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NASA NTRS2001

Defining the cortical visual systems: "what", "where", and "how"

The visual system historically has been defined as consisting of at least two broad subsystems subserving object and spatial vision. These visual processing streams have been organized both structurally as two distinct pathways in the brain, and functionally for the types of tasks that they mediate. The classic definition by Ungerleider and Mishkin labeled a ventral "what" stream to process object information and a dorsal "where" stream to process spatial information. More recently, Goodale and Milner redefined the two visual systems with a focus on the different ways in which visual information is transformed for different goals. They relabeled the dorsal stream as a "how" system for transforming visual information using an egocentric frame of reference in preparation for direct action. This paper reviews recent research from psychophysics, neurophysiology, neuropsychology and neuroimaging to define the roles of the ventral and dorsal visual processing streams. We discuss a possible solution that allows for both "where" and "how" systems that are functionally and structurally organized within the posterior parietal lobe.

NASA Discipline Space Human Factors↗

NASA NTRS2003

Use of Multi-Resolution Wavelet Feature Pyramids for Automatic Registration of Multi-Sensor Imagery

The problem of image registration, or alignment of two or more images representing the same scene or object, has to be addressed in various disciplines that employ digital imaging. In the area of remote sensing, just like in medical imaging or computer vision, it is necessary to design robust, fast and widely applicable algorithms that would allow automatic registration of images generated by various imaging platforms at the same or different times, and that would provide sub-pixel accuracy. One of the main issues that needs to be addressed when developing a registration algorithm is what type of information should be extracted from the images being registered, to be used in the search for the geometric transformation that best aligns them. The main objective of this paper is to evaluate several wavelet pyramids that may be used both for invariant feature extraction and for representing images at multiple spatial resolutions to accelerate registration. We find that the band-pass wavelets obtained from the Steerable Pyramid due to Simoncelli perform better than two types of low-pass pyramids when the images being registered have relatively small amount of nonlinear radiometric variations between them. Based on these findings, we propose a modification of a gradient-based registration algorithm that has recently been developed for medical data. We test the modified algorithm on several sets of real and synthetic satellite imagery.

Zavorin, Ilya↗

NASA NTRS2015

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today.

Allen, B. Danette↗

NASA NTRS1988

A vision system for a Mars rover

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

Wilcox, Brian H.↗

NASA NTRSDate not supplied

NASA’s Simulation Activities for Evaluating UAM Concept of Operations

NASA’s vision for Advanced Air Mobility (AAM) is to help emerging aviation markets to safely develop an air transportation system that moves people and cargo between places previously not served or underserved by aviation using revolutionary new aircraft types. Urban Air Mobility (UAM), the concept of expanding transportation networks by serving short flights to transport people and goods around metropolitan areas, is part of a larger paradigm shift toward AAM, in which new technologies and business models are enabling transformational applications of aviation. In NASA’s Concept of Operations for UAM, Providers of Services for UAM (PSU) play a key role to enable safe and efficient UAM operations by sharing operational data among UAM operators. PSUs provide a pre-departure strategic conflict management service that establishes operational plans for new flights and coordinates them with all relevant operations in shared airspace. The strategic conflict management aims to minimize the need for tactical separation provision, while considering anticipated traffic demand, vertiport capacity and availability, forecasted weather, and airspace restrictions. NASA is currently preparing a new lab evaluation activity with aviation industry partners, called the X4 simulation, to demonstrate their airspace services and capabilities and test new information exchange requirements for UAM operations. This simulation activity will support NASA’s National Campaign (NC) flight tests which are planned over the next several years to guide the collective community and stakeholders through a series of scenario-based test activities that involve vehicles and airspace management services operating in a live test environment. This presentation will provide an overview of the X4 simulation, including objectives, scenarios, assumptions, system architecture, and test schedule. The X4 simulation will evaluate the interconnectivity and operational intent sharing between PSUs for multiple operators, as well as the performance of strategic conflict management.

