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NASA NTRS2004

Event-Driven Random-Access-Windowing CCD Imaging System

A charge-coupled-device (CCD) based high-speed imaging system, called a realtime, event-driven (RARE) camera, is undergoing development. This camera is capable of readout from multiple subwindows [also known as regions of interest (ROIs)] within the CCD field of view. Both the sizes and the locations of the ROIs can be controlled in real time and can be changed at the camera frame rate. The predecessor of this camera was described in High-Frame-Rate CCD Camera Having Subwindow Capability (NPO- 30564) NASA Tech Briefs, Vol. 26, No. 12 (December 2002), page 26. The architecture of the prior camera requires tight coupling between camera control logic and an external host computer that provides commands for camera operation and processes pixels from the camera. This tight coupling limits the attainable frame rate and functionality of the camera. The design of the present camera loosens this coupling to increase the achievable frame rate and functionality. From a host computer perspective, the readout operation in the prior camera was defined on a per-line basis; in this camera, it is defined on a per-ROI basis. In addition, the camera includes internal timing circuitry. This combination of features enables real-time, event-driven operation for adaptive control of the camera. Hence, this camera is well suited for applications requiring autonomous control of multiple ROIs to track multiple targets moving throughout the CCD field of view. Additionally, by eliminating the need for control intervention by the host computer during the pixel readout, the present design reduces ROI-readout times to attain higher frame rates. This camera (see figure) includes an imager card consisting of a commercial CCD imager and two signal-processor chips. The imager card converts transistor/ transistor-logic (TTL)-level signals from a field programmable gate array (FPGA) controller card. These signals are transmitted to the imager card via a low-voltage differential signaling (LVDS) cable assembly. The FPGA controller card is connected to the host computer via a standard peripheral component interface (PCI).

Monacos, Steve↗

NASA NTRS2008

Improved Descent-Rate Limiting Mechanism

An improved braking cable-payout mechanism has been developed. Whereas other such mechanisms operate at payout speeds that vary with the length of payout, this mechanism operates at approximately constant payout speed, regardless of the length of cord that has already been paid out. The present mechanism includes a spool, a capstan assembly, and centrifugal brakes. The spool is used to store the cord and, unlike in the prior mechanism, is not involved in the primary braking function. That is, the spool operates in such a way that the cord is unwound from the spool at low tension. The spool is connected to the rest of the mechanism through a constant- torque slip clutch. The clutch must slip in order to pay out the cord. As the cord leaves the spool, it passes into the capstan assembly, wherein its direction is changed by use of the first of three idler sheaves and it is then routed into the first of three grooves on a capstan. After completing less than a full circle in the first groove, the cord passes over the second idler sheave, which is positioned to enable the cord to make the transition to the second groove on the capstan. Similarly, a third idler sheave enables the cord to make the transition to the third groove on the capstan. After traveling less than a full circle in the third groove, the cord leaves the capstan along the payout path. The total wrap angle afforded by this capstan-and-idler arrangement is large enough to prevent slippage between the cord and the capstan. The capstan is connected to a shaft that, in turn, is connected to a centrifugal brake. Hence, the effective payout radius, for purposes of braking, is not the varying radius of the remaining cord on the spool but, rather, the constant radius of the grooves in the capstan. The payout speed is determined primarily by this radius and by the characteristics of the centrifugal brake. Therefore, the payout speed is more nearly constant in this mechanism than in the prior mechanism.

Rivellini, Tommaso P.↗

NASA NTRS2006

Irradiating of Bulk Soybeans: Influence on Their Functional and Sensory Properties for Soyfood Processing

Soybeans were chosen for lunar and planetary missions, where soybeans will be supplied in bulk or grown locally, due to their nutritive value and ability to produce oil and protein for further food applications. However, soybeans must be processed into foods prior to consumption. Radiation that soybeans would be exposed to during bulk storage prior to and during a Mars mission may influence their germination and functional properties. The influence of radiation includes the affect of surface pasteurization to ensure the astronauts safety from food-borne illnesses (HACCP, CCP), and the affect of the amount of radiation the soybeans receive during a Mars mission. Decreases in the amount of natural antioxidants free radical formation, and oxidation-induced changes in the soybean will influence the nutritional value, texture, color, and aroma of soyfoods. The objective of this study was to determine the influence of pasteurization and sterilization surface radiation on whole soybeans using gamma and electron beam radiation. The influence of 0, 1, 5, 10, and 30kGy on microbial load, germination rate, ease of processing, and quality of soymilk and tofu were determined. Surface radiation of whole dry soybeans using electron beam or gamma rays from 1-30kGy did provide microbial safety for the astronauts. However, the lower dose levels had surviving yeasts and molds. These doses caused oxidative changes that resulted in soymilk and tofu with rancid aromas. GC-MS of the aroma compounds using SPME Headspace confirmed the presence of lipid oxidation compounds. Soybean germination ability was reduced as radiation dosage increased. While lower doses may reduce these problems, the ability to insure microbial safety of bulk soybeans will be lost. Counter measures could include vacuum packaging, nitrogen flushing, added antioxidants, and radiating under freezing conditions. Doses below 1kGy need to be investigated further to determine the influence of the radiation encountered during Mars missions.

