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Image based tracking approaches to AR/C at the Johnson Space Center
Automated Rendezvous and Capture (AR&C) requires the determination of the six degrees of freedom relating two free bodies. Sensor systems that can provide such information have varying sizes, weights, power requirements, complexities and accuracies. One type of sensor system which can provide several key advantages is an image based tracking system, or better known as a machine vision system. By image based tracking we mean that the sensor is some imaging device such as one or more video cameras, from which the tracking parameters necessary to support the rendezvous and capture operations (range, attitude, etc.) can be derived. Image based tracking offers many advantages such as relative hardware simplicity and reprogrammability. These advantages must be weighed against the disadvantages of these systems, such as limited operational range, poorer accuracy at greater distances and sensitivity to lighting conditions. However, with properly designed algorithms and targets these disadvantages can be minimized for many important applications. Rigorous testing in realistic environments can further increase the robustness and reliability of these systems. This presentation describes the facilities used at JSC to support AR&C image based tracking development and the details of our binocular stereo approach to image based tracking.
A Trilateration Scheme for Relative Positioning
We introduce a trilateration scheme that evaluates the 3-dimensional (3-D) relative position between a reference spacecraft and a target spacecraft using raw-range measurements from a distance baseline of known locations, which we call “anchors”. The anchors can be antennas of a ground-based network (e.g., Deep Space Network (DSN) or Near Earth Network (NEN) stations), or satellites of a spacebased network (e.g., global positioning system (GPS) or tracking and data relay satellite (TDRS)). We define raw-range as the range that includes all the systematic errors that occur during range measurements. A unique feature of this approach is that accurate relative position is derived from a “differencing function” of raw-range measurements of the reference spacecraft and target spacecraft, thereby eliminating most of the systematic errors, such as media effects, ephemeris errors, instrument delays, clock bias, etc. There can be an arbitrary number of target spacecraft, and relative positioning of target spacecraft with respect to the reference spacecraft can be done simultaneously. In this paper, we first assume an idealized system in which clocks on the reference and target spacecraft are synchronized, with clocks of the anchors synchronized as well. We develop a novel iterative algorithm that computes the relative position of the target spacecraft with respect to the reference spacecraft. We illustrate the relative positioning method using the scenario of a network of three ground stations (i.e., the anchors) at Goldstone, California, USA, Madrid, Spain, and Marlargue, Argentina tracking two spacecraft at geosynchronous orbit distance. We demonstrate that the algorithm converges to submeter accuracy in estimating the relative position, in the presence of random errors and systematic errors in raw-range measurements, and in the presence of angular errors in estimating the pointing vectors between the anchors and the reference spacecraft. Next, we relax the requirement of perfect time synchronization between spacecraft, and show that by using an additional anchor, one can estimate and remove the clock biases between the reference and target spacecraft. We add a ground station at Kourou to the above example of three ground stations of Goldstone, Madrid, and Marlargue, and demonstrate that the updated algorithm also converges to meter-level accuracy (submeter in some cases) in the presence of clock biases in addition to the random errors, systematic errors, and angular errors as shown in the above case. We compare this scheme with a similar trilateration scheme for relative positioning scheme first proposed by Montenbruck in 2002.
Quantitative stable isotope probing (qSIP)-informed metagenomics identifies viruses infecting chemoautotrophs
Aquatic environments absorb ~2.5 gigatonnes of atmospheric carbon each year1, more than the carbon stored in the atmosphere, soils, and all biomass combined. Primary producers transform this dissolved inorganic carbon into biomass that can subsequently flow into other trophic levels, or be released back into the environment through viral lysis. While there is substantial knowledge about the diversity and activity of viruses infecting photoautotrophic primary producers and the ecosystem impact, little is known about viruses infecting chemoautotrophs, representing a gap in our understanding of key processes driving microbial carbon cycling. Here, we combine metagenomics with quantitative 12/13C stable isotopic probing (qSIP) mesocosm experiments in a marine-derived meromictic pond to quantify population-specific isotopic enrichment, identify key chemoautotrophic primary producers, and virus-host dynamics. Isotopically enriched carbon is tracked from the genomes of chemoautotrophs to putative viruses, showing that active populations of hydrogen/sulfur-oxidizing chemoautotrophs (Thiomicrorhabdus, Hydrogenovibrio, Sulfurimonas, Sulfurovum) are targeted by viruses. This work provides the foundation for revealing the diversity and activity of viruses infecting globally-widespread chemoautotrophs. Our study sheds light on trophic interactions that impact microbial carbon cycling in aphotic environments and builds toward biogeochemical models that incorporate viral impacts on chemoautotrophic microbial communities.
