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The AIM camera is a small, lightweight, low power, low cost imaging system developed at NASA Ames. Though it has imaging capabilities similar to those of $1M plus spacecraft cameras, it does so on a fraction of the mass, power and cost budget.
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This software consists of a set of application programs that support ground-based image processing for in situ missions. These programs represent a collection of utility routines that perform miscellaneous functions in the context of the ground data system. Each one fulfills some specific need as determined via operational experience. The most unique aspect to these programs is that they are integrated into the large, in situ image processing system via the PIG (Planetary Image Geometry) library. They work directly with space in situ data, understanding the appropriate image meta-data fields and updating them properly. The programs themselves are completely multimission; all mission dependencies are handled by PIG. This suite of programs consists of: (1)marscahv: Generates a linearized, epi-polar aligned image given a stereo pair of images. These images are optimized for 1-D stereo correlations, (2) marscheckcm: Compares the camera model in an image label with one derived via kinematics modeling on the ground, (3) marschkovl: Checks the overlaps between a list of images in order to determine which might be stereo pairs. This is useful for non-traditional stereo images like long-baseline or those from an articulating arm camera, (4) marscoordtrans: Translates mosaic coordinates from one form into another, (5) marsdispcompare: Checks a Left Right stereo disparity image against a Right Left disparity image to ensure they are consistent with each other, (6) marsdispwarp: Takes one image of a stereo pair and warps it through a disparity map to create a synthetic opposite- eye image. For example, a right eye image could be transformed to look like it was taken from the left eye via this program, (7) marsfidfinder: Finds fiducial markers in an image by projecting their approximate location and then using correlation to locate the markers to subpixel accuracy. These fiducial markets are small targets attached to the spacecraft surface. This helps verify, or improve, the pointing of in situ cameras, (8) marsinvrange: Inverse of marsrange . given a range file, re-computes an XYZ file that closely matches the original. . marsproj: Projects an XYZ coordinate through the camera model, and reports the line/sample coordinates of the point in the image, (9) marsprojfid: Given the output of marsfidfinder, projects the XYZ locations and compares them to the found locations, creating a report showing the fiducial errors in each image. marsrad: Radiometrically corrects an image, (10) marsrelabel: Updates coordinate system or camera model labels in an image, (11) marstiexyz: Given a stereo pair, allows the user to interactively pick a point in each image and reports the XYZ value corresponding to that pair of locations. marsunmosaic: Extracts a single frame from a mosaic, which will be created such that it could have been an input to the original mosaic. Useful for creating simulated input frames using different camera models than the original mosaic used, and (12) merinverter: Uses an inverse lookup table to convert 8-bit telemetered data to its 12-bit original form. Can be used in other missions despite the name.
Purpose: Developed herein is a three-dimensional (3D) flow contrast imaging system leveraging advancements in the extension of laser speckle contrast imaging theories to deep tissues along with our recently developed finite-element diffuse correlation tomography (DCT) reconstruction scheme. This technique, termed speckle contrast diffuse correlation tomography (scDCT), enables incorporation of complex optical property heterogeneities and sample boundaries. When combined with a reflectance-based design, this system facilitates a rapid segue into flow contrast imaging of larger, in vivo applications such as humans. Methods: A highly sensitive CCD camera was integrated into a reflectance-based optical system. Four long-coherence laser source positions were coupled to an optical switch for sequencing of tomographic data acquisition providing multiple projections through the sample. This system was investigated through incorporation of liquid and solid tissue-like phantoms exhibiting optical properties and flow characteristics typical of human tissues. Computer simulations were also performed for comparisons. A uniquely encountered smear correction algorithm was employed to correct point-source illumination contributions during image capture with the frame-transfer CCD and reflectance setup. Results: Measurements with scDCT on a homogeneous liquid phantom showed that speckle contrast-based deep flow indices were within 12% of those from standard DCT. Inclusion of a solid phantom submerged below the liquid phantom surface allowed for heterogeneity detection and validation. The heterogeneity was identified successfully by reconstructed 3D flow contrast tomography with scDCT. The heterogeneity center and dimensions and averaged relative flow (within 3%) and localization were in agreement with actuality and computer simulations, respectively. Conclusions: A custom cost-effective CCD-based reflectance 3D flow imaging system demonstrated rapid acquisition of dense boundary data and, with further studies, a high potential for translatability to real tissues with arbitrary boundaries. A requisite correction was also found for measurements in the fashion of scDCT to recover accurate speckle contrast of deep tissues.
