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All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

The Sensor Dilemma in Intelligent Transportation Systems: Evaluating Radar, Lidar and Camera: Preprint

Intelligent transportation systems (ITS) are at the forefront in advancing the way we interact with and perceive the transportation network. This revolution is fueled by the significant advancement in sensor perception technologies such as radar, lidar, and video imaging, which are the most popular modalities for ITS. Real-time perception data from these sensors allow intelligent infrastructure-side decision-making to improve the energy, efficiency, and safety at traffic intersections. As traffic departments across the United States transition from traditional loop detectors and emulators and embrace newer technologies, they are often left with a dilemma in choosing a sensor technology for infrastructure-based perception that is reliable, inexpensive, and easy to set up and that has robust performance in varying weather conditions. However, choosing a sensor that checks all these boxes is not straightforward, as every sensor type has unique benefits and drawbacks. Radar is excellent at detecting long-range vehicles and weather resistance but lacks high resolution. Lidar is expensive and weather-sensitive, while cameras provide rich visual data at a low cost but are constrained by lighting and visibility. This study examines radar, lidar, and camera sensor capabilities to ascertain whether any of these qualifies as the "best" sensor for ITS perception. While no single sensor can meet all the demands of ITS, a hybrid approach combining multiple sensor modalities like radar, lidar, and cameras offers the most robust solution for enhancing the safety and efficiency of ITS. Through this evaluation, we hope to draw attention to the necessity of the National Renewable Energy Laboratory's infrastructure perception and control framework, which presents a multisensor track data fusion engine to assimilate multiple data streams in order to provide robust and reliable perception.

33 ADVANCED PROPULSION SYSTEMS↗
NASA NTRS1987

Welding monitoring system

This invention relates to systems for remotely monitoring automatic welding operations, and more particularly to a system wherein the welder is readily positionable, while components of the optical system remain fixed. A welder having an electrode is mounted in an enclosure containing a pair of mirrors. The electrode passes through an opening in the first mirror and a gas cup. The mirror reflects an image of a welding operation taken through the opening of the gas cup to the second mirror. The second mirror then reflects the image through a rotary coupling to a third mirror which, in turn, reflects the image to a receiving lense mounted to a second rotatable coupling. The image is then projected via a fiber optic bundle to a filter unit where selected wavelengths of light are filtered from the welding image. The filter unit is coupled to an enlarger which enlarges the image and passes it to a camera. The camera is connected to an electronic eclipser which selectively darkens the brightest portions of the image. Finally, the image is recorded by a video tape recorder and displayed by a monitor.

Babcock, Stephen G.↗
NASA NTRS2017

New Development in NASA's Rodent Research Hardware for Conducting Long Duration Biomedical and Basic Research in Space

Animal models, particularly rodents, are the foundation of pre-clinical research to understand human diseases and evaluate new therapeutics, and play a key role in advancing biomedical discoveries both on Earth and in space. The National Research Councils Decadal survey emphasized the importance of expanding NASAs life sciences research to perform long duration, rodent experiments on the International Space Station (ISS). To accomplish this objective, flight hardware, operations, and science capabilities were developed at NASA Ames Research Center (ARC) to enhance science return for both commercial (CASIS) and government-sponsored rodent research. The Rodent Research program at NASA ARC has pioneered a new research capability on the International Space Station and has progressed toward translating research to the ISS utilizing commercial rockets, collaborating with academia and science industry, while training crewmembers to assist in performing research on orbit. Throughout phases of these missions, our practices, hardware and operations have evolved from tested to developed standards, and we are able to modify and customize our procedure and operations for mission specific requirements. The Rodent Research Habitat is capable of providing a living environment for animals on ISS according to standard animal welfare requirements. Using the cameras in the Habitat, the Rodent Research team has the ability to perform daily health checks on animals, and further analyze the collected videos for behavioral studies. A recent development of the Rodent Research hardware is inclusion of enrichment, to provide the animals the ability to rest and huddle. The Enrichment Hut is designed carefully for adult mice (up to 35 week old) within animal welfare, engineering, and operations constraints. The Hut is made out of the same stainless steel mesh as the cage interior, it has an ingress and an egress to allow animals move freely, and a hinge door to allow crewmembers remove the animals easily. The Rodent Research team has also developed Live Animal Return (LAR) capability, which will be implemented during Rodent Research-5 mission for the first time. The animals will be transported from the Habitat to a Transporter, which will return on the Dragon capsule and splashes down in the Pacific Ocean. Once SpaceX retrieves the Dragon, all powered payloads will be transferred to a SeaVan and transferred to the Long Beach pier. The NASA team then receives the transporter and delivers to a PI-designated laboratory within 120 mile radius of Long Beach. This is a significant improvement allowing researchers to examine animals within 72 hrs. of reentry or to conduct recovery experiments. Together, the hardware improvements and experience that the Rodent Research team has gained working with principal investigators and ISS crew to conduct complex experiments on orbit are expanding capabilities for long duration rodent research on the ISS to achieve both basic science and biomedical objectives.