Search for long-lived, massive particles in events with displaced vertices and missing transverse momentum in s = 13 TeV p p collisions with the ATLAS detector
A search for long-lived, massive particles predicted by many theories beyond the Standard Model is presented. Here, the search targets final states with large missing transverse momentum and at least one high-mass displaced vertex with five or more tracks, and uses 32.8 fb -1 of $\sqrt s = 13$ TeV pp collision data collected by the ATLAS detector at the LHC. The observed yield is consistent with the expected background. The results are used to extract 95% C.L. exclusion limits on the production of long-lived gluinos with masses up to 2.37 TeV and lifetimes of O (10 - 2 ) - O (10) ns in a simplified model inspired by split supersymmetry.
Fan-beam intensity modulated proton therapy
Purpose: This paper presents a concept for a proton therapy system capable of delivering intensity modulated proton therapy using a fan beam of protons. This system would allow present and future gantry-based facilities to deliver state-of-the-art proton therapy with the greater normal tissue sparing made possible by intensity modulation techniques.Methods: A method for producing a divergent fan beam of protons using a pair of electromagnetic quadrupoles is described and particle transport through the quadrupole doublet is simulated using a commercially available software package. To manipulate the fan beam of protons, a modulation device is developed. This modulator inserts or retracts acrylic leaves of varying thickness from subsections of the fan beam. Each subsection, or beam channel, creates what effectively becomes a beam spot within the fan area. Each channel is able to provide 0–255 mm of range shift for its associated beam spot, or stop the beam and act as an intensity modulator. Results of particle transport simulations through the quadrupole system are incorporated into the MCNPX Monte Carlo transport code along with a model of the range and intensity modulation device. Several design parameters were investigated and optimized, culminating in the ability to create topotherapy treatment plans using distal-edge tracking on both phantom and patient datasets.Results: Beam transport calculations show that a pair of electromagnetic quadrupoles can be used to create a divergent fan beam of 200 MeV protons over a distance of 2.1 m. The quadrupole lengths were 30 and 48 cm, respectively, with transverse field gradients less than 20 T/m, which is within the range of water-cooled magnets for the quadrupole radii used. MCNPX simulations of topotherapy treatment plans suggest that, when using the distal edge tracking delivery method, many delivery angles are more important than insisting on narrow beam channel widths in order to obtain conformal target coverage. Overall, the sharp distal falloff of a proton depth-dose distribution was found to provide sufficient control over the dose distribution to meet objectives, even with coarse lateral resolution and channel widths as large as 2 cm. Treatment plans on both phantom and patient data show that dose conformity suffers when treatments are delivered from less than approximately ten angles. Treatment time for a sample prostate delivery is estimated to be on the order of 10 min, and neutron production is estimated to be comparable to that found for existing collimated systems.Conclusions: Fan beam proton therapy is a method of delivering intensity modulated proton therapy which may be employed as an alternative to magnetic scanning systems. A fan beam of protons can be created by a set of quadrupole magnets and modified by a dual-purpose range and intensity modulator. This can be used to deliver inversely planned treatments, with spot intensities optimized to meet user defined dose objectives. Additionally, the ability of a fan beam delivery system to effectively treat multiple beam spots simultaneously may provide advantages as compared to spot scanning deliveries.
TH-E-BRF-11: Dynamic Treatment of Clinical Margins Beyond the PET-Avid Target in Emission Guided Radiation Therapy: A Retrospective Patient Study
Purpose: Emission guided radiation therapy (EGRT) is a new modality that uses PET emissions for direct real-time tumor tracking. Radiation beamlets are delivered along PET lines of response (LOR's) by a fast rotating PET-Linac closed ring gantry. In this work, we develop a scheme to treat clinical margins defined proximal to the moving PET-avid tumor, while maintaining EGRT's inherent real-time tracking ability. Methods: The principle of EGRT is to deliver radiation along PET emission paths to concentrate dose in the PET-avid gross tumor volume (GTV). To account for adjacent non- PET avid regions in the clinical volume (CTV) a method was developed that expands the set of radiation beamlet responses to include the effective margin extension from the GTV to the CTV. An LOR detection may now Result in multiple beamlet responses: one along the original LOR, and others that are adjacent to it in the direction of margin extension. Evaluation studies were performed on a 4D digital patient as well as a clinical breast cancer patient with moving lung tumors. Emission data were obtained using GATE and a commercial PET scanner. Dose delivery was simulated using VMC++. For the patient study, Philips Pinnacle was used for planning and Mirada RTx was used for deformable dose registration across multiple breathing phases. Results: Compared with IMRT, the EGRT margin extension method achieved a 25.3% and 9.0% relative increase in dose to 95% of the CTV for the digital and clinical patients, respectively. The corresponding CTV dose increases without margin extension were 9.7% and 1.4%. The organs at risk doses were kept similar or lower for EGRT in both cases, with tumor tracking preserved. Conclusions: With the capability of accurate treatment of the moving CTV, EGRT has the potential to enable a practical and effective implementation of 4D biologically guided radiation therapy. Authors SRM and AN are stockholders of RefleXion Medical.
