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All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

SAVA 3: A testbed for integration and control of visual processes

The development of an experimental test-bed to investigate the integration and control of perception in a continuously operating vision system is described. The test-bed integrates a 12 axis robotic stereo camera head mounted on a mobile robot, dedicated computer boards for real-time image acquisition and processing, and a distributed system for image description. The architecture was designed to: (1) be continuously operating, (2) integrate software contributions from geographically dispersed laboratories, (3) integrate description of the environment with 2D measurements, 3D models, and recognition of objects, (4) capable of supporting diverse experiments in gaze control, visual servoing, navigation, and object surveillance, and (5) dynamically reconfiguarable.

Crowley, James L.↗
NASA NTRS1998

Studies of Potential Mars Surveyor 1998 Landing Sites

The 1998 lander payload consists of a descent imager, the Mars Volatiles and Climate Surveyor (MVACS) instruments (lander stereo camera, arm-mounted close-up imager, meteorology package, thermal and evolved gas analyzer), and a LIDAR instrument. The mission focuses on assessment of near-surface water ice in the south polar region, and the volatile and climate history of Mars. In order to achieve these objectives, the landing site must allow access to polar layered deposits by the robotic arm, which may be able to dig as much as 0.5 m below the surface. Hence, the presence of recent aeolian debris at the landing site may adversely affect the ability of the MVACS instruments to gather the samples and acquire data needed to properly address the science objectives. The studies described here include mapping surface units in the landing region (73S - 77S, 140W - 230W) to infer the distribution of aeolian debris and to identify potential landing sites where mantling is minimal. Because the '98 lander will not be able to survive very low temperature conditions, this study also includes mapping of south polar seasonal frost retreat based on Viking Orbiter images. The results of this work, in conjunction with complementary studies by other investigators, will facilitate the selection of the Mars Surveyor 1998 landing site (and backup) by the summer of 1998.

Herkenhoff, K. E.↗
NASA NTRS1995

A Mars Rover Mission Simulation on Kilauea Volcano

A field experiment to simulate a rover mission on Mars was performed using the Russian Marsokhod rover deployed on Kilauea Volcano HI in February, 1995. A Russian Marsokhod rover chassis was equipped with American avionics equipment, stereo cameras on a pan and tilt platform, a digital high resolution body-mounted camera, and a manipulator arm on which was mounted a camera with a close-up lens. The six wheeled rover is 2 meters long and has a mass of 120 kg. The imaging system was designed to simulate that used on the planned "Mars Together" mission. The rover was deployed on Kilauea Volcano HI and operated from NASA Ames by a team of planetary geologists and exobiologists. Two modes of mission operations were simulated for three days each: (1) long time delay, low data bandwidth (simulating a Mars mission), and (2) live video, wide-bandwidth data (allowing active control simulating a Lunar rover mission or a Mars rover mission controlled from on or near the Martian surface). Simulated descent images (aerial photographs) were used to plan traverses to address a detailed set of science questions. The actual route taken was determined by the science team and the traverse path was frequently changed in response to the data acquired and to unforeseen operational issues. Traverses were thereby optimized to efficiently answer scientific questions. During the Mars simulation, the rover traversed a distance of 800 m. Based on the time delay between Earth and Mars, we estimate that the same operation would have taken 30 days to perform on Mars. This paper will describe the mission simulation and make recommendations about incorporating rovers into the Mars surveyor program.

Stoker, Carol↗
NASA NTRS2003

Terrain Model Registration for Single Cycle Instrument Placement

This paper presents an efficient and robust method for registration of terrain models created using stereo vision on a planetary rover. Our approach projects two surface models into a virtual depth map, rendering the models as they would be seen from a single range sensor. Correspondence is established based on which points project to the same location in the virtual range sensor. A robust norm of the deviations in observed depth is used as the objective function, and the algorithm searches for the rigid transformation which minimizes the norm. An initial coarse search is done using rover pose information from odometry and orientation sensing. A fine search is done using Levenberg-Marquardt. Our method enables a planetary rover to keep track of designated science targets as it moves, and to hand off targets from one set of stereo cameras to another. These capabilities are essential for the rover to autonomously approach a science target and place an instrument in contact in a single command cycle.