ISS↗
NASA NTRS2018

Enabling Technologies for Deep Space Imaging

From the beginning of the Space Age, imagery, particularly motion imagery, has been a part of crewed and un-crewed missions. As technologies have evolved the imagery gets better, more compelling, and more useful for operations and monitoring of systems, crew, and spacecraft. As we look forward now to crewed missions beyond low-Earth orbit, such as the Lunar Orbiting Platform-Gateway being considered as a pre-cursor to future crewed Mars missions, there are both opportunities and challenges in implementing a multi-faceted imaging system that advances mission capabilities and technology. This paper will present a vision for an imaging system that is relevant for operations of the ISS and future crewed missions in deep space, with a detailed look at some of the key innovative technologies required to enable such a system. Specific enabling technologies included are: Innovative camera systems capable of providing a 360deg field-of-view without moving parts; Ultra-high Definition (or higher) resolution; High Efficiency Video Coding compression; Compatibility with Delay Tolerant Network protocols; and Intelligent systems capable of monitoring the field-of-view for un-crewed missions. Opportunities where Standardization can enable interoperability are also identified.

Grubbs, Rodney↗
NASA NTRSDate not supplied

Supervisory Control with Dual Tasking in Post G-Transition Vehicle Landings

BACKGROUND Landing during exploration spaceflight may consist of both planned automated supervisory control and unplanned crew override. Supervisory control, particularly when performed under cognitive load with additional monitoring tasks, is essential for ensuring overall mission success during landing contingencies. Evaluating performance in a relevant Human Landing System (HLS) supervisory landing task after long-duration microgravity exposure can help identify potential risks from human error and sensorimotor alterations. Adaptive changes in the sensorimotor system can manifest during g-transitions as spatial disorientation. Although training and landing aids facilitate successful landings despite disorientation, these adaptive changes may heighten cognitive demand, which must be considered in the landing strategy. It is important to characterize these effects as soon as possible following the G-transition while the sensorimotor system remains in a state of adaptive flux to inform appropriate countermeasures. METHODS A Multi-attribute Lunar Table Battery (MALTB) task was developed for an iOS tablet device to provide flexible crew testing and training capabilities in-flight and on the ground. Elements of the tablet task were derived from the Multi-Attribute Task Battery (MATB, Cegarra et al. 2020). The task requires crew members to study a map of a planned landing site and memorizing the terrain and surface landmarks to inform potential divert maneuvers during landing. The user will oversee a series of approaches through touchdown simulations on the tablet with an external camera view of the Lunar surface. The primary responsibility of the crew member will be to execute a divert if the guidance recommended site is erroneous (e.g., the guidance projected landing target is not within 10m of the planned landing site center), or the projected landing site is no longer suitable due to surface obstacles. Considering vehicle maneuverability and fuel reserves, the divert capabilities will diminish as the task progresses. In cases where a divert is initiated, a new landing target will need to be designated by the user and will be evaluated for the proximity to the original pre-planned site. A secondary operational monitoring task will challenge the user's cognitive reserve by requiring the user to maintain several gauges within acceptable limits and respond to a visual indicator while completing the landing approach. Outcome measures include distance from the planned landing site to the user-initiate divert landing location, ground slope at the new landing site, time to divert, the ability to accomplish the secondary monitoring tasks, and perceived workload. The tablet task is being evaluated in a ground-based study to determine the learning effect of first-time