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NASA NTRS2012

Stereo and IMU-Assisted Visual Odometry for Small Robots

This software performs two functions: (1) taking stereo image pairs as input, it computes stereo disparity maps from them by cross-correlation to achieve 3D (three-dimensional) perception; (2) taking a sequence of stereo image pairs as input, it tracks features in the image sequence to estimate the motion of the cameras between successive image pairs. A real-time stereo vision system with IMU (inertial measurement unit)-assisted visual odometry was implemented on a single 750 MHz/520 MHz OMAP3530 SoC (system on chip) from TI (Texas Instruments). Frame rates of 46 fps (frames per second) were achieved at QVGA (Quarter Video Graphics Array i.e. 320 240), or 8 fps at VGA (Video Graphics Array 640 480) resolutions, while simultaneously tracking up to 200 features, taking full advantage of the OMAP3530's integer DSP (digital signal processor) and floating point ARM processors. This is a substantial advancement over previous work as the stereo implementation produces 146 Mde/s (millions of disparities evaluated per second) in 2.5W, yielding a stereo energy efficiency of 58.8 Mde/J, which is 3.75 better than prior DSP stereo while providing more functionality.

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NASA NTRS1992

Preliminary design of a satellite observation system for Space Station Freedom

Degobah Satellite Systems (DSS), in cooperation with the University Space Research Association (USRA), NASA - Johnson Space Center (JSC), and the University of Texas, has completed the preliminary design of a satellite system to provide inexpensive on-demand video images of all or any portion of Space Station Freedom (SSF). DSS has narrowed the scope of the project to complement the work done by Mr. Dennis Wells at Johnson Space Center. This three month project has resulted in completion of the preliminary design of AERCAM, the Autonomous Extravehicular Robotic Camera, detailed in this design report. This report begins by providing information on the project background, describing the mission objectives, constraints, and assumptions. Preliminary designs for the primary concept and satellite subsystems are then discussed in detail. Included in the technical portion of the report are detailed descriptions of an advanced imaging system and docking and safing systems that ensure compatibility with the SSF. The report concludes by describing management procedures and project costs.

Cabe, Greg↗

NASA NTRS1994

Hubble Space Telescope Briefing: HST Science Overview

This NASA Kennedy Space Center video release presents a broad overview of the science that is now possible as a result of the servicing of the Hubble Space Telescope (HST). Dr. Ed Weiler (HST Program Scientist, NASA Headquarters), Dr. Dave Leckrone (HST, Senior Project Scientist, Goddard Space Flight Center (GSFC)), Dr. John Trauger (Wide Field Planetary Camera 2 (WFPC2) Principal Investigator, Jet Propulsion Lab. (JPL)), Dr. Chris Burrows (WFPC2 Co-Investigator, Space Telescope Science Inst.(STSci)-European Space Agency (ESA), Jim Crocker ((Corrective Optics Space Telescope Axial Replacement) COSTAR Team Leader, STSci), Dr. Holland Ford (COSTAR Project Scientist, Johns Hopkins Univ., STSci), and Dr. Duccio Machetto (European Space Agency (ESA)) give brief presentations, which feature images of stars and galaxies taken from the ground, from WFPC1 (prior to the servicing mission), and from WFPC2 (after the servicing mission). The main theme of the discussions center around the spherical aberration that was found in the images prior to servicing and the corrected images seen without the aberration following servicing. A question and answer period rounds out the press conference, with questions posed from scientific journalists at GSFC and other NASA centers.