Deans, Matthew↗
NASA NTRS2005

Lunar and Planetary Science XXXVI, Part 10

The Problem of Incomplete Mixing of Interstellar Components in the Solar Nebula: Very High Precision Isotopic Measurements with Isoprobes P and T. Finally: Presolar Graphite Grains Identified in Orgueil. Basaltic Ring Structures as an Analog for Ring Features in Athabasca Valles, Mars. Experimental Studies of the Water Sorption Properties of Mars-Relevant Porous Minerals and Sulfates. Silicon Isotope Ratio Variations in CAI Evaporation Residues Measured by Laser Ablation Multicollector ICPMS. Crater Count Chronology and Timing of Ridged Plains Emplacement at Schiaparelli Basin, Mars. Martian Valley Networks and Associated Fluvial Features as Seen by the Mars Express High Resolution Stereo Camera (HRSC). Fast-Turnoff Transient Electromagnetic (TEM) Field Study at the Mars Analog Site of Rio Tinto, Spain. Time Domain Electromagnetics for Mapping Mineralized and Deep Groundwater in Mars Analog Environments. Mineralogical and Seismological Models of the Lunar Mantle. Photometric Observations of Soils and Rocks at the Mars Exploration Rover Landing Sites. Thermal Infrared Spectral Deconvolution of Experimentally Shocked Basaltic Rocks Using Experimentally Shocked Plagioclase Endmembers.

Source record↗
NASA NTRS2002

Efficient sensor/model based on-line collision detection for planetary manipulators

We present an algorithm that uses the Oriented Bounding Box (OBB) and a new primitive called the Oriented Bounding Prism (OBP) to detect potential self-collisions and collisions with terrain object sensed with the rover's on-board stereo camera; the algorithm thus has both model-based and sensor-based components.

rovers manipulation collision detection FIDO↗
NASA NTRS2008

Spatial and Alignment Analyses for a field of Small Volcanic Vents South of Pavonis Mons Mars

The Tharsis province of Mars displays a variety of small volcanic vent (10s krn in diameter) morphologies. These features were identified in Mariner and Viking images [1-4], and Mars Orbiter Laser Altimeter (MOLA) data show them to be more abundant than originally observed [5,6]. Recent studies are classifying their diverse morphologies [7-9]. Building on this work, we are mapping the location of small volcanic vents (small-vents) in the Tharsis province using MOLA, Thermal Emission Imaging System, and High Resolution Stereo Camera data [10]. Here we report on a preliminary study of the spatial and alignment relationships between small-vents south of Pavonis Mons, as determined by nearest neighbor and two-point azimuth statistical analyses. Terrestrial monogenetic volcanic fields display four fundamental characteristics: 1) recurrence rates of eruptions,2 ) vent abundance, 3) vent distribution, and 4) tectonic relationships [11]. While understanding recurrence rates typically requires field measurements, insight into vent abundance, distribution, and tectonic relationships can be established by mapping of remotely sensed data, and subsequent application of spatial statistical studies [11,12], the goal of which is to link the distribution of vents to causal processes.

Bleacher, J. E.↗
NASA NTRS2008

Mars Mapping Technology Brings Main Street to Life

The Red Planet has long held a particular hold on the human psyche. From the Roman god of war to Orson Welles infamous Halloween broadcast, our nearest planetary neighbor has been viewed with curiosity, suspicion, and awe. Pictures of Mars from 1965 to the present reveal familiar landscapes while also challenging our perceptions and revising our understanding of the processes at work in planets. Frequent discoveries have forced significant revisions to previous theories. Although Mars shares many familiar features with Earth, such as mountains, plains, valleys, and polar ice, the conditions on Mars can vary wildly from those with which we are familiar. The apparently cold, rocky, and dusty wasteland seen through the eyes of spacecraft and Martian probes hints at a dynamic past of volcanic activity, cataclysmic meteors, and raging waters. New discoveries continue to revise our view of our next-door neighbor, and further exploration is now paving the way for a human sortie to the fourth stone from the Sun. NASA s Mars Exploration Program, a long-term effort of robotic exploration, utilizes wide-angle stereo cameras mounted on NASA s twin robot geologists, the Mars Exploration Rovers (MERs), launched in 2003. The rovers, named "Spirit" and "Opportunity," celebrated 4 Earth years of exploration on January 3, 2008, and have sent back a wealth of information on the terrain and composition of the Martian surface. Their marathon performance has far outlasted the intended 90 days of operation, and the two intrepid explorers promise more images and data.

Source record↗
NASA NTRS2007

Parallel-Processing Software for Correlating Stereo Images

A computer program implements parallel- processing algorithms for cor relating images of terrain acquired by stereoscopic pairs of digital stereo cameras on an exploratory robotic vehicle (e.g., a Mars rove r). Such correlations are used to create three-dimensional computatio nal models of the terrain for navigation. In this program, the scene viewed by the cameras is segmented into subimages. Each subimage is assigned to one of a number of central processing units (CPUs) opera ting simultaneously.

