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At least 739 records · Page 41
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Calibration of the ARID robot

The author has formulated a new, general model for specifying the kinematic properties of serial manipulators. The new model kinematic parameters do not suffer discontinuities when nominally parallel adjacent axes deviate from exact parallelism. From this new theory the author develops a first-order, lumped-parameter, calibration-model for the ARID manipulator. Next, the author develops a calibration methodology for the ARID based on visual and acoustic sensing. A sensor platform, consisting of a camera and four sonars attached to the ARID end frame, performs calibration measurements. A calibration measurement consists of processing one visual frame of an accurately placed calibration image and recording four acoustic range measurements. A minimum of two measurement protocols determine the kinematics calibration-model of the ARID for a particular region: assuming the joint displacements are accurately measured, the calibration surface is planar, and the kinematic parameters do not vary rapidly in the region. No theoretical or practical limitations appear to contra-indicate the feasibility of the calibration method developed here.

Doty, Keith L↗
NASA NTRS1991

Perceiving the coherent movements of spatially-separated features

When a partially-occluded object is represented in an image, it is defined by a set of spatially-separated features that may be registered at different spatial scales. To understand the image, human vision must organize these fragmented optical features into common and distinct object surfaces. Although the common fate of moving features often is considered a primary source of reliable information for image segmentation, little is known of the visual system's capacity to discriminate the coherent relative movements of spatially-separated features. In a series of experiments, observers viewed elements whose movements were correlated (direction and magnitude) or were uncorrelated. Our results indicate that observers can discriminate the two types of movement about as well as they can detect any movement at all. Moreover, the ability to perceive coherent movements is maintained under a variety of conditions including differences in the elements' spatial frequency content, spatial position and contrast, and temporal phase shifts between the spatially-correlated displacements. These results suggest that coherent relative motion may be a fundamental source of information exploited by vision, despite considerable variability in the spatial and temporal characteristics of the individual features.

Mowafy, Lyn↗
NASA NTRS1990

Application of the Semivariogram Textural Classifier (STC) to SIR-B data of Borneo

This paper presents the results of an application of the semivariogram textural classifier to SIR-B data. Ford and Casey (1988) performed a visual interpretation of a SIR-B image of a tropical rain forest in Borneo in which they recognized and mapped three units of forest canopy (coastal lowland forest, tidal forest and swamp) and two units of open areas (clearcut and wetland). In this study the same image is classified using the STC in an attempt to emulate their interpretation.

Miranda, F. P.↗
NASA NTRS1995

Image data compression having minimum perceptual error

A method for performing image compression that eliminates redundant and invisible image components is described. The image compression uses a Discrete Cosine Transform (DCT) and each DCT coefficient yielded by the transform is quantized by an entry in a quantization matrix which determines the perceived image quality and the bit rate of the image being compressed. The present invention adapts or customizes the quantization matrix to the image being compressed. The quantization matrix comprises visual masking by luminance and contrast techniques and by an error pooling technique all resulting in a minimum perceptual error for any given bit rate, or minimum bit rate for a given perceptual error.

Watson, Andrew B.↗
NASA NTRS1997

Image Data Compression Having Minimum Perceptual Error

A method is presented for performing color or grayscale image compression that eliminates redundant and invisible image components. The image compression uses a Discrete Cosine Transform (DCT) and each DCT coefficient yielded by the transform is quantized by an entry in a quantization matrix which determines the perceived image quality and the bit rate of the image being compressed. The quantization matrix comprises visual masking by luminance and contrast technique all resulting in a minimum perceptual error for any given bit rate, or minimum bit rate for a given perceptual error.

Watson, Andrew B.↗
NASA NTRS1997

Effect of Crystal Defects on Minority Carrier Diffusion Length in 6H SiC Measured Using the Electron Beam Induced Current Method

We report values of minority carrier diffusion length in n-type 6H SiC measured using a planar Electron Beam Induced Current (EBIC) method. Values of hole diffusion length in defect free regions of n-type 6H SiC, with a doping concentration of 1.7El7 1/cu cm, ranged from 1.46 microns to 0.68 microns. We next introduce a novel variation of the planar method used above. This 'planar mapping' technique measured diffusion length along a linescan creating a map of diffusion length versus position. This map is then overlaid onto the EBIC image of the corresponding linescan, allowing direct visualization of the effect of defects on minority carrier diffusion length. Measurements of the above n-type 6H SiC resulted in values of hole diffusion length ranging from 1.2 micron in defect free regions to below 0.1 gm at the center of large defects. In addition, measurements on p-type 6H SiC resulted in electron diffusion lengths ranging from 1.42 micron to 0.8 micron.

