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At least 991 records · Page 55

Vision based object pose estimation for mobile robots

Mobile robot navigation using visual sensors requires that a robot be able to detect landmarks and obtain pose information from a camera image. This paper presents a vision system for finding man-made markers of known size and calculating the pose of these markers. The algorithm detects and identifies the markers using a weighted pattern matching template. Geometric constraints are then used to calculate the position of the markers relative to the robot. The selection of geometric constraints comes from the typical pose of most man-made signs, such as the sign standing vertical and the dimensions of known size. This system has been tested successfully on a wide range of real images. Marker detection is reliable, even in cluttered environments, and under certain marker orientations, estimation of the orientation has proven accurate to within 2 degrees, and distance estimation to within 0.3 meters.

Wu, Annie↗

Topography from shading and stereo

Methods exploiting photometric information in images that have been developed in machine vision can be applied to planetary imagery. Integrating shape from shading, binocular stereo, and photometric stereo yields a robust system for recovering detailed surface shape and surface reflectance information. Such a system is useful in producing quantitative information from the vast volume of imagery being received, as well as in helping visualize the underlying surface.

Horn, Berthold K. P.↗

Orbital coplanarity in solar-type binary systems: Implications for planetary system formation and detection

The equatorial inclinations of solar-type stars within visual binary systems are computed by combining v sin i measurements with rotational period information, or with expected rotational velocities based upon the age of the star in question. These inclinations are then compared with the orbital inclinations of the systems to test the alignment between the equatorial and orbital planes, and how the tendency for or against coplanarity varies as a function of parameters such as spectral type, separation, eccentricity, etc. The results are extended to planetary systems in order to determine the appropriateness of basing planetary search strategies upon a parent star's equatorial inclination, and to address issues in planetary system formation and evolution, including the stability of planetary orbits within binary systems. During the course of this project new or improved v sin i measurements are made for over 30 solar-type stars within binary systems, and (for the purposes of the study) tentative orbits are computed for thirteen long-period systems. The results suggest that approximate coplanarity between the equatorial and orbital planes exists solar-type binary systems with separations less than 30-40 AU. The coplanarity tendency, as well as this 'critical separation,' is not significantly affected by most of the other parameters studied. The one significant exception occurs with hierarchical multiple systems, where noncoplanarity may exist at relatively small separations. If it is assumed that planetary distances in our solar system are typical, the results suggest there is no reason to expect planets to orbit in planes significantly different from that of the parent star's equator, in turn suggesting that planetary formation models and search strategies dependent upon this assumption are valid from this standpoint. The results also suggest that noncoplanarity between the components of a binary system is not a significant issue in addressing the stability of planetary orbits within the system.

Hale, Alan↗

Representation and Integration of Scientific Information

The objective of this Joint Research Interchange with NASA-Ames was to investigate how the Tsimmis technology could be used to represent and integrate scientific information. The main goal of the Tsimmis project is to allow a decision maker to find information of interest from such sources, fuse it, and process it (e.g., summarize it, visualize it, discover trends). Another important goal is the easy incorporation of new sources, as well the ability to deal with sources whose structure or services evolve. During the Interchange we had research meetings approximately every month or two. The funds provided by NASA supported work that lead to the following two papers: Fusion Queries over Internet Databases; Efficient Query Subscription Processing in a Multicast Environment.

Source record↗

The Overgrid Interface for Computational Simulations on Overset Grids

Computational simulations using overset grids typically involve multiple steps and a variety of software modules. A graphical interface called OVERGRID has been specially designed for such purposes. Data required and created by the different steps include geometry, grids, domain connectivity information and flow solver input parameters. The interface provides a unified environment for the visualization, processing, generation and diagnosis of such data. General modules are available for the manipulation of structured grids and unstructured surface triangulations. Modules more specific for the overset approach include surface curve generators, hyperbolic and algebraic surface grid generators, a hyperbolic volume grid generator, Cartesian box grid generators, and domain connectivity: pre-processing tools. An interface provides automatic selection and viewing of flow solver boundary conditions, and various other flow solver inputs. For problems involving multiple components in relative motion, a module is available to build the component/grid relationships and to prescribe and animate the dynamics of the different components.

