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At least 1,081 records · Page 60
All sourcesNASA NTRSDOE OSTI
NASA NTRS2007

Improved Path Planning Onboard the Mars Exploration Rovers

A revised version of the AutoNav (autonomous navigation with hazard avoidance) software running onboard each Mars Exploration Rover (MER) affords better obstacle avoidance than does the previous version. Both versions include GESTALT (Grid-based Estimation of Surface Traversability Applied to Local Terrain), a navigation program that generates local-terrain models from stereoscopic image pairs captured by onboard rover cameras; uses this information to evaluate candidate arcs that extend across the terrain from the current rover location; ranks the arcs with respect to hazard avoidance, minimization of steering time, and the direction towards the goal; and combines the rankings in a weighted vote to select an arc, along which the rover is then driven. GESTALT works well in navigating around small isolated obstacles, but tends to fail when the goal is on the other side of a large obstacle or multiple closely spaced small obstacles. When that occurs, the goal seeking votes and hazard avoidance votes conflict severely. The hazard avoidance votes will not allow the rover to drive through the unsafe area, and the waypoint votes will not allow enough deviation from the straight-line path for the rover to get around the hazard. The rover becomes stuck and is unable to reach the goal. The revised version of AutoNav utilizes a global path-planning program, Field D*, to evaluate the cost of traveling from the end of each GESTALT arc to the goal. In the voting process, Field D* arc votes supplant GESTALT goal-seeking arc votes. Hazard avoidance, steering bias, and Field D* votes are merged and the rover is driven a preset distance along the arc with the highest vote. Then new images are acquired and the process as described is repeated until the goal is reached. This new technology allows the rovers to autonomously navigate around much more complex obstacle arrangements than was previously possible. In addition, this improved autonomy enables longer traverses per Sol (a day on Mars), and can make planning drives easier for operators on Earth.

Stentz, Anthony↗
NASA NTRS2010

Single sensor processing to obtain high resolution color component signals

A method for generating color video signals representative of color images of a scene includes the following steps: focusing light from the scene on an electronic image sensor via a filter having a tri-color filter pattern; producing, from outputs of the sensor, first and second relatively low resolution luminance signals; producing, from outputs of the sensor, a relatively high resolution luminance signal; producing, from a ratio of the relatively high resolution luminance signal to the first relatively low resolution luminance signal, a high band luminance component signal; producing, from outputs of the sensor, relatively low resolution color component signals; and combining each of the relatively low resolution color component signals with the high band luminance component signal to obtain relatively high resolution color component signals.

Glenn, William E.↗
NASA NTRS2011

Single-Frame Terrain Mapping Software for Robotic Vehicles

This software is a component in an unmanned ground vehicle (UGV) perception system that builds compact, single-frame terrain maps for distribution to other systems, such as a world model or an operator control unit, over a local area network (LAN). Each cell in the map encodes an elevation value, terrain classification, object classification, terrain traversability, terrain roughness, and a confidence value into four bytes of memory. The input to this software component is a range image (from a lidar or stereo vision system), and optionally a terrain classification image and an object classification image, both registered to the range image. The single-frame terrain map generates estimates of the support surface elevation, ground cover elevation, and minimum canopy elevation; generates terrain traversability cost; detects low overhangs and high-density obstacles; and can perform geometry-based terrain classification (ground, ground cover, unknown). A new origin is automatically selected for each single-frame terrain map in global coordinates such that it coincides with the corner of a world map cell. That way, single-frame terrain maps correctly line up with the world map, facilitating the merging of map data into the world map. Instead of using 32 bits to store the floating-point elevation for a map cell, the vehicle elevation is assigned to the map origin elevation and reports the change in elevation (from the origin elevation) in terms of the number of discrete steps. The single-frame terrain map elevation resolution is 2 cm. At that resolution, terrain elevation from 20.5 to 20.5 m (with respect to the vehicle's elevation) is encoded into 11 bits. For each four-byte map cell, bits are assigned to encode elevation, terrain roughness, terrain classification, object classification, terrain traversability cost, and a confidence value. The vehicle s current position and orientation, the map origin, and the map cell resolution are all included in a header for each map. The map is compressed into a vector prior to delivery to another system.

