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DOE OSTI2023

High Dose Rate Irradiations of Enduray Vision System for Nuclear Inspections

Higher radiation-hardened video cameras are needed in the operation and remote handling of equipment in nuclear reactor inspection and refueling applications. Vega Wave Systems, Inc. has developed a radiation-hardened vision system for nuclear energy applications. This vision system has been developed under several small business innovative research programs (SBIRs) from the U.S. Department of Energy, and the previous GAIN voucher program at Argonne National Laboratory (ANL) was successful in demonstrating that a prototype of the camera is radiation-hard up to at least 525 kGy (5.25 × 106 rad, Si equivalent) at dose rates of 10 kGy/hr with no measurable degradation in image quality and no measurable radiation-induced noise (RIN). Vega Wave Systems has developed a new version of the camera with more than 3X the resolution using a new design and new components, and this new design requires radiation-hardness qualification for marketplace acceptance. The program described in this report provided high radiation-hardness testing of this redesigned high-resolution vision system using the Argonne Low-Energy Accelerator Facility (LEAF). This report presents the results of irradiation tests performed on Vega Wave System’s redesigned high resolution vision system at a dose rate of 9.3 kGy/hr and up to total doses of 1823 kGy. This was an accumulation of 197 hours of irradiation. The results were excellent, providing proof of the redesigned high-resolution vision system’s immunity to high levels of radiation.

42 ENGINEERING↗

DOE OSTI2016

SU-F-T-640: Feasibility of Using a Commercially Available Surface Guided Radiotherapy System with An Open-Face SRS Immobilization System

Purpose: To evaluate the inherent accuracy of using a surface guided radiotherapy system (SGRT) in the setup and monitoring of patients receiving stereotactic radiosurgery with an open-face SRS immobilization system. Methods: An anthropomorphic head phantom was set up using the Qfix Encompass SRS Immobilization System on a Varian Edge with OSMS and Varian TrueBeam with AlignRT. The phantom was positioned at 0° gantry and couch. A reference image was acquired using the SGRT system and an ROI was created over the mask opening. The couch and gantry were rotated to different combinations focusing on clinically used SRS gantry/couch combinations and those blocking the SGRT cameras. Perceived surface deviation by the SGRT system from the reference image was recorded. A Winston-Lutz test was performed on couch angles tested and used to exclude couch walkout. The deviation magnitude was calculated using translational values and rotational raw values were recorded. Results: The maximum couch walkouts were: 0.4mm (Edge) and 0.5mm (TB). Solely rotating the gantry resulted in a median couch deviation of 0.2mm and range of 0.1–0.3mm for both linacs. Only rotating the couch (0° gantry) resulted in median deviations of 0.6mm and 0.5mm with ranges of 0.3–1.0mm and 0.3–0.7mm for the Edge and TB, respectively. Combining gantry and couch rotations, the median deviations were 0.7mm and 0.9mm with ranges of 0.3–1.1mm and 0.2–1.9mm for the Edge and TB, respectively. Including all combinations, rotation, roll, and pitch median deviations ranged from 0.1–0.3° with pitch demonstrating consistently higher values and a maximum deviation of 1.0° (both linacs). Conclusion: SGRT is a reliable monitoring tool, though taking into account system fluctuations, 1mm is too restrictive a site tolerance to use with the Qfix Encompass mask. Gantry rotation has little effect on system fluctuation even with camera blockage, whereas couch rotation has a larger effect.