A highly reliable, fully digital, closed circuit television optical, type automatic weld seam tracking control system was developed. This automatic tracking equipment is used to reduce weld tooling costs and increase overall automatic welding reliability. The system utilizes a charge injection device digital camera which as 60,512 inidividual pixels as the light sensing elements. Through conventional scanning means, each pixel in the focal plane is sequentially scanned, the light level signal digitized, and an 8-bit word transmitted to scratch pad memory. From memory, the microprocessor performs an analysis of the digital signal and computes the tracking error. Lastly, the corrective signal is transmitted to a cross seam actuator digital drive motor controller to complete the closed loop, feedback, tracking system. This weld seam tracking control system is capable of a tracking accuracy of + or - 0.2 mm, or better. As configured, the system is applicable to square butt, V-groove, and lap joint weldments.
The facsimile camera is an optical-mechanical scanning device which has become an attractive candidate as an imaging system for planetary landers and rovers. This paper presents electronic techniques which permit the acquisition and reconstruction of high quality images with this device, even under varying lighting conditions. These techniques include a control for low frequency noise and drift, an automatic gain control, a pulse-duration light modulation scheme, and a relative spectral gain control. Taken together, these techniques allow the reconstruction of radiometrically accurate and properly balanced color images from facsimile camera video data. These techniques have been incorporated into a facsimile camera and reproduction system, and experimental results are presented for each technique and for the complete system.
Three methods proposed to assist operator viewing telemanipulator on video monitor in control station when video image generated by movable video camera in remote workspace of telemanipulator. Monitors rotated or shifted and/or images in them transformed to adjust coordinate systems of scenes visible to operator according to motions of cameras and/or operator's preferences. Reduces operator's workload and probability of error by obviating need for mental transformations of coordinates during operation. Methods applied in outer space, undersea, in nuclear industry, in surgery, in entertainment, and in manufacturing.
We present a new method to measure the vertical aerosol optical depth (VAOD) during clear nights using a wide-field imager—a CCD camera with a photographic lens on an equatorial mount. A series of 30 s exposures taken at different altitudes above the horizon can be used to measure the VAOD with a precision better than 0.008 optical depths within a few minutes. Such a measurement does not produce any light and is thus suitable for use at sites where other astronomical instruments are located. The precision of the VAOD measurement depends on the laboratory calibration of spectral properties of the system and of the response of the camera electronics to varying illumination levels, as well as careful considerations of the details of stellar photometry and modeling of the dependence of the measured stellar flux, the star color, and the position within the field of view. The results obtained with robotic setups at the future sites of the Cerenkov Telescope Array show good internal consistency and agreement with simultaneous measurements from a Sun/Moon photometer located at the same sites.
Rigorous calibration program, coupled with a sophisticated data-processing program that introduced compensation for system response to correct photometry, geometric linearity, and resolution, converted a television camera to a quantitative measuring instrument. The output data are in the forms of both numeric printout records and photographs.
