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NASA NTRS1993

A vision system planner for increasing the autonomy of the Extravehicular Activity Helper/Retriever

The Extravehicular Activity Retriever (EVAR) is a robotic device currently being developed by the Automation and Robotics Division at the NASA Johnson Space Center to support activities in the neighborhood of the Space Shuttle or Space Station Freedom. As the name implies, the Retriever's primary function will be to provide the capability to retrieve tools and equipment or other objects which have become detached from the spacecraft, but it will also be able to rescue a crew member who may have become inadvertently de-tethered. Later goals will include cooperative operations between a crew member and the Retriever such as fetching a tool that is required for servicing or maintenance operations. This paper documents a preliminary design for a Vision System Planner (VSP) for the EVAR that is capable of achieving visual objectives provided to it by a high level task planner. Typical commands which the task planner might issue to the VSP relate to object recognition, object location determination, and obstacle detection. Upon receiving a command from the task planner, the VSP then plans a sequence of actions to achieve the specified objective using a model-based reasoning approach. This sequence may involve choosing an appropriate sensor, selecting an algorithm to process the data, reorienting the sensor, adjusting the effective resolution of the image using lens zooming capability, and/or requesting the task planner to reposition the EVAR to obtain a different view of the object. An initial version of the Vision System Planner which realizes the above capabilities using simulated images has been implemented and tested. The remaining sections describe the architecture and capabilities of the VSP and its relationship to the high level task planner. In addition, typical plans that are generated to achieve visual goals for various scenarios are discussed. Specific topics to be addressed will include object search strategies, repositioning of the EVAR to improve the quality of information obtained from the sensors, and complementary usage of the sensors and redundant capabilities.

Magee, Michael↗

NASA NTRS1987

Image based SAR product simulation for analysis

SAR product simulation serves to predict SAR image gray values for various flight paths. Input typically consists of a digital elevation model and backscatter curves. A new method is described of product simulation that employs also a real SAR input image for image simulation. This can be denoted as 'image-based simulation'. Different methods to perform this SAR prediction are presented and advantages and disadvantages discussed. Ascending and descending orbit images from NASA's SIR-B experiment were used for verification of the concept: input images from ascending orbits were converted into images from a descending orbit; the results are compared to the available real imagery to verify that the prediction technique produces meaningful image data.

Domik, G.↗

NASA NTRS2010

Collisional Grooming Models of the Kuiper Belt Dust Cloud

We modeled the three-dimensional structure of the Kuiper Belt (KB) dust cloud at four different dust production rates, incorporating both planet-dust interactions and grain-grain collisions using the collisional grooming algorithm. Simulated images of a model with a face-on optical depth of approximately 10 (exp -4) primarily show an azimuthally- symmetric ring at 40-47 AU in submillimeter and infrared wavelengths; this ring is associated with the cold classical KB. For models with lower optical depths (10 (exp -6) and 10 (exp-7)), synthetic infrared images show that the ring widens and a gap opens in the ring at the location of Neptune; this feature is caused by trapping of dust grains in Neptune's mean motion resonances. At low optical depths, a secondary ring also appears associated with the hole cleared in the center of the disk by Saturn. Our simulations, which incorporate 25 different grain sizes, illustrate that grain-grain collisions are important in sculpting today's KB dust, and probably other aspects of the solar system dust complex; collisions erase all signs of azimuthal asymmetry from the submillimeter image of the disk at every dust level we considered. The model images switch from being dominated by resonantly trapped small grains ("transport dominated") to being dominated by the birth ring ("collision dominated") when the optical depth reaches a critical value of r approximately v/c, where v is the local Keplerian speed.

Kuchner, Marc J.↗

NASA NTRS1992

Arcminute fluctuations in the microwave background from clusters of galaxies

A method for computing arcmin microwave fluctuations produced by Compton scattering of the cosmic background photons by hot electrons in clusters of galaxies is described. Microwave images of the sky for a range of Omega and primordial fluctuation spectral index n are generated which are then 'observed' to determine Delta T/T in precisely the same manner as actual observations to determine if the cluster-induced fluctuations are consistent with the measured upper limit. The geometry used by Uson and Wilkinson (1984) in the NRAO experiment and Readhead et al. (1989) in the OVRO experiment are applied to the simulated images. The 95 percent confidence lower limit for Omega is found to be about 1/10 for n = -1 (which approximates the CDM mass spectrum for clusters), while for n = 0 it is 1/7; for n = +1 the limit is 1/5 if the gas density profile extends to five core radii.

