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All sourcesNASA NTRSDOE OSTI
NASA NTRS2009

Proximity Operations and Docking Sensor Development

The Next Generation Advanced Video Guidance Sensor (NGAVGS) has been under development for the last three years as a long-range proximity operations and docking sensor for use in an Automated Rendezvous and Docking (AR&D) system. The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. That flight proved that the United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport Systems (COTS) Automated Rendezvous and Docking (AR&D). NASA video sensors have worked well in the past: the AVGS used on the Demonstration of Autonomous Rendezvous Technology (DART) mission operated successfully in spot mode out to 2 km, and the first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. 12 Parts obsolescence issues prevent the construction of more AVGS units, and the next generation sensor was updated to allow it to support the CEV and COTS programs. The flight proven AR&D sensor has been redesigned to update parts and add additional capabilities for CEV and COTS with the development of the Next Generation AVGS at the Marshall Space Flight Center. The obsolete imager and processor are being replaced with new radiation tolerant parts. In addition, new capabilities include greater sensor range, auto ranging capability, and real-time video output. This paper presents some sensor hardware trades, use of highly integrated laser components, and addresses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It also discusses approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements. In addition, the testing of the brassboard and proto-type NGAVGS units will be discussed along with the use of the NGAVGS as a proximity operations and docking sensor.

Howard, Richard T.↗
NASA NTRS2010

Display Sharing: An Alternative Paradigm

The current Johnson Space Center (JSC) Mission Control Center (MCC) Video Transport System (VTS) provides flight controllers and management the ability to meld raw video from various sources with telemetry to improve situational awareness. However, maintaining a separate infrastructure for video delivery and integration of video content with data adds significant complexity and cost to the system. When considering alternative architectures for a VTS, the current system's ability to share specific computer displays in their entirety to other locations, such as large projector systems, flight control rooms, and back supporting rooms throughout the facilities and centers must be incorporated into any new architecture. Internet Protocol (IP)-based systems also support video delivery and integration. IP-based systems generally have an advantage in terms of cost and maintainability. Although IP-based systems are versatile, the task of sharing a computer display from one workstation to another can be time consuming for an end-user and inconvenient to administer at a system level. The objective of this paper is to present a prototype display sharing enterprise solution. Display sharing is a system which delivers image sharing across the LAN while simultaneously managing bandwidth, supporting encryption, enabling recovery and resynchronization following a loss of signal, and, minimizing latency. Additional critical elements will include image scaling support, multi -sharing, ease of initial integration and configuration, integration with desktop window managers, collaboration tools, host and recipient controls. This goal of this paper is to summarize the various elements of an IP-based display sharing system that can be used in today's control center environment.

Brown, Michael A.↗
NASA NTRS2012

Digital Motion Imagery, Interoperability Challenges for Space Operations

With advances in available bandwidth from spacecraft and between terrestrial control centers, digital motion imagery and video is becoming more practical as a data gathering tool for science and engineering, as well as for sharing missions with the public. The digital motion imagery and video industry has done a good job of creating standards for compression, distribution, and physical interfaces. Compressed data streams can easily be transmitted or distributed over radio frequency, internet protocol, and other data networks. All of these standards, however, can make sharing video between spacecraft and terrestrial control centers a frustrating and complicated task when different standards and protocols are used by different agencies. This paper will explore the challenges presented by the abundance of motion imagery and video standards, interfaces and protocols with suggestions for common formats that could simplify interoperability between spacecraft and ground support systems. Real-world examples from the International Space Station will be examined. The paper will also discuss recent trends in the development of new video compression algorithms, as well likely expanded use of Delay (or Disruption) Tolerant Networking nodes.