Urban Air Mobility, Simulation, Advanced Air Mobil↗

NASA NTRS2008

Platform for Postprocessing Waveform-Based NDE

Taking advantage of the similarities that exist among all waveform-based non-destructive evaluation (NDE) methods, a common software platform has been developed containing multiple- signal and image-processing techniques for waveforms and images. The NASA NDE Signal and Image Processing software has been developed using the latest versions of LabVIEW, and its associated Advanced Signal Processing and Vision Toolkits. The software is useable on a PC with Windows XP and Windows Vista. The software has been designed with a commercial grade interface in which two main windows, Waveform Window and Image Window, are displayed if the user chooses a waveform file to display. Within these two main windows, most actions are chosen through logically conceived run-time menus. The Waveform Window has plots for both the raw time-domain waves and their frequency- domain transformations (fast Fourier transform and power spectral density). The Image Window shows the C-scan image formed from information of the time-domain waveform (such as peak amplitude) or its frequency-domain transformation at each scan location. The user also has the ability to open an image, or series of images, or a simple set of X-Y paired data set in text format. Each of the Waveform and Image Windows contains menus from which to perform many user actions. An option exists to use raw waves obtained directly from scan, or waves after deconvolution if system wave response is provided. Two types of deconvolution, time-based subtraction or inverse-filter, can be performed to arrive at a deconvolved wave set. Additionally, the menu on the Waveform Window allows preprocessing of waveforms prior to image formation, scaling and display of waveforms, formation of different types of images (including non-standard types such as velocity), gating of portions of waves prior to image formation, and several other miscellaneous and specialized operations. The menu available on the Image Window allows many further image processing and analysis operations, some of which are found in commercially-available image-processing software programs (such as Adobe Photoshop), and some that are not (removing outliers, Bscan information, region-of-interest analysis, line profiles, and precision feature measurements).

Roth, Don↗

NASA NTRSDate not supplied

Capturing, Analyzing, Maintaining, and Disseminating Shape Memory Material Data Between Information Management Systems

With an increased demand on reducing the time, cost, and effort to develop new materials, Integrated Computational Materials Engineering (ICME) has received widespread attention in various engineering disciplines as a catalyst for significantly reducing experimental testing during the material design process. An ICME approach to design can enable ‘fit-for-purpose’ materials to be realized in engineering applications by incorporating well-understood process-property-performance relationships between the various length and time scales in a material’s structure, enabling material optimization. However, such an approach requires validated multiscale models at the various length scales for a material, which in turn requires a large amount of data, a robust means of storing the data, and the ability to link data to developed material models. The NASA Vision 2040 [1] has identified nine key elements to enabling ICME approaches in system level design, with one being “Data, Information, and Visualization”, thus outlining the importance of a robust information management system for ICME. As the relationship between microstructure, properties, and material performance become better understood and incorporated into multiscale models that can be leveraged in application design, the emergence of new materials with application-driven properties can be realized. One such new material class that has seen growing attention are shape memory materials (SMM), in which a material can transition between a deformed and undeformed state via a reversible phase transformation when subject to a thermal, mechanical, or magnetic load [2]. SMMs have been used widely in aerospace and biomedical industries, including applications such as actuators, low-shock mechanisms, medical staples, braces, and stents [3, 4]. These materials exhibit unique behavior due to their ability to transition between phases, and thus the mechanisms that enable this transition must be captured in a data information management system and incorporated into SMM material models. At NASA Glenn Research Center, the Shape Memory Materials Database (SMMD) Tool has been developed to capture the necessary information that governs SMM material behavior and provide users the ability to select and visualize various SMMs for a specific application [5]. The database contains point-wise data for published SMM materials, along with the pedigree metadata for traceability necessary for a robust information management system. The database is also capable of storing in-house test data performed at NASA GRC by interacting with the developed Shape Memory Alloy (SMA) Analytics tool to extract the necessary point-wise values and populate the database. Although the SMMD Tool offers its users a single, authoritative source for SMM material data that is critical for model development and material design, the full material pedigree of the in-house test data for SMMs is not currently captured and is out of the scope for the SMMD tool. In this work, the schema for capturing SMM test data within the larger NASA GRC ICME Schema [6, 7, 8, 9] will be developed and implemented for thermomechanical tests conducted at NASA GRC. The developed schema will not only store the relevant data needed for the SMMD tool, but also the material pedigree (i.e., production of the bulk material, bulk material analysis, sample cut-out diagrams, sample fabrication procedure, etc.), test pedigree (i.e., test equipment used, measurement systems used, raw test data), and analysis pedigree (i.e., how the data in the SMMD tool is calculated). Furthermore, a Python-based framework will be developed to seamlessly interact between the SMA Analytics and SMMD tools, which will write the full dataset and associated metadata to the GRC Information Management System before passing the required point-wise data to the SMMD tool. Data informatics is a key element of the NASA Vision 2040, which requires not only that data is stored and maintained throughout the material lifecycle, but that the data is also accessible and reusable such that material development efforts can be minimized. Therefore, for an ICME design approach to be realized, a centralized information management system that drives the ICME process must be able to communicate with other databases. The work that will be presented in this presentation will therefore not only demonstrate the ability of NASA GRC’s information management system to capture SMM data, but also its ability to interact with pre-existing tools specialized for such materials.

