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NASA NTRS1974

Frame sync acquisition for biorthogonally coded data

The paper analyzes the optimum frame-synchronization problem for biorthogonally coded data received over the additive white Gaussian noise (AWGN) channel and decoded prior to sync acquisition. In deriving the optimum frame-sync algorithm, the discussion is restricted to the case in which each frame contains F complete code words, including a frame-sync prefix of P complete code words. The k-bit source words and k-bit decoded words are regarded as super symbols from an alphabet of binary k-tuples. The biorthogonal encoder, the AWGN channel, and the decoder are lumped into a super symbol channel whose characteristics determine the form of the optimum frame-sync decision rule. A union-bound approach is used to provide a quantitative measure of the probability of false synchronization for the algorithm derived.

Levitt, B. K.↗

NASA NTRS1977

Floating reference frames for flexible spacecraft

Floating reference frames which move with the flexible body under dynamic analysis offer the advantages of a linear vibration analysis in the presence of large system rotations. When the deformations of an elastic continuum are expanded in terms of the free-free modes on an unconstrained system, the rigid body modes are found to be fixed in a reference frame called the Tisserand frame, with respect to which the relative momentum is zero. This result also guarantees the independence of small variations of frame motions and coordinates for all modes with nonzero natural frequencies, a condition which can greatly simplify the formulation of equations of motion. A Modified Tisserand Constraint is introduced in order to define a floating reference frame with similar properties for an elastic body which contains spinning rotors.

Canavin, J. R.↗

NASA NTRS1978

Comparison of video fields and frames for transform compression

Because of the interlaced television scan, the two fields that form an interlaced video frame are generated 1/60 of a second apart. If the two fields are compressed independently, the correlation between adjacent lines is unused. The transmission rate can be reduced by using a field memory to form an interlaced frame. Four test images were processed as fields and as interlaced frames, using both theoretical and experimental compression designs. For comparable mean-square error and subjective appearance, field compression requires about one-half bit per sample more than frame compression. However, the overall transmission rate - the number of bits per image times the number of images per second - is more meaningful than the number of bits per sample. When transform compression at low transmission rates merges the adjacent lines, frame compression becomes similar to field repeating, and the memory can be reduced.

Jones, H. W., Jr.↗

NASA NTRS1981

Evaluation of a segment-based LANDSAT full-frame approach to corp area estimation

As the registration of LANDSAT full frames enters the realm of current technology, sampling methods should be examined which utilize other than the segment data used for LACIE. The effect of separating the functions of sampling for training and sampling for area estimation. The frame selected for analysis was acquired over north central Iowa on August 9, 1978. A stratification of he full-frame was defined. Training data came from segments within the frame. Two classification and estimation procedures were compared: statistics developed on one segment were used to classify that segment, and pooled statistics from the segments were used to classify a systematic sample of pixels. Comparisons to USDA/ESCS estimates illustrate that the full-frame sampling approach can provide accurate and precise area estimates.

Bauer, M. E.↗

NASA NTRS1984

Rectification of single and multiple frames of satellite scanner imagery using points and edges as control

Rectification of single and overlapping multiple scanner frames produced by such satellite-borne scanners as the LANDSAT MSS was carried out using a newly developed comprehensive parametric model. Tests with both simulated and real image data demonstrate conclusively that this model in general is superior to the widely used polynomial model, and that the simultaneous rectification of overlapping frames using least squares techniques yields a high accuracy than sngle frame rectification due to the inclusion of tie points between the image frames. Used to control, edges or lines, whic are much more likely to be found in images, can replace conventional control points and can easily be implemented into the least squares approach. An efficient algorithm for findng corresponding points in image paris was developed which can be used for determining tie points between image frames and thus increase the ecnomy of the whole rectification procedure.

Paderes, F. C., Jr.↗

NASA NTRS1984

Design, Fabrication and Test of Composite Curved Frames for Helicopter Fuselage Structure

Aspects of curved beam effects and their importance in designing composite frame structures are discussed. The curved beam effect induces radial flange loadings which in turn causes flange curling. This curling increases the axial flange stresses and induces transverse bending. These effects are more important in composite structures due to their general inability to redistribute stresses by general yielding, such as in metal structures. A detailed finite element analysis was conducted and used in the design of composite curved frame specimens. Five specimens were statically tested and compared with predicted and test strains. The curved frame effects must be accurately accounted for to avoid premature fracture; finite element methods can accurately predict most of the stresses and no elastic relief from curved beam effects occurred in the composite frames tested. Finite element studies are presented for comparative curved beam effects on composite and metal frames.

