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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Comparison of velocity estimates from advanced very high resolution radiometer in the Coastal Transition Zone

Two methods of estimating surface velocity vectors from AVHRR data are applied to the same set of images and the results are compared with in situ and altimeter measurements. The first technique utilizes an automated feature-tracking algorithm and the second uses an inversion of the heat equation. The two methods were comparable in their degree of agreement with the in situ data, giving velocity magnitudes that were 30 to 50 percent less than drifter and acoustic Doppler current profiler velocities measured at 15 to 20 m depth, with rms directional differences of about 60 degrees.

Kelly, Kathryn A.↗
NASA NTRS1992

Vision-based obstacle detection for rotorcraft flight

An obstacle detection approach to rotorcraft flight is described which is based on feature tracking and recursive range estimation. Flight characteristics are taken into account. A range map derived on the basis of this approach provides an advisory display to the pilot and can serve as input to an automatic obstacle-avoidance guidance system. A NASA CH-47 Chinook helicopter was used to develop an image and rotorcraft flight data base for verification of obstacle detection concepts. The performance of the passive range estimation algorithms is demonstrated using both laboratory image and flight image data.

Sridhar, Banavar↗
NASA NTRS1993

Passive range estimation for rotorcraft low-altitude flight

The automation of rotorcraft low-altitude flight presents challenging problems in control, computer vision and image understanding. A critical element in this problem is the ability to detect and locate obstacles, using on-board sensors, and modify the nominal trajectory. This requirement is also necessary for the safe landing of an autonomous lander on Mars. This paper examines some of the issues in the location of objects using a sequence of images from a passive sensor, and describes a Kalman filter approach to estimate the range to obstacles. The Kalman filter is also used to track features in the images leading to a significant reduction of search effort in the feature extraction step of the algorithm. The method can compute range for both straight line and curvilinear motion of the sensor. A laboratory experiment was designed to acquire a sequence of images along with sensor motion parameters under conditions similar to helicopter flight. Range estimation results using this imagery are presented.

Sridhar, B.↗
NASA NTRS1993

Passive range estimation for rotorcraft low-altitude flight

The automation of rotorcraft low-altitude flight presents challenging problems in control, computer vision and image understanding. A critical element in this problem is the ability to detect and locate obstacles, using on-board sensors, and modify the nominal trajectory. This requirement is also necessary for the safe landing of an autonomous lander on Mars. This paper examines some of the issues in the location of objects using a sequence of images from a passive sensor, and describes a Kalman filter approach to estimate the range to obstacles. The Kalman filter is also used to track features in the images leading to a significant reduction of search effort in the feature extraction step of the algorithm. The method can compute range for both straight line and curvilinear motion of the sensor. A laboratory experiment was designed to acquire a sequence of images along with sensor motion parameters under conditions similar to helicopter flight. Range estimation results using this imagery are presented.

Sridhar, B.↗
NASA NTRS1995

Monthly mean large-scale analyses of upper-tropospheric humidity and wind field divergence derived from three geostationary satellites

This paper describes the results from a collaborative study between the European Space Operations Center, the European Organization for the Exploitation of Meteorological Satellites, the National Oceanic and Atmospheric Administration, and the Cooperative Institute for Meteorological Satellite Studies investigating the relationship between satellite-derived monthly mean fields of wind and humidity in the upper troposphere for March 1994. Three geostationary meteorological satellites GOES-7, Meteosat-3, and Meteosat-5 are used to cover an area from roughly 160 deg W to 50 deg E. The wind fields are derived from tracking features in successive images of upper-tropospheric water vapor (WV) as depicted in the 6.5-micron absorption band. The upper-tropospheric relative humidity (UTH) is inferred from measured water vapor radiances with a physical retrieval scheme based on radiative forward calculations. Quantitative information on large-scale circulation patterns in the upper-troposphere is possible with the dense spatial coverage of the WV wind vectors. The monthly mean wind field is used to estimate the large-scale divergence; values range between about-5 x 10(exp -6) and 5 x 10(exp 6)/s when averaged over a scale length of about 1000-2000 km. The spatial patterns of the UTH field and the divergence of the wind field closely resemble one another, suggesting that UTH patterns are principally determined by the large-scale circulation. Since the upper-tropospheric humidity absorbs upwelling radiation from lower-tropospheric levels and therefore contributes significantly to the atmospheric greenhouse effect, this work implies that studies on the climate relevance of water vapor should include three-dimensional modeling of the atmospheric dynamics. The fields of UTH and WV winds are useful parameters for a climate-monitoring system based on satellite data. The results from this 1-month analysis suggest the desirability of further GOES and Meteosat studies to characterize the changes in the upper-tropospheric moisture sources and sinks over the past decade.

Schmetz, Johannes↗
NASA NTRS1998

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

Space science and solar system exploration are driving NASA to develop an array of small body missions ranging in scope from near body flybys to complete sample return. This paper presents an algorithm for onboard motion estimation that will enable the precision guidance necessary for autonomous small body landing. Our techniques are based on automatic feature tracking between a pair of descent camera images followed by two frame motion estimation and scale recovery using laser altimetry data. The output of our algorithm is an estimate of rigid motion (attitude and position) and motion covariance between frames. This motion estimate can be passed directly to the spacecraft guidance and control system to enable rapid execution of safe and precise trajectories.