Tabib-Azar, Massood↗
NASA NTRS1998

Autonomous Image Processing Algorithms Locate Region-of-Interests: The Mars Rover Application

In this report, we demonstrate that bottom-up IPA's, image-processing algorithms, can perform a new visual task to select and locate Regions-Of-Interests (ROIs). This task has been defined on the basis of a theory of top-down human vision, the scanpath theory. Further, using measures, Sp and Ss, the similarity of location and ordering, respectively, developed over the years in studying human perception and the active looking role of eye movements, we could quantify the efficient and efficacious manner that IPAs can imitate human vision in located ROIS. The means to quantitatively evaluate IPA performance has been an important part of our study. In fact, these measures were essential in choosing from the initial wide variety of IPAS, that particular one that best serves for a type of picture and for a required task. It should be emphasized that the selection of efficient IPAs has depended upon their correlation with actual human chosen ROIs for the same type of picture and for the same required task accomplishment.

Privitera, Claudio↗
NASA NTRS2007

Characterization of Nonlinear Rate Dependent Response of Shape Memory Polymers

Shape Memory Polymers (SMPs) are a class of polymers, which can undergo deformation in a flexible state at elevated temperatures, and when cooled below the glass transition temperature, while retaining their deformed shape, will enter and remain in a rigid state. Upon heating above the glass transition temperature, the shape memory polymer will return to its original, unaltered shape. SMPs have been reported to recover strains of over 400%. It is important to understand the stress and strain recovery behavior of SMPs to better develop constitutive models which predict material behavior. Initial modeling efforts did not account for large deformations beyond 25% strain. However, a model under current development is capable of describing large deformations of the material. This model considers the coexisting active (rubber) and frozen (glass) phases of the polymer, as well as the transitions between the material phases. The constitutive equations at the continuum level are established with internal state variables to describe the microstructural changes associated with the phase transitions. For small deformations, the model reduces to a linear model that agrees with those reported in the literature. Thermomechanical characterization is necessary for the development, calibration, and validation of a constitutive model. The experimental data reported in this paper will assist in model development by providing a better understanding of the stress and strain recovery behavior of the material. This paper presents the testing techniques used to characterize the thermomechanical material properties of a shape memory polymer (SMP) and also presents the resulting data. An innovative visual-photographic apparatus, known as a Vision Image Correlation (VIC) system was used to measure the strain. The details of this technique will also be presented in this paper. A series of tensile tests were performed on specimens such that strain levels of 10, 25, 50, and 100% were applied to the material while it was above its glass transition temperature. After deforming the material to a specified applied strain, the material was then cooled to below the glass transition temperature (Tg) while retaining the deformed shape. Finally, the specimen was heated again to above the transition temperature, and the resulting shape recovery profile was measured. Results show that strain recovery occurs at a nonlinear rate with respect to time. Results also indicate that the ratio of recoverable strain/applied strain increases as the applied strain increases.

Volk, Brent↗
NASA NTRS2010

360-Degree Visual Detection and Target Tracking on an Autonomous Surface Vehicle

This paper describes perception and planning systems of an autonomous sea surface vehicle (ASV) whose goal is to detect and track other vessels at medium to long ranges and execute responses to determine whether the vessel is adversarial. The Jet Propulsion Laboratory (JPL) has developed a tightly integrated system called CARACaS (Control Architecture for Robotic Agent Command and Sensing) that blends the sensing, planning, and behavior autonomy necessary for such missions. Two patrol scenarios are addressed here: one in which the ASV patrols a large harbor region and checks for vessels near a fixed asset on each pass and one in which the ASV circles a fixed asset and intercepts approaching vessels. This paper focuses on the ASV's central perception and situation awareness system, dubbed Surface Autonomous Visual Analysis and Tracking (SAVAnT), which receives images from an omnidirectional camera head, identifies objects of interest in these images, and probabilistically tracks the objects' presence over time, even as they may exist outside of the vehicle's sensor range. The integrated CARACaS/SAVAnT system has been implemented on U.S. Navy experimental ASVs and tested in on-water field demonstrations.