Lowry, D. W.↗

NASA NTRS1986

Relativistic effects in local inertial frames

The concept of a generalized Fermi frame is introduced with the aim of describing the relativistic effects due to a third, distant body (such as the sun) upon the motion of an earth satellite. This extends Fermi's construction of a local inertial frame to the case in which there are local gravitating masses. This is done in the slow-motion, weak-field approximation by splitting the metric into an external part and a local part; Fermi's construction of local inertial coordinates defined with respect to the external metric is then used to transform the complete metric. The results show that the main relativistic effects on an earth satellite are due to the nonlinear correction in the earth's own Schwarzschild field. There are much smaller relativistic corrections in the tidal field of the sun, and an earth-sun interaction term. The spatial axes of the local frame also undergo geodetic precession. Particular care must be taken with respect to the definition of the time coordinate in the generalized Fermi frame in order that the unit of time be consistent with readings of reasonable physical clocks on earth's surface. Also discussed more rigorously is the generalized Fermi frame for a system of two bodies revolving in circular orbits around a common barycenter.

Ashby, Neil↗

NASA NTRS1990

A determination of the radio-planetary frame tie and the DSN tracking station locations

The orientation of the reference frame of radio source catalogs relative to that of planetary ephemerides is uncertain by 30 mas (150 nrad). At this level of uncertainty this orientation offset, or 'frame tie', can be a major systematic error source for interplanetary spacecraft orbit determination. This work presents a method of determining the radio-planetary frame tie from a comparison of Very Long Baseline Interferometry (VLBI) and Lunar Laser Ranging (LLR) station coordinate and earth orientation parameter estimates. Preliminary results are presented which indicate that accuracies of 5 mas or better may be achieved with this method. An important by-product of this method of frame tie determination is a set of Deep Space Network (DSN) station locations with 10 cm per component accuracy. This station set is in a geocentric coordinate system with known orientation relative to the radio and planetary frames.

Finger, Mark H.↗

NASA NTRS1990

The definition and stability of local inertial reference frames

VLBI measurements of extragalactic radio sources are utilized to develop a definition system for local inertial reference frames. Significant astrometric errors are identified and minimized by means of a parameter-estimation technique. A reference frame is measured for 30 min to observe the radio emission of the object to be located in the frame as well as the emission from about five additional sources which define the frame. Because the structures of the objects are unknown and tropospheric fluctuations exist, limiting errors exist for both single-epoch position determination and epoch-to-epoch differential position measurements. Data are presented regarding relativistic gravitational deflection by Jupiter which show that the local reference frame is stable at 240 microarcseconds over 12 days.

Treuhaft, R. N.↗

NASA NTRS1992

Ties Between Celestial And Planetary Reference Frames

Report presents new determination of relative orientation (or frame tie) between reference frame of extra-galactic radio sources and reference frame of planetary ephemeris. Method employed for improved frame-tie estimate relies on ability to measure orientation of Earth with respect to inertial reference frame. Improves orbit determination for interplanetary spacecraft.

Finger, Mark H.↗

NASA NTRS1993

A study of video frame rate on the perception of moving imagery detail

The rate at which each frame of color moving video imagery is displayed was varied in small steps to determine what is the minimal acceptable frame rate for life scientists viewing white rats within a small enclosure. Two, twenty five second-long scenes (slow and fast animal motions) were evaluated by nine NASA principal investigators and animal care technicians. The mean minimum acceptable frame rate across these subjects was 3.9 fps both for the slow and fast moving animal scenes. The highest single trial frame rate averaged across all subjects for the slow and the fast scene was 6.2 and 4.8, respectively. Further research is called for in which frame rate, image size, and color/gray scale depth are covaried during the same observation period.

