRS1995

Helmet-Mounted Display Symbology and Stabilization Concepts

The helmet-mounted display (HMD) presents flight, sensor, and weapon information in the pilot's line of sight. The HMD was developed to allow the pilot to retain aircraft and weapon information and to view sensor images while looking off boresight.

Newman, Richard L.↗

NASA NTRS1993

Performance of the FOS Detectors in a Variable External Magnetic Field

We present the results of an investigation of the in-orbit performance of the Digicon detectors in the Faint Object Spectrograph (FOS), conducted as part of the commissioning phase of the Hubble Space Telescope. This paper includes orbital results on detector background noise, sensor image stability, and photometric stability along with several typical FOS observations. New techniques for suppressing cosmic ray induced background and geomagnetic induced image motion in electron tube detectors are also discussed.

Fitch, J. E.↗

NASA NTRS1998

The Behavior of Total Lightning Activity in Severe Florida Thunderstorms

The development of a new observational system called LISDAD (Lightning Imaging Sensor Demonstration and Display) has enabled a study of severe weather in central Florida. The total flash rates for storms verified to be severe are found to exceed 60 flashes/min, with some values reaching 500 flashes/min. Similar to earlier results for thunderstorm microbursts, the peak flash rate precedes the severe weather at the ground by 5-20 minutes. A distinguishing feature of severe storms is the presence of lightning "jumps"-abrupt increases in flash rate in advance of the maximum rate for the storm. ne systematic total lightning precursor to severe weather of all kinds-wind, hail, tornadoes-is interpreted in terms of the updraft that sows the seeds aloft for severe weather at the surface and simultaneously stimulates the ice microphysics that drives the lightning activity.

Williams, Earle↗

NASA NTRS1998

Observations of Total Lightning Associated with Severe Convection During the Wet Season in Central Florida

This paper will discuss findings of a collaborative lightning research project between National Aeronautics and Space Administration, the Massachusetts Institute of Technology and the National Weather Service office In Melbourne Florida. In August 1996, NWS/MLB received a workstation which incorporates data from the KMLB WSR-88D, Cloud to Ground (CG) stroke data from the National Lightning Detection Network (NLDN), and 3D volumetric lightning data collected from the Kennedy Space Centers' Lightning Detection And Ranging (LDAR) lightning system. The two primary objectives of this lightning workstation, called Lightning Imaging Sensor Data Applications Display (USDAD), are to: observe how total lightning relates to severe convective storm morphology over central Florida, and compare ground based total lightning data (LDAR) to a satellite based lightning detection system. This presentation will focus on objective #1. The LISDAD system continuously displays CG and total lighting activity overlaid on top of the KMLB composite reflectivity product. This allows forecasters to monitor total lightning activity associated with convective cells occurring over the central Florida peninsula and adjacent coastal waters. The LISDAD system also keeps track of the amount of total lightning data, and associated KMLB radar products with individual convective cells occurring over the region. By clicking on an individual cell, a history table displays flash rate information (CG and total lightning) in one minute increments, along with radar parameter trends (echo tops, maximum dBz and height of maximum dBz) every 5 minutes. This history table Is updated continuously, without user intervention, as long as the cell is identified. Reviewing data collected during the 1997 wet season (21 cases) revealed that storms which produced severe weather (hall greater or = 0.75 in. or wind damage) typically showed a rapid rise In total lightning prior to the onset of severe weather. On average, flash rate increases of 25 FPM per minute over a time scale of approximately 5 minutes were common. These pulse severe storms typically reached values of 150 to 200 FPM with some cells exceeding 400 FPM. One finding which could have a direct application to the warning process is that the rapid increase in lightning typically occurred in advance of the warning issuance time. Comparisons between the ending time of the rapid rate increase and the time of when the warning was issued by NWS/MLB meteorologist exhibited a lead time of 8 minutes. It is conceivable that if close monitoring of the LISDAD system by operational meteorologist is routinely performed, warnings for pulse severe storms could be issued up to 4 to 6 minutes earlier than what is issued currently.

Sharp, D.↗

NASA NTRS1998

Total Lightning and Radar Storm Characteristics Associated with Severe Storms in Central Florida

This paper examines the three dimensional characteristics of lightning flashes and severe storms observed in Central Florida during 1997-1998. The lightning time history of severe and tornadic storms were captured during the on-going ground validation campaign supporting the Lightning Imaging Sensor (LIS) experiment on the Tropical Rainfall Measuring Mission (TRMM). The ground validation campaign is a collaborative experiment that began in 1997 and involves scientists at the Global Hydrology and Climate Center, MIT/Lincoln Laboratories, and the NWS Forecast Office at Melbourne, FL. Lightning signatures that may provide potential early warning of severe storms are being evaluated by the forecasters at the NWS/MLB office. Severe storms with extreme flash rates sometimes exceeding 300 per minute and accompanying rapid increases in flash rate prior to the onset of the severe weather (hall, damaging winds, tornadoes) have been reported by Hodanish et al. and Williams et al. (1998-this conference). We examine the co-evolving changes in storm structure (mass, echo top, shear, latent heat release) and kinematics associated with these extreme and rapid flash rate changes over time. The flash frequency and density are compared with the three dimensional radar reflectivity structure of the storm to help interpret the possible mechanisms producing the extreme and rapidly increasing flash rates. For two tornadic storms examined thus far, we find the burst of lightning is associated with the development of upper level rotation in the storm. In one case, the lightning burst follows the formation of a bounded weak echo region (BWER). The flash rates diminish with time as the rotation develops to the ground in conjunction with the decent of the reflectivity core. Our initial findings suggest the dramatic increase of flash rates is associated with a sudden and dramatic increase in storm updraft intensity which we hypothesize is stretching vertical vorticity as well as enhancing the development of the mixed phase region of the storm. We discuss the importance of these factors in producing both the observed extreme flash rates and the severe weather that follows in these storms and others to be presented.

