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At least 793 records · Page 44
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

A graph theoretic approach to scene matching

The ability to match two scenes is a fundamental requirement in a variety of computer vision tasks. A graph theoretic approach to inexact scene matching is presented which is useful in dealing with problems due to imperfect image segmentation. A scene is described by a set of graphs, with nodes representing objects and arcs representing relationships between objects. Each node has a set of values representing the relations between pairs of objects, such as angle, adjacency, or distance. With this method of scene representation, the task in scene matching is to match two sets of graphs. Because of segmentation errors, variations in camera angle, illumination, and other conditions, an exact match between the sets of observed and stored graphs is usually not possible. In the developed approach, the problem is represented as an association graph, in which each node represents a possible mapping of an observed region to a stored object, and each arc represents the compatibility of two mappings. Nodes and arcs have weights indicating the merit or a region-object mapping and the degree of compatibility between two mappings. A match between the two graphs corresponds to a clique, or fully connected subgraph, in the association graph. The task is to find the clique that represents the best match. Fuzzy relaxation is used to update the node weights using the contextual information contained in the arcs and neighboring nodes. This simplifies the evaluation of cliques. A method of handling oversegmentation and undersegmentation problems is also presented. The approach is tested with a set of realistic images which exhibit many types of sementation errors.

Ranganath, Heggere S.↗
NASA NTRS1990

Distributed memory approaches for robotic neural controllers

The suitability is explored of two varieties of distributed memory neutral networks as trainable controllers for a simulated robotics task. The task requires that two cameras observe an arbitrary target point in space. Coordinates of the target on the camera image planes are passed to a neural controller which must learn to solve the inverse kinematics of a manipulator with one revolute and two prismatic joints. Two new network designs are evaluated. The first, radial basis sparse distributed memory (RBSDM), approximates functional mappings as sums of multivariate gaussians centered around previously learned patterns. The second network types involved variations of Adaptive Vector Quantizers or Self Organizing Maps. In these networks, random N dimensional points are given local connectivities. They are then exposed to training patterns and readjust their locations based on a nearest neighbor rule. Both approaches are tested based on their ability to interpolate manipulator joint coordinates for simulated arm movement while simultaneously performing stereo fusion of the camera data. Comparisons are made with classical k-nearest neighbor pattern recognition techniques.

Jorgensen, Charles C.↗
NASA NTRS1990

A positional estimation technique for an autonomous land vehicle in an unstructured environment

This paper presents a solution to the positional estimation problem of an autonomous land vehicle navigating in an unstructured mountainous terrain. A Digital Elevation Map (DEM) of the area in which the robot is to navigate is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, and a device to measure the elevation of the robot above the ground surface. No recognizable landmarks are assumed to be present in the environment in which the robot is to navigate. The solution presented makes use of the DEM information, and structures the problem as a heuristic search in the DEM for the possible robot location. The shape and position of the horizon line in the image plane and the known camera geometry of the perspective projection are used as parameters to search the DEM. Various heuristics drawn from the geometric constraints are used to prune the search space significantly. The algorithm is made robust to errors in the imaging process by accounting for the worst care errors. The approach is tested using DEM data of areas in Colorado and Texas. The method is suitable for use in outdoor mobile robots and planetary rovers.

Talluri, Raj↗
NASA NTRS1992

Resistivity due to weak double layers - A model for auroral arc thickness

We have calculated the resistivity due to a sequence of fluctuating weak double layers aligned parallel to the ambient magnetic field line. The average response of an electron drifting through a 1D randomly oriented array of WDLs is studied using a test particle approach. The average is taken over the randomly fluctuating values of the electric field associated with the double layers. Based on our calculations, we estimate that a 350 eV electron energy the thickness of the visual auroral arc is about 2.5 km and that of the auroral fine structure as about 250 m when mapped down to the ionosphere. The significance of our calculations is discussed in the context of magnetosphere-ionosphere coupling.

Prakash, Manju↗
NASA NTRS1992

Ground test validation of large precision structure through adaptive structures

Without novel ground validation test (GVT) approaches for such space structures as those contemplated for an orbiting optical interferometer, this and other NASA missions will be stillborn. One such approach may involve the integration of adaptive structures concepts into initial structural designs, in order to accommodate GVT, as well as to allow for redundancy and enhance mission reliability. Adaptive structures are noted to intrinsically relax GVT requirements.

