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DOE OSTI2018

Data fusion for a vision-aided radiological detection system: Calibration algorithm performance

In order to improve the ability to detect, locate, track and identify nuclear/radiological threats, the University of Florida nuclear detection community has teamed up with the 3D vision community to collaborate on a low cost data fusion system. The key is to develop an algorithm to fuse the data from multiple radiological and 3D vision sensors as one system. The system under development at the University of Florida is being assessed with various types of radiological detectors and widely available visual sensors. A series of experiments were devised utilizing two EJ-309 liquid organic scintillation detectors (one primary and one secondary), a Microsoft Kinect for Windows v2 sensor and a Velodyne HDL-32E High Definition LiDAR Sensor which is a highly sensitive vision sensor primarily used to generate data for self-driving cars. Each experiment consisted of 27 static measurements of a source arranged in a cube with three different distances in each dimension. The source used was Cf-252. The calibration algorithm developed is utilized to calibrate the relative 3D-location of the two different types of sensors without need to measure it by hand; thus, preventing operator manipulation and human errors. The algorithm can also account for the facility dependent deviation from ideal data fusion correlation. Use of the vision sensor to determine the location of a sensor would also limit the possible locations and it does not allow for room dependence (facility dependent deviation) to generate a detector pseudo-location to be used for data analysis later. Using manually measured source location data, our algorithm-predicted the offset detector location within an average of 20 cm calibration-difference to its actual location. Calibration-difference is the Euclidean distance from the algorithm predicted detector location to the measured detector location. The Kinect vision sensor data produced an average calibration-difference of 35 cm and the HDL-32E produced an average calibration-difference of 22 cm. Using NaI and He-3 detectors in place of the EJ-309, the calibration-difference was 52 cm for NaI and 75 cm for He-3. In conclusion, the algorithm is not detector dependent; however, from these results it was determined that detector dependent adjustments are required.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2018

Wind Vision Detailed Roadmap Actions: 2017 Update

In March 2015, the U.S. Department of Energy (DOE) released Wind Vision: A New Era for Wind Power in the United States, which explores and quantifies the economic and environmental costs and benefits of a scenario in which wind provides 10% of U.S. electrical demand in 2020, 20% in 2030, and 35% in 2050. The Wind Vision report also includes a Roadmap that describes actions stakeholders can pursue to achieve the vision and its underlying wind deployment scenario. The Wind Vision and its Roadmap were compiled by representatives from DOE and its national laboratories in consultation with the wind industry, trade associations, academia, environmental organizations, and other stakeholders. When the Wind Vision was released in 2015, DOE announced its intention to engage the wind community from time to time to track progress and update the Roadmap periodically.

17 WIND ENERGY↗

DOE OSTI2023

High Dose Rate Irradiations of Enduray Vision System for Nuclear Inspections

Higher radiation-hardened video cameras are needed in the operation and remote handling of equipment in nuclear reactor inspection and refueling applications. Vega Wave Systems, Inc. has developed a radiation-hardened vision system for nuclear energy applications. This vision system has been developed under several small business innovative research programs (SBIRs) from the U.S. Department of Energy, and the previous GAIN voucher program at Argonne National Laboratory (ANL) was successful in demonstrating that a prototype of the camera is radiation-hard up to at least 525 kGy (5.25 × 106 rad, Si equivalent) at dose rates of 10 kGy/hr with no measurable degradation in image quality and no measurable radiation-induced noise (RIN). Vega Wave Systems has developed a new version of the camera with more than 3X the resolution using a new design and new components, and this new design requires radiation-hardness qualification for marketplace acceptance. The program described in this report provided high radiation-hardness testing of this redesigned high-resolution vision system using the Argonne Low-Energy Accelerator Facility (LEAF). This report presents the results of irradiation tests performed on Vega Wave System’s redesigned high resolution vision system at a dose rate of 9.3 kGy/hr and up to total doses of 1823 kGy. This was an accumulation of 197 hours of irradiation. The results were excellent, providing proof of the redesigned high-resolution vision system’s immunity to high levels of radiation.