Goodman, Steven J↗

NASA NTRS1999

Comparisons of the Vertical Development of Deep Tropical Convection and Associated Lightning Activity on a Global Basis

Simultaneous radar (13.8 Ghz) and lightning (Lightning Imaging Sensor) observations from the NASA TRMM (Tropical Rainfall Measuring Mission) spacecraft afford a new opportunity to examine differences in tropical continental and oceanic convection on a global basis, The 250 meter vertical resolution of the radar data and the approximately 17 dBZ sensitivity are well suited to providing vertical profiles of radar reflectivity over the entire tropical belt. The reflectivity profile has been shown in numerous local ground-based studies to be a good indicator of both updraft velocity and electrical activity. The radar and lightning observations for multiple satellite orbits have been integrated to produce global CAPPI's for various altitudes. At 7 km altitude, where mixed phase microphysics is known to be active, the mean reflectivity in continental convection is 10-15 dB greater than the value in oceanic convection. These results provide a sound physical basis for the order-of-magnitude contrast in lightning counts between continental and oceanic convection. These observations still beg the question, however, about the contrast in updraft velocity in these distinct convective regimes.

Williams, E.↗

NASA NTRS1999

The Unit of Lightning

For the past century, scientists have made quantitative measurements of lightning discharges. In the process, they refined the definition of a lightning unit, or basic quantum of lightning, in order to base it on observable parameters. Although many components of a lightning discharge have been identified, lightning usually occur in groups of discharges or pulses that, although complex, can be organized into units of flashes. This unit definition is based mainly on measurements of lightning from electric field, video, and ground flash lightning locating networks. More recent instrumentation with various combinations of high sensitivity, high temporal, or high spatial resolution often measure signals produced by lightning that do not cleanly divide into flashes. The data from these systems indicate the need or a more fundamental unit for lightning. Such a unit would be of benefit for both basic understanding of lightning and comparing lightning information between instruments. Without a common lightning unit definition, intercomparisons are difficult. For an example, the Lightning Detection And Ranging system (LDAR) at Kennedy Space Center (KSC) have detected ,flash' rates as high as 600 per minute while analysis based on the Advanced Ground Based Field Mill network (AGBFM) detect only 33 "flashes" per minute in the same area and time periods. The satellite based Optical Transient Detector (OTD) and Lightning Imaging Sensor (LIS) sometimes see single "flashes" that last longer than 10 seconds. Such long duration flashes are not found in electric field records or ground strike location system data sets. The unit of lightning should be based on the fundamental components of the lightning discharge. This should make the unit as generally applicable as possible. For example, studies of NO(x) production by lightning depend on parameters of the individual lightning channels and not the summary flash characteristics. For such studies, the best unit of lightning may be closer to the classical stroke in the electric field data sets, flash in the LDAR data sets, and group in the OTD/LIS data sets. For this type of study, however, more than just the stroke count information is needed. In this paper, we will outline the current definitions of the unit of lightning and propose new basic definitions for the unit of lightning. Since different instruments detect lightning in different ways and different studies may need almost mutually exclusive aspects of the lightning discharge, there may not be a single definition of the unit of lightning that can be applied to all systems and all studies. However, common components can be found since all instrumentation are detecting aspects of the same phenomenon.

Mach, Douglas M.↗

NASA NTRS1997

Characterizing the Relationships Among Lightning and Storm Parameters: Lightning as a Proxy Variable

We have gained important insights from prior studies that have suggested relationships between lightning and storm growth, decay, convective rain flux, vertical distribution of storm mass and echo volume in the region, and storm energetics. A study was initiated in the Summer of 1996 to determine how total (in-cloud plus ground) lightning observations might provide added knowledge to the forecaster in the determination and identification of severe thunderstorms and weather hazards in real-time. The Melbourne Weather Office was selected as a primary site to conduct this study because Melbourne is the only site in the world with continuous and open access to total lightning (LDAR) data and a Doppler (WSR-88D) radar. A Lightning Imaging Sensor Data Applications Demonstration (LISDAD) system was integrated into the forecaster's workstation during the Summer 1996 to allow the forecaster to interact in real-time with the multi-sensor data being displayed. LISDAD currently ingests LDAR data, the cloud-to-ground National Lightning Detection Network (NLDN) data, and the Melbourne radar data in f real-time. The interactive features provide the duty forecaster the ability to perform quick diagnostics on storm cells of interest. Upon selection of a storm cell, a pop-up box appears displaying the time-history of various storm parameters (e.g., maximum radar reflectivity, height of maximum reflectivity, echo-top height, NLDN and LDAR lightning flash rates, storm-based vertically integrated liquid water content). This product is archived to aid on detailed post-analysis.