Data management↗

NASA NTRS2012

NASA Tech Briefs, September 2012

Topics covered include: Beat-to-Beat Blood Pressure Monitor; Measurement Techniques for Clock Jitter; Lightweight, Miniature Inertial Measurement System; Optical Density Analysis of X-Rays Utilizing Calibration Tooling to Estimate Thickness of Parts; Fuel Cell/Electrochemical Cell Voltage Monitor; Anomaly Detection Techniques with Real Test Data from a Spinning Turbine Engine-Like Rotor; Measuring Air Leaks into the Vacuum Space of Large Liquid Hydrogen Tanks; Antenna Calibration and Measurement Equipment; Glass Solder Approach for Robust, Low-Loss, Fiber-to-Waveguide Coupling; Lightweight Metal Matrix Composite Segmented for Manufacturing High-Precision Mirrors; Plasma Treatment to Remove Carbon from Indium UV Filters; Telerobotics Workstation (TRWS) for Deep Space Habitats; Single-Pole Double-Throw MMIC Switches for a Microwave Radiometer; On Shaft Data Acquisition System (OSDAS); ASIC Readout Circuit Architecture for Large Geiger Photodiode Arrays; Flexible Architecture for FPGAs in Embedded Systems; Polyurea-Based Aerogel Monoliths and Composites; Resin-Impregnated Carbon Ablator: A New Ablative Material for Hyperbolic Entry Speeds; Self-Cleaning Particulate Prefilter Media; Modular, Rapid Propellant Loading System/Cryogenic Testbed; Compact, Low-Force, Low-Noise Linear Actuator; Loop Heat Pipe with Thermal Control Valve as a Variable Thermal Link; Process for Measuring Over-Center Distances; Hands-Free Transcranial Color Doppler Probe; Improving Balance Function Using Low Levels of Electrical Stimulation of the Balance Organs; Developing Physiologic Models for Emergency Medical Procedures Under Microgravity; PMA-Linked Fluorescence for Rapid Detection of Viable Bacterial Endospores; Portable Intravenous Fluid Production Device for Ground Use; Adaptation of a Filter Assembly to Assess Microbial Bioburden of Pressurant Within a Propulsion System; Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators; Whispering Gallery Mode Optomechanical Resonator; Vision-Aided Autonomous Landing and Ingress of Micro Aerial Vehicles; Self-Sealing Wet Chemistry Cell for Field Analysis; General MACOS Interface for Modeling and Analysis for Controlled Optical Systems; Mars Technology Rover with Arm-Mounted Percussive Coring Tool, Microimager, and Sample-Handling Encapsulation Containerization Subsystem; Fault-Tolerant, Real-Time, Multi-Core Computer System; Water Detection Based on Object Reflections; SATPLOT for Analysis of SECCHI Heliospheric Imager Data; Plug-in Plan Tool v3.0.3.1; Frequency Correction for MIRO Chirp Transformation Spectroscopy Spectrum; Nonlinear Estimation Approach to Real-Time Georegistration from Aerial Images; Optimal Force Control of Vibro-Impact Systems for Autonomous Drilling Applications; Low-Cost Telemetry System for Small/Micro Satellites; Operator Interface and Control Software for the Reconfigurable Surface System Tri-ATHLETE; and Algorithms for Determining Physical Responses of Structures Under Load.