43 PARTICLE ACCELERATORS↗

NASA NTRS2010

Stereoscopic Machine-Vision System Using Projected Circles

A machine-vision system capable of detecting obstacles large enough to damage or trap a robotic vehicle is undergoing development. The system includes (1) a pattern generator that projects concentric circles of laser light forward onto the terrain, (2) a stereoscopic pair of cameras that are aimed forward to acquire images of the circles, (3) a frame grabber and digitizer for acquiring image data from the cameras, and (4) a single-board computer that processes the data. The system is being developed as a prototype of machine- vision systems to enable robotic vehicles ( rovers ) on remote planets to avoid craters, large rocks, and other terrain features that could capture or damage the vehicles. Potential terrestrial applications of systems like this one could include terrain mapping, collision avoidance, navigation of robotic vehicles, mining, and robotic rescue. This system is based partly on the same principles as those of a prior stereoscopic machine-vision system in which the cameras acquire images of a single stripe of laser light that is swept forward across the terrain. However, this system is designed to afford improvements over some of the undesirable features of the prior system, including the need for a pan-and-tilt mechanism to aim the laser to generate the swept stripe, ambiguities in interpretation of the single-stripe image, the time needed to sweep the stripe across the terrain and process the data from many images acquired during that time, and difficulty of calibration because of the narrowness of the stripe. In this system, the pattern generator does not contain any moving parts and need not be mounted on a pan-and-tilt mechanism: the pattern of concentric circles is projected steadily in the forward direction. The system calibrates itself by use of data acquired during projection of the concentric-circle pattern onto a known target representing flat ground. The calibration- target image data are stored in the computer memory for use as a template in processing terrain images. During operation on terrain, the images acquired by the left and right cameras are analyzed. The analysis includes (1) computation of the horizontal and vertical dimensions and the aspect ratios of rectangles that bound the circle images and (2) comparison of these aspect ratios with those of the template. Coordinates of distortions of the circles are used to identify and locate objects. If the analysis leads to identification of an object of significant size, then stereoscopicvision algorithms are used to estimate the distance to the object. The time taken in performing this analysis on a single pair of images acquired by the left and right cameras in this system is a fraction of the time taken in processing the many pairs of images acquired in a sweep of the laser stripe across the field of view in the prior system. The results of the analysis include data on sizes and shapes of, and distances and directions to, objects. Coordinates of objects are updated as the vehicle moves so that intelligent decisions regarding speed and direction can be made. The results of the analysis are utilized in a computational decision-making process that generates obstacle-avoidance data and feeds those data to the control system of the robotic vehicle.

Mackey, Jeffrey R.↗

NASA NTRS1991

Electro optical system to measure strains at high temperature

The goals of this proposal were to develop a prototype of an electro-optics system for the measurement of strains in structures at high temperatures and to perform a test under field conditions. In the research task section, the topics addressed include: (1) correction of the effect of vibrations and thermal currents by means of an active compensation system; (2) reduction of the speckle noise by means of electronic filter and TV signal reconstruction circuit; (4) compensation of the rigid body motions by mounting the camera in a universal motion system; and (5) removal of phase errors left by the active compensation system by dynamic reading. In the design and construction section, the topics addressed include: (1) preliminary design; (2) final design; (3) software development; (4) signal conditioning; (5) data processing; (6) recorrelation of two holograms in the presence of rigid body motions; and (7) phase extraction using a computer generated image. Testing in the high temperature oven is also addressed.

Sciammarella, Cesar A.↗

DOE OSTI2021

Spectrally resolved polarization angle across the motional Stark effect spectrum

A new diagnostic technique has been developed that couples a spectrometer and an image-intensified camera into the traditional motional Stark effect (MSE) system on DIII-D. The image-intensified camera syncs with the photo-elastic modulators to spectrally resolve the Stokes parameters across the Stark multiplet. Polarization dependent phase shift, likely from a plasma facing mirror, leads to the spectropolarimeter measuring a variation in the polarization angle across the MSE spectrum of ∼8°.