Goodman, S. J.↗

NASA NTRS1999

A LIS Validation Study at the KSC-ER using LDAR and Field Mill Data

The chance of having the TRMM satellite pass over east central Florida when there is lightning over the NASA Kennedy Space Center (KSC) and USAF Eastern Range (ER) is small; however, such a condition did occur on September 21, 1998 (Day 264). Starting at about 20:40 GMT, the Lightning Imaging Sensor (LIS) reported 5 flashes during a 90 second interval that the KSC-ER was within the sensor field of view. Ground-based instrumentation, the Lightning Detection and Ranging (LDAR) system and a network of electric field mills (FM), detected 6 flashes in the same interval. In this paper, we will compare the times and locations of the optical pulses that were detected by LIS with the times and locations of RF sources (LDAR) and the charges that were deposited by the flash (FM network). We will show that LIS responded to all flashes that the LDAR and FM network detected; however, two discharges that were separated by less than 1 second in time and by about 10 km in space were grouped as one flash by the LIS data processing algorithm. In spite of the fact that all flashes occurred near the edge of the LIS field of view, the locations of the LIS events were consistent with both the LDAR and FM locations (the latter are usually within 1-2 kilometers of each other and often are co-located). Two of the 5 flashes reported by LIS were shifted north by about 8 km from the corresponding LDAR and FM locations. The LIS flash times tended to be after the first LDAR pulse was detected and before the last, and the integrated light signal (per LIS event) was surprisingly constant over the 5 flashes that were detected by LIS. In the future, we plan to study more correlated events and will try to determine whether and how the LIS light signal is related to the charge transfer in the flash and/or the number and spatial extent of RF sources.

Koshak, William J.↗

NASA NTRS1999

Comparison of Ground-Based 3-Dimensional Lightning Mapping Observations with Satellite-Based LIS Observations in Oklahoma: Comparison of LMS and LIS Lightning Mapping

3-dimensional lightning mapping observations obtained during the MEaPRS program in central Oklahoma during June, 1998 have been compared with observations of the discharges from space, obtained by NASA's Lightning Imaging Sensor (LIS) on the TRMM satellite. Excellent spatial and temporal correlations were observed between the two sets of observations. Most of the detected optical events were associated with intracloud discharges that developed into the upper part of the storm. Cloud-to-ground discharges that were confined to mid- and lower-altitudes tended not to be detected by LIS. Extensive illumination tended to occur in impulsive bursts toward the end or part way through intracloud flashes and appeared to be produced by energetic K-changes that typically occur at these times.

Thomas, Ronald J.↗

NASA NTRS1998

Comparisons Between Total Lightning Data, Mesocyclone Strength, and Storm Damage Associated with the Florida Tornado Outbreak of February 23, 1998

During the early morning hours of February 23 1998, the worst tornado outbreak ever recorded occurred over the central Florida peninsula. At least 7 confirmed tornadoes, associated with 4 supercells, developed, with 3 of the tornadoes reaching F3 intensity. Many of the tornadoes where on the ground for tens of miles, uncommon for the state of Florida. A total of 42 people were killed, with over 250 people injured. During the outbreak, National Weather Service Melbourne, in collaboration with the National Aeronautics and Space Administration and the Massachusetts Institute of Technology was collecting data from a unique lightning observing system called Lightning Imaging Sensor Data Applications Display (LISDAD, Boldi et.al., this conference). This system marries radar data collected from the KMLB WSR-88D, cloud to ground data collected from the National Lightning Detection Network, and total lightning data collected from NASKs Lightning Detection And Ranging system. This poster will display, concurrently, total lightning data (displayed in 1 minute increments), time/height storm relative velocity products from the KMLB WSR-88D, and damage information (tornado/hail/wind) from each of the supercell thunderstorms. The primary objective of this poster presentation is to observe how total lightning activity changes as the convective storm intensifies, and how the lightning activity changes with respect to mesocyclone strength (vortex stretching) and damaging weather on the ground.

Hodanish, S↗

NASA NTRS1999

Land-Ocean Differences in LIS and OTD Tropical Lightning Observations

Significant differences are known to exist on a global scale between continental and oceanic total lightning regional flash rates, suggesting differences in the properties of convective storms in these regimes. Lightning properties observed by the Optical Transient Detector (OTD) and Lightning Imaging Sensor (LIS) over land and ocean are compared, limited to analysis over the tropics in order to simplify physical interpretation. We find that the mean flash rates of individual storms over tropical land only exceed those over ocean by a factor of 2 (far less than the observed differences in regional flash rates). However, the average nearest neighbor distance of continental thunderstorms in half that over oceans. Cloud-top lightning optical radiance in oceanic storms is also twice as large as over land, suggesting either more energetic flashes over the oceans or less intervening cloud particles.

Boccippio, Dennis J.↗