Source record↗

NASA NTRS2013

NASA Tech Briefs, January 2013

Topics include: Single-Photon-Sensitive HgCdTe Avalanche Photodiode Detector; Surface-Enhanced Raman Scattering Using Silica Whispering-Gallery Mode Resonators; 3D Hail Size Distribution Interpolation/Extrapolation Algorithm; Color-Changing Sensors for Detecting the Presence of Hypergolic Fuels; Artificial Intelligence Software for Assessing Postural Stability; Transformers: Shape-Changing Space Systems Built with Robotic Textiles; Fibrillar Adhesive for Climbing Robots; Using Pre-Melted Phase Change Material to Keep Payloads in Space Warm for Hours without Power; Development of a Centrifugal Technique for the Microbial Bioburden Analysis of Freon (CFC-11); Microwave Sinterator Freeform Additive Construction System (MS-FACS); DSP/FPGA Design for a High-Speed Programmable S-Band Space Transceiver; On-Chip Power-Combining for High-Power Schottky Diode-Based Frequency Multipliers; FPGA Vision Data Architecture; Memory Circuit Fault Simulator; Ultra-Compact Transputer-Based Controller for High-Level, Multi-Axis Coordination; Regolith Advanced Surface Systems Operations Robot Excavator; Magnetically Actuated Seal; Hybrid Electrostatic/Flextensional Mirror for Lightweight, Large-Aperture, and Cryogenic Space Telescopes; System for Contributing and Discovering Derived Mission and Science Data; Remote Viewer for Maritime Robotics Software; Stackfile Database; Reachability Maps for In Situ Operations; JPL Space Telecommunications Radio System Operating Environment; RFI-SIM: RFI Simulation Package; ION Configuration Editor; Dtest Testing Software; IMPaCT - Integration of Missions, Programs, and Core Technologies; Integrated Systems Health Management (ISHM) Toolkit; Wind-Driven Wireless Networked System of Mobile Sensors for Mars Exploration; In Situ Solid Particle Generator; Analysis of the Effects of Streamwise Lift Distribution on Sonic Boom Signature; Rad-Tolerant, Thermally Stable, High-Speed Fiber-Optic Network for Harsh Environments; Towed Subsurface Optical Communications Buoy; High-Collection-Efficiency Fluorescence Detection Cell; Ultra-Compact, Superconducting Spectrometer-on-a-Chip at Submillimeter Wavelengths; UV Resonant Raman Spectrometer with Multi-Line Laser Excitation; Medicine Delivery Device with Integrated Sterilization and Detection; Ionospheric Simulation System for Satellite Observations and Global Assimilative Model Experiments - ISOGAME; Airborne Tomographic Swath Ice Sounding Processing System; flexplan: Mission Planning System for the Lunar Reconnaissance Orbiter; Estimating Torque Imparted on Spacecraft Using Telemetry; PowderSim: Lagrangian Discrete and Mesh-Free Continuum Simulation Code for Cohesive Soils; Multiple-Frame Detection of Subpixel Targets in Thermal Image Sequences; Metric Learning to Enhance Hyperspectral Image Segmentation; Basic Operational Robotics Instructional System; Sheet Membrane Spacesuit Water Membrane Evaporator; Advanced Materials and Manufacturing for Low-Cost, High-Performance Liquid Rocket Combustion Chambers; Motor Qualification for Long-Duration Mars Missions.