Rankin, Arturo L.↗
NASA NTRS2014

The Normalization of Surface Anisotropy Effects Present in SEVIRI Reflectances by Using the MODIS BRDF Method

A modified version of the MODerate resolution Imaging Spectroradiometer (MODIS) bidirectional reflectance distribution function (BRDF) algorithm is presented for use in the angular normalization of surface reflectance data gathered by the Spinning Enhanced Visible and InfraRed Imager (SEVIRI) aboard the geostationary Meteosat Second Generation (MSG) satellites. We present early and provisional daily nadir BRDFadjusted reflectance (NBAR) data in the visible and near-infrared MSG channels. These utilize the high temporal resolution of MSG to produce BRDF retrievals with a greatly reduced acquisition period than the comparable MODIS products while, at the same time, removing many of the angular perturbations present within the original MSG data. The NBAR data are validated against reflectance data from the MODIS instrument and in situ data gathered at a field location in Africa throughout 2008. It is found that the MSG retrievals are stable and are of high-quality across much of the SEVIRI disk while maintaining a higher temporal resolution than the MODIS BRDF products. However, a number of circumstances are discovered whereby the BRDF model is unable to function correctly with the SEVIRI observations-primarily because of an insufficient spread of angular data due to the fixed sensor location or localized cloud contamination.

SEVIRI↗
NASA NTRS2013

Mobile In Vivo Infrared Data Collection and Diagnoses Comparison System

Described is a mobile in vivo infrared brain scan and analysis system. The system includes a data collection subsystem and a data analysis subsystem. The data collection subsystem is a helmet with a plurality of infrared (IR) thermometer probes. Each of the IR thermometer probes includes an IR photodetector capable of detecting IR radiation generated by evoked potentials within a user's skull. The helmet is formed to collect brain data that is reflective of firing neurons in a mobile subject and transmit the brain data to the data analysis subsystem. The data analysis subsystem is configured to generate and display a three-dimensional image that depicts a location of the firing neurons. The data analysis subsystem is also configured to compare the brain data against a library of brain data to detect an anomaly in the brain data, and notify a user of any detected anomaly in the brain data.

Mintz, Frederick W.↗
NASA NTRS2019

First Provisional Land Surface Reflectance Product from Geostationary Satellite Himawari-8 AHI

A provisional surface reflectance (SR) product from the Advanced Himawari Imager (AHI) on-board the new generation geostationary satellite (Himawari-8) covering the period between July 2015 and December 2018 is made available to the scientific community. The Multi-Angle Implementation of Atmospheric Correction (MAIAC) algorithm is used in conjunction with time series Himawari-8 AHI observations to generate 1-km gridded and tiled land SR every 10 minutes during day time. This Himawari-8 AHI SR product includes retrieved atmospheric properties (e.g., aerosol optical depth at 0.47μm and 0.51μm), spectral surface reflectance (AHI bands 1–6), parameters of the RTLS BRDF model, and quality assurance flags. Product evaluation shows that Himawari-8 AHI data on average yielded 35% more cloud-free, valid pixels in a single day when compared to available data from the low earth orbit (LEO) satellites Terra/Aqua with MODIS sensor. Comparisons of Himawari-8 AHI SR against corresponding MODIS SR products (MCD19A1) over a variety of land cover types with the similar viewing geometry show high consistency between them, with correlation coefficients (r) being 0.94 and 0.99 for red and NIR bands, respectively. The high-frequency geostationary data are expected to facilitate studies of ecosystems on daily to diurnal time scales, complementing observations from networks such as the FLUXNET.

Himawari-8 AHI↗
NASA NTRSDate not supplied

The Next Generation of Lightning Mapping

With the removal of the Lightning Imaging Sensor from the International Space Station, a gap has opened in lightning observation from low-Earth orbit. The CubeSpark mission concept aims to fill this role using a constellation of satellites with radio frequency (RF) sensors and bi-spectral optical imagers to observe lightning flashes more completely and with better resolution than is currently possible from space. In this study, we assess the feasibility of multiple methods of not only mapping lightning locations, but also inferring 3D flash and charge structures. This is done primarily by simulating lightning emissions in the very high frequency (VHF) band, modeling their propagation to orbital sensors, and reconstructing their locations using time-of-arrival (TOA) minimization algorithms. Constellation shape, number, and atmospheric conditions are varied in order to quantify the three main sources of geolocation error: geometric, ionospheric, and instrumental effects. The promising results presented here demonstrate 3D resolution better than 1-2 km in many cases, enabling new applications in meteorology and climate sciences.