Chia, Chiew-Ling↗

NASA NTRSDate not supplied

Countermeasures for Mitigation of Sensorimotor Decrements Following Head-Down Bed Rest

BACKGROUND Astronauts experience postflight disturbances in postural and locomotor control due to sensorimotor adaptations during spaceflight. These alterations may have adverse consequences if a rapid egress is required after landing. Although exercise is partially effective for mitigating cardiovascular and muscular deconditioning, additional countermeasures are needed to further preserve sensorimotor function for exploration missions. We have identified proprioceptive training and electrical muscle stimulation (EMS) as promising in-flight countermeasures. Since prolonged head down bed rest (HDBR) is a spaceflight analog for body unloading and causes postural and locomotor control decrements that parallel those observed after spaceflight, it can be used to facilitate the development of these countermeasures. METHODS This study will determine the effects of proprioceptive training and EMS on functional task performance and sensorimotor function following 60 days of 6° HDBR. Subjects will be randomly assigned to one of four groups: 1)an EMS arm, 2) a proprioceptive training arm, 3) an exercise plus proprioceptive training arm, and 4) a control arm. The EMS countermeasure will include daily bilateral stimulation of selected bilateral lower extremity muscles (30 minutes per session). Proprioceptive training will be performed three days per week (20 minutes per session) consisting of body-loaded postural tasks in the horizontal position on an air bearing sled. Exercise training will mimic current protocols used on the International Space Station, but treadmill aerobic exercise will be replaced with additional cycling aerobic exercise. Primary outcome measures will include pre and post HDBR functional tests that are representative of high priority exploration mission tasks and require high demand for dynamic control of postural stability. Additional measures will be used to identify the key physiological factors contributing to countermeasure benefits. Given the constrained samples size, a Bayesian modelling approach will be used to quantify the probability that there is an effect of a given magnitude. HARDWARE AND PROTOCOL DEVELOPMENT Proprioceptive countermeasure design enhancements continued as part of the Mars Campaign Office (MCO) Crew Health and Performance (CHP) Crew Health Countermeasures (CHC). The primary goals of this work were to assemble a portable version of the countermeasure system that can be used at the :envihab facility, expand the software feedback system’s capabilities, and develop an actuator loading system that mimics what could be used on the International Space Station. In addition, one major piece of exercise hardware used in previous HDBR studies, the Horizontal Squat Device, was reassembled and restored to full functionality. Human-in-the-loop pilot testing is ongoing, prior to shipping both devices to the :envihab HDBR facility. Evaluations are also underway for the best EMS device technologies and specific methods. Finally, assessment techniques are being translated for administration in the horizontal position (e.g., leg dexterity and foot sole skin sensitivity). Our current goals are to refine the countermeasure training and assessment techniques and integrate protocols across multiple modalities. RELEVANCE The deliverable from this project will be proof-of-concept sensorimotor countermeasure designs for functional task performance with full assessment of efficacy in a spaceflight analog. If one or more countermeasures are effective, they will be translated for validation with the suite of operationally implemented in-flight countermeasures. ACKNOWLEDGEMENT This work is supported by NASA’s Human Research Program Human Health Countermeasures Element and by the Canadian Space Agency (L. Bent).