42 ENGINEERING↗

NASA NTRS1972

Development of a model of machine hand eye coordination and program specifications for a topological machine vision system

A unified approach to computer vision and manipulation is developed which is called choreographic vision. In the model, objects to be viewed by a projected robot in the Viking missions to Mars are seen as objects to be manipulated within choreographic contexts controlled by a multimoded remote, supervisory control system on Earth. A new theory of context relations is introduced as a basis for choreographic programming languages. A topological vision model is developed for recognizing objects by shape and contour. This model is integrated with a projected vision system consisting of a multiaperture image dissector TV camera and a ranging laser system. System program specifications integrate eye-hand coordination and topological vision functions and an aerospace multiprocessor implementation is described.

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NASA NTRS1984

Theory underlying the peripheral vision horizon device

Peripheral Vision Horizon Device (PVHD) theory states that the likelihood of pilot disorientation in flight is reduced by providing an artificial horizon that provides orientation information to peripheral vision. In considering the validity of the theory, three areas are explored: the use of an artificial horizon device over some other flight instrument; the use of peripheral vision over foveal vision; and the evidence that peripheral vision is well suited to the processing of orientation information.

Money, K. E.↗

NASA NTRS1986

Computational approaches to vision

Vision is examined in terms of a computational process, and the competence, structure, and control of computer vision systems are analyzed. Theoretical and experimental data on the formation of a computer vision system are discussed. Consideration is given to early vision, the recovery of intrinsic surface characteristics, higher levels of interpretation, and system integration and control. A computational visual processing model is proposed and its architecture and operation are described. Examples of state-of-the-art vision systems, which include some of the levels of representation and processing mechanisms, are presented.

Barrow, H. G.↗

NASA NTRS1991

A vision-based end-point control for a two-link flexible manipulator

The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

Obergfell, Klaus↗

NASA NTRS1992

Image enhancement filters significantly improve reading performance for low vision observers

As people age, so do their photoreceptors; many photoreceptors in central vision stop functioning when a person reaches their late sixties or early seventies. Low vision observers with losses in central vision, those with age-related maculopathies, were studied. Low vision observers no longer see high spatial frequencies, being unable to resolve fine edge detail. We developed image enhancement filters to compensate for the low vision observer's losses in contrast sensitivity to intermediate and high spatial frequencies. The filters work by boosting the amplitude of the less visible intermediate spatial frequencies. The lower spatial frequencies. These image enhancement filters not only reduce the magnification needed for reading by up to 70 percent, but they also increase the observer's reading speed by 2-4 times. A summary of this research is presented.

Lawton, T. B.↗

NASA NTRS1994

Microwave vision for robots

Microwave Vision (MV), a concept originally developed in 1985, could play a significant role in the solution to robotic vision problems. Originally our Microwave Vision concept was based on a pattern matching approach employing computer based stored replica correlation processing. Artificial Neural Network (ANN) processor technology offers an attractive alternative to the correlation processing approach, namely the ability to learn and to adapt to changing environments. This paper describes the Microwave Vision concept, some initial ANN-MV experiments, and the design of an ANN-MV system that has led to a second patent disclosure in the robotic vision field.

Lewandowski, Leon↗

NASA NTRS2002

Flexible Wing Base Micro Aerial Vehicles: Vision-Guided Flight Stability and Autonomy for Micro Air Vehicles

Substantial progress has been made recently towards design building and test-flying remotely piloted Micro Air Vehicle's (MAVs). We seek to complement this progress in overcoming the aerodynamic obstacles to.flight at very small scales with a vision stability and autonomy system. The developed system based on a robust horizon detection algorithm which we discuss in greater detail in a companion paper. In this paper, we first motivate the use of computer vision for MAV autonomy arguing that given current sensor technology, vision may he the only practical approach to the problem. We then briefly review our statistical vision-based horizon detection algorithm, which has been demonstrated at 30Hz with over 99.9% correct horizon identification. Next we develop robust schemes for the detection of extreme MAV attitudes, where no horizon is visible, and for the detection of horizon estimation errors, due to external factors such as video transmission noise. Finally, we discuss our feed-back controller for self-stabilized flight, and report results on vision autonomous flights of duration exceeding ten minutes.

