Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Change detection”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,621 records · Page 90

SAR Interferometry as a Tool for Monitoring Coastal Changes in the Nile River Delta of Egypt

The Nile River Delta is experiencing rapid rates of coastal change. The rate of both coastal retreat and accretion in the Eastern Nile Delta requires regular, accurate detection and measurement. Current techniques used to monitor coastal changes in the delta are point measurements and, thus, they provide a spatially limited view of the ongoing coastal changes. SAR interferometry can provide measurements of subtle coastal change at a significantly improved spatial resolution and over large areas (100 sq km). Using data provided by the ERS-1&2 satellites, monitoring can be accomplished as frequently as every 35 days when needed. Radar interferometry is employed in this study to detect segments of erosion and accretion during the 1993-2000 period. The average rates of erosion and accretion in the Eastern Nile Delta are measured to be -11.64 m/yr and +5.12 m/yr, respectively. The results of this interferometric study can be used effectively for coastal zone management and integrated sustainable development for the Nile River Delta.

Aly, Mohamed H.↗

Data-driven Event Identification in the U.S. Power Systems Based on 2D-OLPP and RUSBoosting Trees

Accurate event identification is an essential part of situation awareness ability for power system operators. Therefore, this work proposes an integrated event identification algorithm for power systems. First, to obtain and filter suitable inputs for event identification, an event detection trigger based on the rate of change of frequency (RoCoF) is presented. Then, the wave arrival time difference-based triangulation method considering the anisotropy of wave propagation speed is utilized to estimate the location of the detected event. Next, the two-dimensional orthogonal locality preserving projection (2D-OLPP)-based method, which is suitable for multiple types of measured data, is employed to achieve higher effectiveness in extracting the event features compared with traditional one-dimensional projection and principle component analysis (PCA). Finally, the random undersampling boosted (RUSBoosted) trees-based classifier, which can mitigate the data sample imbalance issue, is utilized to identify the type of the detected event. Furthermore, the proposed approach is demonstrated using the actual measurement data of U.S. power systems from FNET/GridEye. Comparison results show that the proposed event identification algorithm can achieve better performance than existing approaches.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Influence of auditory fatigue on masked pure-tone thresholds

A description is presented of four related experiments involving conditions of 3-kHz low-intensity masking, a replication of experiment I with slight variations, 3-kHz high-intensity masking, and 6-kHz low-intensity masking. The frequencies of the tones which the observers detected were 3 and 6 kHz. The observed change in masked-tone threshold as a function of fatigue is discussed. It is found that masked-tone-detection thresholds remain essentially unchanged following fatigue if the masking-noise intensity is sufficiently great.

Parker, D. E.↗

Monitoring Astronaut Health at the Nanoscale Cellular Level Through the Eye

A user friendly goggles-like head-mounted device equipped with a suite of instruments for several non-invasive and quantitative medical evaluation of the eye, skin, and brain is desired for monitoring the health of astronauts during space travel and exploration of neighboring and distant planets. Real-time non-invasive evaluation of the different structures within the above organs can provide indices of the health of not just these organs, but the entire body. The techniques such as dynamic light scattering (for the early detection of uveitis, cholesterol levels, cataract, changes in the vitreous and possibly Alzheimer's disease), corneal autofluorescence (to assess extracellular matrix biology e.g., in diabetes), optical activity measurements (of anterior ocular fluid to evaluate blood-glucose levels), laser Doppler velocimetry (to assess retinal, optic nerve, and choroidal blood flow), reflectometry/oximetry (for assessing ocular and central nervous system oxygen metabolism), optical coherence tomography (to determine retinal tissue microstructure) and possibly scanning laser technology (for intraocular tissue imaging and scanning) will he integrated into this compact device. Skin sensors will also be mounted on the portion of the device in contact with the periocular region. This will enable monitoring of body temperature, EEG, and electrolyte status. This device will monitor astronaut health during long-duration space travel by detecting aberrations from pre-established "nonns", enabling prompt diagnosis and possibly the initiation of early preventative/curative therapy. The non-invasive nature of the device technologies permits frequent repetition of tests, enabling real-time complete crew health monitoring. This device may ultimately be useful in tele-medicine to bring modern healthcare to under-served areas on Earth as well as in so-called "advanced" care settings (e.g. diabetes in the USA).