SU-E-J-193: Application of Surface Mapping in Detecting Swallowing for Head-&-Neck Cancer
Purpose: Recent evidence is emerging that long term swallowing function may be improved after radiotherapy for head-&-neck cancer if doses are limited to certain swallowing structures. Immobilization of patients with head-&-neck cancer is typically done with a mask. This mask, however, doesn’t limit patient swallowing. Patient voluntary or involuntary swallowing may introduce significant tumor motion, which can lead to suboptimal delivery. In this study, we have examined the feasibility of using surface mapping technology to detect patient swallowing during treatment and evaluated its magnitude. Methods: The C-RAD Catalyst system was used to detect the patient surface map. A volunteer lying on the couch was used to simulate the patient under treatment. A virtual marker was placed near the throat and was used to monitor the swallowing action. The target motion calculated by the Catalyst system through deformable registration was also collected. Two treatment isocenters, one placed close to the throat and the other placed posterior to the base-of-tongue, were used to check the sensitivity of surface mapping technique. Results: When the patient’s throat is not in the shadow of the patient’s chest, the Catalyst system can clearly identify the swallowing motion. In our tests, the vertical motion of the skin can reach to about 5mm. The calculated target motion can reach up to 1 cm. The magnitude of this calculated target motion is more dramatic when the plan isocenter is closer to the skin surface, which suggests that the Catalyst motion tracking technique is more sensitive to the swallowing motion with a shallower isocenter. Conclusion: Surface mapping can clearly identify patient swallowing during radiation treatment. This information can be used to evaluate the dosimetric impact of the involuntary swallowing. It may also be used to potentially gate head-&-neck radiation treatments. A prospective IRB approved study is currently enrolling patients in our institution. Research was funded through an Elekta grant.
Study of a stereo electro-optical tracker system for the measurement of model deformations at the national transonic facility
An electro-optical method to measure the aeroelastic deformations of wind tunnel models is examined. The multitarget tracking performance of one of the two electronic cameras comprising the stereo pair is modeled and measured. The properties of the targets at the model, the camera optics, target illumination, number of targets, acquisition time, target velocities, and tracker performance are considered. The electronic camera system is shown to be capable of locating, measuring, and following the positions of 5 to 50 targets attached to the model at measuring rates up to 5000 targets per second.
Advances in image compression and automatic target recognition; Proceedings of the Meeting, Orlando, FL, Mar. 30, 31, 1989
Various papers on image compression and automatic target recognition are presented. Individual topics addressed include: target cluster detection in cluttered SAR imagery, model-based target recognition using laser radar imagery, Smart Sensor front-end processor for feature extraction of images, object attitude estimation and tracking from a single video sensor, symmetry detection in human vision, analysis of high resolution aerial images for object detection, obscured object recognition for an ATR application, neural networks for adaptive shape tracking, statistical mechanics and pattern recognition, detection of cylinders in aerial range images, moving object tracking using local windows, new transform method for image data compression, quad-tree product vector quantization of images, predictive trellis encoding of imagery, reduced generalized chain code for contour description, compact architecture for a real-time vision system, use of human visibility functions in segmentation coding, color texture analysis and synthesis using Gibbs random fields.