Haines, Richard F.↗

NASA NTRS1990

Improving stability and strength characteristics of framed structures with nonlinear behavior

In this paper an optimal design procedure is introduced to improve the overall performance of nonlinear framed structures. The design methodology presented here is a multiple-objective optimization procedure whose objective functions involve the buckling eigenvalues and eigenvectors of the structure. A constant volume with bounds on the design variables is used in conjunction with an optimality criterion approach. The method provides a general tool for solving complex design problems and generally leads to structures with better limit strength and stability. Many algorithms have been developed to improve the limit strength of structures. In most applications geometrically linear analysis is employed with the consequence that overall strength of the design is overestimated. Directly optimizing the limit load of the structure would require a full nonlinear analysis at each iteration which would be prohibitively expensive. The objective of this paper is to develop an algorithm that can improve the limit-load of geometrically nonlinear framed structures while avoiding the nonlinear analysis. One of the novelties of the new design methodology is its ability to efficiently model and design structures under multiple loading conditions. These loading conditions can be different factored loads or any kind of loads that can be applied to the structure simultaneously or independently. Attention is focused on optimal design of space framed structures. Three-dimensional design problems are more complicated to carry out, but they yield insight into real behavior of the structure and can help avoiding some of the problems that might appear in planar design procedure such as the need for out-of-plane buckling constraint. Although researchers in the field of structural engineering generally agree that optimum design of three-dimension building frames especially in the seismic regions would be beneficial, methods have been slow to emerge. Most of the research in this area has dealt with the optimization of truss and plane frame structures.

Pezeshk, Shahram↗

NASA NTRS1994

A radio/optical reference frame. 5: Additional source positions in the mid-latitude southern hemisphere

We report new accurate radio position measurements for 30 sources, preliminary positions for two sources, improved radio postions for nine additional sources which had limited previous observations, and optical positions and optical-radio differences for six of the radio sources. The Very Long Baseline Interferometry (VLBI) observations are part of the continuing effort to establish a global radio reference frame of about 400 compact, flat spectrum sources, which are evenly distributed across the sky. The observations were made using Mark III data format in four separate sessions in 1988-89 with radio telescopes at Tidbinbilla, Australia, Kauai, USA, and Kashima, Japan. We observed a total of 54 sources, including ten calibrators and three which were undetected. The 32 new source positions bring the total number in the radio reference frame catalog to 319 (172 northern and 147 southern) and fill in the zone -25 deg greater than delta greater than -45 deg which, prior to this list, had the lowest source density. The VLBI positions have an average formal precision of less than 1 mas, although unknown radio structure effects of about 1-2 mas may be present. The six new optical postion measurements are part of the program to obtain positions of the optical counterparts of the radio reference frame source and to map accurately the optical on to the radio reference frames. The optical measurements were obtained from United States Naval Observatory (USNO) Black Birch astrograph plates and source plates from the AAT, and Kitt Peak National Observatory (KPNO) 4 m, and the European Southern Observatory (ESO) Schmidt. The optical positions have an average precision of 0.07 sec, mostly due to the zero point error when adjusted to the FK5 optical frame using the IRS catalog. To date we have measured optical positions for 46 sources.

Russell, J. L.↗

NASA NTRS1990

Implementation of a frame-based representation in CLIPS

Knowledge representation is one of the major concerns in expert systems. The representation of domain-specific knowledge should agree with the nature of the domain entities and their use in the real world. For example, architectural applications deal with objects and entities such as spaces, walls, and windows. A natural way of representing these architectural entities is provided by frames. This research explores the potential of using the expert system shell CLIPS, developed by NASA, to implement a frame-based representation that can accommodate architectural knowledge. These frames are similar but quite different from the 'template' construct in version 4.3 of CLIPS. Templates support only the grouping of related information and the assignment of default values to template fields. In addition to these features frames provide other capabilities including definition of classes, inheritance between classes and subclasses, relation of objects of different classes with 'has-a', association of methods (demons) of different types (standard and user-defined) to fields (slots), and creation of new fields at run-time. This frame-based representation is implemented completely in CLIPS. No change to the source code is necessary.

Assal, Hisham↗

NASA NTRS1998

Relationship between selected orientation rest frame, circular vection and space motion sickness

Space motion sickness (SMS) and spatial orientation and motion perception disturbances occur in 70-80% of astronauts. People select "rest frames" to create the subjective sense of spatial orientation. In microgravity, the astronaut's rest frame may be based on visual scene polarity cues and on the internal head and body z axis (vertical body axis). The data reported here address the following question: Can an astronaut's orientation rest frame be related and described by other variables including circular vection response latencies and space motion sickness? The astronaut's microgravity spatial orientation rest frames were determined from inflight and postflight verbal reports. Circular vection responses were elicited by rotating a virtual room continuously at 35 degrees/s in pitch, roll and yaw with respect to the astronaut. Latency to the onset of vection was recorded from the time the crew member opened their eyes to the onset of vection. The astronauts who used visual cues exhibited significantly shorter vection latencies than those who used internal z axis cues. A negative binomial regression model was used to represent the observed total SMS symptom scores for each subject for each flight day. Orientation reference type had a significant effect, resulting in an estimated three-fold increase in the expected motion sickness score on flight day 1 for astronauts who used visual cues. The results demonstrate meaningful classification of astronauts' rest frames and their relationships to sensitivity to circular vection and SMS. Thus, it may be possible to use vection latencies to predict SMS severity and duration.