Wada, Ben K.↗
NASA NTRS1954

Multiple over-all performance and rotating-stall characteristics of a 15-stage experimental axial-flow compressor at an intermediate speed

The 15-stage experimental axial-flow compressor was investigated at 78.5 percent of design speed, which falls in the region of the surge-limit line discontinuity. In this region indications of multiple characteristic curves of compressor operation had been found. On the basis of previous stage-matching analyses, these multiple performance characteristics appear to be the result of multiple-valued stage performance characteristics. At this speed of 78.5 percent, at least six separate characteristic performance curves were found, associated with five different numbers of rotating stall configurations, from zero to four stall zones. It was difficult in many cases to repeat a given performance curve by approaching the test speed in a similar manner, and many of the curves were not stable, the no-stall curve being the only definitely repeatable one. In some cases a jump from one curve to another took place at the surge point, while in others the change occurred within the usual limits of a conventional performance curve and without any sudden obvious changes in observed data. In general, as the number of zones in the rotating-stall pattern decreased, the maximum weight flow, maximum efficiency, and maximum pressure ratio of the resultant curves were increased. It appears, therefore, that multiple performance characteristics at the given speed are encountered in the region of the discontinuity of the surge line.

Lucas, James G↗
NASA NTRS1990

Design sensitivity derivatives for isoparametric elements by analytical and semi-analytical approaches

This paper presents an analytical approach for incorporating design sensitivity calculations directly into the finite element analysis. The formulation depends on the implicit differentiation approach and requires few additional calculations to obtain the design sensitivity derivatives. In order to evaluate this approach, it is compared with the semi-analytical approach which is based on commonly used finite difference formulations. Both approaches are implemented to calculate the design sensitivities for continuum and structural isoparametric elements. To demonstrate the accuracy and robustness of the developed analytical approach compared to the semi-analytical approach, some test cases using different structural and continuum element types are presented.

Zumwalt, Kenneth W.↗
NASA NTRS1994

Automated analysis of complex data

We have examined some of the issues involved in automating exploratory data analysis, in particular the tradeoff between control and opportunism. We have proposed an opportunistic planning solution for this tradeoff, and we have implemented a prototype, Igor, to test the approach. Our experience in developing Igor was surprisingly smooth. In contrast to earlier versions that relied on rule representation, it was straightforward to increment Igor's knowledge base without causing the search space to explode. The planning representation appears to be both general and powerful, with high level strategic knowledge provided by goals and plans, and the hooks for domain-specific knowledge are provided by monitors and focusing heuristics.

Saintamant, Robert↗
NASA NTRS1993

Application of MAC-Europe AVIRIS data to the analysis of various alteration stages in the Landdmannalauger Hydrothermal Area (South Iceland)

In June 1991 extensive airborne remote sensing data-sets have been acquired over Iceland in the framework of the joint NASA/ESA Multisensor Airborne Campaign Europe (MAC-Europe). The study area is located within the Torfajokull central volcanic complex in South Iceland. This complex is composed by anomalously abundant rhyolitic acid volcanics, which underwent intensive hydrothermal alteration. Detailed studies of surface alteration of rhyolitic rocks in the area showed that all the major elements are leached as the rock is affected by complex mineralogical changes. Montmorillonite appears during the earliest stages of alteration. In the ultimate alteration product montmorillonite is absent and the rock consists mostly of amorphous silica, anatase, up to a volume of 50% kaolinite and variable amounts of native sulphur and pyrite. The case study presented shall endeavor to assess the potential of MAC-Europe AVIRIS and TMS data in determining a possible zonation of hydrothermal alteration in relationship to the active geo-thermal fields and structural features. To this end, the airborne data is analysed in comparison with laboratory spectral measurements of characteristics rock, soil, and vegetation samples collected in the study areaduring the summer of 1992. Various spectral mapping algorithms as well as unmixing approaches are tested and evaluated. Detailed geological and structural mapping as well as geochemical analysis of the main rock and soil types were performed to underpin the analysis of the airborne data.

Sommer, S.↗
NASA NTRS1993

Acceleration of cometary H2O group pickup ions by obliquely propagating nonlinear magnetosonic waves

The observations made during the encounter with comet Giacobini Zinner show that the character of MHD turbulence is governed by the magnetosonic (MS) waves generated by the pickup ions via a resonant cyclotron instability. The interaction of cometary ions in the mass loaded solar wind with MS waves propagating away from the comet and oblique to the interplanetary magnetic field (IMF) is investigated using the test particle approach. Ion trajectories, distribution functions, widths of pitch angle scattering and energy diffusion are obtained. We have also investigated the relationship between pitch angle scattering and the three parameters, namely, alpha, the angle between the solar wind flow direction and the ambient magnetic field, theta(sub BK), the angle between the ambient magnetic field and the wave propagation vector, and the ion injection velocity.

