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All sourcesNASA NTRSDOE OSTI
NASA NTRS1998

The Kepler Mission: Search for Habitable Planets

Detecting extrasolar terrestrial planets orbiting main-sequence stars is of great interest and importance. Current ground-based methods are only capable of detecting objects about the size or mass of Jupiter or larger. The difficulties encountered with direct imaging of Earth-size planets from space are expected to be resolved in the next twenty years. Spacebased photometry of planetary transits is currently the only viable method for detection of terrestrial planets (30-600 times less massive than Jupiter). This method searches the extended solar neighborhood, providing a statistically large sample and the detailed characteristics of each individual case. A robust concept has been developed and proposed as a Discovery-class mission. Its capabilities and strengths are presented.

Borucki, William↗
NASA NTRS1986

Search for brown dwarfs in the IRAS data bases

The results of two searches for brown dwarfs using IRAS data bases are reviewed. From one survey, it is concluded that all of the 5776 high-latitude point sources in the IRAS Point Source Catalog can be positionally associated with stars or galaxies by simple comparisons with optical catalogs and atlases. Only one object near the north Galactic pole possesses an optical/IR color cool enough to be considered as a candidate; it is found to be an unusual carbon star of 1300 K with a probable distance far out in the Galactic halo. The more sensitive Serendipitous Survey, which detected objects about five times fainter than the other survey, also found no brown dwarfs. This survey found fewer ordinary stars than the number extrapolated from the less sensitive survey.

Low, F. J.↗
NASA NTRS2002

Comet/Asteroid Protection System (CAPS): A Space-Based System Concept for Revolutionizing Earth Protection and Utilization of Near-Earth Objects

There exists an infrequent, but significant hazard to life and property due to impacting asteroids and comets. There is currently no specific search for long-period comets, smaller near-Earth asteroids, or smaller short-period comets. These objects represent a threat with potentially little or no warning time using conventional ground-based telescopes. These planetary bodies also represent a significant resource for commercial exploitation, long-term sustained space exploration, and scientific research. The Comet/Asteroid Protection System (CAPS) would expand the current detection effort to include long-period comets, as well as small asteroids and short-period comets capable of regional destruction. A space-based detection system, despite being more costly and complex than Earth-based initiatives, is the most promising way of expanding the range of detectable objects, and surveying the entire celestial sky on a regular basis. CAPS is a future spacebased system concept that provides permanent, continuous asteroid and comet monitoring, and rapid, controlled modification of the orbital trajectories of selected bodies. CAPS would provide an orbit modification system capable of diverting kilometer class objects, and modifying the orbits of smaller asteroids for impact defense and resource utilization. This paper provides a summary of CAPS and discusses several key areas and technologies that are being investigated.

Mazanek, Daniel D.↗
NASA NTRS2022

New Rover Conops with High-Performance Onboard Computing: Give Up Raw Data to Reduce Ops Cost and Do More Science

A major portion of time during the tactical operation of Mars rovers is spent for selecting, prioritizing, and coordinating sciences and engineering activities such that they fit within resource constraints, including the downlink data volume, energy, and time. In particular, the downlink data volume constraint is getting particularly tighter in recent missions because modern instruments produce increasingly high data volume while the communication bandwidth is essentially bounded by the law of physics. Tactical operation would be substantially simplified, hence the operation cost could be reduced, if the data volume constraint is relaxed or even removed. In this abstract, we propose a new operation paradigm for achieving this goal. The key observation is that, both in science and engineering applications, the bit size of raw data is typically much greater than the volume of processed information that is needed for scientific or engineering analysis. For example, a full-resolution image from Mastcam-Z, the main science camera on Perseverance, is about 700 kB in volume and we downlinked 29,685 images up to Sol 243, totaling ~20 GB of data. But of course, scientists do not use every pixel of these images; what they really look for in the images are geological features, typically represented by specific geometric configurations or textures. An end product after processing hundreds of Mascam-Z images could be a single geological map summarizing the spatial distribution of the features. For another example, a 100-meter drive of Perseverance produces 7-12 MB of drive telemetry, which records every detail of the rover's motion at 8 Hz, including position, attitude, steering angles, encoder readings, motor currents and many other information. But what the ground engineers eventually pay attention to is the signs of anomaly, such as excessive motor currents or high slip; if a drive is nominal, the vast majority of this data is unused. What if, then, we process the raw data onboard and only downlink the processed data that is relevant to scientific or engineering analyses, such as a list of detected science features (with cropped images) or a list of potential signs of anomaly while driving? A major roadblock for such onboard, high-level information processing has been the onboard computational resource. RAD750, the main onboard computer of Perseverance, is obviously not sufficient for performing complex image or signal processing such as object detection, semantic segmentation, or anomaly detection. Interestingly, RAD750 is not the best processor that Perseverance has; Qualcomm's Snapdragon 801, a modern mobile processor, is on her Heli Base Station, a device for communicating with Mars Helicopter Ingenuity; also, Intel's Atom E3845 processors are on engineering cameras. In the reminder of this paper, we will introduce two particular uses cases of these high-performance co-processors (meaning auxiliary CPU, GPU, or other types of processors that are separate from the main processor that runs the main flight software) for lowering operation cost and accommodating more science activities for a given communication constraint.