T R Macaulay↗

NASA NTRSDate not supplied

Simplified Vehicle Control Concept for a Lift Plus Cruise eVTOL Vehicle

Electric Vertical Takeoff and Landing (eVTOL) vehicles have the potential to enable cost effective Urban Air Mobility (UAM) applications. These concepts may also pose several challenging handling and control problems, which must be addressed prior to safe and efficient urban operations. This paper investigates a simplified vehicle control concept that is designed to address some of these challenges for a conceptual Lift Plus Cruise vehicle. This concept also includes several variations of a transition-to-hover function, designed to assist pilots in capturing and maintaining a stabilized hover prior to landing. The different simplified control architectures for this concept are presented along with preliminary findings. Preliminary results show that the simplified control concept can be effective in assisting pilots to achieve safe and reliable hover landings, and that transition-to-hover functions have the potential of reducing workload while increasing accuracy. A follow on evaluation will be performed in the Vertical Motion Simulator (VMS) at NASA Ames Research Center. The planned tests will focus on more operationally representative scenarios, while building upon these operations with additional test cases exploring variations in glidepath angles and wind conditions.

simplified vehicle control↗

NASA NTRS1979

Prediction of the occurrence and intensity of magnetospheric substorms

The solar wind and IMF data obtained by the Venus probe Mariner 5 (at a distance of 460 earth radii) and by the earthbound Explorer 34 satellite, on June 24, 25, and 26, 1967 were examined. It is demonstrated that the occurrence and intensity of magnetospheric substorms can be predicted about 1-3 hours prior to their onsets by monitoring the energy coupling function at a distance of a few hundred earth radii upstream of the solar wind. It appears that the 'epsilon signal' propagates with different speeds, perhaps depending on the propagation time of disturbances which increase epsilon.

Akasofu, S.-I.↗

NASA NTRS1992

Inference in infinite-dimensional inverse problems - Discretization and duality

Many techniques for solving inverse problems involve approximating the unknown model, a function, by a finite-dimensional 'discretization' or parametric representation. The uncertainty in the computed solution is sometimes taken to be the uncertainty within the parametrization; this can result in unwarranted confidence. The theory of conjugate duality can overcome the limitations of discretization within the 'strict bounds' formalism, a technique for constructing confidence intervals for functionals of the unknown model incorporating certain types of prior information. The usual computational approach to strict bounds approximates the 'primal' problem in a way that the resulting confidence intervals are at most long enough to have the nominal coverage probability. There is another approach based on 'dual' optimization problems that gives confidence intervals with at least the nominal coverage probability. The pair of intervals derived by the two approaches bracket a correct confidence interval. The theory is illustrated with gravimetric, seismic, geomagnetic, and helioseismic problems and a numerical example in seismology.

Stark, Philip B.↗

NASA NTRS1997

Measurement of Carbon Dioxide Accumulation and Physiological Function in the Launch and Entry and Advanced Crew Escape Suits

The Launch and Entry Suit (LES) and Advanced Crew Escape Suit (ACES) are worn by astronauts for launch and entry. Previous work by Waligora, et al., 1992, Waligora and Gilbert, 1992, and Dalrymple 1996, have found that carbon dioxide (CO2) accumulation in the LES/ACES helmet may be problematic. CO2 accumulation is important because high inspired levels of CO2 reduce physical function and pose a safety hazard (e.g. levels of CO2 accumulation of 3.6% in the Extravehicular Mobility Unit are sufficient to terminate Extra Vehicular Activities). My task was to design a suitable test protocol for determining the important physiological aspects of LES/ACES use. Three basic issues arose. First was the determination of the astronaut's CO2 inspiration during visor-down use at rest and during walking at 3.5 mph. A sub-issue was the impact of a pneumotach on CO2 since it has been previously observed that when the Aerosport pneumotach was used, performance seemed improved, which might be attributable to a lowered respiration rate when using the pneumotach. The second issue was the energy costs of waLking in the LES/ACES with various G-suit inflation levels, since G-suit inflation increases metabolic costs and metabolic costs influence the C02 production in the LES/ACES helmet. Since G-suit inflation improves orthostatic tolerance after space flight, but likely increases the energy costs of walking, the balance between G-suit inflation and C02 accumulation is an important safety consideration. The third issue which arose from pilot work was the substantial reduction in physical function after a 10 min visor-down period prior to walk.