Ansari, Rafat R.↗

Integral Battery Power Limiting Circuit for Intrinsically Safe Applications

A circuit topology has been designed to guarantee the output of intrinsically safe power for the operation of electrical devices in a hazardous environment. This design uses a MOSFET (metal oxide semiconductor field-effect transistor) as a switch to connect and disconnect power to a load. A test current is provided through a separate path to the load for monitoring by a comparator against a preset threshold level. The circuit is configured so that the test current will detect a fault in the load and open the switch before the main current can respond. The main current passes through the switch and then an inductor. When a fault occurs in the load, the current through the inductor cannot change immediately, but the voltage drops immediately to safe levels. The comparator detects this drop and opens the switch before the current in the inductor has a chance to respond. This circuit protects both the current and voltage from exceeding safe levels. Typically, this type of protection is accomplished by a fuse or a circuit breaker, but in order for a fuse or a circuit breaker to blow or trip, the current must exceed the safe levels momentarily, which may be just enough time to ignite anything in a hazardous environment. To prevent this from happening, a fuse is typically current-limited by the addition of the resistor to keep the current within safe levels while the fuse reacts. The use of a resistor is acceptable for non-battery applications where the wasted energy and voltage drop across the resistor can be tolerated. The use of the switch and inductor minimizes the wasted energy. For example, a circuit runs from a 3.6-V battery that must be current-limited to 200 mA. If the circuit normally draws 10 mA, then an 18-ohm resistor would drop 180 mV during normal operation, while a typical switch (0.02 ohm) and inductor (0.97 ohm) would only drop 9.9 mV. From a power standpoint, the current-limiting resistor protection circuit wastes about 18 times more power than the switch and the inductor configuration. In the fault condition, both the resistor and the inductor react immediately. The resistor reacts by allowing more current to flow and dropping the voltage. Initially, the inductor reacts by dropping the voltage, and then by not allowing the current to change. When the comparator detects the drop in voltage, it opens the switch, thus preventing any further current flow. The inductor alone is not sufficient protection, because after the voltage drop has settled, the inductor would then allow the current to change, in this example, the current would be 3.7 A. In the fault condition, the resistor is flowing 200 mA until the fuse blows (anywhere from 1 ms to 100 s), while the switch and inductor combination is flowing about 2 A test current while monitoring for the fault to be corrected. Finally, as an additional safety feature, the circuit can be configured to hold the switch opened until both the load and source are disconnected.

Burns, Bradley M.↗

Investigations of remote sensing techniques for early detection of Dutch elm disease

Several forms of aerial photography were pursued in quest of a technique which could provide early detection of Dutch elm disease. The two most promising techniques tested were multispectral photography with object enhancement and biband ratioing coupled with scanning microdensitometry. For practical purposes the multispectral system has the advantage of providing a readily interpretable image in a relatively short time. Laboratory studies indicated that less emphasis should be placed on the use of a red filter or the near infrared beyond 750 mm for early detection of stress within a single plant species. Color infrared film would be optimal when used for a long term detection of loss of plant vigor which results in a physical change in a plant canopy, but should find minimal practicality for early detection of specific sources of plant stress such as Dutch elm disease. Considerable discretion should be used when interpreting imagery on copy film because of loss of resolution and color definition.

Hammerschlag, R. S.↗

Line profile variations in M giants - Clues to mass-loss and chromospheric heating mechanisms

Analysis is presented of time-series, high dispersion spectra of the Mg II, k, Ca II H, and K lines of the semiregular giants Rho Per (M4 II-III, periodicity of about 50 days), R Lyr (M5 III, period of about 46 days), and g Her (M6 III, period of about 90 days). The fine error sensor on the IUE satellite and ground based UBV photometry was used to relate line profile variations to photospheric variations. The above mentioned stars were selected to study the relative importance of convective motions and global stellar pulsations in determining the structure of the outer atmospheres. Small amplitude changes, but substantial changes in the profiles of Mg II and Ca II lines were detected. It is contended that the observed variability is due to changes in chromospheric conditions and not variations within the circumstellar shell. The picture of a steady state chromosphere, which is modulated on long time scales, is corroborated by these observations. Localized heating is found in g Her.

Judge, P. G.↗

The photometric method of detecting other planetary systems

Rosenblatt (1971) has conducted an investigation regarding the use of photometric techniques to detect other planetary systems by searching for changes in starlight caused by the transit of a planet. The obtained results suggest that neither the intrinsic variation of the starlight nor the transmission fluctuations in the terrestrial atmosphere would prevent detection of planets as small as Mars with telescope apertures of 40 to 60 cm. The present investigation shows that Rosenblatt's results are too optimistic even for present-day differential photometric techniques. However, it appears that the detection of planets at least one-third the size of Jupiter is feasible, if a photometer with the required precision can be developed, taking into account the availability of a wide-angle telescope with a 1- to 2-m aperture.