ASV (AUTONOMOUS SEA SURFACE VEHICLE)↗
NASA NTRS2011

Saturn Ring Data Analysis and Thermal Modeling

CIRS, VIMS, UVIS, and ISS (Cassini's Composite Infrared Specrtometer, Visual and Infrared Mapping Spectrometer, Ultra Violet Imaging Spectrometer and Imaging Science Subsystem, respectively), have each operated in a multidimensional observation space and have acquired scans of the lit and unlit rings at multiple phase angles. To better understand physical and dynamical ring particle parametric dependence, we co-registered profiles from these three instruments, taken at a wide range of wavelengths, from ultraviolet through the thermal infrared, to associate changes in ring particle temperature with changes in observed brightness, specifically with albedos inferred by ISS, UVIS and VIMS. We work in a parameter space where the solar elevation range is constrained to 12 deg - 14 deg and the chosen radial region is the B3 region of the B ring; this region is the most optically thick region in Saturn's rings. From this compilation of multiple wavelength data, we construct and fit phase curves and color ratios using independent dynamical thermal models for ring structure and overplot Saturn, Saturn ring, and Solar spectra. Analysis of phase curve construction and color ratios reveals thermal emission to fall within the extrema of the ISS bandwidth and a geometrical dependence of reddening on phase angle, respectively. Analysis of spectra reveals Cassini CIRS Saturn spectra dominate Cassini CIRS B3 Ring Spectra from 19 to 1000 microns, while Earth-based B Ring Spectrum dominates Earth-based Saturn Spectrum from 0.4 to 4 microns. From our fits we test out dynamical thermal models; from the phase curves we derive ring albedos and non-lambertian properties of the ring particle surfaces; and from the color ratios we examine multiple scattering within the regolith of ring particles.

Saturn's rings↗
NASA NTRS2017

Development and Assessment of the SMAP Enhanced Passive Soil Moisture Product

Launched in January 2015, the National Aeronautics and Space Administration (NASA) Soil Moisture Active Passive (SMAP) observatory was designed to provide frequent global mapping of high-resolution soil moisture and freeze-thaw state every two to three days using a radar and a radiometer operating at L-band frequencies. Despite a hardware mishap that rendered the radar inoperable shortly after launch, the radiometer continues to operate nominally, returning more than two years of science data that have helped to improve existing hydrological applications and foster new ones.Beginning in late 2016 the SMAP project launched a suite of new data products with the objective of recovering some high-resolution observation capability loss resulting from the radar malfunction. Among these new data products are the SMAP Enhanced Passive Soil Moisture Product that was released in December 2016, followed by the SMAPSentinel-1 Active-Passive Soil Moisture Product in April 2017.This article covers the development and assessment of the SMAP Level 2 Enhanced Passive Soil Moisture Product (L2_SM_P_E). The product distinguishes itself from the current SMAP Level 2 Passive Soil Moisture Product (L2_SM_P) in that the soil moisture retrieval is posted on a 9 km grid instead of a 36 km grid. This is made possible by first applying the Backus-Gilbert optimal interpolation technique to the antenna temperature (TA) data in the original SMAP Level 1B Brightness Temperature Product to take advantage of the overlapped radiometer footprints on orbit. The resulting interpolated TA data then go through various correctioncalibration procedures to become the SMAP Level 1C Enhanced Brightness Temperature Product (L1C_TB_E). The L1C_TB_E product, posted on a 9 km grid, is then used as the primary input to the current operational SMAP baseline soil moisture retrieval algorithm to produce L2_SM_P_E as the final output. Images of the new product reveal enhanced visual features that are not apparent in the standard product. Based on in situ data from core validation sites and sparse networks representing different seasons and biomes all over the world, comparisons between L2_SM_P_E and in situ data were performed for the duration of April 1, 2015 October 30, 2016. It was found that the performance of the enhanced 9 km L2_SM_P_E is equivalent to that of the standard 36 km L2_SM_P, attaining a retrieval uncertainty below 0.040 m(exp 3)/m(exp 3) unbiased root-mean-square error (ubRMSE) and a correlation coefficient above 0.800. This assessment also affirmed that the Single Channel Algorithm using the V-polarized TB channel (SCA-V) delivered the best retrieval performance among the various algorithms implemented for L2_SM_P_E, a result similar to a previous assessment for L2_SM_P.