The Single Volume Scatter Camera (SVSC) Collaboration aims to develop portable neutron imaging systems for a variety of applications in nuclear non-proliferation. Conventional double-scatter neutron imagers are composed of several separate detector volumes organized in at least two planes. A neutron must scatter in two of these detector volumes for its initial trajectory to be reconstructed. As such, these systems typically have a large footprint and poor geometric efficiency. We report on the design and characterization of a prototype monolithic neutron scatter camera that is intended to significantly improve upon the geometrical shortcomings of conventional neutron cameras. The detector consists of a 50 mm×56 mm× 60 mm monolithic block of EJ-204 plastic scintillator instrumented on two faces with arrays of 64 Hamamatsu S13360-6075PE silicon photomultipliers (SiPMs). The electronic crosstalk is limited to < 5% between adjacent channels and < 0.1% between all other channel pairs. SiPMs introduce a significantly elevated dark count rate over PMTs, as well as correlated noise from after-pulsing and optical crosstalk. In this article, we characterize the dark count rate and optical crosstalk and present a modified event reconstruction likelihood function that accounts for them. We find that the average dark count rate per SiPM is 4.3 MHz with a standard deviation of 1.5 MHz among devices. The analysis method we employ to measure internal optical crosstalk also naturally yields the mean and width of the single-electron pulse height. Here, we calculate separate contributions to the width of the single-electron pulse-height from electronic noise and avalanche fluctuations. We demonstrate a timing resolution for a single-photon pulse to be (128 ± 4) ps. Finally, coincidence analysis is employed to measure external (pixel-to-pixel) optical crosstalk. We present a map of the average external crosstalk probability between 2×4 groups of SiPMs, as well as the in-situ timing characteristics extracted from the coincidence analysis. Further work is needed to characterize the performance of the camera at reconstructing single- and double-site interactions, as well as image reconstruction.
Discussed here is a new configuration of a helicopter-borne remote sensing system to support field measurements programs such as studies of forest decline damage associated with atmospheric deposition and the Forest Ecosystems Dynamics project. In this new configuration, the sensor payload is mounted externally on a hinged pallet located on the starboard side of the Bell Iroquois UH-1B (HUEY) helicopter. The sensor payload includes a set of bore-sighted instruments consisting of a Barnes Modular Multiband Radiometer (MMR), a Spectron Engineering (SE) 590 spectroradiometer, an Everest infrared temperature sensor, and a Sony CCD video camera with a 10x zoom lens. The system was tested and excellent data was acquired in 1990.
A novel approach to facility radiometric characterization for non-uniformly distributed radiation sources has been developed by ANTECH and is currently being employed at the Argonne National Laboratory. It is being applied to the measurement of a wide range of objects and the interiors and contents of laboratories and buildings. The integrated non destructive assay measurement process involves the use of a scanning spectroscopic gamma ray camera as well as high purity Germanium detectors with different collimators and hence differing detector fields of view to measure and quantify non-uniformly distributed sources of radioactivity in laboratory equipment, glove boxes, storage tanks, pipework and general laboratory objects and process components. The purpose of the radiometric characterization is to quantify radiation sources and radioactive contamination levels in facilities containing nuclear material and to ensure compliance with facility characterization requirements and for decontamination and decommissioning planning and execution. The integrated measurement process also involves automated data capture and processing software and a database with which both measurement instrument operators and subject matter expert analysts can interact. An appropriate measuring instrument (gamma camera, scintillation detector, high purity Germanium detector system, neutron detector or alpha-beta counter) records the measurement data and the measurement site is recorded in a photograph. All of the data relevant to the measurement (or set of measurements for a particular object) are recorded in the database including measured gamma ray spectra, equipment description and relevant calibration, measurement site photograph and measurement descriptive data. Once data analysis protocols are established for specific geometries and measurement situations they can be applied to the measured data in a partially automated manner, reducing analysis and transcription errors. In addition to measurements and data analysis the process also utilises radiometric modelling computer codes including MicroShield and Monte Carlo Neutrons Photons in order to perform model calculations where appropriate. In a typical measurement, the ANTECH RadSearch spectroscopic gamma camera is utilized to find areas of concentrated activity so that these areas can be measured and calculated separately from areas with diffuse contamination. The use of the gamma camera in scanning mode helps to ensure that the assay does not overestimate the detected radiation source, which is a frequent consequence of using standard far field geometry and attenuation analysis codes that assume uniformity of both density and radioactive source distribution. Once the hot spots are identified, high purity Germanium detector measurements