Source record↗

NASA NTRS1992

Color matrix display simulation based upon luminance and chromatic contrast sensitivity of early vision

This paper describes the design and operation of a new simulation model for color matrix display development. It models the physical structure, the signal processing, and the visual perception of static displays, to allow optimization of display design parameters through image quality measures. The model is simple, implemented in the Mathematica computer language, and highly modular. Signal processing modules operate on the original image. The hardware modules describe backlights and filters, the pixel shape, and the tiling of the pixels over the display. Small regions of the displayed image can be visualized on a CRT. Visual perception modules assume static foveal images. The image is converted into cone catches and then into luminance, red-green, and blue-yellow images. A Haar transform pyramid separates the three images into spatial frequency and direction-specific channels. The channels are scaled by weights taken from human contrast sensitivity measurements of chromatic and luminance mechanisms at similar frequencies and orientations. Each channel provides a detectability measure. These measures allow the comparison of images displayed on prospective devices and, by that, the optimization of display designs.

Martin, Russel A.↗

NASA NTRS2007

ISRU at a Lunar Outpost: Implementation and Opportunities for Partnerships and Commercial Development

The NASA Lunar Architecture Team (LAT), which was commissioned to help answer the question "how" will humans return to the Moon, and the Synthesis Team and the recently released Global Exploration Strategy, which was commissioned to help answer the question "why" will humans return to the Moon and go on to Mars have identified the ability to extract and use in-situ resources as important to extending human frontiers, reduce dependence on Earth, and further economic and commercial expansion into space. The extraction and processing of space resources into useful products, known as In-Situ Resource Utilization (ISRU), can have a substantial impact on mission and architecture concepts. In particular, the ability to make propellants, life support consumables, and fuel cell reagents can significantly reduce the cost, mass, and risk of sustained human activities beyond Earth. Potential lunar resources include solar wind implanted volatiles, vast quantities of metal and mineral oxides, possible water/ice at the poles, abundant solar energy, regions of permanent light and darkness, the vacuum of space itself, and even scavenging leftover descent propellants and/or trash and waste from human crew activities. Suitable processing can transform these raw resources into useful materials and products. The establishment of a human lunar Outpost, as proposed by NASA at the 2nd Space Exploration Conference in Houston in December 2006, opens up the possibility for the first time of breaking our reliance on Earth supplied consumables and learn to "live off the land". The ISRU phasing and capability incorporation strategy developed during LAT Phase I & II is based on the premise that while ISRU is a critical capability and key to successful implementation of the US Vision for Space Exploration, it is also an unproven capability for human lunar exploration and can not be put in the critical path of architecture success until it has been proven. Therefore, ISRU needs to take incremental steps toward the desired end state. However, at the same time, the lunar architecture needs to be open enough to take advantage of ISRU when proven available.

Sanders, Gerald B.↗

NASA NTRS2002

Laser-Camera Vision Sensing for Spacecraft Mobile Robot Navigation

The advent of spacecraft mobile robots-free-flyng sensor platforms and communications devices intended to accompany astronauts or remotely operate on space missions both inside and outside of a spacecraft-has demanded the development of a simple and effective navigation schema. One such system under exploration involves the use of a laser-camera arrangement to predict relative positioning of the mobile robot. By projecting laser beams from the robot, a 3D reference frame can be introduced. Thus, as the robot shifts in position, the position reference frame produced by the laser images is correspondingly altered. Using normalization and camera registration techniques presented in this paper, the relative translation and rotation of the robot in 3D are determined from these reference frame transformations.