Didier, A.↗
NASA NTRSDate not supplied

Synthetic Data Generation for 3D Mesh Prediction and Spatial Reasoning During Multi-Agent Robotic Missions

In-space assembly operations require accurate reasoning over the pose, location, and structural organization of both the autonomous agents and assembly materials. In a full six-degree-of-freedom space, an accurate understanding of the full three-dimensional structure of the object of interest greatly enriches information for pose estimation and collision planning. Current methods of predicting pose estimation require a priori understanding of the shape of the object. Additionally, visual information in the space environment is impacted by variations in contrast and illumination. Using synthetic data allows us to rapidly generate large datasets with in varying environments and lighting conditions.This work details the generation of synthetic data used to explore the use of a region-based convolutional neural networks to detect objects of interest and predict a voxel-based three-dimensional mesh in order to understand their full three-dimensional shape. This mesh provides useful spatial information during in-space assembly operations without requiring either the complexity of maintaining models over the progress of building an object or observations from multiple angles. The generated meshes are then compared to that of ground truth in order to measure its performance.

synthetic data↗
NASA NTRSDate not supplied

Synthetic Data Generation for 3D Mesh Prediction and Spatial Reasoning During Multi-Agent Robotic Missions

In-space assembly operations require accurate reasoning over the pose, location, and structural organization of both the autonomous agents and assembly materials. In a full six-degree-of-freedom space, an accurate understanding of the full three-dimensional structure of the object of interest greatly enriches information for pose estimation and collision planning. Current methods of predicting pose estimation require a priori understanding of the shape of the object. Additionally, visual information in the space environment is impacted by variations in contrast and illumination. Using synthetic data allows us to rapidly generate large datasets with in varying environments and lighting conditions. This work details the generation of synthetic data used to explore the use of a region-based convolutional neural networks to detect objects of interest and predict a voxel-based three-dimensional mesh in order to understand their full three-dimensional shape. This mesh provides useful spatial information during in-space assembly operations without requiring either the complexity of maintaining models over the progress of building an object or observations from multiple angles. The generated meshes are then compared to that of ground truth in order to measure its performance.

James Ecker↗
NASA NTRS2008

Space Debris Symposium (A6.) Measurements and Space Surveillance (1.): Measurements of the Small Particle Debris Cloud from the 11 January, 2007 Chinese Anti-satellite Test

On January 11, 2007, the Chinese military conducted a test of an anti-satellite (ASAT) system, destroying their own Fengyun-1C spacecraft with an interceptor missile. The resulting hypervelocity collision created an unprecedented number of tracked debris - more than 2500 objects. These objects represent only those large enough for the US Space Surveillance Network (SSN) to track - typically objects larger than about 5-10 cm in diameter. There are expected to be even more debris objects at sizes too small to be seen and tracked by the SSN. Because of the altitude of the target satellite (865 x 845 km orbit), many of the debris are expected to have long orbital lifetimes and contribute to the orbital debris environment for decades to come. In the days and weeks following the ASAT test, NASA was able to use Lincoln Laboratory s Haystack radar on several occasions to observe portions of the ASAT debris cloud. Haystack has the capability of detecting objects down to less than one centimeter in diameter, and a large number of centimeter-sized particles corresponding to the ASAT cloud were clearly seen in the data. While Haystack cannot track these objects, the statistical sampling procedures NASA uses can give an accurate statistical picture of the characteristics of the debris from a breakup event. For years computer models based on data from ground hypervelocity collision tests (e.g., the SOCIT test) and orbital collision experiments (e.g., the P-78 and Delta-180 on-orbit collisions) have been used to predict the extent and characteristics of such hypervelocity collision debris clouds, but until now there have not been good ways to verify these models in the centimeter size regime. It is believed that unplanned collisions of objects in space similar to ASAT tests will drive the long-term future evolution of the debris environment in near-Earth space. Therefore, the Chinese ASAT test provides an excellent opportunity to test the models used to predict the future debris environment. For this study, Haystack detection events are compared to model predictions to test the model assumptions, including debris size distribution, velocity distribution, and assumptions about momentum transfer between the target and interceptor. In this paper we will present the results of these and other measurements on the size and extent of collisional breakup debris clouds.