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NASA NTRS2002

STS-112 Flight Day 2 Highlights

On the second flight day of STS-112 (Commander Jeff Ashby, Pilot Pam Melroy and Mission Specialists Sandy Magnus, Piers Sellers, David Wolf and Fyodor Yurchikhin), video footage is shown of the Space Shuttle Atlantis's payload bay, which contains the International Space Station's (ISS) S1 (S-One) truss section, which will be installed on the ISS by Sellers and Wolf during EVAs (extravehicular activities) following Atlantis's docking with the station. Also shown, via a camera on the shuttle's robotic arm, are the three radiators that reside on the truss structure and will provide cooling capability for the entire station. During this flight day, Atlantis passes over Southern California, Nevada, Wyoming, South Dakota, and Minnesota in a track that will eventually bring it over Newfoundland and Labrador.

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NASA NTRS1994

RoboLab and virtual environments

A useful adjunct to the manned space station would be a self-contained free-flying laboratory (RoboLab). This laboratory would have a robot operated under telepresence from the space station or ground. Long duration experiments aboard RoboLab could be performed by astronauts or scientists using telepresence to operate equipment and perform experiments. Operating the lab by telepresence would eliminate the need for life support such as food, water and air. The robot would be capable of motion in three dimensions, have binocular vision TV cameras, and two arms with manipulators to simulate hands. The robot would move along a two-dimensional grid and have a rotating, telescoping periscope section for extension in the third dimension. The remote operator would wear a virtual reality type headset to allow the superposition of computer displays over the real-time video of the lab. The operators would wear exoskeleton type arms to facilitate the movement of objects and equipment operation. The combination of video displays, motion, and the exoskeleton arms would provide a high degree of telepresence, especially for novice users such as scientists doing short-term experiments. The RoboLab could be resupplied and samples removed on other space shuttle flights. A self-contained RoboLab module would be designed to fit within the cargo bay of the space shuttle. Different modules could be designed for specific applications, i.e., crystal-growing, medicine, life sciences, chemistry, etc. This paper describes a RoboLab simulation using virtual reality (VR). VR provides an ideal simulation of telepresence before the actual robot and laboratory modules are constructed. The easy simulation of different telepresence designs will produce a highly optimum design before construction rather than the more expensive and time consuming hardware changes afterwards.

Giarratano, Joseph C.↗

NASA NTRS2007

Is There Water on the Moon? NASA's LCROSS Mission

NASA is preparing for its return to the moon with the Lunar CRater Observation and Sensing Satellite (LCROSS) mission. This secondary payload spacecraft will travel with the Lunar Reconnaissance Orbiter (LRO) satellite to the Moon on the same Atlas-V 401 Centaur rocket launched from Cape Canaveral Air Force Station, Florida. The LCROSS mission will robotically seek to determine the presence of water ice at the Moon's South Pole. The 1000kg Secondary Payload budget is efficiently used to provide a highly modular and reconfigurable LCROSS Spacecraft with extensive heritage to accurately guide the expended Centaur into the crater. Upon separation, LCROSS flies through the impact plume, telemetering real-time images and characterizing water ice in the plume with infrared cameras and spectrometers. LCROSS then becomes a 700kg impactor itself, to provide a second opportunity to study the nature of the Lunar Regolith. LCROSS provides a critical ground-truth for Lunar Prospector and LRO neutron and radar maps, making it possible to assess the total lunar water inventory. This presentation contains a reference to video animation of the LCROSS mission that will be covered separately.

Noneman, Steven↗

NASA NTRS1972

Cathodochromic cathode ray tube: An operations manual

A cathodochromic (CC) storage and display system capable of storing full TV resolution images has been built. The images are derived from standard TV signals: composite video, composite sync, composite blanking, horizontal drive, and vertical drive. Image storage takes place in the CC CRT; the fixed image is written for several TV frames for the contrast to be usable. Once stored on the CC CRT, the image can be read out in one of three modes: with the eye, a 35-mm camera, or a TV camera. Incoming information may also be stored in a storage tube similar to the CC CRT but with a phosphor layer behind the CC layer. By exciting the phosphor layer with a standard raster scan it is possible to read out an image stored in the CC layer in one of three modes: direct viewing, photography, or flying-spot readout using a photomultiplier.