Grubbs, Rodney↗
NASA NTRS2014

ISS Squat and Deadlift Kinematics on the Advanced Resistive Exercise Device

Visual assessment of exercise form on the Advanced Resistive Exercise Device (ARED) on orbit is difficult due to the motion of the entire device on its Vibration Isolation System (VIS). The VIS allows for two degrees of device translational motion, and one degree of rotational motion. In order to minimize the forces that the VIS must damp in these planes of motion, the floor of the ARED moves as well during exercise to reduce changes in the center of mass of the system. To help trainers and other exercise personnel better assess squat and deadlift form a tool was developed that removes the VIS motion and creates a stick figure video of the exerciser. Another goal of the study was to determine whether any useful kinematic information could be obtained from just a single camera. Finally, the use of these data may aid in the interpretation of QCT hip structure data in response to ARED exercises performed in-flight. After obtaining informed consent, four International Space Station (ISS) crewmembers participated in this investigation. Exercise was videotaped using a single camera positioned to view the side of the crewmember during exercise on the ARED. One crewmember wore reflective tape on the toe, heel, ankle, knee, hip, and shoulder joints. This technique was not available for the other three crewmembers, so joint locations were assessed and digitized frame-by-frame by lab personnel. A custom Matlab program was used to assign two-dimensional coordinates to the joint locations throughout exercise. A second custom Matlab program was used to scale the data, calculate joint angles, estimate the foot center of pressure (COP), approximate normal and shear loads, and to create the VIS motion-corrected stick figure videos. Kinematics for the squat and deadlift vary considerably for the four crewmembers in this investigation. Some have very shallow knee and hip angles, and others have quite large ranges of motion at these joints. Joint angle analysis showed that crewmembers do not return to a normal upright stance during squat, but remain somewhat bent at the hips. COP excursions were quite large during these exercises covering the entire length of the base of support in most cases. Anterior-posterior shear was very pronounced at the bottom of the squat and deadlift correlating with a COP shift to the toes at this part of the exercise. The stick figure videos showing a feet fixed reference frame have made it visually much easier for exercise personnel and trainers to assess exercise kinematics. Not returning to fully upright, hips extended position during squat exercises could have implications for the amount of load that is transmitted axially along the skeleton. The estimated shear loads observed in these crewmembers, along with a concomitant reduction in normal force, may also affect bone loading. The increased shear is likely due to the surprisingly large deviations in COP. Since the footplate on ARED moves along an arced path, much of the squat and deadlift movement is occurring on a tilted foot surface. This leads to COP movements away from the heel. The combination of observed kinematics and estimated kinetics make squat and deadlift exercises on the ARED distinctly different from their ground-based counterparts. CONCLUSION This investigation showed that some useful exercise information can be obtained at low cost, using a single video camera that is readily available on ISS. Squat and deadlift kinematics on the ISS ARED differ from ground-based ARED exercise. The amount of COP shift during these exercises sometimes approaches the limit of stability leading to modifications in the kinematics. The COP movement and altered kinematics likely reduce the bone loading experienced during these exercises. Further, the stick figure videos may prove to be a useful tool in assisting trainers to identify exercise form and make suggestions for improvements

Newby, N.↗
NASA NTRSDate not supplied

Developing Methods for Exercise System Kinematic Tracking

BACKGROUND How to quantify the load and forces produced by exercise equipment and their Vibration Isolation and Stabilization (VIS) platforms in-flight is an active area of investigation. Kinematic tracking paired with system modeling can provide insights as well as verification and validation of simulations used for system design and development. Traditional motion capture methods can require significant cost in equipment procurement and crew-time, but newer lessons learned can be leveraged [1]. The VIS systems of current and future exercise hardware on the International Space Station (ISS) such as the Cycle Ergometer with Vibration Isolation System (CEVIS) and the European Enhanced Exploration Exercise Device (E4D) are not currently outfitted with IMUs or similar measurement devices. Video-based methods would enable use of multi-purpose, crew-familiar flight equipment. An initial exploration of video-based solutions was performed utilizing 2-camera video from crew cycling on Teal-CEVIS on the ISS. METHODS AND RESULTS Our group has scoped a variety of video-based object tracking methods. To date, we have primarily investigated computer vision toolkits such as open CV. Techniques explored include key-point detection, background subtraction, region-of interest tracking, color-based tracking, tag masking and tracking, and corner detection. Although object-tracking and 6D pose estimation is a rich field, space applications are a unique problem that are challenging for existing software and toolkits. The majority of the existing object-tracking applications involve vehicles/pedestrians and household objects with simple backgrounds. We have identified the following features which pose particular challenges for on-station exercise equipment tracking: 1. Busy and visually cluttered background 2. Low-textured tracking object with relatively small motions 3. Occlusions and motion by human subject and loose, floating objects 4. Limited number of video cameras with no fixed global references 5. Limited ability to add tags, markers, or visual references to the tracking object 6. Lack of training data for Machine Learning (ML) algorithms CONCLUSION We will summarize the efficacy of techniques tested for a ground mock-trial and the on-station exercise trial. It is likely that human-in-loop feedback or a conglomerate of methods is required. ML-based methods, like those implemented for human body tracking [2], may still be a viable option, but more training data and validation is needed.