Ettinger, Scott M.↗

NASA NTRS2003

Sonoluminescence Bubble Measurements using Vision-Based Algorithms

Vision-based measurement methods were used to measure bubble sizes in this sonoluminescence experiment. Bubble imaging was accomplished by placing the bubble between a bright light source and a microscope-CCD camera system. A collimated light-emitting diode was operated in a pulsed model with an adjustable time delay with respect to the piezo-electric transducer drive signal. The light-emitting diode produced a bubble shadowgraph consisting of a multiple exposure made by numerous light pulses imaged onto a charge-couple device camera. Each image was transferred from the camera to a computer-controlled machine vision system via a frame grabber. The frame grabber was equipped with on-board memory to accomodate sequential image buffering while images were transferred to the host processor and analyzed. This configuration allowed the host computer to perform diameter measurements, centroid position measurements and shape estimation in "real-time" as the next image was being acquired. Bubble size measurement accuracy with an uncertainty of 3 microns was achieved using standard lenses and machine vision algorithms. Bubble centroid position accuracy was also within the 3 micron tolerance of the vision system. This uncertainty estimation accounted for the optical spatial resolution, digitization errors and the edge detection algorithm accuracy. The vision algorithms include camera calibration, thresholding, edge detection, edge position determination, distance between two edges computations and centroid position computations.

Hall, Nancy R.↗

NASA NTRS2005

Flight Testing an Integrated Synthetic Vision System

NASA's Synthetic Vision Systems (SVS) project is developing technologies with practical applications to eliminate low visibility conditions as a causal factor to civil aircraft accidents while replicating the operational benefits of clear day flight operations, regardless of the actual outside visibility condition. A major thrust of the SVS project involves the development/demonstration of affordable, certifiable display configurations that provide intuitive out-the-window terrain and obstacle information with advanced pathway guidance for transport aircraft. The SVS concept being developed at NASA encompasses the integration of tactical and strategic Synthetic Vision Display Concepts (SVDC) with Runway Incursion Prevention System (RIPS) alerting and display concepts, real-time terrain database integrity monitoring equipment (DIME), and Enhanced Vision Systems (EVS) and/or improved Weather Radar for real-time object detection and database integrity monitoring. A flight test evaluation was jointly conducted (in July and August 2004) by NASA Langley Research Center and an industry partner team under NASA's Aviation Safety and Security, Synthetic Vision System project. A Gulfstream GV aircraft was flown over a 3-week period in the Reno/Tahoe International Airport (NV) local area and an additional 3-week period in the Wallops Flight Facility (VA) local area to evaluate integrated Synthetic Vision System concepts. The enabling technologies (RIPS, EVS and DIME) were integrated into the larger SVS concept design. This paper presents experimental methods and the high level results of this flight test.

Kramer, Lynda J.↗

NASA NTRS2007

Evaluating the Effects of Dimensionality in Advanced Avionic Display Concepts for Synthetic Vision Systems

Synthetic vision systems provide an in-cockpit view of terrain and other hazards via a computer-generated display representation. Two experiments examined several display concepts for synthetic vision and evaluated how such displays modulate pilot performance. Experiment 1 (24 general aviation pilots) compared three navigational display (ND) concepts: 2D coplanar, 3D, and split-screen. Experiment 2 (12 commercial airline pilots) evaluated baseline 'blue sky/brown ground' or synthetic vision-enabled primary flight displays (PFDs) and three ND concepts: 2D coplanar with and without synthetic vision and a dynamic multi-mode rotatable exocentric format. In general, the results pointed to an overall advantage for a split-screen format, whether it be stand-alone (Experiment 1) or available via rotatable viewpoints (Experiment 2). Furthermore, Experiment 2 revealed benefits associated with utilizing synthetic vision in both the PFD and ND representations and the value of combined ego- and exocentric presentations.