Markevitch, M.↗

NASA NTRS1990

Finding curvilinear features in speckled images

A method for finding curves in digital images with speckle noise is described. The solution method differs from standard linear convolutions followed by thresholds in that it explicitly allows curvature in the features. Maximum a posteriori (MAP) estimation is used, together with statistical models for the speckle noise and for the curve-generation process, to find the most probable estimate of the feature, given the image data. The estimation process is first described in general terms. Then, incorporation of the specific neighborhood system and a multiplicative noise model for speckle allows derivation of the solution, using dynamic programming, of the estimation problem. The detection of curvilinear features is considered separately. The detection results allow the determination of the minimal size of detectable feature. Finally, the estimation of linear features, followed by a detection step, is shown for computer-simulated images and for a SAR image of sea ice.

Samadani, Ramin↗

NASA NTRS1991

Randomization of particle motions and the observed morphology of cometary heads

A great diversity is known to exist in the coma morphology of comets. In particular, some comets show much structural detail in their heads (such as jets, halos, fans, plumes, streamers), while others have completely structureless comas. Obvious questions arise as to why is this so and what does the presence or absence of features tell us about the emission processes on cometary nuclei. In an effort to investigate these problems, a computer code that generates synthetic images of dust comets was modified by introducing random perturbations into motions of ejected particles. It is noted that the introduction of perturbations has made the computer generated images simulate the appearance of comets quite faithfully and that by increasing the perturbations beyond a certain limit it has been possible to erase the coma morphology diagnostic of the details of the ejection process. It is proposed that the degree of collimation of an ejecta flow from discrete active sources on the nucleus surface and possible emissions of dust coma. Molecules of comet gases that radiate in the spectral region employed (and whose velocity distribution is much more chaotic than that of dust particles) and limited atmospheric seeing likewise contribute to blurring structural detail in ground-based imaging observation of comets. The absence of discrete features in the coma does no means imply the absence of localized sources of activity on the nucleus.

Sekanina, Zdenek↗

NASA NTRS2012

Landsat Data Continuity Mission Expected Instrument Performance

The Landsat Data Continuity Mission (LDCM) is scheduled for a December 2012 launch date. LDCM is being managed by an interagency partnership between NASA and the U.S. Geological Survey (USGS). In order to provide the necessary spectral coverage of the visible through shortwave-infrared (SWIR) and the thermal-infrared (TIR), the satellite will carry two sensors. The Operational Land Imager (OLI) will collect data for nine visible to shortwave spectral bands with a spatial resolution of 30 m (with a 15 m panchromatic band). The Thermal Infrared Sensor (TIRS) will collect coincident image data for two TIR bands with a spatial resolution of 100 m. The OLI is fully assembled and tested and has been shipped by it's manufacturer, Ball Aerospace and Technology Corporation, to the Orbital Sciences Corporation (Orbital) facility where it is being integrated onto the LDCM spacecraft. Pre-launch testing indicates that OLI will meet all performance specification with margin. TIRS is in development at the NASA Goddard Space F!ight Center (GSFC) and is in final testing before shipping to the Orbital facility in January, 2012. The presentation will describe the LDCM satellite instrument systems, present pre-launch performance data for OLI and TIRS, and present simulated images to highlight notable features and expected imaging performance.