Victor, B. S. (ORCID:0000000212512922)↗

NASA NTRS2015

VUV Testing of Science Cameras at MSFC: QE Measurement of the CLASP Flight Cameras

The NASA Marshall Space Flight Center (MSFC) has developed a science camera suitable for sub-orbital missions for observations in the UV, EUV and soft X-ray. Six cameras were built and tested for the Chromospheric Lyman-Alpha Spectro-Polarimeter (CLASP), a joint National Astronomical Observatory of Japan (NAOJ) and MSFC sounding rocket mission. The CLASP camera design includes a frame-transfer e2v CCD57-10 512x512 detector, dual channel analog readout electronics and an internally mounted cold block. At the flight operating temperature of -20 C, the CLASP cameras achieved the low-noise performance requirements (less than or equal to 25 e- read noise and greater than or equal to 10 e-/sec/pix dark current), in addition to maintaining a stable gain of approximately equal to 2.0 e-/DN. The e2v CCD57-10 detectors were coated with Lumogen-E to improve quantum efficiency (QE) at the Lyman- wavelength. A vacuum ultra-violet (VUV) monochromator and a NIST calibrated photodiode were employed to measure the QE of each camera. Four flight-like cameras were tested in a high-vacuum chamber, which was configured to operate several tests intended to verify the QE, gain, read noise, dark current and residual non-linearity of the CCD. We present and discuss the QE measurements performed on the CLASP cameras. We also discuss the high-vacuum system outfitted for testing of UV and EUV science cameras at MSFC.

Champey, Patrick↗

NASA NTRS2015

VUV Testing of Science Cameras at MSFC: QE Measurement of the CLASP Flight Cameras

Camera↗

NASA NTRSDate not supplied

PACE OCI Short-Wave Infrared Detection Assembly Optical System Design, Alignment, and Environmental Test

The Ocean Color Instrument (OCI), which will be integrated with the Plankton, Aerosol, Cloud, ocean Ecosystem (PACE) satellite, will collect science data that will be used to monitor the health of Earth’s oceans and atmosphere. The Short-Wave Infrared (SWIR) Detection Assembly (SDA), built and characterized by Utah State University Space Dynamics Laboratory (SDL), is a subsystem of OCI consisting of 32 channels covering seven discrete optical bands of interest. A total of 16 SWIR Detection Subassemblies (SDSs) compose the SDA and house the cold optical system. The science data optical input for each SDS is supplied by a 0.22 NA multimode fiber interfacing with a fiber adapter. The diverging light from the fiber is collimated, split by a dichroic beamsplitter to two separate channels, filtered by the science filter, and then reimaged onto the single-element detectors with a final 0.76 NA. Aspheric, diamond-turned powered elements are used throughout the optical design. Fabrication and alignment tolerance analysis/budgets are balanced to ensure the optical system meets throughput requirements. All systems are aligned at ambient temperature using an InSb camera and an in-line illumination microscope system to directly image the active detector area through the science filters. Compensators used during alignment are detector focus and decenter, which are adjusted via photoetched shims in increments of 25 µm. Average focus and centering errors were less than 8 µm among all 32 flight and 10 flight spare detectors. Each SDS spectral response and conversion gain was verified at operational temperature of -65°C in vacuum.

OCI↗

NASA NTRS2017

Structured Light-Based Hazard Detection For Planetary Surface Navigation

This paper describes a structured light-based sensor for hazard avoidance in planetary environments. The system presented here can also be used in terrestrial applications constrained by reduced onboard power and computational complexity and low illumination conditions. The sensor is on a calibrated camera and laser dot projector system. The onboard hazard avoidance system determines the position of the projected dots in the image and through a triangulation process detects potential hazards. The paper presents the design parameters for this sensor and describes the image based solution for hazard avoidance. The system presented here was tested extensively in day and night conditions in Lunar analogue environments. The current system achieves over 97 detection rate with 1.7 false alarms over 2000 images.

Nefian, Ara↗

NASA NTRS1992

Development of a machine vision system for automated structural assembly

Research is being conducted at the LaRC to develop a telerobotic assembly system designed to construct large space truss structures. This research program was initiated within the past several years, and a ground-based test-bed was developed to evaluate and expand the state of the art. Test-bed operations currently use predetermined ('taught') points for truss structural assembly. Total dependence on the use of taught points for joint receptacle capture and strut installation is neither robust nor reliable enough for space operations. Therefore, a machine vision sensor guidance system is being developed to locate and guide the robot to a passive target mounted on the truss joint receptacle. The vision system hardware includes a miniature video camera, passive targets mounted on the joint receptacles, target illumination hardware, and an image processing system. Discrimination of the target from background clutter is accomplished through standard digital processing techniques. Once the target is identified, a pose estimation algorithm is invoked to determine the location, in three-dimensional space, of the target relative to the robots end-effector. Preliminary test results of the vision system in the Automated Structural Assembly Laboratory with a range of lighting and background conditions indicate that it is fully capable of successfully identifying joint receptacle targets throughout the required operational range. Controlled optical bench test results indicate that the system can also provide the pose estimation accuracy to define the target position.