Chan, William M.↗

Research on Intelligent Synthesis Environments

Four research activities related to Intelligent Synthesis Environment (ISE) have been performed under this grant. The four activities are: 1) non-deterministic approaches that incorporate technologies such as intelligent software agents, visual simulations and other ISE technologies; 2) virtual labs that leverage modeling, simulation and information technologies to create an immersive, highly interactive virtual environment tailored to the needs of researchers and learners; 3) advanced learning modules that incorporate advanced instructional, user interface and intelligent agent technologies; and 4) assessment and continuous improvement of engineering team effectiveness in distributed collaborative environments.

Noor, Ahmed K.↗

Visual-vestibular integration motion perception reporting

Self-orientation and self/surround-motion perception derive from a multimodal sensory process that integrates information from the eyes, vestibular apparatus, proprioceptive and somatosensory receptors. Results from short and long duration spaceflight investigations indicate that: (1) perceptual and sensorimotor function was disrupted during the initial exposure to microgravity and gradually improved over hours to days (individuals adapt), (2) the presence and/or absence of information from different sensory modalities differentially affected the perception of orientation, self-motion and surround-motion, (3) perceptual and sensorimotor function was initially disrupted upon return to Earth-normal gravity and gradually recovered to preflight levels (individuals readapt), and (4) the longer the exposure to microgravity, the more complete the adaptation, the more profound the postflight disturbances, and the longer the recovery period to preflight levels. While much has been learned about perceptual and sensorimotor reactions and adaptation to microgravity, there is much remaining to be learned about the mechanisms underlying the adaptive changes, and about how intersensory interactions affect perceptual and sensorimotor function during voluntary movements. During space flight, SMS and perceptual disturbances have led to reductions in performance efficiency and sense of well-being. During entry and immediately after landing, such disturbances could have a serious impact on the ability of the commander to land the Orbiter and on the ability of all crew members to egress from the Orbiter, particularly in a non-nominal condition or following extended stays in microgravity. An understanding of spatial orientation and motion perception is essential for developing countermeasures for Space Motion Sickness (SMS) and perceptual disturbances during spaceflight and upon return to Earth. Countermeasures for optimal performance in flight and a successful return to Earth require the development of preflight and in-flight training to help astronauts acquire and maintain a dual adaptive state. Despite the considerable experience with, and use of, an extensive set of countermeasures in the Russian space program, SMS and perceptual disturbances remain an unresolved problem on long-term flights. Reliable, valid perceptual reports are required to develop and refine stimulus rearrangements presented in the PAT devices currently being developed as countermeasures for the prevention of motion sickness and perceptual disturbances during spaceflight, and to ensure a less hazardous return to Earth. Prior to STS-8, crew member descriptions of their perceptual experiences were, at best, anecdotal. Crew members were not schooled in the physiology or psychology of sensory perception, nor were they exposed to the appropriate professional vocabulary. However, beginning with the STS-8 Shuttle flight, a serious effort was initiated to teach astronauts a systematic method to classify and quantify their perceptual responses in space, during entry, and after flight. Understanding, categorizing, and characterizing perceptual responses to spaceflight has been greatly enhanced by implementation of that training system.