users. The tablet task will be utilized in a flight study to test performance multiple times postflight. Future potential testing in-flight have been identified for capsules with iOS tablet devices. Multi-attribute Lunar Table Battery Task MALTB comprises video footage of thirty distinct landing conditions. The landing scenarios feature various landing sites (n = 3), hazardous object sizes (n = 6), sun azimuth degrees (n = 4), camera modes (i.e., fixed or gimbaled), and navigation bias (i.e., true or false). Each seventy second trial uses a sixty-degree constant glideslope trajectory. The application architecture and layout include user identification setup and data storing, a guided walkthrough of the task and interface components, practice mode for task familiarization, and a modified Bedford workload scale administered following task completion. The time-based dependent measures are saved locally to the iOS Files application and post-processing scripts have been developed to evaluate the remaining measures of performance. RELEVANCE This project will deliver an operational demonstration of crew monitoring capability following spaceflight and identify potential deficits that may require remediation. Comparison of individual vestibular and cognitive changes with crew performance will help better characterize the landing risks associated with sensorimotor alterations. ACKNOWLEDGEMENTS: This project is funded by NASA’s Human Research Program Human Health Countermeasures Element. REFERENCES Cegarra J, Valery B, Avril E, Calmettes C, Navarro J (2020) OpenMATB: A Multi-Attribute Task Battery promoting task customization, software extensibility and experiment replicability. Behav Res Methods 52:1980-1990 doi: 10.3758/s13428-020-01364-w

Matthew McDonnell↗
NASA NTRS2023

EVA Task and 3D Pose Recognition from Video

Extravehicular Activity (EVA) has been known to involve potential risks of biomechanical stresses and injuries to crewmembers. Gathering of EVA motion patterns is necessary for risk analysis and mitigation. However, many existing techniques, such as motion capture systems, are not only cost-prohibitive but are impractical for retrospective analysis of past missions. In this work, a software tool was developed, which can estimate the 3D poses of a spacesuit from photographs or videos, without using special sensors or equipment. The tool is based on the state-of-the-art artificial intelligence and machine learning (AI/ML) system, which was trained by studying and capturing motion patterns of past and current spacesuit test data. The AI/ML tool was further enhanced using synthetically generated data, in which the suit postures, backgrounds, camera angles and illumination conditions were parametrically adjusted and rendered for training. The tool, incorporated the methodologies of Convolutional Neural Network (CNN), was trained, and tested in the cloud computing environment. The trained model was then applied on new imagery and video to extract estimated joint positions and suit outlines. The joint positions were further processed to capture activity (“digging”), pose labels (“bending”), and other useful downstream information. The model performance on new imagery and video was successfully assessed for accuracy and reliability. This AI/ML based posture recognition tool thus allows for the quantification of injury risk and task performance characterization for both current and past missions and training, which can immensely help to improve EVA task and suit design.

Kyung Han Kim↗
NASA NTRS1973

Investigation of atmospheric effects in image transfer

Investigations have been directed mainly toward: (1) theoretical work oriented toward computations of the effects of atmospheric aerosols on the transfer of images through the atmosphere; (2) measurements of the polarization field in the cloud-free atmosphere as an indicator of the existence and characteristics of atmospheric aerosols; and (3) the design of a video-polarizer system for the detection and display of the polarization field of light utilized in remote sensing of the environment. In addition, a camera system is under development for characterizing the polarization properties of a scene (landscape, city, etc.) by photographic means.