L Nilsson↗
NASA NTRSDate not supplied

Developing Methods for Exercise System Kinematics Tracking

BACKGROUND How to quantify the load and forces produced by exercise equipment and their Vibration Isolation and Stabilization (VIS) platforms in-flight is an active area of investigation. Kinematic tracking paired with system modeling can provide insights as well as verification and validation of simulations used for system design and development. Traditional motion capture methods can require significant cost in equipment procurement and crew-time, but newer lessons learned can be leveraged [1]. The VIS systems of current and future exercise hardware on the International Space Station (ISS) such as the Cycle Ergometer with Vibration Isolation System (CEVIS) and the European Enhanced Exploration Exercise Device (E4D) are not currently outfitted with IMUs or similar measurement devices. Video-based methods would enable use of multi-purpose, crew-familiar flight equipment. An initial exploration of video-based solutions was performed utilizing 2-camera video from crew cycling on Teal-CEVIS on the ISS. METHODS AND RESULTS Our group has scoped a variety of video-based object tracking methods. To date, we have primarily investigated computer vision toolkits such as openCV. Techniques explored include key-point detection, background subtraction, region-of interest tracking, color-based tracking, tag masking and tracking, and corner detection. Although object-tracking and 6D pose estimation is a rich field, space applications are a unique problem that are challenging for existing software and toolkits. The majority of the existing object-tracking applications involve vehicles/pedestrians and household objects with simple backgrounds. We have identified the following features which pose particular challenges for on-station exercise equipment tracking: Busy and visually cluttered background Low-textured tracking object with relatively small motions Occlusions and motion by human subject and loose, floating objects Limited number of video cameras with no fixed global references Limited ability to add tags, markers, or visual references to the tracking object Lack of training data for Machine Learning (ML) algorithms CONCLUSION We will summarize the efficacy of techniques tested for a ground mock-trial and the on-station exercise trial. It is likely that human-in-loop feedback or a conglomerate of methods is required. ML-based methods, like those implemented for human body tracking [2], may still be a viable option, but more training data and validation is needed.

L B Nilsson↗
DOE OSTI2020

Panel Session 4 and 15: Japan Fukushima Daiichi D and D Update and Technological Challenges at Japan Fukushima Daiichi D and D and Update on Nuclear Overview and Development in Japan - Nuclear Fuel Cycle