CubeSpark↗
NASA NTRS1995

Model-based VQ for image data archival, retrieval and distribution

An ideal image compression technique for image data archival, retrieval and distribution would be one with the asymmetrical computational requirements of Vector Quantization (VQ), but without the complications arising from VQ codebooks. Codebook generation and maintenance are stumbling blocks which have limited the use of VQ as a practical image compression algorithm. Model-based VQ (MVQ), a variant of VQ described here, has the computational properties of VQ but does not require explicit codebooks. The codebooks are internally generated using mean removed error and Human Visual System (HVS) models. The error model assumed is the Laplacian distribution with mean, lambda-computed from a sample of the input image. A Laplacian distribution with mean, lambda, is generated with uniform random number generator. These random numbers are grouped into vectors. These vectors are further conditioned to make them perceptually meaningful by filtering the DCT coefficients from each vector. The DCT coefficients are filtered by multiplying by a weight matrix that is found to be optimal for human perception. The inverse DCT is performed to produce the conditioned vectors for the codebook. The only image dependent parameter used in the generation of codebook is the mean, lambda, that is included in the coded file to repeat the codebook generation process for decoding.

Manohar, Mareboyana↗
NASA NTRS2000

Mapping Land Cover Types in Amazon Basin Using 1km JERS-1 Mosaic

In this paper, the 100 meter JERS-1 Amazon mosaic image was used in a new classifier to generate a I km resolution land cover map. The inputs to the classifier were 1 km resolution mean backscatter and seven first order texture measures derived from the 100 m data by using a 10 x 10 independent sampling window. The classification approach included two interdependent stages: 1) a supervised maximum a posteriori Bayesian approach to classify the mean backscatter image into 5 general land cover categories of forest, savannah, inundated, white sand, and anthropogenic vegetation classes, and 2) a texture measure decision rule approach to further discriminate subcategory classes based on taxonomic information and biomass levels. Fourteen classes were successfully separated at 1 km scale. The results were verified by examining the accuracy of the approach by comparison with the IBGE and the AVHRR 1 km resolution land cover maps.

Saatchi, Sassan S.↗
NASA NTRSDate not supplied

Tools for Performing SBG hyperspectral Observing System Simulation Experiment

One of NASA’s Decadal Survey mission, Surface Biology and Geology (SBG), will include a hyperspectral remote sensing imager, which has a very high spatial resolution and a wide spectral coverage (from UV to Near IR). Unprecedented large data volumes will be generated by the SBG hyperspectral instrument. Before the launch of the new satellite, an Observing System Simulation Experiment (OSSE) can be used to study different designs of the new satellite system. One of the key components in an OSSE study is a radiative transfer model (RTM) or forward model. In this presentation, we will describe a Principal Component-based Radiative Transfer Model (PCRTM) which is capable of simulating atmospheric (TOA) radiance or reflectance spectra from far IR to visible and UV spectral regions (50 wavenumber to 30000 wavenumber) quickly and accurately. Multiple scattering from multiple layers of clouds/aerosols are included in the model. The PCRTM has a very good accuracy relative to reference line-by-line radiative transfer models (LBLRTM), and it saves 3-4 orders of magnitude computational time relative to LBLRTM or MODTRAN. The PCRTM model has been successfully used to analyze large volumes of data from hyperspectral sensors such as AIRS, CrIS, and IASI. It has also been used to perform OSSE studies for the Climate Absolute Radiance and Refractivity Observatory (CLARREO) mission. Another useful tool for the OSSE is surface Bidirectional Reflectance Distribution Function (BRDF) database. It is very crucial for the SBG OSSE to include realistic BRDF spectra. Currently, most of the surface reflectance spectra such as those in the ECOSIS and ECOSTRESS are measured at specific observation geometries. We have developed a hyperspectral bidirectional reflectance (HSBR) model which combines Ross-Li BRDF model with the existing reflectance spectral libraries using a principal component analysis. This HSBR model can provide realistic BRDF spectra under various observation conditions. It can also be used to generate realistic BRDF spectra using measurements from multi-band imagers or spectrometers such as MODIS or VIIRS.

Xu Liu↗
NASA NTRS1992

JPL activities on development of acousto-optic tunable filter imaging spectrometer

Recent activities of JPL in the development of a new type of imaging spectrometers for earth observation and planetary exploration are reported. This instrument uses the acousto-optic tunable filter (AOTF) as high resolution and fast programmable bandpass filter. AOTF operates in the principle of acousto-optic interaction in an anisotropic medium. This filter can be tuned in sequential, random, and multiwavelength access modes, providing observational flexibility. The diffraction process in the filter generates two diffracted monochromatic beams with polarization orthogonal to each other, creating a unique capability to measure both polarimetric and spectral properties of the incoming light simultaneously with a single instrument. The device gives wide wavelength operations with reasonably large throughput. In addition, it is in a compact solid-state structure without moving parts, providing system reliability. These attractive features give promising opportunities to develop a new generation of airborne/spaceborne and ground, real-time, imaging spectrometer systems for remote sensing applications.