Bishop, Phillip↗

NASA NTRS2000

The ISS EXPRESS Rack: An Innovative Approach of Rapid Integration

The EXpedite the PRocessing of Experiments to Space Station or EXPRESS Rack System, was developed to provide Space Station accommodations for small, subrack payloads. The EXPRESS Rack accepts Space Shuttle middeck locker type payloads and International Subrack Interface Standard (ISIS) Drawer payloads, allowing previously flown payloads an opportunity to transition to the International Space Station. The EXPRESS Rack provides power, data, command and control, video, water cooling, air cooling, vacuum exhaust, and Nitrogen supply to payloads. The EXPRESS Rack system also includes transportation racks to transport payloads to and from the Space Station, Suitcase Simulators to allow a payload developer to verify power and data interfaces at the development site, Functional Checkout Units to allow Payload checkout at KSC prior to launch, and trainer racks for the astronauts to learn how to operate the EXPRESS Racks prior to flight. Standard hardware and software interfaces provided by the EXPRESS Rack simplify the analytical and physical integration processes, and facilitates simpler ISS payload development. The EXPRESS Rack has also formed the basis for the U.S. Life Sciences payload racks and the Window Observational Research Facility on Space Station.

Sledd, Annette M.↗

NASA NTRS1999

EXPRESS Rack Overview

Sledd, Annette M.↗

NASA NTRS1999

Drop Breakup in Fixed Bed Flows as Model Stochastic Flow Fields

We examine drop breakup in a class of stochastic flow fields as a model for the flow through fixed fiber beds and to elucidate the general mechanisms whereby drops breakup in disordered, Lagrangian unsteady flows. Our study consists of two parallel streams of investigation. First, large scale numerical simulations of drop breakup in a class of anisotropic Gaussian fields will be presented. These fields are generated spectrally and have been shown in a previous publication to be exact representations of the flow in a dilute disordered bed of fibers if close interactions between the fibers and the drops are dynamically unimportant. In these simulations the drop shape is represented by second and third order small deformation theories which have been shown to be excellent for the prediction of drop breakup in steady strong flows. We show via these simulations that the mechanisms of drop breakup in these flows are quite different than in steady flows. The predominant mechanism of breakup appears to be very short lived twist breakups. Moreover, the occurrence of breakup events is poorly predicted by either the strength of the local flow in which the drop finds itself at breakup, or the degree of deformation that the drop achieves prior to breakup. It is suggested that a correlation function of both is necessary to be predictive of breakup events. In the second part of our research experiments are presented where the drop deformation and breakup in PDMS/polyisobutylene emulsions is considered. We consider very dilute emulsions such that coalescence is unimportant. The flows considered are simple shear and the flow through fixed fiber beds. Turbidity, small angle light scattering, dichroism and microscopy are used to interrogate the drop deformation process in both flows. It is demonstrated that breakup at very low capillary numbers occurs in both flows but larger drop deformation occurs in the fixed bed flow. Moreover, it is witnessed that breakup in the bed occurs continuously during flow and apparently with uniform probability through the bed length. The drop deformations witnessed in our experiments are larger than those predicted by the numerical simulations, and future plans to investigate these differences are discussed.

Shaqfeh, Eric S. G.↗

NASA NTRS1998

Automatic Molecular Design using Evolutionary Techniques

Molecular nanotechnology is the precise, three-dimensional control of materials and devices at the atomic scale. An important part of nanotechnology is the design of molecules for specific purposes. This paper describes early results using genetic software techniques to automatically design molecules under the control of a fitness function. The fitness function must be capable of determining which of two arbitrary molecules is better for a specific task. The software begins by generating a population of random molecules. The population is then evolved towards greater fitness by randomly combining parts of the better individuals to create new molecules. These new molecules then replace some of the worst molecules in the population. The unique aspect of our approach is that we apply genetic crossover to molecules represented by graphs, i.e., sets of atoms and the bonds that connect them. We present evidence suggesting that crossover alone, operating on graphs, can evolve any possible molecule given an appropriate fitness function and a population containing both rings and chains. Prior work evolved strings or trees that were subsequently processed to generate molecular graphs. In principle, genetic graph software should be able to evolve other graph representable systems such as circuits, transportation networks, metabolic pathways, computer networks, etc.

Globus, Al↗

NASA NTRS1993

Determination of the Excess Length-of-Day Since 1630

The Kalman Earth Orientation Filter (KEOF) is used at JPL to combine independent observations of the Earth's rotation parameters, producing smoothed, interpolated estimates of polar motion (PM) and UT1-TAI, as well as estimates of their excitation functions such as the length-of-day (lod). Prior to their combination, adjustments to the data sets are made in order to place them within a common reference frame. Recently, a number of lod data sets have been determined at JPL by combining the observations summarized in Table 1. The resulting lod data sets, summarized in Table 2, span different time intervals depending upon the particular subset of observations being combined, with the longest series, spanning 1630-1990, being obtained by combining all of the observations. The determination of these lod data sets and their comparison with series of climate indicators such as the Southern Oscillation Index will be discussed.