Matney, Mark J.↗
NASA NTRS1974

Improvements in estimating proportions of objects from multispectral data

Methods for estimating proportions of objects and materials imaged within the instantaneous field of view of a multispectral sensor were developed further. Improvements in the basic proportion estimation algorithm were devised as well as improved alien object detection procedures. Also, a simplified signature set analysis scheme was introduced for determining the adequacy of signature set geometry for satisfactory proportion estimation. Averaging procedures used in conjunction with the mixtures algorithm were examined theoretically and applied to artificially generated multispectral data. A computationally simpler estimator was considered and found unsatisfactory. Experiments conducted to find a suitable procedure for setting the alien object threshold yielded little definitive result. Mixtures procedures were used on a limited amount of ERTS data to estimate wheat proportion in selected areas. Results were unsatisfactory, partly because of the ill-conditioned nature of the pure signature set.

Horwitz, H. M.↗
NASA NTRS2021

Compositional Study of Trans-Neptunian Objects at λ > 2.2 μm

Using data from the Infrared Array Camera on the Spitzer Space Telescope, we present photometric observations of a sample of 100 trans-Neptunian objects (TNOs) beyond 2.2 μm. These observations, collected with two broadband filters centered at 3.6 and 4.5 μm, were done in order to study the surface composition of TNOs, which are too faint to obtain spectroscopic measurements. With this aim, we have developed a method for the identification of different materials that are found on the surfaces of TNOs. In our sample, we detected objects with colors that are consistent with the presence of small amounts of water, and we were able to distinguish between surfaces that are predominantly composed of complex organics and amorphous silicates. We found that 86% of our sample have characteristics that are consistent with a certain amount of water ice, and the most common composition (73% of the objects) is a mixture of water ice, amorphous silicates, and complex organics. Twenty-three percent of our sample may include other ices, such as carbon monoxide, carbon dioxide, methane, or methanol. Additionally, only small objects seem to have surfaces dominated by silicates. This method is a unique tool for the identification of complex organics and to obtain the surface composition of extremely faint objects. Furthermore, this method will be beneficial when using the James Webb Space Telescope for differentiating groups within the trans-Neptunian population.

Trans-Neptunian objects↗
NASA NTRS1993

An evaluation of three-dimensional sensors for the extravehicular activity helper/retreiver

The Extravehicular Activity Retriever/Helper (EVAHR) is a robotic device currently under development at the NASA Johnson Space Center that is designed to fetch objects or to assist in retrieving an astronaut who may have become inadvertently de-tethered. The EVAHR will be required to exhibit a high degree of intelligent autonomous operation and will base much of its reasoning upon information obtained from one or more three-dimensional sensors that it will carry and control. At the highest level of visual cognition and reasoning, the EVAHR will be required to detect objects, recognize them, and estimate their spatial orientation and location. The recognition phase and estimation of spatial pose will depend on the ability of the vision system to reliably extract geometric features of the objects such as whether the surface topologies observed are planar or curved and the spatial relationships between the component surfaces. In order to achieve these tasks, accurate sensing of the operational environment and objects in the environment will therefore be critical. The qualitative and quantitative results of empirical studies of three sensors that are capable of providing three-dimensional information to the EVAHR, but using completely different hardware approaches are documented. The first of these devices is a phase shift laser with an effective operating range (ambiguity interval) of approximately 15 meters. The second sensor is a laser triangulation system designed to operate at much closer range and to provide higher resolution images. The third sensor is a dual camera stereo imaging system from which range images can also be obtained. The remainder of the report characterizes the strengths and weaknesses of each of these systems relative to quality of data extracted and how different object characteristics affect sensor operation.