Advanced Communications Architecture Demonstration Made Significant Progress
Simulation for a ground station located at 44.5 deg latitude. The Advanced Communications Architecture Demonstration (ACAD) is a concept architecture to provide high-rate Ka-band (27-GHz) direct-to-ground delivery of payload data from the International Space Station. This new concept in delivering data from the space station targets scientific experiments that buffer data onboard. The concept design provides a method to augment the current downlink capability through the Tracking Data Relay Satellite System (TDRSS) Ku-band (15-GHz) communications system. The ACAD concept pushes the limits of technology in high-rate data communications for space-qualified systems. Research activities are ongoing in examining the various aspects of high-rate communications systems including: (1) link budget parametric analyses, (2) antenna configuration trade studies, (3) orbital simulations (see the preceding figure), (4) optimization of ground station contact time (see the following graph), (5) processor and storage architecture definition, and (6) protocol evaluations and dependencies.
Inland and Near Shore Water Profiles Derived from the High Altitude Multiple Altimeter Beam Experimental Lidar (MABEL)
The Advanced Topographic Laser Altimeter System (ATLAS) on the Ice, Cloud, and Land Elevation Satellite (ICESat-2) mission is a six beam, low energy, high repetition rate, 532 nm laser transmitter with photon counting detectors. Although designed primarily for detecting height changes in icecaps, sea ice and vegetation, the polar-orbital satellite will observe global surface water during its designed three year life span, including inland water bodies, coasts, and open oceans. In preparation for the mission, an ICESat-2 prototype or the Multiple Altimeter Beam Experimental Lidar (MABEL), was built and flown on high altitude aircraft experiments over a range of inland and near-shore targets. The purpose was to test the ATLAS concept and to provide a database for developing an algorithm that detects along track surface water height and light penetration under a range of atmospheric and water conditions. The current analysis examines the datasets of three MABEL transects observed from 20 km above ground of coastal and inland waters conducted in 2012 and 2013. Transects ranged from about 2 to 12 km in length and included the middle Chesapeake Bay, the near shore Atlantic coast at Virginia Beach, and Lake Mead. Results indicate MABEL's high capability for retrieving surface water height statistics with a mean height precision of approximately 5-7 cm per 100m segment length. Profiles of attenuated subsurface backscatter, characterized using a Signal to Background Ratio written in Log10 base, or LSBR0, were observed over a range of 1.3 to 9.3 meters depending on water clarity and atmospheric background. Results indicate that observable penetration depth, although primarily dependent on water properties, was greatest when solar background rate was low. Near shore bottom reflectance was detected only at the Lake Mead site down to maximum of 10 m under a clear night sky and low turbidity of approximately 1.6 Nephelometric Turbidity Units (NTU). The overall results suggest that the feasibility of retrieving operational surface water height statistics from space-based photon counting systems such as ATLAS is very high for resolutions down to about 100m, even in partly cloudy conditions. The capability to observe subsurface backscatter profiles is achievable but requires much longer transects of several hundreds of meters.
Inland and Near-Shore Water Profiles Derived from the High-Altitude Multiple Altimeter Beam Experimental Lidar (MABEL)
The Advanced Topographic Laser Altimeter System (ATLAS) on the Ice, Cloud, and Land Elevation Satellite (ICESat-2) mission is a six beam, low energy, high repetition rate, 532-nanometer laser transmitter with photon counting detectors. Although designed primarily for detecting height changes in ice caps, sea ice, and vegetation, the polar-orbiting satellite will observe global surface water during its designed three-year life span, including inland waterbodies, coasts, and open oceans. In preparation for the mission, an ICESat-2 prototype, the Multiple Altimeter Beam Experimental Lidar (MABEL), was built and flown on high-altitude aircraft experiments over a range of inland and near-shore targets. The purpose was to test the ATLAS concept and to provide a database for developing an algorithm that detects along track surface water height and light penetration under a range of atmospheric and water conditions. The current analysis examines the data sets of three MABEL transects observed from 20 kilometers above ground of coastal and inland waters conducted in 2012 and 2013. Transects ranged from about 2 to 12 kilometers in length and included the middle Chesapeake Bay, the near-shore Atlantic coast at Virginia Beach, and Lake Mead. Results indicate MABEL's high capability for retrieving surface water height statistics with a mean height precision ofapproximately 5-7 centimeters per 100-meter segment length. Profiles of attenuated subsurface backscatter, characterized using a Signal to Background Ratio written in Log10 base, or LSBR (sub 0), were observed over a range of 1.3 to 9.3 meters, depending on water clarity and atmospheric background. Results indicate that observable penetration depth, although primarily dependent on water properties, was greatest when the solar background rate was low. Near-shore bottom reflectance was detected only at the Lake Mead site down to a maximum of 10 meters under a clear night sky and low turbidity of approximately 1.6 Nephelometric Turbidity Units (NTU). The overall results suggest that the feasibility of retrieving operational surface water height statistics from space-based photon counting systems such as ATLAS is very high for resolutions down to about 100 meters, even in partly cloudy conditions. The capability to observe subsurface backscatterprofiles is achievable but requires much longer transects of several hundreds of meters.