Gross, R. S.↗

NASA NTRS2016

3D Printing in Zero G Technology Demonstration Mission: Summary of On-Orbit Operations, Material Testing, and Future Work

Human space exploration to date has been limited to low Earth orbit and the moon. The International Space Station (ISS), an orbiting laboratory 200 miles above the earth, provides a unique and incredible opportunity for researchers to prove out the technologies that will enable humans to safely live and work in space for longer periods of time and venture farther into the solar system. The ability to manufacture parts in-space rather than launch them from earth represents a fundamental shift in the current risk and logistics paradigm for human spaceflight. In particularly, additive manufacturing (or 3D printing) techniques can potentially be deployed in the space environment to enhance crew safety (by providing an on-demand part replacement capability) and decrease launch mass by reducing the number of spare components that must be launched for missions where cargo resupply is not a near-term option. In September 2014, NASA launched the 3D Printing in Zero G technology demonstration mission to the ISS to explore the potential of additive manufacturing for in-space applications and demonstrate the capability to manufacture parts and tools on-orbit. The printer for this mission was designed and operated by the company Made In Space under a NASA SBIR (Small Business Innovation Research) phase III contract. The overarching objectives of the 3D print mission were to use ISS as a testbed to further maturation of enhancing technologies needed for long duration human exploration missions, introduce new materials and methods to fabricate structure in space, enable cost-effective manufacturing for structures and mechanisms made in low-unit production, and enable physical components to be manufactured in space on long duration missions if necessary. The 3D print unit for fused deposition modeling (FDM) of acrylonitrile butadiene styrene (ABS) was integrated into the ISS Microgravity Science Glovebox (MSG) in November 2014 and phase I printing operations took place from November through December of that year. Phase I flight operations yielded 14 unique parts (21 total specimens) that could be directly compared against ground-based prints of identical geometry manufactured using the printer prior to its launch to ISS. The 3DP unit functioned safely and produced specimens necessary to advance the understanding of the critical design and operational parameters for the FDM process as affected by the microgravity environment. From the standpoint of operations, 3DP demonstrated the ability to remove parts from the build-tray on-orbit, teleoperate the printer from the ground, perform critical maintenance functions within defined human factors limits, produce a functional tool that could be evaluated for form/fit/function, and uplink a new part file from the ground and produce it on the printer. The flight parts arrived at NASA Marshall Space Flight Center in Huntsville, Alabama in April 2015, where they underwent months of testing in the materials and processes laboratory. Ground and flight prints completed the following phases of testing: photographic/visual inspection, mass and density evaluation, structured light scanning, XRay and CT, mechanical testing, optical microscopy, scanning electron microscopy, and chemical analysis. This presentation will discuss the results of this testing as well as phase II operations for the printer, which took place in June and July of 2016. Lessons learned from the tech demo and their impacts on the design and development of the second generation 3D printer for ISS, the Additive Manufacturing Facility (AMF) by Made In Space will also be presented. In addition, progress in other elements of NASA's In Space Manufacturing (ISM) initiative such as the on-demand ISM utilization catalog, in-space Recycler ISS Technology Demonstration development, launch packaging recycling, in-space printable electronics, development of higher strength polymeric materials for 3D printing and Additive Construction by Mobile Emplacement (ACME) will also be addressed.

Prater, Tracie↗

NASA NTRS2016

The Zero Boil-Off Tank Experiment Ground Testing and Verification of Fluid and Thermal Performance

The Zero Boil-Off Technology (ZBOT) Experiment involves performing a small scale International Space Station (ISS) experiment to study tank pressurization and pressure control in microgravity. The ZBOT experiment consists of a vacuum jacketed test tank filled with an inert fluorocarbon simulant liquid. Heaters and thermo-electric coolers are used in conjunction with an axial jet mixer flow loop to study a range of thermal conditions within the tank. The objective is to provide a high quality database of low gravity fluid motions and thermal transients which will be used to validate Computational Fluid Dynamic (CFD) modeling. This CFD can then be used in turn to predict behavior in larger systems with cryogens. This paper will discuss the work that has been done to demonstrate that the ZBOT experiment is capable of performing the functions required to produce a meaningful and accurate results, prior to its launch to the International Space Station. Main systems discussed are expected to include the thermal control system, the optical imaging system, and the tank filling system.This work is sponsored by NASAs Human Exploration Mission Directorates Physical Sciences Research program.