are made using various collimators with wide or narrow fields of view as required. These measurements are then processed through a semi-automatic calculation process assuming an appropriate source configuration as identified by RadSearch. These source configurations include point sources, line sources or surface sources. The Generalized Geometry Hold-up algorithms are employed to determine an estimate of the activity of the various sources that are identified in a measurement. The ANTECH integrated measurement process provides an automated calculation procedure where the analyst can select the source type, geometry and appropriate input data, and then the software calculates the activity by radionuclide for all sources identified in the measurement. The measurement and analysis process is controlled under the ANTECH ISO9001: 2008 Quality Assurance System and managed by a site specific Quality Assurance Plan. Both Argonne National Laboratory and Department of Energy technical reviewers have vetted the Integrated Measurement and Analysis Process. The application of the measurement and analysis process is described and measurement examples are provided. (authors)
The Altair lunar lander navigation system is driven by a set of requirements that not only specify a need to land within 100 m of a designated spot on the Moon, but also be capable of a safe return to an orbiting Orion capsule in the event of loss of Earth ground support. These requirements lead to the need for a robust and capable on-board navigation system that works in conjunction with an Earth ground navigation system that uses primarily ground-based radiometric tracking. The resulting system relies heavily on combining a multiplicity of data types including navigation state updates from the ground based navigation system, passive optical imaging from a gimbaled camera, a stable inertial measurement unit, and a capable radar altimeter and velocimeter. The focus of this paper is on navigation performance during the trans-lunar cruise, lunar orbit, and descent/landing mission phases with the goal of characterizing knowledge and delivery errors to key mission events, bound the statistical delta V costs for executing the mission, as well as the determine the landing dispersions due to navigation. This study examines the nominal performance that can be obtained using the current best estimate of the vehicle, sensor, and environment models. Performance of the system under a variety sensor outages and parametric trades is also examined.
A multidisciplinary approach to allow the tracking of the movement of radioactive sources by fusing data from multiple radiological and visual sensors is under development. The goal is to improve the ability to detect, locate, track and identify nuclear/radiological threats. The key concept is that such widely available visual and depth sensors can impact radiological detection, since the intensity fall-off in the count rate can be correlated to movement in three dimensions. To enable this, we pose an important question; what is the right combination of sensing modalities and vision algorithms that can best compliment a radiological sensor, for the purpose of detection and tracking of radioactive material? Similarly what is the best radiation detection methods and unfolding algorithms suited for data fusion with tracking data? Data fusion of multi-sensor data for radiation detection have seen some interesting developments lately. Significant examples include intelligent radiation sensor systems (IRSS), which are based on larger numbers of distributed similar or identical radiation sensors coupled with position data for network capable to detect and locate radiation source. Other developments are gamma-ray imaging systems based on Compton scatter in segmented detector arrays. Similar developments using coded apertures or scatter cameras for neutrons have recently occurred. The main limitation of such systems is not so much in their capability but rather in their complexity and cost which is prohibitive for large scale deployment. Presented here is a fusion system based on simple, low-cost computer vision and radiological sensors for tracking of multiple objects and identifying potential radiological materials being transported or shipped. The main focus of this work is the development on two separate calibration algorithms for characterizing the fused sensor system. The deviation from a simple inverse square-root fall-off of radiation intensity is explored and accounted for. In particular, the computer vision system enables a map of distance-dependence of the sources being tracked. Infrared, laser or stereoscopic vision sensors are all options for computer-vision implementation depending on interior vs exterior deployment, resolution desired and other factors. Similarly the radiation sensors will be focused on gamma-ray or neutron detection due to the long travel length and ability to penetrate even moderate shielding. There is a significant difference between the vision sensors and radiation sensors in the way the 'source' or signals are generated. A vision sensor needs an external light-source to illuminate the object and then detects the re-emitted illumination (or lack thereof). However, for a radiation detector, the radioactive material is the source itself. The only exception to this is the field of active interrogations where radiation is beamed into a material to entice new/additional radiation emission beyond what the material would emit spontaneously. The aspect of the nuclear material being the source itself means that all other objects in the environment are 'illuminated' or irradiated by the source. Most radiation will readily penetrate regular