Klimeck, Gerhard↗
NASA NTRS2009

New Geologic Map of the Scandia Region of Mars

We have begun work on a sophisti-cated digital geologic map of the Scandia region (Fig. 1) at 1:3,000,000 scale based on post-Viking image and to-pographic datasets. Through application of GIS tools, we will produce a map product that will consist of (1) a printed photogeologic map displaying geologic units and relevant modificational landforms produced by tectonism, erosion, and collapse/mass wasting; (2) a landform geoda-tabase including sublayers of key landform types, attributed with direct measurements of their planform and to-pography using Mars Orbiter Laser Altimeter (MOLA) altimetry data and High-Resolution Stereo Camera (HRSC) digital elevation models (DEMs) and various image datasets; and (3) a series of digital, reconstructed paleostratigraphic and paleotopographic maps showing the inferred distribution and topographic form of materi-als and features during past ages

Tanaka, K. L.↗
NASA NTRS2010

MISR CMVs and Multiangular Views of Tropical Cyclone Inner-Core Dynamics

Multi-camera stereo imaging of cloud features from the MISR (Multiangle Imaging SpectroRadiometer) instrument on NASA's Terra satellite provides accurate and precise measurements of cloud top heights (CTH) and cloud motion vector (CMV) winds. MISR observes each cloudy scene from nine viewing angles (Nadir, +/-26(sup o), +/-46(sup o), +/-60(sup o), +/-70(sup o)) with approximatel 275-m pixel resolution. This paper provides an update on MISR CMV and CTH algorithm improvements, and explores a high-resolution retrieval of tangential winds inside the eyewall of tropical cyclones (TC). The MISR CMV and CTH retrievals from the updated algorithm are significantly improved in terms of spatial coverage and systematic errors. A new product, the 1.1-km cross-track wind, provides high accuracy and precision in measuring convective outflows. Preliminary results obtained from the 1.1-km tangential wind retrieval inside the TC eyewall show that the inner-core rotation is often faster near the eyewall, and this faster rotation appears to be related linearly to cyclone intensity.

hurricanes↗
NASA NTRS2004

Hand-Eye Calibration of Robonaut

NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates.

Nickels, Kevin↗
NASA NTRS2001

Robonaut: A Robotic Astronaut Assistant

NASA's latest anthropomorphic robot, Robonaut, has reached a milestone in its capability. This highly dexterous robot, designed to assist astronauts in space, is now performing complex tasks at the Johnson Space Center that could previously only be carried out by humans. With 43 degrees of freedom, Robonaut is the first humanoid built for space and incorporates technology advances in dexterous hands, modular manipulators, lightweight materials, and telepresence control systems. Robonaut is human size, has a three degree of freedom (DOF) articulated waist, and two, seven DOF arms, giving it an impressive work space for interacting with its environment. Its two, five fingered hands allow manipulation of a wide range of tools. A pan/tilt head with multiple stereo camera systems provides data for both teleoperators and computer vision systems.

Ambrose, Robert O.↗
NASA NTRS2012

Geologic Mapping of the Olympus Mons Volcano, Mars

We are in the third year of a three-year Mars Data Analysis Program project to map the morphology of the Olympus Mons volcano, Mars, using ArcGIS by ESRI. The final product of this project is to be a 1:1,000,000-scale geologic map. The scientific questions upon which this mapping project is based include understanding the volcanic development and modification by structural, aeolian, and possibly glacial processes. The project s scientific objectives are based upon preliminary mapping by Bleacher et al. [1] along a approx.80-km-wide north-south swath of the volcano corresponding to High Resolution Stereo Camera (HRSC) image h0037. The preliminary project, which covered approx.20% of the volcano s surface, resulted in several significant findings, including: 1) channel-fed lava flow surfaces are areally more abundant than tube-fed surfaces by a ratio of 5:1, 2) channel-fed flows consistently embay tube-fed flows, 3) lava fans appear to be linked to tube-fed flows, 4) no volcanic vents were identified within the map region, and 5) a Hummocky unit surrounds the summit and is likely a combination of non-channelized flows, dust, ash, and/or frozen volatiles. These results led to the suggestion that the volcano had experienced a transition from long-lived tube-forming eruptions to more sporadic and shorter-lived, channel-forming eruptions, as seen at Hawaiian volcanoes between the tholeiitic shield building phase (Kilauea to Mauna Loa) and alkalic capping phase (Hualalai and Mauna Kea).