Cheng, Li-Jen↗
NASA NTRSDate not supplied

Reconstructing Subgrid Cloud Variability Guided by CloudSat/CALIPSO Observations

Predicting realistic cloud subgrid variability remains a challenge for Global Climate Models (GCMs) even though it can play an important role for proper representation of processes pertaining to cloud microphysics, precipitation, and radiation, but also for comparisons with satellite observations which are of much higher resolution than model grids. The diagnostic approach of subgrid cloud variability is commonly handled by subcolumn cloud generators. For a specific GCM, one ideally wants the subgrid variability used for comparisons with satellite observations to be created by the same generator and with the same rules as the one used for model integration. With this in mind, we have embarked in an effort to test and improve cloud subcolumn generators appropriate for GCMs. For this purpose, we use cloud (hydrometeor) products from active observations by the CloudSat radar (CPR) and the CALIPSO lidar (CALIOP). Cloud products from active sensors while suffering significant sampling and coverage drawbacks have the advantage of resolving both horizontal and vertical variability. The main question is: given a profile of cloud condensate mean and variance, can we create a subgrid cloud field that is statistically similar to the observed subgrid cloud field? By “statistically”, we suggest that we do not aspire to reproduce “well” each individual subgrid cloud field of a GCM-scale region, but that our generator performs well for a large ensemble of cases. We simulate radar, passive imager, and radiation flux fields from the observed 2D cloud fields and create one-point statistics; we use the profiles of cloud condensate mean and variance as input to the generator to create subgrid cloud fields; we compare the statistics; we adjust the rules of the generator to create the best possible agreement between the radar, imager and radiation field statistics. In this process, the active observations have actually a dual role: they provide the actual subgrid cloud field which can be reduced to a profile of mean and variance used by the subcolumn generator, but they also provide the rules needed by the generator, such as measures (e.g, decorrelation length) of the vertical overlap of cloud fraction and of the condensate horizontal variability. This presentation will show our progress using Cloudsat and CALIPSO products in this dual fashion.

cloud↗
NASA NTRSDate not supplied

Reconstructing Subgrid Cloud Variability Guided by CloudSat/CALIPSO Observations

Predicting realistic cloud subgrid variability remains a challenge for Global Climate Models (GCMs) even though it can play an important role for proper representation of processes pertaining to cloud microphysics, precipitation, and radiation, but also for comparisons with satellite observations which are of much higher resolution than model grids. The diagnostic approach of subgrid cloud variability is commonly handled by subcolumn cloud generators. For a specific GCM, one ideally wants the subgrid variability used for comparisons with satellite observations to be created by the same generator and with the same rules as the one used for model integration. With this in mind, we have embarked in an effort to test and improve cloud subcolumn generators appropriate for GCMs. For this purpose, we use cloud (hydrometeor) products from active observations by the CloudSat radar (CPR) and the CALIPSO lidar (CALIOP). Cloud products from active sensors while suffering signi􀂦cant sampling and coverage drawbacks have the advantage of resolving both horizontal and vertical variability. The main question is: given a profile of cloud condensate mean and variance, can we create a subgrid cloud field that is statistically similar to the observed subgrid cloud field? By “statistically”, we suggest that we do not aspire to reproduce “well” each individual subgrid cloud field of a GCM-scale region, but that our generator performs well for a large ensemble of cases. We simulate radar, passive imager, and radiation flux fields from the observed 2D cloud fields and create one-point statistics; we use the profiles of cloud condensate mean and variance as input to the generator to create subgrid cloud fields; we compare the statistics; we adjust the rules of the generator to create the best possible agreement between the radar, imager and radiation field statistics. In this process, the active observations have actually a dual role: they provide the actual subgrid cloud field which can be reduced to a profile of mean and variance used by the subcolumn generator, but they also provide the rules needed by the generator, such as measures (e.g, decorrelation length) of the vertical overlap of cloud fraction and of the condensate horizontal variability. This presentation will show our progress using Cloudsat and CALIPSO products in this dual fashion.

clouds↗
NASA NTRS2012

MER Telemetry Processor

MERTELEMPROC processes telemetered data in data product format and generates Experiment Data Records (EDRs) for many instruments (HAZCAM, NAVCAM, PANCAM, microscopic imager, Moessbauer spectrometer, APXS, RAT, and EDLCAM) on the Mars Exploration Rover (MER). If the data is compressed, then MERTELEMPROC decompresses the data with an appropriate decompression algorithm. There are two compression algorithms (ICER and LOCO) used in MER. This program fulfills a MER specific need to generate Level 1 products within a 60-second time requirement. EDRs generated by this program are used by merinverter, marscahv, marsrad, and marsjplstereo to generate higher-level products for the mission operations. MERTELEPROC was the first GDS program to process the data product. Metadata of the data product is in XML format. The software allows user-configurable input parameters, per-product processing (not streambased processing), and fail-over is allowed if the leading image header is corrupted. It is used within the MER automated pipeline. MERTELEMPROC is part of the OPGS (Operational Product Generation Subsystem) automated pipeline, which analyzes images returned by in situ spacecraft and creates level 1 products to assist in operations, science, and outreach.