Harm, Deborah L.↗

Marshall Space Flight Center Telescience Resource Kit

Telescience Resource Kit (TReK) is a suite of software applications that can be used to monitor and control assets in space or on the ground. The Telescience Resource Kit was originally developed for the International Space Station program. Since then it has been used to support a variety of NASA programs and projects including the WB-57 Ascent Vehicle Experiment (WAVE) project, the Fast Affordable Science and Technology Satellite (FASTSAT) project, and the Constellation Program. The Payloads Operations Center (POC), also known as the Payload Operations Integration Center (POIC), provides the capability for payload users to operate their payloads at their home sites. In this environment, TReK provides local ground support system services and an interface to utilize remote services provided by the POC. TReK provides ground system services for local and remote payload user sites including International Partner sites, Telescience Support Centers, and U.S. Investigator sites in over 40 locations worldwide. General Capabilities: Support for various data interfaces such as User Datagram Protocol, Transmission Control Protocol, and Serial interfaces. Data Services - retrieve, process, record, playback, forward, and display data (ground based data or telemetry data). Command - create, modify, send, and track commands. Command Management - Configure one TReK system to serve as a command server/filter for other TReK systems. Database - databases are used to store telemetry and command definition information. Application Programming Interface (API) - ANSI C interface compatible with commercial products such as Visual C++, Visual Basic, LabVIEW, Borland C++, etc. The TReK API provides a bridge for users to develop software to access and extend TReK services. Environments - development, test, simulations, training, and flight. Includes standalone training simulators.

Wade, Gina↗

Lower Mekong Hydrological Decision Support system

The Lower Mekong Hydrological Decision Support system (LMHDSs) is a environmental data analysis tool developed at the NASA Goddard Space Flight Center with funding from the SERVIR Applied Sciences Team and technical support from SERVIR Science Coordination Office (SCO). The web application allows stakeholders and decision-makers to view and download the inputs and outputs to the Soil and Water Assessment Tool(SWAT) model temporally and spatially. The front end is developed using JavaScript libraries like OpenLayers and Stock charts and the backend uses Django, a Python-based web framework. The web app provides several features, including visualizing map products, time-series plots, land-use/land-cover and associated soil information, and a data cart for downloading data. In addition, LMHDSs incorporates the NASAaccess software package, which provides seamless access to various climate and weather data products from NASA’s Earth observations portfolio. The application is region agnostic (any valid SWAT model can be used), modular (different components of the applications can be customized), and open (anyone can download and run it on their end). The web app is currently in use by the Mekong River Commission (MRC), a treaty-based regional intergovernmental organization that is made up of Mekong countries, as part of its hydrological decision support.

Hydrology↗

Guidelines for Schlieren Systems at Langley Research Center

The original Langley Working Paper (LWP 448) published on July 27th, 1967, provided guidance to NASA Langley Research Center personnel on how to set up conventional path-integrated schlieren flow visualization systems and what pitfalls could be expected with such setups. The guidance and information contained in the document continues to be used for schlieren setups at NASA Langley Research Center to this day.

Schlieren↗

Enabling Analysis of Air Quality Data From Tropospheric Emissions: Monitoring of POllution (Tempo) Via Cloud-Based Tools

Launched in April 2023, the Tropospheric Emissions: Monitoring of POllution (TEMPO) instrument provides high-resolution measurements of key atmospheric pollutants, such as ozone, nitrogen dioxide, and formaldehyde. Maximizing the use and utility of this new source of air quality information requires streamlining data access for a wide variety of research, public health, and other interested users. These varied applications often require the data to be structured in different ways, e.g., specific formats, array shapes, or file sizes. To enable access to TEMPO data in different forms, the NASA Atmospheric Science Data Center (ASDC), as part of the NASA Earth Science Data and Information System (ESDIS), provides a variety of cloud-based data transformation and GIS visualization tools. This presentation demonstrates methods of accessing and working with TEMPO data through these services, while highlighting aspects of the software and algorithmic workflows that perform the necessary data transformations. Examples include data subsetting, concatenation, and visualizations accessible via Jupyter notebooks and GIS software.

Daniel Kaufman↗

Colloidal quantum dot based infrared detectors: extending to the mid-infrared and moving from the lab to the field