Alexander, Amy L.↗

NASA NTRS2010

Development of an In Flight Vision Self-Assessment Questionnaire for Long Duration Space Missions

OVERVIEW A NASA Flight Medicine optometrist teamed with a human factors specialist to develop an electronic questionnaire for crewmembers to record their visual acuity test scores and perceived vision assessment. It will be implemented on the International Space Station (ISS) and administered as part of a suite of tools for early detection of potential vision changes. The goal of this effort was to rapidly develop a set of questions to help in early detection of visual (e.g. blurred vision) and/or non-visual (e.g. headaches) symptoms by allowing the ISS crewmembers to think about their own current vision during their spaceflight missions. PROCESS An iterative process began with a Space Shuttle one-page paper questionnaire generated by the optometrist that was updated by applying human factors design principles. It was used as a baseline to establish an electronic questionnaire for ISS missions. Additional questions needed for the ISS missions were included and the information was organized to take advantage of the computer-based file format available. Human factors heuristics were applied to the prototype and then they were reviewed by the optometrist and procedures specialists with rapid-turn around updates that lead to the final questionnaire. CONCLUSIONS With about only a month lead time, a usable tool to collect crewmember assessments was developed through this cross-discipline collaboration. With only a little expenditure of energy, the potential payoff is great. ISS crewmembers will complete the questionnaire at 30 days into the mission, 100 days into the mission and 30 days prior to return to Earth. The systematic layout may also facilitate physicians later data extraction for quick interpretation of the data. The data collected along with other measures (e.g. retinal and ultrasound imaging) at regular intervals could potentially lead to early detection and treatment of related vision problems than using the other measures alone.

Byrne, Vicky E.↗

NASA NTRS2005

Transformational Spaceport and Range Concept of Operations: A Vision to Transform Ground and Launch Operations

The Transformational Concept of Operations (CONOPS) provides a long-term, sustainable vision for future U.S. space transportation infrastructure and operations. This vision presents an interagency concept, developed cooperatively by the Department of Defense (DoD), the Federal Aviation Administration (FAA), and the National Aeronautics and Space Administration (NASA) for the upgrade, integration, and improved operation of major infrastructure elements of the nation s space access systems. The interagency vision described in the Transformational CONOPS would transform today s space launch infrastructure into a shared system that supports worldwide operations for a variety of users. The system concept is sufficiently flexible and adaptable to support new types of missions for exploration, commercial enterprise, and national security, as well as to endure further into the future when space transportation technology may be sufficiently advanced to enable routine public space travel as part of the global transportation system. The vision for future space transportation operations is based on a system-of-systems architecture that integrates the major elements of the future space transportation system - transportation nodes (spaceports), flight vehicles and payloads, tracking and communications assets, and flight traffic coordination centers - into a transportation network that concurrently accommodates multiple types of mission operators, payloads, and vehicle fleets. This system concept also establishes a common framework for defining a detailed CONOPS for the major elements of the future space transportation system. The resulting set of four CONOPS (see Figure 1 below) describes the common vision for a shared future space transportation system (FSTS) infrastructure from a variety of perspectives.

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NASA NTRS2014

Using Vision System Technologies to Enable Operational Improvements for Low Visibility Approach and Landing Operations