Coulson, K. L.↗
NASA NTRS1990

Generation of animation sequences of three dimensional models

The invention is directed toward a method and apparatus for generating an animated sequence through the movement of three-dimensional graphical models. A plurality of pre-defined graphical models are stored and manipulated in response to interactive commands or by means of a pre-defined command file. The models may be combined as part of a hierarchical structure to represent physical systems without need to create a separate model which represents the combined system. System motion is simulated through the introduction of translation, rotation and scaling parameters upon a model within the system. The motion is then transmitted down through the system hierarchy of models in accordance with hierarchical definitions and joint movement limitations. The present invention also calls for a method of editing hierarchical structure in response to interactive commands or a command file such that a model may be included, deleted, copied or moved within multiple system model hierarchies. The present invention also calls for the definition of multiple viewpoints or cameras which may exist as part of a system hierarchy or as an independent camera. The simulated movement of the models and systems is graphically displayed on a monitor and a frame is recorded by means of a video controller. Multiple movement and hierarchy manipulations are then recorded as a sequence of frames which may be played back as an animation sequence on a video cassette recorder.

Poi, Sharon↗
NASA NTRS1992

High-resolution space-shuttle polarimetry for farm crop classification

A significant advance is reported in imaging the polarimetry of a terrestrial area of earth located along the Mississippi River near New Madrid, Missouri. Color imagery was obtained with twin Hasselblad cameras with mutually perpendicular polarization analyzers. Digitization of the imagery in three colors (red, green, and blue) was accomplished at the Johnson Space Center Video Digital Analysis System Laboratory, Houston, Texas. A ground resolution of 80-90 m was achieved in the high-resolution imagery. Percent polarization was superior to photometry for recognition and characterization of farm crops such as rice, milo, cotton, and soybeans and of fallow areas. Statistical analyses of the percent-polarization data permit a unique classification of crops. Atmospheric effects may be deduced. Space-shuttle window distortion and viewing angle-sun geometry must be taken into account in analyzing the data.

Egan, Walter G.↗
NASA NTRS1995

Helmet-Mounted Display Research Capabilities of the NASA/Army Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL)

The Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL) is a UH-60A Black Hawk helicopter that is being modified by the US Army and NASA for flight systems research. The principal systems that are being installed in the aircraft are a Helmet Mounted Display (HMD) and imaging system, and a programmable full authority Research Flight Control System (RFCS). In addition, comprehensive instrumentation of both the rigid body of the helicopter and the rotor system is provided. The paper will describe the capabilities of these systems and their current state of development. A brief description of initial research applications is included. The wide (40 X 60 degree) field-of-view HMD system has been provided by Kaiser Electronics. It can be configured as a monochromatic system for use in bright daylight conditions, a two color system for darker ambients, or a full color system for use in night viewing conditions. Color imagery is achieved using field sequential video and a mechanical color wheel. In addition to the color symbology, high resolution computer-gene rated imagery from an onboard Silicon Graphics Reality Engine Onyx processor is available for research in virtual reality applications. This synthetic imagery can also be merged with real world video from a variety of imaging systems that can be installed easily on the front of the helicopter. These sensors include infrared or tv cameras, or potentially small millimeter wave radars. The Research Flight Control System is being developed for the aircraft by a team of contractors led by Boeing Helicopters. It consists of a full authority high bandwidth fly-by-wire actuators that drive the main rotor swashplate actuators and the tail rotor actuator in parallel. This arrangement allows the basic mechanical flight control system of the Black Hawk to be retained so that the safety pilot can monitor the operation of the system through the action of his own controls. The evaluation pilot will signal the fly-by-wire actuators through the flight computer from electrical sidearm controllers located in the right hand cockpit. The system will have very substantial input/output capacity and impressive computational power. These systems are installed in the aircraft using predominantly a MIL-STD 1553B data bus architecture. Sensor data from the RFCS, the basic aircraft and rotor system instrumentation including navigation information, and the HMD system are easily exchanged among user systems, or are available at the systems operator station located in the cabin for real time monitoring or data recording.