Quantum dots (QDs) that absorb in the mid-wave infrared (MWIR) regime (3–5 μm) have recently generated significant interest as possible detector materials for MWIR cameras, with promises to reduce materials and device fabrication costs and potentially increase device operating temperatures. However, these materials have been primarily explored in single pixel devices – not multi-pixel cameras – and their current performance lags behind that of commercially available MWIR cameras based on single crystalline materials. To realize the potential of QD MWIR photodetectors with imaging capabilities, improvements are needed in the quality of the MWIR-absorbing QD materials, ligands dictating inter-QD charge transport, ordering of QD films, device architectures, and scalability of these methods to larger areas. With three families of QDs being researched – lead-, silver-, and mercury-based chalcogenides – as well as a multitude of possible capping ligands and film deposition techniques, the experimental phase space for MWIR QDs is vast. Here, we provide a roadmap, considering the pros and cons of various film deposition and ligand exchange techniques, as well as reintroduce lessons learned over years of research on QD film formation. We also extracted and created a database of reported quantum dot photodetectors’ performance and fabrication methods and have developed an interactive data visualization dashboard for this database, which provides researchers in the field a quick snapshot of the existing state of the art. Finally, we outline figures of merit and information that should be presented in papers moving forward which would help to clarify the reported results, as well as offer ideas for future steps. We provide a database visualization of the QD photodetector literature at https://public.tableau.com/app/profile/tom.nakotte/viz/IRQDphotodetectors_16384709473480/Dashboard1#1.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

On the growth of turbulent regions in laminar boundary layers

Turbulent spots evolving in a laminar boundary layer on a nominally zero pressure gradient flat plate are investigated. The plate is towed through an 18 m water channel, using a carriage that rides on a continuously replenished oil film giving a vibrationless tow. Turbulent spots are initiated using a solenoid valve that ejects a small amount of fluid through a minute hole on the working surface. A novel visualization technique that utilizes fluorescent dye excited by a sheet of laser light is employed. Some new aspects of the growth and entrainment of turbulent spots, especially with regard to lateral growth, are inferred from the present experiments. To supplement the information on lateral spreading, a turbulent wedge created by placing a roughness element in the laminar boundary layer is also studied both visually and with probe measurements. The present results show that, in addition to entrainment, another mechanism is needed to explain the lateral growth characteristics of a turbulent region in a laminar boundary layer. This mechanism, termed growth by destabilization, appears to be a result of the turbulence destabilizing the unstable laminar boundary layer in its vicinity. To further understand the growth mechanisms, the turbulence in the spot is modulated using drag-reducing additives and salinity stratification.

Gad-El-hak, M.↗

Domain Adaptive Graph Neural Networks for Constraining Cosmological Parameters Across Multiple Data Sets

State of the art astronomical simulations have provided datasets which enabled the training of novel deep learning techniques for constraining cosmological parameters. However, differences in subgrid physics implementation and numerical approximations among simulation suites lead to differences in simulated datasets, which pose a hard challenge when trying to generalize across diverse data domains and ultimately when applying models to observational data. Recent work reveals deep learning algorithms are able to extract more information from complex cosmological simulations than summary statistics like power spectra. We introduce Domain Adaptive Graph Neural Networks (DA-GNNs), trained on CAMELS data, inspired by CosmoGraphNet (Villanueva-Domingo et al 2023). By utilizing GNNs, we can capitalize on their capacity to capture both astrophysical and topological features of galaxy distributions. Mixing these capabilities with domain adaptation techniques such as Maximum Mean Discrepancy (MMD), which enable extraction of domain-invariant features, our framework demonstrates enhanced accuracy and robustness. We present experimental results, including the alignment of distributions across domains through data visualization. These findings suggest that DA-GNNs are an efficient way of extracting domain independent cosmological information, a vital step toward robust deep learning for real cosmic survey data.

79 ASTRONOMY AND ASTROPHYSICS↗

Efficient Clustering of Software Vulnerabilities using Self Organizing Map (SOM)