Dabney, Philip W.↗

NASA NTRSDate not supplied

Celestial Navigation in Cislunar Space with autoNGC

Celestial navigation (CelNav) is a source of navigation observables where images of known solar system bodies are used to locate a spacecraft, beneficial within the solar system for both cislunar and deep space missions. CelNav provides a variety of design benefits to support and enable current and new autonomous space operations- using only a camera and a processor to produce in-situ measurements for navigation. This technology reduces subscription to ground-based tracking during all phases of a mission, freeing up resources for other operational needs. This also supports secure navigation since it eliminates the need for ground contact. CelNav enables missions where the light time delay between Earth and the spacecraft is too long (or the Earth to spacecraft line of sight is obscured) to support critical operations. It also enables smaller mission classes, where Deep Space Network (DSN)time is cost prohibitive, to reduce its cost by focusing primarily on data downlink. Finally, it enables the NASA Artemis program and other cislunar human space flight by providing redundant navigation to traditional radiometric tracking. In this presentation, we discuss the implementation of a CelNav app in autonomous Navigation, Guidance, and Control (autoNGC), a comprehensive flight software suite for onboard autonomy that is built on the core Flight System (cFS). The presentation also summarizes the results of flight software-in-the-loop (SIL) and processor-in-the-loop (PIL) demonstrations. Both are high-fidelity simulations with the use of a camera emulator hosted on a GPU server that simulates images that would be captured by the camera. The CelNav app leverages the use of cGIANT (cFS Goddard Image Analysis and Navigation Tool).Previously developed for the autoNGC software suite, cGIANT is an onboard autonomous image processing and optical navigation (OpNav) tool that performs limb-based OpNav and Terrain Relative Navigation. The added CelNav capability of cGIANT generates bearing measurements to multiple known celestial bodies (planets, moons, asteroids, comets, etc.) in monocular (2D) images. These observables are then fed to the Goddard Enhanced Onboard Navigation System (GEONS)navigation filter app, enabling us to navigate the spacecraft autonomously. In early 2025, the autoNGC CelNav capability is planned to be flight tested as part of the onboard autonomy experiment on the Cislunar Autonomous Positioning System Technology Operations and Navigation Experiment(CAPSTONE) spacecraft that is currently in a Lunar Near Rectilinear Halo Orbit(NRHO).

celestial navigation↗

NASA NTRS1998

The Auroral Oval Boundaries on January 10, 1997: A Comparison of Global Magnetospheric Simulations with UVI Images

We present the results of a global magnetospheric simulation of the initial period of the January 10 - 11, 1997 magnetic cloud event. Distinct magnetospheric boundaries derived from the model are mapped down to the ionosphere and compared to UVI images of the auroral oval from 1:00 to 4:30 UT. The convection reversal boundary, which coincides with the maximum Region I currents, tends to generally match the UVI equatorward boundary. This boundary is almost always poleward of the boundary separating Region 1 and Region 2 currents. The separatrix between open and closed magnetic field lines as mapped in the model matches the poleward boundary of the UVI images very well during quiet periods. During dynamic periods, however, when the separatrix can move several degrees in latitude in some sectors, the poleward boundary of the Region 1 currents matches the UVI images better.

Elsen, R.↗

NASA NTRS1972

Evaluation of remote sensing in control of pink cotton bollworm

The author has identified the following significant results. This investigation is attempting to evaluate the use of a satellite in monitoring the cotton production regulation program of the State of California as an aid in controlling pink bollworm infestation in the southern deserts of California. Color combined images of ERTS-1 multispectral images simulating color infrared are being used in crop identification. The status of each field is mapped from the imagery and is then compared to ground surveys taken at the time of each ERTS-1 overflight. Correlation has been to date 100%. A computer analysis will be performed to compare field status with the crop calendar in order to identify crops. Correlation is expected to be 80 to 90%. Cotton fields, because of their state regulated season which is exactly coincident with no other crop, are expected to be easily identified.

Lewis, L. N.↗

NASA NTRS1973

Evaluation of remote sensing in control of pink bollworm in cotton

The author has identified the following significant results. The main objective is to evaluate the use of a satellite in monitoring the cotton production regulation program of the State of California as an aid in controlling pink bollworm infestation in the southern deserts of California. Color combined images of ERTS-1 multispectral images simulating color infrared are being used for crop identification. The status of each field (i.e., crop, bare, harvested, wet, plowed) is mapped from the imagery and is then compared to ground survey information taken at the time of ERTS-1 overflights. A computer analysis has been performed to compare field and satellite data to a crop calendar. Correlation to data has been 97% for field condition. Actual crop identification varies; cotton identification is only 63% due to lack of full season coverage.

Lewis, L. N.↗

NASA NTRS1974

Evaluation of remote sensing in control of pink bollworm in cotton

The author has identified the following significant results. This investigation is to evaluate the use of a satellite in monitoring the cotton production regulation program of the State of California as an aid in controlling pink bollworm infestation in the southern deserts of California. Color combined images of ERTS-1 multispectral images simulating color infrared are being used for crop identification. The status of each field (crop, bare, harvested, wet, plowed) is mapped from the imagery and is then compared to ground survey information taken at the time of ERTS-1 overflights. A computer analysis has been performed to compare field and satellite data to a crop calendar. Correlation to date has been 97% for field condition. Actual crop identification varies; cotton identification is only 63% due to lack of full season coverage.