Srivastava, Krishna M.↗
NASA NTRS1995

Particle interactions with obliquely propagating magnetosonic waves

Four cases of nonlinear obliquely propagating magnetosonic (MS) waves are considered using a test particle approach for particles interaction with (1) monochromatic waves propagating both sunward and antisunward, (2) monochromatic waves propagating unidirectionally toward the Sun, (3) a broad band spectrum, propagating both sunward and antisunward, and (4) a broadband spectrum, propagating sunward only. As the solar wind decelerates rapidly inside the bow shock, the interplanetary magnetic field (IMF) increases. Calculations have been performed taking into account such a spatially dependent IMF (based on observations). We find that significant particle acceleration is achieved for both the monochromatic wave and the 'turbulent' MS waves, for oblique propagation (angles between the interplanetary magnetic field and the propagation vector larger than 30 deg). This is due to the fact that at oblique angles resonance width increases. We have compared the relative acceleration of particles for the four cases. Pitch angle scattering and acceleration of particles are found to be much larger in the case of sunward and antisunward propagating waves than those for the sunward waves only. This is due to larger relative phase velocities in the two cases. Also, acceleration of particles is less in the case of a uniform magnetic field than that in the case of spatially increasing magnetic field. The particles get more pitch angle scattered and accelerated in the latter case.

Srivastava, Krishna M.↗
NASA NTRS1995

Shuttle Laser Altimeter (SLA): A pathfinder for space-based laser altimetry and lidar

The Shuttle Laser Altimeter (SLA) is a Hitchhiker experiment now being integrated for first flight on STS-72 in November 1995. Four Shuttle flights of the SLA are planned at a rate of about a flight every 18 months. They are aimed at the transition of the Goddard Space Flight Center airborne laser altimeter and lidar technology to low Earth orbit as a pathfinder for operational space-based laser remote sensing devices. Future alser altimeter sensors such as the Geoscience Laser Altimeter System (GLAS), an Earth Observing System facility instrument, and the Multi-Beam Laser Altimeter (MBLA), the land and vegetation laser altimeter for the NASA TOPSAT (Topography Satellite) Mission, will utilize systems and approaches being tested with SLA. The SLA Instrument measures the distance from the Space Shuttle to the Earth's surface by timing the two-way propagation of short (approximately 10 na noseconds) laser pulses. laser pulses at 1064 nm wavelength are generated in a laser transmitter and are detected by a telescope equipped with a silicon avalanche photodiode detector. The SLA data system makes the pulse time interval measurement to a precision of about 10 nsec and also records the temporal shape of the laser echo from the Earth's surface for interpretation of surface height distribution within the 100 m diam. sensor footprint. For example, tree height can be determined by measuring the characteristic double-pulse signature that results from a separation in time of laser backscatter from tree canopies and the underlying ground. This is accomplished with a pulse waveform digitizer that samples the detector output with an adjustable resolution of 2 nanoseconds or wider intervals in a 100 sample window centered on the return pulse echo. The digitizer makes the SLA into a high resolution surface lidar sensor. It can also be used for cloud and atmospheric aerosol lidar measurements by lengthening the sampling window and degrading the waveform resolution. Detailed test objectives for the STS-72 mission center on the acquisition of sample data sets for land topography and vegetation height, waveform digitizer performance, and verification of data acquisition algorithms. The operational concept of SLA is illustrated in Fig. 1 where a series of 100 m footprints stretch in a profile of Earth surface topography along the nadir track of the Space Shuttle. The location of SLA as a dual canister payload on the Hitchhiker Bridge Assembly in Bay 12 of the Space Shuttle Endeavor can also be noted in this figure. Full interpretation of the SLA range measurement data set requires a 1 m knowledge of the Orbiter trajectory and better than 0.1 deg knowledge of Orbiter pointing angle. These ancillary data sets will be acquired during the STS-72 mission with an on-board Global Positioning System (GPS) receiver, K-band range and range-rate tracking of the Orbiter through TDRSS, and use of on-board inertial measurement units and star trackers. Integration and interpretation of all these different data sets as a pathfinder investigation for accurate determination of Earth surface elevation is the overall science of the SLA investigation.

Bufton, Jack↗
NASA NTRS1996

Comparison of System Identification Techniques for the Hydraulic Manipulator Test Bed (HMTB)

In this thesis linear, dynamic, multivariable state-space models for three joints of the ground-based Hydraulic Manipulator Test Bed (HMTB) are identified. HMTB, housed at the NASA Langley Research Center, is a ground-based version of the Dexterous Orbital Servicing System (DOSS), a representative space station manipulator. The dynamic models of the HMTB manipulator will first be estimated by applying nonparametric identification methods to determine each joint's response characteristics using various input excitations. These excitations include sum of sinusoids, pseudorandom binary sequences (PRBS), bipolar ramping pulses, and chirp input signals. Next, two different parametric system identification techniques will be applied to identify the best dynamical description of the joints. The manipulator is localized about a representative space station orbital replacement unit (ORU) task allowing the use of linear system identification methods. Comparisons, observations, and results of both parametric system identification techniques are discussed. The thesis concludes by proposing a model reference control system to aid in astronaut ground tests. This approach would allow the identified models to mimic on-orbit dynamic characteristics of the actual flight manipulator thus providing astronauts with realistic on-orbit responses to perform space station tasks in a ground-based environment.