Sessions 4 and 15 represent a two-part panel series that discusses progress and challenges associated with cleanup at Fukushima. Severe limitations on availability of original panelists from Japan due to strict restrictions put in place to alleviate the spread of coronavirus necessitated changes to both panels. The result was a significantly modified panel for Session 04 (shown above) and the elimination of all panelists for Session 15. The 4 and 15 Panel Sessions provide an overview of activities related to both the progress and challenges of cleanup and decommissioning of the Fukushima Daiichi Nuclear Power Station (NPS) in Japan. Five panelists discussed perspectives of the cleanup following a Tokyo Electric Power Company (TEPCO) video showing the progress on site since the devastating Great East Earthquake and tsunami that caused the explosions at three of the six reactors on the site. Three of the five panelists discussed on-going work being performed for the effort, while the other two provided expert perspectives of on strategic efforts at the site. The panel was attended by over 80 technologists and policy makers spanning the globe and was opened by Dr. Monica Regalbuto of Idaho National Laboratory and a short video provided by TEPCO. The video described changes at the site that spanned the cleanup efforts from stabilizing water intrusion into the contaminated reactor buildings to construction of new administrative facilities. The video explained the processes underway to retrieve spent fuel rods and challenges in retrieval of the compromised fuel debris. The video highlighted working condition improvements that included establishment of rest housing and a small convenience store on the site, and the rollback of protective equipment around the site due to decreases contamination. Panelists with presentations: Revision of 'the Mid-and-Long-Term Road-map towards the Decommissioning of TEPCO's Fukushima Daiichi Nuclear Power Station' (Paul Dickman); Sharing UK experience at Fukushima Daiichi (Adrian Simper); SRNL Japan (Andrew Fellinger); ABLE's Initiative to Dismantle the Exhaust Stack (Daniel Walter); JAEA R and D in Fukushima (Tokio Fukahori); TEPCO - Overview and Update of the Fukushima Decommissioning Process (Monica Regalbuto); Toshiba's Involvement in the Decommissioning of the Fukushima Daiichi Nuclear Power Plant (Yasuhiro Yuguchi); Remote Dismantling of the Exhaust Stack At Fukushima Dai-ichi NPS (Takashi Okutsu)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2022

CAS Operator Training Simulator

SAND2022-1525 O The Central Alarm System (CAS) training simulator is a standalone application that will work on any Alarm Control and Display (AC&D) System. Designed to be used by an instructor in a classroom environment, this software plays back scenario alarms and videos usually exported out of Scribe3D or any software that can produce scenario-based videos. Users can select from an array of different scenarios to play. The alarms are sent to an AC&D controller and the videos are sent to a Video Management Server (VMS). Both alarms and associated videos displayed by the intended AC&D system. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.

Le, Tam↗
DOE OSTI2022

Metal fuel relocation experiments with pressure injection

A pool-type sodium-cooled fast reactor (SFR) using metal fuels has a number of inherent safety features that can support benign consequences for design basis accidents (DBAs). Even in postulated severe accident conditions, the core is designed to remain under sub-critical condition in a passive coolable geometry. In case of the postulated severe accidents in SFRs, fuel relocation in the core region along the coolant channel is an important negative reactivity feedback factor that lowers the reactor power level and consequently eliminates the possibility of recriticality. Therefore, understanding the relocation behavior of fuels and the coolability of the relocated fuels in the postulated severe accident is one of the most important factors in the safety assessment of SFRs. In the present study, the relocation behavior of the metal fuel in a pin bundle geometry was investigated by injecting the metal fuels into the coolant channels with pressure. The first metal fuel relocation with pressure injection (RPI-1) experiment showed that many of the metal fuels levitated to upper plenum. In case of RPI-2 experiment, the Real Time X-ray Video System (RTXVS) was constructed and used to obtain a real time X-ray video of the experiment. This real time X-ray video clearly showed the relocation behavior of the pressure injected metallic uranium in the sodium coolant channel. Through this video, it was confirmed that part of the fuel was dispersed downward and part of the fuel was dispersed upward, and the relocation behavior of the injected fuel proceeded simultaneously in the downward and upward directions. So, it can be concluded that in case of pressure injection of the metallic fuel, there is a possibility that the metallic fuel can be quickly removed from the core region, resulting in a negative reactivity feedback effect.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
NASA NTRS1997