The common vulnerabilities and exposures (CVE) database was created with a mission to ``identify, define, and catalog publicly disclosed cybersecurity vulnerabilities''. This rich body of information can be used to enable rapid and efficient response to secure and defend cyber operations and protect critical cyber infrastructure. The main goal of this paper is to develop a visual analytics tool to enable deep analysis of CVEs using unsupervised clustering techniques. We enhance our analysis by first mapping CVEs to hierarchical-classes in Common Weakness Enumeration (CWE) using information in the National Vulnerability Database (NVD). Both the mapping and the numerical representation of CVEs are enabled by V2W-BERT, which uses natural language processing of the extensive information in NVD to generate a large tabular database of 137,226 CVE entries from 1999 to 2020, where each CVE is represented by a vector of 768 numerical features. The vectorized data is processed by Self-Organizing Maps (SOM), which is an unsupervised machine learning technique for dimensionality reduction, visual representation and clustering. Using a Torus map of 6417 units, we achieve ~10-fold data compression of ~140k CVEs using SOM. The trained map is further clustered using standard K-means clustering into 138 clusters of CVEs. We conducted a brief investigation of the rich mapping of CVEs to best-matching-units to K-means clusters, as well as CVEs to CWEs. For example, this novel mapping provided insight into the role of CWE-59 and CWE-264 in several CVEs that is otherwise hard to explore in the original data. We conclude that our this novel approach will not only enable deep analysis of the complex relationships between CVEs and CWEs, but also a mechanism to quickly respond to and design mitigation actions for rapidly evolving vulnerabilities that have not been mapped to existing CWEs.

Panchal, Khyati↗

Atomic-Scale Imaging of Lithium Vacancies in a Battery Cathode by Multislice Electron Ptychography

Atomic-resolution imaging of battery materials is critical for identification of local defects and structural variations, which are tied to battery performance. However, since battery materials are, by design, optimized to allow ion motion in response to an applied electric field, they are also very sensitive to radiation damage by an electron beam. Image resolution is therefore severely constrained by the dose applied. Here, we show that multislice electron ptychography (MEP) can provide sub-ångström lateral resolution images of both light and heavy elements of a Li-ion battery cathode, along with nanometer-scale depth information and greater dose efficiency than conventional electron microscopy methods. Using the depth-sectioning capability of MEP, we have been able to obtain direct visualizations of Li vacancy clusters, atom column by atom column, in Li x Ni 0.33 Mn 0.33 Co 0.33 O 2 (NMC111) cathodes. This capability to track Li distributions will be valuable in understanding, informing, and optimizing electrode material design for ion storage and transfer.

batteries↗

A Visual Analytics Approach to Debugging Cooperative, Autonomous Multi-Robot Systems’ Worldviews

Autonomous multi-robot systems, where a team of robots shares information to perform tasks that are beyond an individual robot’s abilities, hold great promise for a number of applications, such as planetary exploration missions. Each robot in a multi- robot system autonomously schedules which robots should perform a given task and when, using its worldview–the robot’s internal representation of its belief about the environment and other robots’ states. A key problem for operators is that robots’ worldviews can fall out of sync (often due to weak communication links), leading to desynchronization of the robots’ scheduling decisions and inconsistent emergent behavior (e.g., tasks not performed, or performed by multiple robots). Operators face the time-consuming and difficult task of making sense of the robots’ scheduling decisions, detecting de-synchronizations, and pinpointing their cause by comparing every robot’s worldview. To address these challenges, we introduce MOSAIC Viewer, a visual analytics system that helps operators (i) make sense of the robots’ schedules and (ii) detect and conduct a root cause analysis of the robots’ desynchronized worldviews. Over a year-long partnership with roboticists at the NASA Jet Propulsion Laboratory, a formative study was performed to identify the necessary system design requirements, which supports the design of the system. A qualitative study with 12 roboticists reveals that MOSAIC Viewer is faster- and easier-to-use than the users’ current approaches, and it allows them to stitch low-level details to formulate a high-level understanding of the robots’ schedules and detect and pin-point the cause of desynchronized worldviews.

Ma, Kwan-Liu↗

Shaded computer graphic techniques for visualizing and interpreting analytic fluid flow models

Mathematical models which predict the behavior of fluid flow in different experiments are simulated using digital computers. The simulations predict values of parameters of the fluid flow (pressure, temperature and velocity vector) at many points in the fluid. Visualization of the spatial variation in the value of these parameters is important to comprehend and check the data generated, to identify the regions of interest in the flow, and for effectively communicating information about the flow to others. The state of the art imaging techniques developed in the field of three dimensional shaded computer graphics is applied to visualization of fluid flow. Use of an imaging technique known as 'SCAN' for visualizing fluid flow, is studied and the results are presented.

Parke, F. I.↗