Fluid management↗

NASA NTRS2018

Geostationary Lightning Mapper On-Orbit Sources of False Events

The first Geostationary Lightning Mapper (GLM) was launched aboard the GOES-R Spacecraft (now GOES-East) on November 19, 2016 and is now fully operational. GLM uses a high-speed camera and onboard video processing to detect the optical emission of lightning for the full disk observed from the geostationary orbit. During the Post Launch Test period the instrument and ground processing algorithms (GPAs) were tuned to optimize the tradeoff between detection efficiency and false event rate. False events, those not due to lightning, arise from a variety of sources. A primary function of the GPAs is to remove false events prior to assembling events into groups and flashes for use by weather forecasters and scientists. Effective discrimination of false events depends on understanding the phenomenology of the various sources of false events.

GOES-R↗

NASA NTRS2019

A NICER view of PSR J0030+0451: Implications for the Dense Matter Equation of State

Both the mass and radius of the millisecond pulsar PSRJ0030+0451 have been inferred via pulse-profile modeling of X-ray data obtained by NASA’s Neutron Star Interior Composition Explorer (NICER) mission. In this Letter we study the implications of the mass–radius inference reported for this source by Riley et al. for the dense matter equation of state (EoS), in the context of prior information from nuclear physics at low densities. Using a Bayesian framework we infer central densities and EoS properties for two choices of high-density extensions: a piecewise-polytropic model and a model based on assumptions of the speed of sound in dense matter. Around nuclear saturation density these extensions are matched to an EoS uncertainty band obtained from calculations based on chiral effective field theory interactions, which provide a realistic description of atomic nuclei as well as empirical nuclear matter properties within uncertainties. We further constrain EoS expectations with input from the current highest measured pulsar mass; together, these constraints offer a narrow Bayesian prior informed by theory as well as laboratory and astrophysical measurements. The NICER mass–radius likelihood function derived by Riley et al. using pulse-profile modeling is consistent with the highest-density region of this prior. The present relatively large uncertainties on mass and radius for PSR J0030+0451 offer, however, only a weak posterior information gain over the prior. We explore the sensitivity to the inferred geometry of the heated regions that give rise to the pulsed emission, and find a small increase in posterior gain for an alternative (but less preferred) model. Lastly, we investigate the hypothetical scenario of increasing the NICER exposure time for PSRJ0030+0451.

G Raaijmakers↗

NASA NTRS2008

Vision System Measures Motions of Robot and External Objects

A prototype of an advanced robotic vision system both (1) measures its own motion with respect to a stationary background and (2) detects other moving objects and estimates their motions, all by use of visual cues. Like some prior robotic and other optoelectronic vision systems, this system is based partly on concepts of optical flow and visual odometry. Whereas prior optoelectronic visual-odometry systems have been limited to frame rates of no more than 1 Hz, a visual-odometry subsystem that is part of this system operates at a frame rate of 60 to 200 Hz, given optical-flow estimates. The overall system operates at an effective frame rate of 12 Hz. Moreover, unlike prior machine-vision systems for detecting motions of external objects, this system need not remain stationary: it can detect such motions while it is moving (even vibrating). The system includes a stereoscopic pair of cameras mounted on a moving robot. The outputs of the cameras are digitized, then processed to extract positions and velocities. The initial image-data-processing functions of this system are the same as those of some prior systems: Stereoscopy is used to compute three-dimensional (3D) positions for all pixels in the camera images. For each pixel of each image, optical flow between successive image frames is used to compute the two-dimensional (2D) apparent relative translational motion of the point transverse to the line of sight of the camera. The challenge in designing this system was to provide for utilization of the 3D information from stereoscopy in conjunction with the 2D information from optical flow to distinguish between motion of the camera pair and motions of external objects, compute the motion of the camera pair in all six degrees of translational and rotational freedom, and robustly estimate the motions of external objects, all in real time. To meet this challenge, the system is designed to perform the following image-data-processing functions: The visual-odometry subsystem (the subsystem that estimates the motion of the camera pair relative to the stationary background) utilizes the 3D information from stereoscopy and the 2D information from optical flow. It computes the relationship between the 3D and 2D motions and uses a least-mean-squares technique to estimate motion parameters. The least-mean-squares technique is suitable for real-time implementation when the number of external-moving-object pixels is smaller than the number of stationary-background pixels.

Talukder, Ashit↗