Image processing for improved eye-tracking accuracy

Video cameras provide a simple, noninvasive method for monitoring a subject's eye movements. An important concept is that of the resolution of the system, which is the smallest eye movement that can be reliably detected. While hardware systems are available that estimate direction of gaze in real-time from a video image of the pupil, such systems must limit image processing to attain real-time performance and are limited to a resolution of about 10 arc minutes. Two ways to improve resolution are discussed. The first is to improve the image processing algorithms that are used to derive an estimate. Off-line analysis of the data can improve resolution by at least one order of magnitude for images of the pupil. A second avenue by which to improve resolution is to increase the optical gain of the imaging setup (i.e., the amount of image motion produced by a given eye rotation). Ophthalmoscopic imaging of retinal blood vessels provides increased optical gain and improved immunity to small head movements but requires a highly sensitive camera. The large number of images involved in a typical experiment imposes great demands on the storage, handling, and processing of data. A major bottleneck had been the real-time digitization and storage of large amounts of video imagery, but recent developments in video compression hardware have made this problem tractable at a reasonable cost. Images of both the retina and the pupil can be analyzed successfully using a basic toolbox of image-processing routines (filtering, correlation, thresholding, etc.), which are, for the most part, well suited to implementation on vectorizing supercomputers.

NASA Discipline Space Human Factors↗
DOE OSTI2021

Critical analysis of velocimetry methods for particulate flows from synthetic data

Particle tracking methods that extract high-fidelity particle velocity data from high speed video of particle laden flows is a common experimental technique applied to chemical processes. These measurements are used to better understand the motion of particles and fluids in complex systems and create data against which computational models are validated. However, the methods, codes, and experimental setups all have limitations. It is imperative that practitioners verify the methods and their implementation as well as understand the limitations of experimental setups. This work focuses on quantifying the visible depth of field in a high particle concentration fluidized bed. Following a precedent set by the particle imaging velocimetry community, a particle velocity field is manufactured using a computational fluid dynamics and discrete element method simulation. Photo realistic high-speed videos are rendered based on the simulated data using the three-dimensional creation software Blender. Particle velocities are extracted from the synthetic high-speed videos using three variants of Particle Tracking Velocimetry and Optical Flow Velocimetry methodologies. Here, the tracked results are then compared to the known solution, quantifying the error associated with the assumed visible depth. The results indicate that at depth of one particle diameter, all three particle tracking codes give accurate measurements, largely within 5%. However, the error increases when the full bed video measurements are compared to the known solution at one particle diameter, i.e., mimicking a validation study. Finally, for some statistics the constant depth assumption only increases the error slightly, for others significantly.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2022

Dictionary Learning with Accumulator Neurons

The Locally Competitive Algorithm (LCA) uses local competition between non-spiking leaky integrator neurons to infer sparse representations, allowing for potentially real-time execution on massively parallel neuromorphic architectures such as Intel's Loihi processor. Here, we focus on the problem of inferring sparse representations from streaming video using dictionaries of spatiotemporal features optimized in an unsupervised manner for sparse reconstruction. Non-spiking LCA has previously been used to achieve unsupervised learning of spatiotemporal dictionaries composed of convolutional kernels from raw, unlabeled video. We demonstrate how unsupervised dictionary learning with spiking LCA (\hbox{S-LCA}) can be efficiently implemented using accumulator neurons, which combine a conventional leaky-integrate-and-fire (\hbox{LIF}) spike generator with an additional state variable that is used to minimize the difference between the integrated input and the spiking output. We demonstrate dictionary learning across a wide range of dynamical regimes, from graded to intermittent spiking, for inferring sparse representations of both static images drawn from the CIFAR database as well as video frames captured from a DVS camera. On a classification task that requires identification of the suite from a deck of cards being rapidly flipped through as viewed by a DVS camera, we find essentially no degradation in performance as the LCA model used to infer sparse spatiotemporal representations migrates from graded to spiking. We conclude that accumulator neurons are likely to provide a powerful enabling component of future neuromorphic hardware for implementing online unsupervised learning of spatiotemporal dictionaries optimized for sparse reconstruction of streaming video from event based DVS cameras.

artificial intelligence↗
NASA NTRS1975

College curriculum-sharing via CTS

Domestic communication satellites and video compression techniques will increase communication channel capacity and reduce cost of video transmission. NASA Ames Research Center, Stanford University and Carleton University are participants in an experiment to develop, demonstrate, and evaluate college course sharing techniques via satellite using video compression. The universities will exchange televised seminar and lecture courses via CTS. The experiment features real-time video compression with channel coding and quadra-phase modulation for reducing transmission bandwidth and power requirements. Evaluation plans and preliminary results of Carleton surveys on student attitudes to televised teaching are presented. Policy implications for the U.S. and Canada are outlined.