Lee, Hyun H.↗
NASA NTRS1980

Surface relief structures for multiple beam LO generation

Linear and binary holograms for use in heterodyne detection with 10.6 micron imaging arrays are described. The devices match the amplitude and phase of the local oscillator to the received signal and thus maximize the system signal to noise ratio and resolution and minimize heat generation on the focal plane. In both the linear and binary approaches, the holographic surface-relief pattern is coded to generate a set of local oscillator beams when the relief pattern is illuminated by a single planewave. Each beam of this set has the same amplitude shape distribution as, and is collinear with, each single element wavefront illuminating array.

Veldkamp, W. B.↗
NASA NTRS1992

HST image restoration: A comparison of pre- and post-servicing mission results

A variety of image restoration techniques (e.g., Wiener filter, Lucy-Richardson, MEM) have been applied quite successfully to the aberrated HST images. The HST servicing mission (scheduled for late 1993 or early 1994) will install a corrective optics system (COSTAR) for the Faint Object Camera and spectrographs and replace the Wide Field/Planetary Camera with a second generation instrument (WF/PC-II) having its own corrective elements. The image quality is expected to be improved substantially with these new instruments. What then is the role of image restoration for the HST in the long term? Through a series of numerical experiments using model point-spread functions for both aberrated and unaberrated optics, we find that substantial improvements in image resolution can be obtained for post-servicing mission data using the same or similar algorithms as being employed now to correct aberrated images. Included in our investigations are studies of the photometric integrity of the restoration algorithms and explicit models for HST pointing errors (spacecraft jitter).

Hanisch, R. J.↗
NASA NTRS2016

An Integral Field Spectrograph Utilizing Mirrorlet Arrays

An integral field spectrograph (IFS) has been developed that utilizes a new and novel optical design to observe two spatial dimensions simultaneously with one spectral dimension. This design employs an optical 2-D array of reflecting and focusing mirrorlets. This mirrorlet array is placed at the imaging plane of the front-end telescope to generate a 2-D array of tiny spots replacing what would be the slit in a traditional slit spectrometer design. After the mirrorlet in the optical path, a grating on a concave mirror surface will image the spot array and provide high-resolution spectrum for each spatial element at the same time; therefore, the IFS simultaneously obtains the 3-D data cube of two spatial and one spectral dimensions. The new mirrorlet technology is currently in-house and undergoing laboratory testing at NASA Goddard Space Flight Center. Section 1 describes traditional classes of instruments that are used in Heliophysics missions and a quick introduction to the new IFS design. Section 2 discusses the details of the most generic mirrorlet IFS, while section 3 presents test results of a lab-based instrument. An example application to a Heliophysics mission to study solar eruptive events in extreme ultraviolet wavelengths is presented in section 4 that has high spatial resolution (0.5 arc sec pixels) in the two spatial dimensions and high spectral resolution (66 m) across a 15 spectral window. Section 4 also concludes with some other optical variations that could be employed on the more basic IFS for further capabilities of this type of instrument.

Chamberlin, Phillip C.↗
NASA NTRS1982

The periodic variation of spokes in Saturn's rings

The discovery of a periodic variation in spoke activity in Saturn's rings from the analysis of Voyager images is reported. A Fourier power spectrum was computed using a data set generated by quantifying spoke activity observed on the morning (western) half of the rings in Voyager images spanning 5.5 days (about 12 Saturn rotations). A peak approximately 14 sigma above the noise in the frequency domain was found at a period of 621 + or - 22 min. Within the formal error, this value is consistent with the 639.4-min rotation period of Saturn's magnetic field. Maximum spoke activity is most likely to be observed on the morning half of the rings when a particular magnetic field sector coincides with this area. This magnetic sector contains the region which is aligned with local noon at the time of the emission of the SKR (Saturn kilometric radiation). These results suggest that the fundamental period of spoke variation is that of Saturn's magnetic field, and that spoke activity is associated with the region of the field which gives rise to the SKR. Passage of this region through Saturn's shadow may play a significant role in the creation and/or rejuvenation of spokes.

Porco, C. C.↗