Morris, A. Terry↗
NASA NTRS1997

JOVE Program

Coastal reef degradation and widespread bleaching of corals, i.e. loss of pigments and/or symbiotic zooxanthellae, is increasing globally. Remote sensing has great potential for assessing the extent of reef change. However, measuring reef change from remote platforms (boats, aircraft or satellites), requires ground-truth spectral algorithms characteristic of healthy and degraded reef populations. Our laboratory experiments demonstrated, for the first time, that healthy coral colonies emit characteristic fluorescence spectra in response to excitation with short wavelength (blue or ultraviolet) light. Furthermore, following stress, e.g. increased temperature, corals lose symbiotic algae and their health is compromised. We measured changes in coral fluorescence spectra along with pigment loss in response to temperature-induced stress. Following laboratory demonstration, we tested this approach in the field. The NASA P3 aircraft with the airborne oceanographic LIDAR system was used to map transects of coral reef in Hawaii. Ground truth samples of coral; were collected and analyzed for pigment density (pigments/surface area). Fluorescence spectra along transects showed consistent chlorophyll fluorescence peaks at 685 nm from the chlorophyll of the zooxanthellae and peaks between 400 and 570 nm believed to emanate from the coral tissue. Our results suggest that remote sensing of laser-induced fluorescence represents an efficient and effective approach to monitoring the health of coral reefs. Lists of papers, conferences, proposals awarded and a summary of student involvement is included in the appendices.

Hardy, John T.↗
NASA NTRS1999

Demonstration of an Ultra-Short Channel Metal Monolith Catalytic Reactor for Trace Contaminant Control Applications

The International Space Station (ISS) Trace Contaminant Control Subassembly (TCCS) design is based upon proven, highly reliable technology. However, because its core unit operations rely upon expendable activated charcoal and an indirectly heated high temperature catalyst, annual logistics mass, crew time, and power consumption requirements are significant. To address this situation, a unique catalytic reactor design has been developed which is suitable for retrofit into the TCCS's high temperature catalytic oxidizer (HTCO) assembly. The unique design, which employs a metallic, ultra-short channel length monolith (USCM) catalyst substrate, was tested in a flight-like TCCS HTCO assembly to investigate its performance characteristics. Test results indicate that retrofitting the TCCS with a USCM-based catalytic reactor is feasible and that it may provide significant reductions in logistics mass, crew time, and power consumption. Savings indicated by test results are up to 81% for annual logistics, 56% for crew time, and 77% for startup transient duration. In addition, its demonstrated ability to operate in a power saving mode provides up to a 43% savings in average power consumption. A summary of the USCM demonstration test objectives, approach, results, and specific benefits to the TCCS's process economics are presented,

Perry, J. L↗
NASA NTRS1999

Shuttle Laser Altimeter

The Shuttle Laser Altimeter (SLA) is a Hitchhiker experiment that has flown twice; first on STS-72 in January 1996 and then on STS-85 in August 1997. Both missions produced successful laser altimetry and surface lidar data products from approximately 80 hours per mission of SLA data operations. A total of four Shuttle missions are planned for the SLA series. This paper documents SLA mission results and explains SLA pathfinder accomplishments at the mid-point in this series of Hitchhiker missions. The overall objective of the SLA mission series is the transition of the Goddard Space Flight Center airborne laser altimeter and lidar technology to low Earth orbit as a pathfinder for NASA operational space-based laser remote sensing devices. Future laser altimeter sensors will utilize systems and approaches being tested with SLA, including the Multi-Beam Laser Altimeter (MBLA) and the Geoscience Laser Altimeter System (GLAS). MBLA is the land and vegetation laser sensor for the NASA Earth System Sciences Pathfinder Vegetation Canopy Lidar (VCL) Mission, and GLAS is the Earth Observing System facility instrument on the Ice, Cloud, and Land Elevation Satellite (ICESat). The Mars Orbiting Laser Altimeter, now well into a multi-year mapping mission at the red planet, is also directly benefiting from SLA data analysis methods, just as SLA benefited from MOLA spare parts and instrument technology experience [5] during SLA construction in the early 1990s.

Bufton, Jack L.↗
NASA NTRS2001

UV-IR Hydrogen Fire Detector

The objective of this project is to design a sensor than can accurately determine the presence of a hydrogen fire within its field of view and to eliminate the main cause of false alarms: reflections from the flare stack. Details are given in viewgraph presentation form on the technical approach, initial testing, sensor testing, intellectual property, patented technology, and licensing.

Medelius, Pedro J.↗