Johnson, Andrew E.↗
NASA NTRS2000

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

We have developed and tested a software algorithm that enables onboard autonomous motion estimation near small bodies using descent camera imagery and laser altimetry. Through simulation and testing, we have shown that visual feature tracking can decrease uncertainty in spacecraft motion to a level that makes landing on small, irregularly shaped, bodies feasible. Possible future work will include qualification of the algorithm as a flight experiment for the Deep Space 4/Champollion comet lander mission currently under study at the Jet Propulsion Laboratory.

Johnson, Andrew Edie↗
NASA NTRS2001

Mixed Layer Drift Revealed by Satellite Data

For the first time we are able to derive ocean currents using the wavelet algorithm for feature tracking from two different sensors (MODIS and SeaWiFS) on different satellites. Satellite ocean color data provide an important insight to the marine biosphere because of their capability to quantify certain fundamental properties (such as phytoplankton pigment concentration, marine primary production, etc.) on a global basis. The mixed layer drift can be derived because the ocean color signal bears information from a much larger depth (10 to 30 meters) as compared with the sea surface temperature data. Although the drifter data are very limited in the study area, the comparison shows a general agreement between drifter data and satellite tracking results, especially for the cases near the Gulf Stream boundary.

Liu, Antony K.↗
NASA NTRS2005

Temperatures, winds, and composition in the saturnian system

Stratospheric temperatures on Saturn imply a strong decay of the equatorial winds with altitude. If the decrease in winds reported from recent Hubble Space Telescope images is not a temporal change, then the features tracked must have been at least 130 kilometers higher than in earlier studies. Saturn's south polar stratosphere is warmer than predicted from simple radiative models. The C/H ratio on Saturn is seven times solar, twice Jupiter's. Saturn's ring temperatures have radial variations down to the smallest scale resolved (100 kilometers). Diurnal surface temperature variations on Phoebe suggest a more porous regolith than on the jovian satellites.

Saturn↗
NASA NTRS1999

Machine Vision for Autonomous Small Body Navigation

This paper describes machine vision algorithms that enable precision guidance and hazard avoidance during small body exploration through onboard visual feature tracking and landmark recognition.

Estimation Landmark Recognition↗
NASA NTRS2004

Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.

autonomous↗
NASA NTRS2013

Building a 2.5D Digital Elevation Model from 2D Imagery

When projecting imagery into a georeferenced coordinate frame, one needs to have some model of the geographical region that is being projected to. This model can sometimes be a simple geometrical curve, such as an ellipse or even a plane. However, to obtain accurate projections, one needs to have a more sophisticated model that encodes the undulations in the terrain including things like mountains, valleys, and even manmade structures. The product that is often used for this purpose is a Digital Elevation Model (DEM). The technology presented here generates a high-quality DEM from a collection of 2D images taken from multiple viewpoints, plus pose data for each of the images and a camera model for the sensor. The technology assumes that the images are all of the same region of the environment. The pose data for each image is used as an initial estimate of the geometric relationship between the images, but the pose data is often noisy and not of sufficient quality to build a high-quality DEM. Therefore, the source imagery is passed through a feature-tracking algorithm and multi-plane-homography algorithm, which refine the geometric transforms between images. The images and their refined poses are then passed to a stereo algorithm, which generates dense 3D data for each image in the sequence. The 3D data from each image is then placed into a consistent coordinate frame and passed to a routine that divides the coordinate frame into a number of cells. The 3D points that fall into each cell are collected, and basic statistics are applied to determine the elevation of that cell. The result of this step is a DEM that is in an arbitrary coordinate frame. This DEM is then filtered and smoothed in order to remove small artifacts. The final step in the algorithm is to take the initial DEM and rotate and translate it to be in the world coordinate frame [such as UTM (Universal Transverse Mercator), MGRS (Military Grid Reference System), or geodetic] such that it can be saved in a standard DEM format and used for projection.

Padgett, Curtis W.↗
NASA NTRS2013

The Propagation of a Surge Front on Bering Glacier, Alaska, 2001-2011

Bering Glacier, Alaska, USA, has a 20 year surge cycle, with its most recent surge reaching the terminus in 2011. To study this most recent activity a time series of ice velocity maps was produced by applying optical feature-tracking methods to Landsat-7 ETM+ imagery spanning 2001-11. The velocity maps show a yearly increase in ice surface velocity associated with the down-glacier movement of a surge front. In 2008/09 the maximum ice surface velocity was 1.5 plus or minus 0.017 kilometers per a in the mid-ablation zone, which decreased to 1.2 plus or minus 0.015 kilometers per a in 2009/10 in the lower ablation zone, and then increased to nearly 4.4 plus or minus 0.03 kilometers per a in summer 2011 when the surge front reached the glacier terminus. The surge front propagated down-glacier as a kinematic wave at an average rate of 4.4 plus or minus 2.0 kilometers per a between September 2002 and April 2009, then accelerated to 13.9 plus or minus 2.0 kilometers per a as it entered the piedmont lobe between April 2009 and September 2010. Thewave seems to have initiated near the confluence of Bering Glacier and Bagley Ice Valley as early as 2001, and the surge was triggered in 2008 further down-glacier in the mid-ablation zone after the wave passed an ice reservoir area.