Jacobsen, R. A.↗
DOE OSTI2020

Savannah River Site H-Canyon Process Exhaust Tunnel Inspection Crawler Development - 20036

This paper covers development of a remote crawler used to inspect a subterranean radiochemical process ventilation tunnel located at the Savannah River Site near Aiken, SC. The purpose of the inspection was to ascertain the apparent structural condition of the tunnel with video footage. Manned entry is prohibited due to the hazardous environment requiring a fully-remote approach. The inspection system used high-definition cameras to archive over 1000 linear feet in the tunnel. While previous inspections had been undertaken, this crawler was developed to overcome obstacles that had put tunnel regions out of reach of prior inspection platforms. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS1991

An electronic pan/tilt/zoom camera system

A camera system for omnidirectional image viewing applications that provides pan, tilt, zoom, and rotational orientation within a hemispherical field of view (FOV) using no moving parts was developed. The imaging device is based on the effect that from a fisheye lens, which produces a circular image of an entire hemispherical FOV, can be mathematically corrected using high speed electronic circuitry. An incoming fisheye image from any image acquisition source is captured in memory of the device, a transformation is performed for the viewing region of interest and viewing direction, and a corrected image is output as a video image signal for viewing, recording, or analysis. As a result, this device can accomplish the functions of pan, tilt, rotation, and zoom throughout a hemispherical FOV without the need for any mechanical mechanisms. A programmable transformation processor provides flexible control over viewing situations. Multiple images, each with different image magnifications and pan tilt rotation parameters, can be obtained from a single camera. The image transformation device can provide corrected images at frame rates compatible with RS-170 standard video equipment.

Zimmermann, Steve↗
NASA NTRS2002

Utilizing the US Lab Nadir Research Window for Remote Sensing Operations with The Window Observational Research Facility (WORF)

The Window Observational Research Facility (WORF) is an ISPR-based rack facility designed to take advantage of the high optical quality US Lab Nadir research window. The WORF is based on the ISS Expedite the Processing of Experiments to Space Station (EXPRESS) rack mechanical structure and electronic systems. The WORF has a unique payload volume located at the center of the rack that provides access to the window. The interior dimensions of the payload volume are 34-in. (86.36 cm) wide by 33-in. (83.82 cm) high by 23-in. (58.42 cm) deep. This facility supports the deployment of payloads such as 9 in. aerial photography cameras and 12 in. diameter optical equipment. The WORF coupled with the optical quality of the United States Lab window support the deployment of various payload disciplines. The WORF provides payloads with power, data command and control, air cooling, water cooling, and video processing. The WORF's payload mounting surfaces and interfaces include the interior payload mounting shelf and the interior and exterior aircraft-like seat tracks. The payload mounting shelf is limited to a maximum mass of 136 kg (299 pounds). The WORF can accommodate large payloads such as the commonly used Leica-Heerbrug RC-30 aerial photography camera (whose dimensions are 53.3 cm (21-in.) wide by 50.8 cm (20-in.) deep by 76.2 cm (30-in.) long). The performance characteristics of the WORF allow it to support an array of payload disciplines. The WORF provides a maximum of 3 Kw at 28 Vdc and has a maximum data rate of 10 Mbps. The WORF's unique payload volume is designed to be light-tight, down to 2.8 x 10(exp -11) Watts/cm2/steradian, and have low-reflective surfaces. This specially designed WORF interior supports payload investigations that observe low-light-level phenomenon such as aurora. Although the WORF rack does not employ any active rack isolation (i.e., vibration dampening) technology, the rack provides a very stable environment for payload operations (on the order of X microradians). The facility's software is capable of being updated during its period of deployment. The WORF project also includes a Suitcase Simulator to allow for a payload developer to verify data interfaces at his development site, a trainer rack for astronauts to learn how to operate the WORF prior to flight, and the use of the EXPRESS Functional Checkout Units to allow for payload checkout at the KSC prior to launch.

Turner, Richard↗
NASA NTRS1975

Integrating TV/digital data spectrograph system

A 25-mm vidicon camera was previously modified to allow operation in an integration mode for low-light-level astronomical work. The camera was then mated to a low-dispersion spectrograph for obtaining spectral information in the 400 to 750 nm range. A high speed digital video image system was utilized to digitize the analog video signal, place the information directly into computer-type memory, and record data on digital magnetic tape for permanent storage and subsequent analysis.