Magee, Michael↗
NASA NTRS1994

Object recognition and pose estimation of planar objects from range data

The Extravehicular Activity Helper/Retriever (EVAHR) is a robotic device currently under development at the NASA Johnson Space Center that is designed to fetch objects or to assist in retrieving an astronaut who may have become inadvertently de-tethered. The EVAHR will be required to exhibit a high degree of intelligent autonomous operation and will base much of its reasoning upon information obtained from one or more three-dimensional sensors that it will carry and control. At the highest level of visual cognition and reasoning, the EVAHR will be required to detect objects, recognize them, and estimate their spatial orientation and location. The recognition phase and estimation of spatial pose will depend on the ability of the vision system to reliably extract geometric features of the objects such as whether the surface topologies observed are planar or curved and the spatial relationships between the component surfaces. In order to achieve these tasks, three-dimensional sensing of the operational environment and objects in the environment will therefore be essential. One of the sensors being considered to provide image data for object recognition and pose estimation is a phase-shift laser scanner. The characteristics of the data provided by this scanner have been studied and algorithms have been developed for segmenting range images into planar surfaces, extracting basic features such as surface area, and recognizing the object based on the characteristics of extracted features. Also, an approach has been developed for estimating the spatial orientation and location of the recognized object based on orientations of extracted planes and their intersection points. This paper presents some of the algorithms that have been developed for the purpose of recognizing and estimating the pose of objects as viewed by the laser scanner, and characterizes the desirability and utility of these algorithms within the context of the scanner itself, considering data quality and noise.

Pendleton, Thomas W.↗
NASA NTRS2005

Comet/Asteroid Protection System (CAPS): Preliminary Space-Based Concept and Study Results

There exists an infrequent, but significant hazard to life and property due to impacting asteroids and comets. There is currently no specific search for long-period comets, smaller near-Earth asteroids, or smaller short-period comets. These objects represent a threat with potentially little or no warning time using conventional ground-based telescopes. These planetary bodies also represent a significant resource for commercial exploitation, long-term sustained space exploration, and scientific research. The Comet/Asteroid Protection System (CAPS) is a future space-based system concept that provides permanent, continuous asteroid and comet monitoring, and rapid, controlled modification of the orbital trajectories of selected bodies. CAPS would expand the current detection effort to include long-period comets, as well as small asteroids and short-period comets capable of regional destruction. A space-based detection system, despite being more costly and complex than Earth-based initiatives, is the most promising way of expanding the range of detectable objects, and surveying the entire celestial sky on a regular basis. CAPS would provide an orbit modification system capable of diverting kilometer class objects, and modifying the orbits of smaller asteroids for impact defense and resource utilization. This Technical Memorandum provides a compilation of key related topics and analyses performed during the CAPS study, which was performed under the Revolutionary Aerospace Systems Concepts (RASC) program, and discusses technologies that could enable the implementation of this future system.

Mazanek, Daniel D.↗
NASA NTRS1983

An optical search for 'X-ray quiet' quasars

Recent progress is described in an ongoing program to develop criteria for selecting faint QSOs in several tens of square degrees of sky previously surveyed by the Einstein X-ray Observatory. The physical properties of the selected QSOs are discussed in terms of the difficulties they present for QSO X-ray detection techniques. A series of F-plates for about two dozen fields have been obtained, but only a few of the X-ray images have been analyzed. The analysis of the plates consists of scanning several times with a binocular microscope. The number of positively identified QSOs per plate is 3, with a limiting magnitude of about 21 B. For about one half of the candidates, more than one emission line is identified at a consistent redshift, confirming that the object is a QSO. A table is presented which lists some of the flux density and luminosity data for the QSO objects detected thus far.

Anderson, S. F.↗
NASA NTRS1990

A technique for detecting massive collapsed objects in the dark halo of the Galaxy

If the Galaxy possesses a dark halo of massive objects, they will produce small but potentially detectable distortions in the images of distant, extended objects due to gravitational lensing effects. An illustrative analytic and a more realistic numerical model are presented for calculating the number and angular sizes of these distortions, and a specific example of a digital filter is described which could be used for the identification of such distortions. The sensitivity of possible searches for the effect in the image of M31 and the Galactic Center are discussed in some detail. Simulated images of distortions of various angular sizes in these fields as they would be expected to appear in ground-based and Space Telescope CCD frames are presented. A Galactic halo of black holes such as that proposed by Lacey and Ostriker might well be detectable ina practically realizable experiment.

Turner, Edwin L.↗
NASA NTRSDate not supplied

Estimation With Range Depended Sensor Model

This paper focuses on the improvement of object detection accuracy taking into account the sensor’s reading degradation as the relative range increases. The approach is based on the assumption that range measurement error depends on the actual range. Specifically, we model the measurement error as a proportional to the actual range term plus a zero-mean, Gaussian distributed, and uncorrelated process. The tracking problem is considered in a mixed continuous-discrete time domain, where the target dynamics is in continuous-time and the measurements are in discrete-time, which is an optimal choice in many tracking and navigation applications. We adopt a commonly used continuous time coordinate-uncoupled white-noise acceleration model for a point object to describe the target motion, and use Extended Kalman Filter (EKF) framework to estimate the target's state and the unknown proportionality coefficient.