Heyman, P. M.↗

NASA NTRS1975

Video Guidance, Landing, and Imaging system (VGLIS) for space missions

The feasibility of an autonomous video guidance system that is capable of observing a planetary surface during terminal descent and selecting the most acceptable landing site was demonstrated. The system was breadboarded and "flown" on a physical simulator consisting of a control panel and monitor, a dynamic simulator, and a PDP-9 computer. The breadboard VGLIS consisted of an image dissector camera and the appropriate processing logic. Results are reported.

Schappell, R. T.↗

NASA NTRS1990

An imaging system for PLIF/Mie measurements for a combusting flow

The equipment required to establish an imaging system can be divided into four parts: (1) the light source and beam shaping optics; (2) camera and recording; (3) image acquisition and processing; and (4) computer and output systems. A pulsed, Nd:YAG-pummped, frequency-doubled dye laser which can freeze motion in the flowfield is used for an illumination source. A set of lenses is used to form the laser beam into a sheet. The induced fluorescence is collected by an UV-enhanced lens and passes through an UV-enhanced microchannel plate intensifier which is optically coupled to a gated solid state CCD camera. The output of the camera is simultaneously displayed on a monitor and recorded on either a laser videodisc set of a Super VHS VCR. This videodisc set is controlled by a minicomputer via a connection to the RS-232C interface terminals. The imaging system is connected to the host computer by a bus repeater and can be multiplexed between four video input sources. Sample images from a planar shear layer experiment are presented to show the processing capability of the imaging system with the host computer.

Wey, C. C.↗

NASA NTRS1972

The ERTS wideband image communication system.

The ERTS payload includes a three camera return beam vidicon (RBV) television system and a four channel multispectral scanner system (MSS). The communications system described includes spacecraft wideband equipment plus unique payload processing equipment located at three NASA tracking stations. The RBV information, transmitted as analog FM with a baseband response of dc to 3.2 MHz, is telemetered, processed and recorded on a wideband video recorder. The MSS data, consisting of 24 analog sensor outputs, is digitized and encoded as 15 megabit per second PCM. The MSS data is then transmitted as analog FM, demultiplexed, and recorded on a 25 channel recorder. It is shown that bit error rate is an excellent indicator of MSS link performance while signal-to-noise ratio and distortion vs frequency adequately define RBV link performance.

Pandelides, J.↗

NASA NTRS2001

Method and apparatus for calibrating a tiled display

A display system that can be calibrated and re-calibrated with a minimal amount of manual intervention. To accomplish this, one or more cameras are provided to capture an image of the display screen. The resulting captured image is processed to identify any non-desirable characteristics, including visible artifacts such as seams, bands, rings, etc. Once the non-desirable characteristics are identified, an appropriate transformation function is determined. The transformation function is used to pre-warp the input video signal that is provided to the display such that the non-desirable characteristics are reduced or eliminated from the display. The transformation function preferably compensates for spatial non-uniformity, color non-uniformity, luminance non-uniformity, and other visible artifacts.