material, scatter in new directions or be absorbed. Thus if a radiation source is located near a larger object that object will in turn scatter some radiation that was initially emitted in a direction other than the direction of the radiation detector, this can add to the count rate that is observed. The effect of these scatter is a deviation from the traditional distance dependence of the radiation signal and is a key challenge that needs a combined system calibration solution and algorithms. Thus both an algebraic approach as well as a statistical approach have been developed and independently evaluated to investigate the sensitivity to this deviation from the simplified radiation fall-off as a function of distance. The resulting calibrated system algorithms are used and demonstrated in various laboratory scenarios, and later in realistic tracking scenarios. The selection and testing of radiological and computer-vision sensors for the additional specific scenarios will be the subject of ongoing and future work. (authors)
This compact disk (CD) is part of the Malin Space Science Systems (MSSS) effort to mosaic Clementine I high resolution (HiRes) camera lunar images. These mosaics were developed through calibration and semi-automated registration against the recently released geometrically and photometrically controlled Ultraviolet/Visible (UV/Vis) Basemap Mosaic, which is available through the PDS, as CD-ROM volumes CL_3001-3015. The HiRes mosaics are compiled from non-uniformity corrected, 750 nanometer ("D") filter high resolution observations from the HiRes imaging system onboard the Clementine Spacecraft. These mosaics are spatially warped using the sinusoidal equal-area projection at a scale of 20 m/pixel. The geometric control is provided by the 100 m/pixel U.S. Geological Survey (USGS) Clementine Basemap Mosaic compiled from the 750 nm Ultraviolet/Visible Clementine imaging system. Calibration was achieved by removing the image nonuniformity largely caused by the HiRes system's light intensifier. Also provided are offset and scale factors, achieved by a fit of the HiRes data to the corresponding photometrically calibrated UV/Vis basemap that approximately transform the 8-bit HiRes data to photometric units. The mosaics on this CD were compiled from sub-polar data (latitudes 80 degrees South to 80 degrees North; -80 to +80) within the longitude range 0-30 deg E. The mosaics are divided into tiles that cover approximately 1.75 degrees of latitude and span the longitude range of the mosaicked frames. Images from a given orbit are map projected using the orbit's nominal central latitude. This CD contains ancillary data files that support the HiRes mosaic. These files include browse images with UV/Vis context stored in a Joint Photographic Experts Group (JPEG) format, index files ('imgindx.tab' and 'srcindx.tab') that tabulate the contents of the CD, and documentation files. For more information on the contents and organization of the CD volume set refer to the "FILES, DIRECTORIES AND DISK CONTENTS" section of this document. The image files are organized according to NASA's Planetary Data System (PDS) standards. An image file (tile) is organized as a PDS labeled file containing an "image object".
PIV Acquisition (PIVACQ) is a computer program for acquisition of data for particle-image velocimetry (PIV). In the PIV system for which PIVACQ was developed, small particles entrained in a flow are illuminated with a sheet of light from a pulsed laser. The illuminated region is monitored by a charge-coupled-device camera that operates in conjunction with a data-acquisition system that includes a frame grabber and a counter-timer board, both installed in a single computer. The camera operates in "frame-straddle" mode where a pair of images can be obtained closely spaced in time (on the order of microseconds). The frame grabber acquires image data from the camera and stores the data in the computer memory. The counter/timer board triggers the camera and synchronizes the pulsing of the laser with acquisition of data from the camera. PIVPROC coordinates all of these functions and provides a graphical user interface, through which the user can control the PIV data-acquisition system. PIVACQ enables the user to acquire a sequence of single-exposure images, display the images, process the images, and then save the images to the computer hard drive. PIVACQ works in conjunction with the PIVPROC program which processes the images of particles into the velocity field in the illuminated plane.
We demonstrate an improved imaging system that can achieve highly efficient 3D detection of two electrons in coincidence. The imaging system is based on a fast frame complementary metal-oxide semiconductor camera and a high-speed waveform digitizer. We have shown previously that this detection system is capable of 3D detection of ions and electrons with good temporal and spatial resolution. Here, we show that with a new timing analysis algorithm, this system can achieve an unprecedented dead-time (<0.7 ns) and dead-space (<1 mm) when detecting two electrons. A true zero dead-time detection is also demonstrated.
Silicon Carbide (SiC) materials provide a number of benefits for space based optical systems. SSG Precision Optronics has extensive experience in the areas of design, fabrication, integration, and test of SiC optical systems. This expertise has been applied to produce a number of SiC-based instruments, including the Miniature Infrared Camera and Spectrometer (MICAS) and Advanced Land Imager (ALI) optical systems which have flown as part of NASA's New Millennium program. Our presentation will provide an overview of SSG's experience in the development of these SiC flight systems.