Enhanced↗
NASA NTRSDate not supplied

Toward Relating Open- and Closed-Test Section Microphone Phased Array Aeroacoustic Measurements

Aeroacoustic measurements utilizing microphone phased arrays are becoming more commonplace in large-scale wind tunnels. However, for such costly tests it is difficult to assess the influence of a given facility's configuration on the acquired data. One such opportunity has recently arisen in the NASA Langley Research Center 14- by 22-Foot Subsonic Tunnel, where the High-Lift configuration of the Common Research Model was tested in both open-jet and closed wall configurations. Acoustic data were acquired on the same model with the same specific hardware at the same Mach number; and for similar model angles of attack, array apertures, and array angles relative to the model location. Initial deconvolution comparisons using DAMAS appear poor. The closed test section results show contamination likely due to background noise and reflections. The open-jet results show severe blurring due to the decorrelation of acoustic waves passing through a turbulent free shear layer. However, accounting for image sources in the DAMAS grid reduces visual artifacts in the closed test section results, and a preliminary coherence correction technique mitigates the blurring in the open-jet results. Qualitatively, both tests identify similar source behavior. Quantitatively, summed spectra of the slat noise agree in some frequency bands but differ in others. Proposals that may mitigate the difference are given for each configuration, such as correcting for the array protective cover and applying background subtraction in the closed wall configuration, and further developing the coherence loss correction for deconvolution methods in the open-jet setup.

microphone array↗
NASA NTRSDate not supplied

Experimental Identification of Bistable Flow States on the Space Launch System at Liftoff Conditions

Time-averaged global force and moment measurements in wind tunnel tests can obscure complex flow dynamics, including bistability phenomena. This paper presents a detailed analysis into the potential cause of previously unobserved discrepancies among repeat runs during the 202114- by 22-Foot Subsonic Tunnel test of the Space Launch System. During the test, it was observed that liftoff configuration repeatability was not as strong as expected when compared to previous tests. These discrepancies occurred between wind angle azimuths of approximately 150◦ and 210◦, as well as between 330◦ and 30◦. After ruling out common confounding factors such as instrumentation hysteresis and temperature, it was hypothesized that the lack of repeatability was caused by the Coandă effect producing a bistable flow state at different locations between the cylindrical rocket centerbody and solid rocket boosters during the acquisition of data. Evidence to support this hypothesis is provided in this paper in the form of time-averaged force and moment coefficient data, time-dependent force and moment coefficient data, and still images from smoke flow and tuft flow visualization runs.

SLS↗
NASA NTRSDate not supplied

Characterization of an Optically Accessible RP/GOx Rotating Detonation Engine

The accurate characterization of the dynamic response of liquid jets to transient detonation wave passage is crucial for optimizing and modeling liquid-fueled rotating detonation combustors. To address this need, we have developed an optically accessible rocket RDE (RP-RDE), which utilizes liquid RP-1 and gaseous oxygen as propellants and operates at elevated pressures. The experimental setup features optical access from the oxidizer injection plenum to the combustor exit, allowing for detailed characterization of injection, mixing, and combustion processes and their impact on the detonation wave structure. To design and develop the liquid injection scheme for the RP-RDE test article, we employed a combined experimental and numerical approach that included cold-flow simulations. Our aim was to optimize the liquid injection process and ensure that the resulting fuel-oxidizer mixture is homogeneous and stable. To this end, high-speed optical imaging will be employed to provide qualitative visualization of the liquid and gaseous phases of the propellant as well as the local heat release during detonation wave propagation through the non-premixed medium. This work will provide critical insights into the behavior of the transient detonation waves in more relevant rocket conditions, which is essential for the optimization and modeling of rotating detonation combustors.