Maluf, David A.↗

NASA NTRS1980

Feasibility study consisting of a review of contour generation methods from stereograms

A review of techniques for obtaining contour information from stereo pairs is given. Photogrammetric principles including a description of stereoscopic vision are presented. The use of conventional contour generation methods, such as the photogrammetric plotting technique, electronic correlator, and digital correlator are described. Coherent optical techniques for contour generation are discussed and compared to the electronic correlator. The optical techniques are divided into two categories: (1) image plane operation and (2) frequency plane operation. The description of image plane correlators are further divided into three categories: (1) image to image correlator, (2) interferometric correlator, and (3) positive negative transparencies. The frequency plane correlators are divided into two categories: (1) correlation of Fourier transforms, and (2) filtering techniques.

Kim, C. J.↗

NASA NTRS1990

Networks for image acquisition, processing and display

The human visual system comprises layers of networks which sample, process, and code images. Understanding these networks is a valuable means of understanding human vision and of designing autonomous vision systems based on network processing. Ames Research Center has an ongoing program to develop computational models of such networks. The models predict human performance in detection of targets and in discrimination of displayed information. In addition, the models are artificial vision systems sharing properties with biological vision that has been tuned by evolution for high performance. Properties include variable density sampling, noise immunity, multi-resolution coding, and fault-tolerance. The research stresses analysis of noise in visual networks, including sampling, photon, and processing unit noises. Specific accomplishments include: models of sampling array growth with variable density and irregularity comparable to that of the retinal cone mosaic; noise models of networks with signal-dependent and independent noise; models of network connection development for preserving spatial registration and interpolation; multi-resolution encoding models based on hexagonal arrays (HOP transform); and mathematical procedures for simplifying analysis of large networks.

Ahumada, Albert J., Jr.↗

NASA NTRS2003

Design of a Borescope for Extravehicular Non-Destructive Applications

Anomalies such as corrosion, structural damage, misalignment, cracking, stress fiactures, pitting, or wear can be detected and monitored by the aid of a borescope. A borescope requires a source of light for proper operation. Today s current lighting technology market consists of incandescent lamps, fluorescent lamps and other types of electric arc and electric discharge vapor lamp. Recent advances in LED technology have made LEDs viable for a number of applications, including vehicle stoplights, traffic lights, machine-vision-inspection, illumination, and street signs. LEDs promise significant reduction in power consumption compared to other sources of light. This project focused on comparing images taken by the Olympus IPLEX, using two different light sources. One of the sources is the 50-W internal metal halide lamp and the other is a 1 W LED placed at the tip of the insertion tube. Images acquired using these two light sources were quantitatively compared using their histogram, intensity profile along a line segment, and edge detection. Also, images were qualitatively compared using image registration and transformation [l]. The gray-level histogram, edge detection, image profile and image registration do not offer conclusive results. The LED light source, however, produces good images for visual inspection by an operator. Analysis using pattern recognition using Eigenfaces and Gaussian Pyramid in face recognition may be more useful.