Lewis, L. N.↗

NASA NTRS1982

Incidence angle considerations for spacecraft imaging radar

The value of radar imagery for most geologic applications is greatest when obtained with relatively large incidence angles. It is infeasible to attain these large angles from spacecraft altitudes. A study is being conducted to assess the usefulness of imagery collected at smaller angles. Radar image simulation is employed to create imagery for platform scenarios at numerous angles of incidence for specific geologic features. Preliminary analyses and results are provided.

Kaupp, V. H.↗

NASA NTRS1981

Optimization of radar imaging system parameters for geological analysis

The use of radar image simulation to model terrain variation and determine optimum sensor parameters for geological analysis is described. Optimum incidence angle is determined by the simulation, which evaluates separately the discrimination of surface features possible due to terrain geometry and that due to terrain scattering. Depending on the relative relief, slope, and scattering cross section, optimum incidence angle may vary from 20 to 80 degrees. Large incident angle imagery (more than 60 deg) is best for the widest range of geological applications, but in many cases these large angles cannot be achieved by satellite systems. Low relief regions require low incidence angles (less than 30 deg), so a satellite system serving a broad range of applications should have at least two selectable angles of incidence.

Waite, W. P.↗

NASA NTRS1982

Accomplishments of the NASA Johnson Space Center portion of the soil moisture project in fiscal year 1981

The NASA/JSC ground scatterometer system was used in a row structure and row direction effects experiment to understand these effects on radar remote sensing of soil moisture. Also, a modification of the scatterometer system was begun and is continuing, to allow cross-polarization experiments to be conducted in fiscal years 1982 and 1983. Preprocessing of the 1978 agricultural soil moisture experiment (ASME) data was completed. Preparations for analysis of the ASME data is fiscal year 1982 were completed. A radar image simulation procedure developed by the University of Kansas is being improved. Profile soil moisture model outputs were compared quantitatively for the same soil and climate conditions. A new model was developed and tested to predict the soil moisture characteristic (water tension versus volumetric soil moisture content) from particle-size distribution and bulk density data. Relationships between surface-zone soil moisture, surface flux, and subsurface moisture conditions are being studied as well as the ways in which measured soil moisture (as obtained from remote sensing) can be used for agricultural applications.

Paris, J. F.↗

NASA NTRS1985

Pattern formation by particles settling in viscous flows

Results are reported of several simulations of the motions of small objects in two-dimensional cellular flows performed to study the evolution of the distributions of particle flows over time in processes such as sedimentation. Stream functions are defined in the form of a Hamiltonian system for the particle motions, with inertial and particle acceleration being neglected. Conditions are found for which the particles will become trapped in an oscillatory motion or the particle orbits attain an oscillary motion. Various simulation images are provided to illustrate the usefulness of the technique for modeling fractal swarms.

Smith, L. A.↗

NASA NTRS1989

Improvement and extension of a radar forest backscattering model

Radar modeling of mangal forest stands, in the Sundarbans area of Southern Bangladesh, was developed. The modeling employs radar system parameters with forest data on tree height, spacing, biomass, species combinations, and water (including slightly conductive water), content both in leaves and trunks of the mangal. For Sundri and Gewa tropical mangal forests, six model components are proposed, which are required to explain the contributions of various forest species combinations in the attenuation and scattering of mangal vegetated nonflooded or flooded surfaces. Statistical data of simulated images were compared with those of SIR-B images both to refine the modeling procedures and to appropriately characterize the model output. The possibility of delineation of flooded or nonflooded boundaries is discussed.

Simonett, David S.↗

NASA NTRS1989

Analysis and use of VAS satellite data

Four interrelated investigations have examined the analysis and use of VAS satellite data. A case study of VAS-derived mesoscale stability parameters suggested that they would have been a useful supplement to conventional data in the forecasting of thunderstorms on the day of interest. A second investigation examined the roles of first guess and VAS radiometric data in producing sounding retrievals. Broad-scale patterns of the first guess, radiances, and retrievals frequently were similar, whereas small-scale retrieval features, especially in the dew points, were often of uncertain origin. Two research tasks considered 6.7 micron middle tropospheric water vapor imagery. The first utilized radiosonde data to examine causes for two areas of warm brightness temperature. Subsidence associated with a translating jet streak was important. The second task involving water vapor imagery investigated simulated imagery created from LAMPS output and a radiative transfer algorithm. Simulated image patterns were found to compare favorably with those actually observed by VAS. Furthermore, the mass/momentum fields from LAMPS were powerful tools for understanding causes for the image configurations.

Fuelberg, Henry E.↗