Propulsion↗
NASA NTRS2026

Improvement in the Thermal-to-Structural Model Mapping Process for Integrated Modeling for the Roman Space Telescope

Integrated Modeling has been a key component of verifying optical requirements for the Nancy Grace Roman Space Telescope (RST) that are either impossible or impractical to verify exclusively through ground testing. Two major areas for integrated Modeling are Jitter and Thermal Distortion that require the exchanges of model performance predictions across disciplines. In both cases, distortions are impressed on optical models to evaluate the impact on boresight alignment and wave front error. In the case of Jitter, the disturbances are driven by reactions to motions most often from actuators; however, in the case of thermal distortion, the motions are driven by thermal expansion or contraction as a result of changing temperatures. This then requires a link further upstream to the thermal model, which is used to predict the thermal performance and temperature gradients and stability. The process for mapping temperatures from a thermal model to a corresponding structural model has been performed numerous times through the RST project lifecycle, with improvements in the accuracy, verification, and effort sought throughout. This paper describes some of the recent improvements to the process, including: capture of the visualization parameters, automatic generation of the mapped images for both the thermal and structural model groupings, and reduction in the effort to assemble the full set of mapped temperatures. These upgrades have greatly reduced the manual effort associated with thermal mapping and allowed for faster turn-around of Integrated Modeling predictions.

Thermal Mapping↗
NASA NTRS2002

Visions of our Planet's Atmosphere, Land and Oceans

The NASA/NOAA Electronic Theater presents Earth science observations and visualizations in a historical perspective. Fly in from outer space to South Africa, Cape Town and Johannesburg using NASA Terra/MODIS data, Landsat data and 1 m IKONOS 'Spy Satellite' data. Zoom in to any place South Africa using Earth Viewer 3D from Keyhole Inc. and Landsat data at 30 m resolution Go back to the early weather satellite images from the 1960s and see them contrasted with the latest US and international global satellite weather movies including hurricanes & 'tornadoes'. See the latest visualizations of spectacular images from NASANOAA remote sensing missions like Terra, GOES, TRMM, SeaWiFS, Landsat 7 including 1 - min GOES rapid scan image sequences of Nov 9th 2001 Midwest tornadic thunderstorms and have them explained.

Hasler, A. F.↗
NASA NTRS1991

Sensor fusion for synthetic vision

Display methodologies are explored for fusing images gathered by millimeter wave sensors with images rendered from an on-board terrain data base to facilitate visually guided flight and ground operations in low visibility conditions. An approach to fusion based on multiresolution image representation and processing is described which facilitates fusion of images differing in resolution within and between images. To investigate possible fusion methods, a workstation-based simulation environment is being developed.

Pavel, M.↗
NASA NTRS1994

Flow Visualization Techniques in Wind Tunnel Tests of a Full-Scale F/A-18 Aircraft

The proposed paper presents flow visualization performed during experiments conducted on a full-scale F/A-18 aircraft in the 80- by 120-Foot Wind-Tunnel at NASA Ames Research Center. The purpose of the flow-visualization experiments was to document the forebody and leading edge extension (LEX) vortex interaction along with the wing flow patterns at high angles of attack and low speed high Reynolds number conditions. This investigation used surface pressures in addition to both surface and off-surface flow visualization techniques to examine the flow field on the forebody, canopy, LEXS, and wings. The various techniques used to visualize the flow field were fluorescent tufts, flow cones treated with reflective material, smoke in combination with a laser light sheet, and a video imaging system for three-dimension vortex tracking. The flow visualization experiments were conducted over an angle of attack range from 20 deg to 45 deg and over a sideslip range from -10 deg to 10 deg. The various visualization techniques as well as the pressure distributions were used to understand the flow field structure. The results show regions of attached and separated flow on the forebody, canopy, and wings as well as the vortical flow over the leading-edge extensions. This paper will also present flow visualization comparisons with the F-18 HARV flight vehicle and small-scale oil flows on the F-18.

Lanser, Wendy R.↗