Hudson, H. E.↗
NASA NTRS1978

Communication system analysis for manned space flight

The development of adaptive delta modulators capable of digitizing a video signal is summarized. The delta modulator encoder accepts a 4 MHz black and white composite video signal or a color video signal and encodes it into a stream of binary digits at a rate which can be adjusted from 8 Mb/s to 24 Mb/s. The output bit rate is determined by the user and alters the quality of the video picture. The digital signal is decoded using the adaptive delta modulator decoder to reconstruct the picture.

Schilling, D. L.↗
NASA NTRS1981

Super-Schottky mixer performance at 92 GHz

As part of a program to investigate the behavior of superconducting Schottky mixers at high frequencies, the mixing and video performance of several super-Schottky diodes (a 3-micron active diameter, and a doping concentration of 2 x 10 to the 19th per cu cm) have been tested at 92 GHz. At 92 GHz, video responsivities were typically 80 A/W (corrected for RF mismatch). Conversion loss (corrected for both RF and IF mismatches) was typically not less than 18 dB. As expected, diode temperature was low (less than 5 K). Video responsivity and conversion loss were also measured at an RF frequency of 3.95 GHz. These data were used with the measured volt-ampere characteristics of the diodes to compare theoretical predictions of diode performance at 92 GHz, in both the video and mixing modes, with the high-frequency data

Dickman, R. L.↗
NASA NTRS1980

Digital image processing of bone - Problems and potentials

The development of a digital image processing system for bone histomorphometry and fluorescent marker monitoring is discussed. The system in question is capable of making measurements of UV or light microscope features on a video screen with either video or computer-generated images, and comprises a microscope, low-light-level video camera, video digitizer and display terminal, color monitor, and PDP 11/34 computer. Capabilities demonstrated in the analysis of an undecalcified rat tibia include the measurement of perimeter and total bone area, and the generation of microscope images, false color images, digitized images and contoured images for further analysis. Software development will be based on an existing software library, specifically the mini-VICAR system developed at JPL. It is noted that the potentials of the system in terms of speed and reliability far exceed any problems associated with hardware and software development.

Morey, E. R.↗
NASA NTRS1984

Review of Teleoperator Research

A predictor display to overcome time lag problems with remote control systems is discussed. The video picture is a (necessarily) time-delayed picture from the remote location, generated as a coherent frame (snapshot) so that all picture elements in a single scan are delayed the same. The computer-generated graphics is a line drawing of the present configuration of the manipulator arm, vehicle or other device. The latter is generated by using the same control signals which are sent to the remote manipulator (device) to drive a computer model of it. The computer model is drawn on the video display in exactly the same location as where it will actually be after a one-way time delay and where it will be seen to be on the video after one round-trip time delay. If one waits at least one round-trip delay without moving, both the graphics model and the video picture of the manipulator (device) are seen to coincide. The predictor technque proved to work well and was shown for time delays in the 1-3 second range to reduce completion times for a variety of manipulation tasks by 50-150 percent reliably.

Sheridan, T. B.↗
NASA NTRS1990

Millimeter-wave detection using resonant tunnelling diodes

A lattice-matched InGaAs/InAlAs resonant tunnelling diode is studied as a video detector in the millimeter-wave range. Tangential signal sensitivity and video resistance measurements are made as a function of bias and frequency. A tangential signal sensitivity of -37 dBm (1 MHz amplifier bandwidth) with a corresponding video resistance of 350 ohms at 40 GHz has been measured. These results appear to be the first millimeter-wave tangential signal sensitivity and video resistance results for a resonant tunnelling diode.

Mehdi, I.↗