Johnson, Michael J.↗

NASA NTRS2002

STS-109 Mission Highlights Resource Tape: Flight Days 8 - 12 - Part 4 of 4

This video, Part 4 of 4, shows footage of crew activities from flight days 8 through 12 of STS-109. The crew included: Scott Altman, Commander; Duane Carey, Pilot; John Grunsfeld, Payload Commander; Nancy Currie, Richard Linnehan, James Newman, Michael Massimino, Mission Speicalists. The activities from other flights days can be seen on 'STS-109 Mission Highlights Resource Tape' Part 1 of 4 (internal ID 2002139471), 'STS-109 Mission Highlights Resource Tape' Part 2 of 4 (internal ID 2002137664), and 'STS-109 Mission Highlights Resource Tape' Part 3 of 4 (internal ID 2002139476). The primary activity on flight day 8 was an EVA (extravehicular activity) by Grunsfeld and Linnehan to install a cryocooler and radiator for the NICMOS (Near Infrared Camera and Multi-Object Spectrometer) on the HST (Hubble Space Telescope). Before returning to Columbia's airlock, the astronauts, with a cloudy background, hold onto the orbiter and offer their thoughts on the significance of their mission, the HST, and spaceflight. Footage from flight day 9 includes the grappling, unbearthing, and deployment of the HST from Columbia, and the crew coordinating and videotaping Columbia's departure. Flight day 10 was a relatively inactive day, and flight day 11 includes a checkout of Columbia's aerodynamic surfaces. Columbia landed on flight day 12, which is covered by footage of the crew members speaking during reentry, and their night landing, primarily shown through the orbiter's head-up display. The video includes numerous views of the HST, as well as views of the the Galapagos Islands, Madagascar, and Southern Africa with parts of the Atlantic, Indian, and Pacific Oceans, and part of the coast of Chile. The pistol grip space tool is shown in use, and the crew answers two messages from the public, including a message to Massimino from the Fire Department of New York.

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NASA NTRS2006

Secure Display of Space-Exploration Images

Java EDR Display Interface (JEDI) is software for either local display or secure Internet distribution, to authorized clients, of image data acquired from cameras aboard spacecraft engaged in exploration of remote planets. ( EDR signifies experimental data record, which, in effect, signifies image data.) Processed at NASA s Multimission Image Processing Laboratory (MIPL), the data can be from either near-realtime processing streams or stored files. JEDI uses the Java Advanced Imaging application program interface, plus input/output packages that are parts of the Video Image Communication and Retrieval software of the MIPL, to display images. JEDI can be run as either a standalone application program or within a Web browser as a servlet with an applet front end. In either operating mode, JEDI communicates using the HTTP(s) protocol(s). In the Web-browser case, the user must provide a password to gain access. For each user and/or image data type, there is a configuration file, called a "personality file," containing parameters that control the layout of the displays and the information to be included in them. Once JEDI has accepted the user s password, it processes the requested EDR (provided that user is authorized to receive the specific EDR) to create a display according to the user s personality file.

Cheng, Cecilia↗

NASA NTRS1991

STS-44 Mission Highlights Resource Tape. Part 1 of 2

The STS-44 mission is highlighted in this first part of a two part video set. The flight crew consisted of: Cmdr. Fred Gregory; Pilot Tom Hendricks; Payload Specialist Tom Hennen; and Mission Specialists Story Musgrave, Jim Voss, and Mario Runco. The primary space shuttle mission objective was the deployment of the Defense Support Program (DSP) satellite. Secondary payload and spaceborne experiments consisted of a microbial air sampler, the Terra Scout PADVOS system, an M88-1 camera demonstration, a lower body negative pressure test, the Visual Function Tester, and a bioreactor demonstration. A tour of the flight deck, mid-deck, bathroom, and flight compartments with explanations of the equipment found in each area was conducted, a trash compactor was demonstrated, and footage of the crew together for their Thanksgiving dinner was shown. Earth views include several oceans, cloud cover, typhoon Yuri, northeast Australia, and the Barrier Reef Islands. The actor John Patrick Stewart (Commander Pickard of the show 'Star Trek: The Next Generation') performed the wake-up call for the astronauts. This flight was shortened due to an inertial measurement unit failure on the sixth day of the mission.

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NASA NTRS2011

Creep Measurement Video Extensometer

Understanding material behavior under load is critical to the efficient and accurate design of advanced aircraft and spacecraft. Technologies such as the one disclosed here allow accurate creep measurements to be taken automatically, reducing error. The goal was to develop a non-contact, automated system capable of capturing images that could subsequently be processed to obtain the strain characteristics of these materials during deformation, while maintaining adequate resolution to capture the true deformation response of the material. The measurement system comprises a high-resolution digital camera, computer, and software that work collectively to interpret the image.