Sydow, P. Daniel↗

NASA NTRS1995

Astronomy Software

Software Bisque's TheSky, SkyPro and Remote Astronomy Software incorporate technology developed for the Hubble Space Telescope. TheSky and SkyPro work together to orchestrate locating, identifying and acquiring images of deep sky objects. With all three systems, the user can directly control computer-driven telescopes and charge coupled device (CCD) cameras through serial ports. Through the systems, astronomers and students can remotely operate a telescope at the Mount Wilson Observatory Institute.

Source record↗

DOE OSTI2015

Visible wide angle view imaging system of KTM tokamak based on multielement image fiber bundle

In the paper, new visible wide angle view imaging system of KTM tokamak is described. The system has been designed to observe processes inside of plasma and the processes occurring due to plasma-wall interactions through the long equatorial port. Imaging system is designed based on special image fiber bundle and entrance wide angle lens, which provide image of large section of the vacuum chamber, both poloidal half-section and divertor through the sufficiently long equatorial port. The system also consists of two video cameras: slow and fast with image intensifier. Commercial equipment had been used in design of the system that allowed reducing the cost and time for research and development. The paper also discusses advantages and disadvantages of the system in comparison with conventional endoscopes based on a lens system and considers its promising utilization in future tokamaks and future steady state fusion reactors.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

NASA NTRS2015

Earth Observations from the International Space Station: Benefits for Humanity

The International Space Station (ISS) is a unique terrestrial remote sensing platform for observation of the Earth's land surface, oceans, and atmosphere. Unlike automated remote-sensing platforms it has a human crew; is equipped with both internal and externally-mounted active and passive remote sensing instruments; and has an inclined, low-Earth orbit that provides variable views and lighting (day and night) over 95 percent of the inhabited surface of the Earth. As such, it provides a useful complement to autonomous, sun-synchronous sensor systems in higher altitude polar orbits. Beginning in May 2012, NASA ISS sensor systems have been available to respond to requests for data through the International Charter, Space and Major Disasters, also known as the "International Disaster Charter" or IDC. Data from digital handheld cameras, multispectral, and hyperspectral imaging systems has been acquired in response to IDC activations and delivered to requesting agencies through the United States Geological Survey. The characteristics of the ISS for Earth observation will be presented, including past, current, and planned NASA, International Partner, and commercial remote sensing systems. The role and capabilities of the ISS for humanitarian benefit, specifically collection of remotely sensed disaster response data, will be discussed.

Stefanov, William L.↗

NASA NTRS2004

Solar-Powered Airplane with Cameras and WLAN

An experimental airborne remote sensing system includes a remotely controlled, lightweight, solar-powered airplane (see figure) that carries two digital-output electronic cameras and communicates with a nearby ground control and monitoring station via a wireless local-area network (WLAN). The speed of the airplane -- typically <50 km/h -- is low enough to enable loitering over farm fields, disaster scenes, or other areas of interest to collect high-resolution digital imagery that could be delivered to end users (e.g., farm managers or disaster-relief coordinators) in nearly real time.

Higgins, Robert G.↗

NASA NTRS1992

Development of a machine vision guidance system for automated assembly of space structures

The topics are presented in viewgraph form and include: automated structural assembly robot vision; machine vision requirements; vision targets and hardware; reflective efficiency; target identification; pose estimation algorithms; triangle constraints; truss node with joint receptacle targets; end-effector mounted camera and light assembly; vision system results from optical bench tests; and future work.