Flight deck-based vision systems, such as Synthetic and Enhanced Vision System (SEVS) technologies, have the potential to provide additional margins of safety for aircrew performance and enable the implementation of operational improvements for low visibility surface, arrival, and departure operations in the terminal environment with equivalent efficiency to visual operations. To achieve this potential, research is required for effective technology development and implementation based upon human factors design and regulatory guidance. This research supports the introduction and use of Synthetic Vision Systems and Enhanced Flight Vision Systems (SVS/EFVS) as advanced cockpit vision technologies in Next Generation Air Transportation System (NextGen) operations. Twelve air transport-rated crews participated in a motion-base simulation experiment to evaluate the use of SVS/EFVS in NextGen low visibility approach and landing operations. Three monochromatic, collimated head-up display (HUD) concepts (conventional HUD, SVS HUD, and EFVS HUD) and two color head-down primary flight display (PFD) concepts (conventional PFD, SVS PFD) were evaluated in a simulated NextGen Chicago O'Hare terminal environment. Additionally, the instrument approach type (no offset, 3 degree offset, 15 degree offset) was experimentally varied to test the efficacy of the HUD concepts for offset approach operations. The data showed that touchdown landing performance were excellent regardless of SEVS concept or type of offset instrument approach being flown. Subjective assessments of mental workload and situation awareness indicated that making offset approaches in low visibility conditions with an EFVS HUD or SVS HUD may be feasible.

Kramer, Lynda J.↗

NASA NTRS2015

Using Vision System Technologies for Offset Approaches in Low Visibility Operations

Flight deck-based vision systems, such as Synthetic Vision Systems (SVS) and Enhanced Flight Vision Systems (EFVS), have the potential to provide additional margins of safety for aircrew performance and enable the implementation of operational improvements for low visibility surface, arrival, and departure operations in the terminal environment with equivalent efficiency to visual operations. Twelve air transport-rated crews participated in a motion-base simulation experiment to evaluate the use of SVS/EFVS in Next Generation Air Transportation System low visibility approach and landing operations at Chicago O'Hare airport. Three monochromatic, collimated head-up display (HUD) concepts (conventional HUD, SVS HUD, and EFVS HUD) and three instrument approach types (straight-in, 3-degree offset, 15-degree offset) were experimentally varied to test the efficacy of the SVS/EFVS HUD concepts for offset approach operations. The findings suggest making offset approaches in low visibility conditions with an EFVS HUD or SVS HUD appear feasible. Regardless of offset approach angle or HUD concept being flown, all approaches had comparable ILS tracking during the instrument segment and were within the lateral confines of the runway with acceptable sink rates during the visual segment of the approach. Keywords: Enhanced Flight Vision Systems; Synthetic Vision Systems; Head-up Display; NextGen

Kramer, Lynda J.↗

NASA NTRS2016

Assessing Dual Sensor Enhanced Flight Vision Systems to Enable Equivalent Visual Operations

Flight deck-based vision system technologies, such as Synthetic Vision (SV) and Enhanced Flight Vision Systems (EFVS), may serve as a revolutionary crew/vehicle interface enabling technologies to meet the challenges of the Next Generation Air Transportation System Equivalent Visual Operations (EVO) concept - that is, the ability to achieve the safety of current-day Visual Flight Rules (VFR) operations and maintain the operational tempos of VFR irrespective of the weather and visibility conditions. One significant challenge lies in the definition of required equipage on the aircraft and on the airport to enable the EVO concept objective. A motion-base simulator experiment was conducted to evaluate the operational feasibility, pilot workload and pilot acceptability of conducting straight-in instrument approaches with published vertical guidance to landing, touchdown, and rollout to a safe taxi speed in visibility as low as 300 ft runway visual range by use of onboard vision system technologies on a Head-Up Display (HUD) without need or reliance on natural vision. Twelve crews evaluated two methods of combining dual sensor (millimeter wave radar and forward looking infrared) EFVS imagery on pilot-flying and pilot-monitoring HUDs as they made approaches to runways with and without touchdown zone and centerline lights. In addition, the impact of adding SV to the dual sensor EFVS imagery on crew flight performance, workload, and situation awareness during extremely low visibility approach and landing operations was assessed. Results indicate that all EFVS concepts flown resulted in excellent approach path tracking and touchdown performance without any workload penalty. Adding SV imagery to EFVS concepts provided situation awareness improvements but no discernible improvements in flight path maintenance.

Kramer, Lynda J.↗