Bachnak, Rafic↗

NASA NTRS2005

Jet Propulsion Laboratory: Annual Report 2004

Once or twice in an age, a year comes along that the historians proclaim as an Annus Mirabilis - a year of wonders. For the Jet Propulsion Laboratory, 2004 was just that sort of time. From beginning to end, it was a nonstop experience of wondrous events in space. Imagine that two robot rovers embark on cross-country rambles across Mars, scrutinizing rocks for signs of past water on the now-arid world. A flagship spacecraft brakes into orbit at Saturn to begin longterm surveillance of the ringed world, preparing to drop a sophisticated probe to the surface of its haze-shrouded largest moon. Another craft makes the closest-ever pass by the nucleus of a comet, collecting sample particles as it goes. Two new space telescopes peer into the depths of the universe far beyond our solar system, viewing stars, nebulas and galaxies in invisible light beyond the spectrum our eyes can see. A pair of instruments is lofted on a NASA Earth-orbiting satellite to monitor air quality and the protective layer of ozone blanketing our home planet. A small probe brings samples of the solar wind to Earth for in-depth study. While JPL was absorbed with all of these ventures on other worlds, NASA and the White House unveiled an ambitious new plan of space exploration. The Vision for Space Exploration announced in January foresees a program of robotic and astronaut missions leading to a human return to the Moon by 2020, and eventual crewed expeditions to Mars. The vision also calls for more robotic missions to the moons of the outer planets; spaceborne observatories that will search for Earth-like planets around other stars and explore the formation and evolution of the universe; and continued study of our home planet. In order to accomplish all of this, NASA must perfect many as-yet-uninvented technologies and space transportation capabilities. JPL has a great deal to bring to this vision. Robotic exploration of Mars will lead the way for missions that will carry women and men to the red planet. Our engineers and scientists are formulating spacecraft that could use nuclear power to enable exploration missions of the future. And even now we are designing formations of space telescopes that will capture family portraits of the planets around neighboring stars. Those are only some of the ways that the Laboratory is contributing to NASA's broader goals. During 2004, JPL made a distinctive contribution to agencywide initiatives in areas such as safety, NASA transformation, the agency's Internet portal and NASA's Explorer Schools programs. Years like 2004 pose a special challenge for us. It would be easy to say that this was a once-in-a-decade high point of mission activities, but I believe that this would miss an opportunity. We are fortunate to have many space projects in the works that have the promise of being just as exhilarating as the great mission successes that we celebrated this year. The challenge and opportunity for us now is to make every year like this one.

National Aeronautics and Space Administration (NAS↗

NASA NTRS1989

A knowledge-based machine vision system for space station automation

A simple knowledge-based approach to the recognition of objects in man-made scenes is being developed. Specifically, the system under development is a proposed enhancement to a robot arm for use in the space station laboratory module. The system will take a request from a user to find a specific object, and locate that object by using its camera input and information from a knowledge base describing the scene layout and attributes of the object types included in the scene. In order to use realistic test images in developing the system, researchers are using photographs of actual NASA simulator panels, which provide similar types of scenes to those expected in the space station environment. Figure 1 shows one of these photographs. In traditional approaches to image analysis, the image is transformed step by step into a symbolic representation of the scene. Often the first steps of the transformation are done without any reference to knowledge of the scene or objects. Segmentation of an image into regions generally produces a counterintuitive result in which regions do not correspond to objects in the image. After segmentation, a merging procedure attempts to group regions into meaningful units that will more nearly correspond to objects. Here, researchers avoid segmenting the image as a whole, and instead use a knowledge-directed approach to locate objects in the scene. The knowledge-based approach to scene analysis is described and the categories of knowledge used in the system are discussed.

Chipman, Laure J.↗

NASA NTRS1994

Higher-Order Neural Networks Applied to 2D and 3D Object Recognition

A Higher-Order Neural Network (HONN) can be designed to be invariant to geometric transformations such as scale, translation, and in-plane rotation. Invariances are built directly into the architecture of a HONN and do not need to be learned. Thus, for 2D object recognition, the network needs to be trained on just one view of each object class, not numerous scaled, translated, and rotated views. Because the 2D object recognition task is a component of the 3D object recognition task, built-in 2D invariance also decreases the size of the training set required for 3D object recognition. We present results for 2D object recognition both in simulation and within a robotic vision experiment and for 3D object recognition in simulation. We also compare our method to other approaches and show that HONNs have distinct advantages for position, scale, and rotation-invariant object recognition. The major drawback of HONNs is that the size of the input field is limited due to the memory required for the large number of interconnections in a fully connected network. We present partial connectivity strategies and a coarse-coding technique for overcoming this limitation and increasing the input field to that required by practical object recognition problems.

Spirkovska, Lilly↗