Eric G Cooper↗

NASA NTRS2015

Upwelling Radiance at 976 nm Measured from Space Using a CCD Camera

The Optical Payload for Lasercomm Science (OPALS) Flight System on-board the International Space Station uses a charge coupled device (CCD) camera for receiving a beacon laser from Earth. Relative measurements of the background contributed by upwelling radiance under diverse illumination conditions and varying terrain is presented. In some cases clouds in the field-of-view allowed a comparison of terrestrial and cloud-top upwelling radiance. In this paper we will report these measurements and examine the extent of agreement with atmospheric model predictions.

Biswas, Abhijit↗

NASA NTRS1987

Robotic mobile servicing platform for space station

The semi-autonomous inspection and servicing of the Space Station's major thermal, electrical, mechanical subsystems are critical needs for the safe and reliable operation of the station. A conceptual design is presented of a self-intelligent, small and highly mobile robotic platform. Equipped with suitable inspection sensors (cameras, ammonia detectors, etc.), this system's primary mission is to perform routine, autonomous inspection of the Station's primary subsystems. Typical tasks include detection of leaks from thermal fluid or refueling lines, as well as detection of micro-meteroid damage to the primary structure. Equipped with stereo cameras and a dexterous manipulator, simple teleoperator repairs and small On-orbit Replacement Unit (ORU) changeout can also be accomplished. More difficult robotic repairs would be left to the larger, more sophisticated Mobile Remote Manipulator System (MRMS). An ancillary function is to ferry crew members and equipment around the station. The primary design objectives were to provide a flexible, but uncomplicated robotic platform, one which caused minimal impact to the design of the Station's primary structure but could accept more advanced telerobotic technology as it evolves.

Lowenthal, S. H.↗

NASA NTRS1996

Integration of the Shuttle RMS/CBM Positioning Virtual Environment Simulation

Constructing the International Space Station, or other structures, in space presents a number of problems. In particular, payload restrictions for the Space Shuttle and other launch mechanisms prohibit assembly of large space-based structures on Earth. Instead, a number of smaller modules must be boosted into orbit separately and then assembled to form the final structure. The assembly process is difficult, as docking interfaces such as Common Berthing Mechanisms (CBMS) must be precisely positioned relative to each other to be within the "capture envelope" (approximately +/- 1 inch and +/- 0.3 degrees from the nominal position) and attach properly. In the case of the Space Station, the docking mechanisms are to be positioned robotically by an astronaut using the 55-foot-long Remote Manipulator System (RMS) robot arm. Unfortunately, direct visual or video observation of the placement process is difficult or impossible in many scenarios. One method that has been tested for aligning the CBMs uses a boresighted camera mounted on one CBM to view a standard target on the opposing CBM. While this method might be sufficient to achieve proper positioning with considerable effort, it does not provide a high level of confidence that the mechanisms have been placed within capture range of each other. It also does nothing to address the risk of inadvertent contact between the CBMS, which could result in RMS control software errors. In general, constraining the operator to a single viewpoint with few, if any, depth cues makes the task much more difficult than it would be if the target could be viewed in three-dimensional space from various viewpoints. The actual work area could be viewed by an astronaut during EVA; however, it would be extremely impractical to have an astronaut control the RMS while spacewalking. On the other hand, a view of the RMS and CBMs to be positioned in a virtual environment aboard the Space Shuttle orbiter or Space Station could provide similar benefits more safely and conveniently with little additional cost. In order to render and view the RMS and CBMs in a virtual world, the position and orientation of the end effector in three-dimensional space must be known with a high degree of accuracy. A precision video alignment sensor has been developed which can determine the position and orientation of the controlled element relative to the target CBM within approximately one-sixteenth inch and 0.07 angular degrees. Such a sensor could replace or augment the boresighted camera mentioned above. The computer system used to render the virtual world and the position tracking systems which might be used to monitor the user's movements (in order to adjust the viewpoint in virtual space) are small enough to carry to orbit. Thus, such a system would be feasible for use in constructing structures in space.

Dumas, Joseph D.↗