Jaster, Mark↗

NASA NTRS2016

Hybrid Reality Lab Capabilities - Video 2

Our Hybrid Reality and Advanced Operations Lab is developing incredibly realistic and immersive systems that could be used to provide training, support engineering analysis, and augment data collection for various human performance metrics at NASA. To get a better understanding of what Hybrid Reality is, let's go through the two most commonly known types of immersive realities: Virtual Reality, and Augmented Reality. Virtual Reality creates immersive scenes that are completely made up of digital information. This technology has been used to train astronauts at NASA, used during teleoperation of remote assets (arms, rovers, robots, etc.) and other activities. One challenge with Virtual Reality is that if you are using it for real time-applications (like landing an airplane) then the information used to create the virtual scenes can be old (i.e. visualized long after physical objects moved in the scene) and not accurate enough to land the airplane safely. This is where Augmented Reality comes in. Augmented Reality takes real-time environment information (from a camera, or see through window, and places digitally created information into the scene so that it matches with the video/glass information). Augmented Reality enhances real environment information collected with a live sensor or viewport (e.g. camera, window, etc.) with the information-rich visualization provided by Virtual Reality. Hybrid Reality takes Augmented Reality even further, by creating a higher level of immersion where interactivity can take place. Hybrid Reality takes Virtual Reality objects and a trackable, physical representation of those objects, places them in the same coordinate system, and allows people to interact with both objects' representations (virtual and physical) simultaneously. After a short period of adjustment, the individuals begin to interact with all the objects in the scene as if they were real-life objects. The ability to physically touch and interact with digitally created objects that have the same shape, size, location to their physical object counterpart in virtual reality environment can be a game changer when it comes to training, planning, engineering analysis, science, entertainment, etc. Our Project is developing such capabilities for various types of environments. The video outlined with this abstract is a representation of an ISS Hybrid Reality experience. In the video you can see various Hybrid Reality elements that provide immersion beyond just standard Virtual Reality or Augmented Reality.

Delgado, Francisco J.↗

NASA NTRS1980

Fabry-Perot-interferometer imaging system for thermospheric temperature and wind measurements

Doppler-broadened Fabry-Perot fringes of weak (less than 1-kR) auroral forbidden O I 5577- and 6300-A emissions have been detected in real time (1/60 sec) with the aid of a low-light level image-orthicon TV camera coupled to a two-stage image intensifier. The imaging scheme permits static-mode operation of a Fabry-Perot interferometer. For maximum use of all the information contained in every TV frame, each circular fringe may be sectioned into several annuli, and the corresponding annuli from all rings are summed to yield an intensity value. This procedure for deriving a fringe profile requires a video digitizer coupled to a digital processing system and should provide fast real-time (1/60 sec) measurements of E- and F-region temperatures and winds. With forbidden O I 5577-A intensity of 750 R, visually prominent TV images of the Fabry-Perot fringes were recorded in 0.5 sec, and the temperature of the emitting region was determined from two percent of the total information in the TV image.

Sivjee, G. G.↗

NASA NTRS1977

Full color hybrid display for aircraft simulators

A full spectrum color monitor, connected to the camera and lens system of a television camera supported by a gantry frame over a terrain model simulating an aircraft landing zone, projects the monitor image onto a lens or screen visually accessible to a trainee in the simulator. A digital computer produces a pattern corresponding to the lights associated with the landing strip onto a monochromatic display, and an optical system projects the calligraphic image onto the same lens so that it is superposed on the video representation of the landing field. The optical system includes a four-color wheel which is rotated between the calligraphic display and the lens, and an apparatus for synchronizing the generation of a calligraphic pattern with the color segments on the color wheel. A servo feedback system responsive to the servo motors on the gantry frame produces an input to the computer so that the calligraphically generated signal corresponds in shape, size and location to the video signal.

Chase, W. D.↗