Simultaneous Localization and Mapping for Satellite Rendezvous and Proximity Operations Using Random Finite Sets
Future space missions require that spacecraft have the capability to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current relative navigation filters can have difficulty in these situations, diverging due to complications with data association, high measurement uncertainty, and clutter, particularly when detailed a priori maps of the target object or spacecraft do not exist. The goal of this work is to demonstrate the feasibility of random finite set (RFS) filters for spacecraft relative navigation and pose estimation. The approach is to formulate satellite relative navigation and pose estimation as a simultaneous localization and mapping (SLAM) problem, in which an observer spacecraft seeks to simultaneously estimate the location of features on a target object or spacecraft as well as its relative position, velocity and attitude. This work utilizes a filter developed using the framework of RFS which are well suited to multi-target SLAM operations, avoiding data association entirely. Relevant RPO scenarios with simulated flash LIDAR measurements are tested with a Probability Hypothesis Density (PHD) RFS filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer. Preliminary results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario with no a priori map of the target. These results demonstrate the feasibility of RFS filtering for spacecraft relative navigation and motivate future studies which may expand to tracking space objects for space situational awareness, as well as relative navigation around small bodies.
Simultaneous Localization and Mapping for Satellite Rendezvous and Proximity Operations using Random Finite Sets
Future space missions require that spacecraft have the capability to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current relative navigation filters can have difficulty in these situations, diverging due to complications with data association, high measurement uncertainty, and clutter, particularly when detailed a priori maps of the target object or spacecraft do not exist. The goal of this work is to demonstrate the feasibility of random finite set (RFS) filters for spacecraft relative navigation and pose estimation. The approach is to formulate satellite relative navigation and pose estimation as a simultaneous localization and mapping (SLAM) problem, in which an observer spacecraft seeks to simultaneously estimate the location of features on a target object or spacecraft as well as its relative position, velocity and attitude. This work utilizes a filter developed using the framework of RFS which are well suited to multi-target SLAM operations, avoiding data association entirely. Relevant RPO scenarios with simulated flash LIDAR measurements are tested with a Probability Hypothesis Density (PHD) RFS filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer. Preliminary results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario with no a priori map of the target. These results demonstrate the feasibility of RFS filtering for spacecraft relative navigation and motivate future studies which may expand to tracking space objects for space situational awareness, as well as relative navigation around small bodies.
Impact of Radiation Quality on Microdosimetry Calculation
Microdosimetry consists of studying energy deposition events in irradiated targets of volume typically of the order of a cell. The probability density 𝑓(𝑧,𝐷) of energy deposition𝑧(specific energy) in a target, exposed to an irradiation dose 𝐷,can be used to correlate inhomogeneous energy deposition events at the micro-scale(track structure)with biological responses(e.g., cell injury)[1]. Microdosimetry studies allow a better understanding of basic mechanisms of the biological response, such as the origin of the increased biological effectiveness of high Linear Energy Transfer (LET) ions, partly responsible of radiation-exposure induced cancer risks of astronauts [2].
Orbit Determination of Hiten for Insertion into Lunar Orbit
This paper describes the JPL discovery of an integrated trajectory, and the tracking and orbit determination suuport provided by JPL's Deep Space Network and Multimission Navigation Team in support of the final targeting for lunar insertion.
Experimental Technique for Producing and Recording Precise Particle Impacts on Transparent Window Materials
A new facility for making small particle impacts is being developed at NASA. Current sand/particle impact facilities are an erosion test and do not precisely measure and document the size and velocity of each of the impacting particles. In addition, evidence of individual impacts is often obscured by subsequent impacts. This facility will allow the number, size, and velocity of each particle to be measured and adjusted. It will also be possible to determine which particle produced damage at a given location on the target. The particle size and velocity will be measured by high speed imaging techniques. Information as to the extent of damage and debris from impacts will also be recorded. It will be possible to track these secondary particles, measuring size and velocity. It is anticipated that this additional degree of detail will provide input for erosion models and also help determine the impact physics of the erosion process. Particle impacts will be recorded at 90 degrees to the particle flight path and also from the top looking through the target window material.