Bleacher, J. E.↗
NASA NTRS2012

Photogrammetry Measurements During a Tanking Test on the Space Shuttle External Tank, ET-137

On November 5, 2010, a significant foam liberation threat was observed as the Space Shuttle STS-133 launch effort was scrubbed because of a hydrogen leak at the ground umbilical carrier plate. Further investigation revealed the presence of multiple cracks at the tops of stringers in the intertank region of the Space Shuttle External Tank. As part of an instrumented tanking test conducted on December 17, 2010, a three dimensional digital image correlation photogrammetry system was used to measure radial deflections and overall deformations of a section of the intertank region. This paper will describe the experimental challenges that were overcome in order to implement the photogrammetry measurements for the tanking test in support of STS-133. The technique consisted of configuring and installing two pairs of custom stereo camera bars containing calibrated cameras on the 215-ft level of the fixed service structure of Launch Pad 39-A. The cameras were remotely operated from the Launch Control Center 3.5 miles away during the 8 hour duration test, which began before sunrise and lasted through sunset. The complete deformation time history was successfully computed from the acquired images and would prove to play a crucial role in the computer modeling validation efforts supporting the successful completion of the root cause analysis of the cracked stringer problem by the Space Shuttle Program. The resulting data generated included full field fringe plots, data extraction time history analysis, section line spatial analyses and differential stringer peak ]valley motion. Some of the sample results are included with discussion. The resulting data showed that new stringer crack formation did not occur for the panel examined, and that large amounts of displacement in the external tank occurred because of the loads derived from its filling. The measurements acquired were also used to validate computer modeling efforts completed by NASA Marshall Space Flight Center (MSFC).

Littell, Justin D.↗
NASA NTRS2013

Photogrammetry of a Hypersonic Inflatable Aerodynamic Decelerator

In 2012, two large-scale models of a Hypersonic Inflatable Aerodynamic decelerator were tested in the National Full-Scale Aerodynamic Complex at NASA Ames Research Center. One of the objectives of this test was to measure model deflections under aerodynamic loading that approximated expected flight conditions. The measurements were acquired using stereo photogrammetry. Four pairs of stereo cameras were mounted inside the NFAC test section, each imaging a particular section of the HIAD. The views were then stitched together post-test to create a surface deformation profile. The data from the photogram- metry system will largely be used for comparisons to and refinement of Fluid Structure Interaction models. This paper describes how a commercial photogrammetry system was adapted to make the measurements and presents some preliminary results.

aerodynamic brakes↗
NASA NTRS2014

Target Trailing With Safe Navigation With Colregs for Maritime Autonomous Surface Vehicles

Systems and methods for operating autonomous waterborne vessels in a safe manner. The systems include hardware for identifying the locations and motions of other vessels, as well as the locations of stationary objects that represent navigation hazards. By applying a computational method that uses a maritime navigation algorithm for avoiding hazards and obeying COLREGS using Velocity Obstacles to the data obtained, the autonomous vessel computes a safe and effective path to be followed in order to accomplish a desired navigational end result, while operating in a manner so as to avoid hazards and to maintain compliance with standard navigational procedures defined by international agreement. The systems and methods have been successfully demonstrated on water with radar and stereo cameras as the perception sensors, and integrated with a higher level planner for trailing a maneuvering target.

Kuwata, Yoshiaki↗
NASA NTRS2012

Methods for Improving Long-Range Wireless Communication Between Extreme Terrain Vehicles

Axel is an extreme terrain, two-wheeled rover designed to traverse rocky surface and sub-surface landscapes in order to conduct remote science experiments in hard-to-reach locations. The rover's design meets many requirements for a mobile research platform capable of reaching water seeps on Martian cliff sides. Axel was developed by the Mobility and Robotic Systems section at the Caltech Jet Propulsion Laboratory. Unique design criteria associated with extreme terrain mobility led to a unique rover solution, consisting of a central module, which provides long-term energy storage and space for large-scale science payloads, and two detachable Axels that can detach and explore extreme terrain locations that are inaccessible to conventional rovers. The envisioned mission could involve a four-wheeled configuration of Axel called 'DuAxel' that is able to traverse the benign, flattened terrain of a landing site and approach the edge of the targeted crater or cave where it would deploy anchoring legs and detach one of the Axel rovers [1]. A tether provides a secure link between the Axel rover and the central module, acting as an anchor to allow Axel to descend along steep crater walls to collect data from the scientifically relevant sites along the water seeps or crater ledges. After completing its scientific mission Axel would hoist itself up to the central module and dock autonomously (using its on-board stereo cameras), allowing the once-again recombined DuAxel to travel to another location to repeat data collection.

wireless communication↗