Vahram Stepanyan↗
NASA NTRS2006

The Hard X-ray 20-40 keV AGN Luminosity Function

We have compiled a complete, significance limited extragalactic sample based on approximately 25,000 deg(sup 2) to a limiting flux of 3 x 10(exp -11) ergs per square centimeter per second. (approximately 7,000 deg(sup 2)) to a flux limit of 10(exp -11) ergs per square centimeter per second)) in the 20 - 40 keV band with INTEGRAL. We have constructed a detailed exposure map to compensate for effects of non-uniform exposure. The flux-number relation is best described by a power-law with a slope of alpha = 1.66 plus or minus 0.11. The integration of the cumulative flux per unit area leads to f(sub 20-40 keV) = 2.6 x 10(exp -10) ergs per square centimeter per second per sr(sup -1) which is about 1% of the known 20-40 keV X-ray background. We present the first luminosity function of AGN in the 20-40 keV energy range, based on 68 extragalactic objects detected by the imager IBIS/ISGRI on-board INTEGRAL. The luminosity function shows a smoothly connected two power-law form, with an index of gamma (sub 1) = 0.9 below, and gamma (sub 2) = 2.2 above the turn-over luminosity of L(sub *), = 4.6 x 10(sup 43) ergs per second. The emissivity of all INTEGRAL AGNs per unit volume is W(sub 20-40keV)(greater than 10(sup 41) ergs per second) = 2.8 x 10(sup 38) ergs per second h(sup 3)(sub 70) Mpc(sup -3). These results are consistent with those derived in the 2-20keV energy band and do not show a significant contribution by Compton-thick objects. Because the sample used in this study is truly local (z(raised bar) = 0.022)), only limited conclusions can be drawn for the evolution of AGNs in this energy band. But the objects explaining the peak in the cosmic X-ray background are likely to be either low luminosity AGN (L(sub x) less than 10(sup 41) ergs per second) or of other type, such as intermediate mass black holes, clusters, and star forming regions.

Beckmann, V.↗
NASA NTRS2024

System for Photogrammetric Imaging, Detection, and Ranging (SPIDR)

The System for Photogrammetric Imaging, Detection, and Ranging (SPIDR) project aims to advance the state-of-the-art (SOA) technology in camera tracking. SPIDR will advance this technology in the following ways: 1) perform autonomous tracking of rocket launches, 2) allow modularity for camera payloads to enable various types of imagery capture (standard video, high-speed, infrared, etc.), 3) enable additional imagery assets for increased scope of imagery analysis, and 4) serve as a viable tracking replacement for the existing Kineto Tracking Mount (KTM) system used by the Exploration Ground Systems (EGS) program. The project initially aimed to build an in-house mechanical design and control system, but realigned to a commercial off-the-shelf (COTS) mechanical design. During the FY23 CIF timeline, the SPIDR team made significant advances in building a machine-learning (ML) based object detection model for various rockets and their plumes. The team will continue advancing the model, and begin work on the pan and tilt unit (PTU) control system and tracking algorithm development.

Alden Param↗
NASA NTRSDate not supplied

Supporting Crew Medical Decisions on Deep Space Missions: A Real-Time Performance Monitoring

Crewed missions into deep space will require astronauts to respond autonomously to safety- and time-critical anomalies. These and other potential issues will require the continuous monitoring and recognition of potentially subtle, but complex, anomalous data patterns. NASA continues to investigate real-time metrics for Extravehicular Operations1 and for providing feedback to improve performance2. Since it is unknown how long-term exposure to deep space will affect crew health, continuous monitoring of clinical and subclinical status is warranted. NASA is characterizing crew medical decision-support needs and identifying the recommended requirements of a Clinical Decision Support System (CDSS) within the Exploration Medical Capability Element (ExMC) of the Human Research Program3. Early detection, and continuous monitoring, of performance may provide an effective prognostic capability for assessing crew health state, and the identified requirements could be provided for an in-vehicle CDSS that acts as an assistant for delivering optimal health and performance and medical care during exploration missions. There is evidence to suggest that automatic, unobtrusive collection of keystroke features, such as alphanumeric key latencies, backspaces or typing rhythm, could be a valuable performance screening tool. Keystroke features show significant differences between control subjects and patients with overt clinical illness, such as multiple sclerosis4 and Parkinson’s disease5, as well as behavioral health and performance issues, such as mild cognitive impairment6 and depression7. This work is exploring a capability for the assessment of early task performance decline in crew as they perform daily activities. Timestamped keyboard entries are continuously collected and stored. Nominal keystroke interactions are compared to those obtained after exposure to spaceflight stressors, e.g., fatigue, to determine the methods sensitivity. This work will pave the way toward an objective detection tool that may be deployed in a spaceflight setting.

clinical↗