short duration↗

NASA NTRS2004

Spitzer Instrument Pointing Frame (IPF) Kalman Filter Algorithm

This paper discusses the Spitzer Instrument Pointing Frame (IPF) Kalman Filter algorithm. The IPF Kalman filter is a high-order square-root iterated linearized Kalman filter, which is parametrized for calibrating the Spitzer Space Telescope focal plane and aligning the science instrument arrays with respect to the telescope boresight. The most stringent calibration requirement specifies knowledge of certain instrument pointing frames to an accuracy of 0.1 arcseconds, per-axis, 1-sigma relative to the Telescope Pointing Frame. In order to achieve this level of accuracy, the filter carries 37 states to estimate desired parameters while also correcting for expected systematic errors due to: (1) optical distortions, (2) scanning mirror scale-factor and misalignment, (3) frame alignment variations due to thermomechanical distortion, and (4) gyro bias and bias-drift in all axes. The resulting estimated pointing frames and calibration parameters are essential for supporting on-board precision pointing capability, in addition to end-to-end 'pixels on the sky' ground pointing reconstruction efforts.

calibration↗

NASA NTRS2011

Single-Frame Terrain Mapping Software for Robotic Vehicles

This software is a component in an unmanned ground vehicle (UGV) perception system that builds compact, single-frame terrain maps for distribution to other systems, such as a world model or an operator control unit, over a local area network (LAN). Each cell in the map encodes an elevation value, terrain classification, object classification, terrain traversability, terrain roughness, and a confidence value into four bytes of memory. The input to this software component is a range image (from a lidar or stereo vision system), and optionally a terrain classification image and an object classification image, both registered to the range image. The single-frame terrain map generates estimates of the support surface elevation, ground cover elevation, and minimum canopy elevation; generates terrain traversability cost; detects low overhangs and high-density obstacles; and can perform geometry-based terrain classification (ground, ground cover, unknown). A new origin is automatically selected for each single-frame terrain map in global coordinates such that it coincides with the corner of a world map cell. That way, single-frame terrain maps correctly line up with the world map, facilitating the merging of map data into the world map. Instead of using 32 bits to store the floating-point elevation for a map cell, the vehicle elevation is assigned to the map origin elevation and reports the change in elevation (from the origin elevation) in terms of the number of discrete steps. The single-frame terrain map elevation resolution is 2 cm. At that resolution, terrain elevation from 20.5 to 20.5 m (with respect to the vehicle's elevation) is encoded into 11 bits. For each four-byte map cell, bits are assigned to encode elevation, terrain roughness, terrain classification, object classification, terrain traversability cost, and a confidence value. The vehicle s current position and orientation, the map origin, and the map cell resolution are all included in a header for each map. The map is compressed into a vector prior to delivery to another system.

Rankin, Arturo L.↗

NASA NTRS2011

A Ka-Band Celestial Reference Frame with Applications to Deep Space Navigation

The Ka-band radio spectrum is now being used for a wide variety of applications. This paper highlights the use of Ka-band as a frequency for precise deep space navigation based on a set of reference beacons provided by extragalactic quasars which emit broadband noise at Ka-band. This quasar-based celestial reference frame is constructed using X/Ka-band (8.4/32 GHz) from fifty-five 24-hour sessions with the Deep Space Network antennas in California, Australia, and Spain. We report on observations which have detected 464 sources covering the full 24 hours of Right Ascension and declinations down to -45 deg. Comparison of this X/Ka-band frame to the international standard S/X-band (2.3/8.4 GHz) ICRF2 shows wRMS agreement of approximately 200 micro-arcsec in alpha cos(delta) and approximately 300 micro-arcsec in delta. There is evidence for systematic errors at the 100 micro-arcsec level. Known errors include limited SNR, lack of instrumental phase calibration, tropospheric refraction mis-modeling, and limited southern geometry. The motivation for extending the celestial reference frame to frequencies above 8 GHz is to access more compact source morphology for improved frame stability and to support spacecraft navigation for Ka-band based NASA missions.

k-band↗