Duncan, B. J.↗
NASA NTRS2011

External Tank - The Structure Backbone

The External Tank forms the structural backbone of the Space Shuttle in the launch configuration. Because the tank flies to orbital velocity with the Space Shuttle Orbiter, minimization of weight is mandatory, to maximize payload performance. Choice of lightweight materials both for structure and thermal conditioning was necessary. The tank is large, and unique manufacturing facilities, tooling, handling, and transportation operations were required. Weld processes and tooling evolved with the design as it matured through several block changes, to reduce weight. Non Destructive Evaluation methods were used to assure integrity of welds and thermal protection system materials. The aluminum-lithium alloy was used near the end of the program and weld processes and weld repair techniques had to be refined. Development and implementation of friction stir welding was a substantial technology development incorporated during the Program. Automated thermal protection system application processes were developed for the majority of the tank surface. Material obsolescence was an issue throughout the 40 year program. The final configuration and tank weight enabled international space station assembly in a high inclination orbit allowing international cooperation with the Russian Federal Space Agency. Numerous process controls were implemented to assure product quality, and innovative proof testing was accomplished prior to delivery. Process controls were implemented to assure cleanliness in the production environment, to control contaminants, and to preclude corrosion. Each tank was accepted via rigorous inspections, including non-destructive evaluation techniques, proof testing, and all systems testing. In the post STS-107 era, the project focused on ascent debris risk reduction. This was accomplished via stringent process controls, post flight assessment using substantially improved imagery, and selective redesigns. These efforts were supported with a number of test programs to simulate combined environments. Processing improvements included development and use of low spray guns for foam application, additional human factors considerations for production, use of high fidelity mockups during hardware processing with video review, improved tank access, extensive use of non destructive evaluation, and producibility enhancements. Design improvements included redesigned bipod fittings, a bellows heater, a feedline camera active during ascent flight, removal of the protuberance airload ramps, redesigned ice frost ramps, and titanium brackets replaced aluminum brackets on the liquid oxygen feedline. Post flight assessment improved due to significant addition of imagery assets, greatly improving situational awareness. The debris risk was reduced by two orders of magnitude. During this time a major natural disaster was overcome when Katrina damaged the manufacturing facility. Numerous lessons from these efforts are documented within the paper.

Welzyn, Kenneth↗
DOE OSTI2022

Use of vision and sound to classify feller-buncher operational state

Productivity measures in logging involve simultaneous recognition and classification of event occurrence and timing, and the volume of stems being handled. In full-tree felling systems these measurements are difficult to implement in an autonomous manner because of the unfavorable working environment and the abundance of confounding extraneous events. This paper proposed a vision method that used a lowcost camera to recognize feller-buncher operational events including tree cutting and piling. It used a fine K-nearest neighbors (fKNN) algorithm as the final classifier based on both audio and video features derived from short video segments as inputs. The classifier’s calibration accuracy exceeds 94%. The trained model was tested on videos recorded under various conditions. The overall accurate rates for short segments were greater than 89%. Comparisons were made between the human- and algorithm derived event detection rates, events’ durations, and inter-event timing using continuously recorded videos taken during feller operation. Video results between the fKNN model and manual observation were similar. Statistical comparison using the Kolmogorov–Smirnov test to evaluate measured parameters’ distributions (manual versus automated event duration and inter-event timing) did not show significant differences with the lowest P-value among all Kolmogorov–Smirnov tests equal to 0.12. Here the result indicated the feasibility and potential of using the method for the automatic time study of drive-to-tree feller bunchers.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1992

Formulation and error analysis for a generalized image point correspondence algorithm

A Generalized Image Point Correspondence (GIPC) algorithm, which enables the determination of 3-D motion parameters of an object in a configuration where both the object and the camera are moving, is discussed. A detailed error analysis of this algorithm has been carried out. Furthermore, the algorithm was tested on both simulated and video-acquired data, and its accuracy was determined.

Shapiro, Linda↗