Alaska↗
NASA NTRS2013

Effects of Bedrock Lithology and Subglacial Till on the Motion of Ruth Glacier, Alaska, Deduced from Five Pulses from 1973-2012

A pulse is a type of unstable glacier flow intermediate between normal flow and surging. Using Landsat MSS, TM, and ETM+ imagery and feature tracking software, a time-series of mostly annual velocity maps from 1973 to 2012 was produced that reveals five pulses of Ruth Glacier, Alaska. Peaks in ice velocity were found in the 1981, 1989, 1997, 2003, and 2010; approximately every 7 years. During these peak years the ice velocity increased 300%, from approximately 40 m/yr to 160 m/yr, and occurred in an area of the glacier underlain by sedimentary bedrock. Based on the spatio-temporal behavior of Ruth Glacier during the pulse cycles, we suggest the pulses are due to enhanced basal motion via deformation of a subglacial till. The cyclical nature of the pulses is theorized to be due to a thin till, with low permeability, that causes incomplete drainage of the till between the pulses, followed by eventual recharge and dilation of the till. These findings suggest care is needed when attempting to correlate changes in regional climate with decadal-scale changes in velocity, because in some instances basal conditions may have a greater influence on ice dynamics than climate.

Glacier↗
NASA NTRS2015

The OSIRIS-REx Asteroid Sample Return Mission Operations Design

OSIRIS-REx is an acronym that captures the scientific objectives: Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer. OSIRIS-REx will thoroughly characterize near-Earth asteroid Bennu (Previously known as 1019551999 RQ36). The OSIRIS-REx Asteroid Sample Return Mission delivers its science using five instruments and radio science along with the Touch-And-Go Sample Acquisition Mechanism (TAGSAM). All of the instruments and data analysis techniques have direct heritage from flown planetary missions. The OSIRIS-REx mission employs a methodical, phased approach to ensure success in meeting the mission's science requirements. OSIRIS-REx launches in September 2016, with a backup launch period occurring one year later. Sampling occurs in 2019. The departure burn from Bennu occurs in March 2021. On September 24, 2023, the Sample Return Capsule (SRC) lands at the Utah Test and Training Range (UTTR). Stardust heritage procedures are followed to transport the SRC to Johnson Space Center, where the samples are removed and delivered to the OSIRIS-REx curation facility. After a six-month preliminary examination period the mission will produce a catalog of the returned sample, allowing the worldwide community to request samples for detailed analysis. Traveling and returning a sample from an Asteroid that has not been explored before requires unique operations consideration. The Design Reference Mission (DRM) ties together spacecraft, instrument and operations scenarios. Asteroid Touch and Go (TAG) has various options varying from ground only to fully automated (natural feature tracking). Spacecraft constraints such as thermo and high gain antenna pointing impact the timeline. The mission is sensitive to navigation errors, so a late command update has been implemented. The project implemented lessons learned from other "small body" missions. The key lesson learned was 'expect the unexpected' and implement planning tools early in the lifecycle. This paper summarizes the ground and spacecraft design as presented at OSIRIS-REx Critical Design Review(CDR) held April 2014.

mission operations↗
NASA NTRS2013

4DoF Drift Free Navigation Using Inertial Cues and Optical Flow

In this paper, we describe a novel approach in fusing optical flow with inertial cues (3D acceleration and 3D angular velocities) in order to navigate a Micro Aerial Vehicle (MAV) drift free in 4DoF and metric velocity. Our approach only requires two consecutive images with a minimum of three feature matches. It does not require any (point) map nor any type of feature history. Thus it is an inherently failsafe approach that is immune to map and feature-track failures. With these minimal requirements we show in real experiments that the system is able to navigate drift free in all angles including yaw, in one metric position axis, and in 3D metric velocity. Furthermore, it is a power-on-and-go system able to online self-calibrate the inertial biases, the visual scale and the full 6DoF extrinsic transformation parameters between camera and IMU.

reconnissance↗
NASA NTRS2016

Effect of AFT Rotor on the Inter-Rotor Flow of an Open Rotor Propulsion System

The effects of the aft rotor on the inter-rotor flow field of an open rotor propulsion rig were examined. A Particle Image Velocimetry (PIV) dataset that was acquired phase locked to the front rotor position has been phase averaged based on the relative phase angle between the forward and aft rotors. The aft rotor phase was determined by feature tracking in raw PIV images through an image processing algorithm. The effect of the aft rotor potential field on the inter-rotor flow were analyzed and shown to be in good agreement with Computational Fluid Dynamics (CFD) simulations. It was shown that the aft rotor had no substantial effect on the position of the forward rotor tip vortex but did have a small effect on the circulation strength of the vortex when the rotors were highly loaded.

Counter Rotating↗