Borucki, W. J.↗

Hydrogen Detection Strategies to Support H2@SCALE - The NREL Sensor Laboratory

Hydrogen represents a major pathway to decarbonize and stabilize the national and international energy industry and select manufacturing markets. To facilitate the development of hydrogen markets, the US Department of Energy initiated H2@Scale to bring together stakeholders to advance affordable hydrogen production, transport, storage, and utilization to increase revenue opportunities in multiple energy sectors. One major impediment to hydrogen implementation is cost. To expedite the use of hydrogen in energy and other markets, the United States announced in 2021 the Hydrogen Shot, which seeks to reduce the cost of clean hydrogen by 80% to $1 per 1 kilogram in 1 decade ("1 1 1"). As the cost of hydrogen drops, new applications will emerge that will require unique configurations of existing equipment and infrastructure, and eventually lead to advances in the generation and utilization of hydrogen. As the hydrogen economy expands, sensors and detection methods will need to adapt to changing infrastructure demands to address the primary targets of health & safety, emissions monitoring, and process control. The NREL Sensor Laboratory is playing a pivotal role in advancing the use of hydrogen sensors and detection methodologies in each of these categories to support DOE's mission for safe and efficient utilization in emerging markets. Health & safety monitors are required to ensure that operators and facilities can react to unintended hydrogen releases, either as GH2, LH2, or as a constituent of blends (e.g., natural gas or ammonia). Current detection methodologies focus on safety applications to detect near its lower flammable limit (4 vol %), and typically include point sensors in applications such as fixed or mobile detectors (e.g., personal gas monitors). Methodologies amenable for area detection include acoustic, emerging optical imaging methods, and flame detectors. Comparable detection strategies can be utilized for emissions monitoring and quantization, however few methods can simultaneously cover both low (emissions) and high (health & safety) levels. Deployment of emission level detectors will be required to 1) reduce product loss through small but potentially significant leaks from an environmental or cost perspective, 2) reduce downtime of high demand systems by early identification of eminent system failures (leaks through pump or compressor seals indicative of impending failure), and 3) address potential emission monitoring requirements that may be set by regulating bodies. The first two points should be adopted by industry to reduce the cost-of-goods-sold. The third main category for hydrogen detection relates to process control and may be advantageous for many existing applications. Two main applications are emerging. For example, the purity requirements for hydrogen that is dispensed from refueling systems for hydrogen fuel cell electric vehicles (FCEV) is rigorously regulated by the Standard SAE J2719, which prescribes maximum allowable levels of multiple impurities in the hydrogen fuel and must be verified by a regulatory body. Hydrogen contaminant detectors (HCD) integrated to the fueling station can assure this compliance. HCDs must be able operate in 100% H2 backgrounds and be able to distinguish between multiple contaminants at low ppm to low ppb levels. Secondly, as a strategy to decarbonize the natural gas grid, there are proposals to blend hydrogen with natural gas. This blending will affect transport applications (pipeline infrastructure), stationary combustion systems (turbines), and consumer and commercial appliances. In the short-term, hydrogen levels up to 20% are proposed. Variations in the hydrogen level can have dramatic impact on the combustion process and on the potential response of safety sensors. These mixtures may be regulated so that the concentration at a delivery point must be monitored with high precision. However, routine maintenance may introduce background gases such as ambient air (with water) or maintenance gases (introduced with welding processes or adhesive outgassing.) Therefore, the detection methodology must be robust enough to recover or respond to various contaminants. Several reviews can be found in literature addressing sensing and detection technologies, including their limitations and applications. However, for most applications, limitations can be alleviated by combining various detection techniques either through system integration or implementation of machine learning methods (artificial intelligence). In this presentation, we will discuss several applications, highlight their current approach for hydrogen detection, and suggest detection strategies to supplement their limitations.

ENERGY STORAGE,HYDROGEN↗

Random vs. Combinatorial Methods for Discrete Event Simulation of a Grid Computer Network

This study compared random and t-way combinatorial inputs of a network simulator, to determine if these two approaches produce significantly different deadlock detection for varying network configurations. Modeling deadlock detection is important for analyzing configuration changes that could inadvertently degrade network operations, or to determine modifications that could be made by attackers to deliberately induce deadlock. Discrete event simulation of a network may be conducted using random generation, of inputs. In this study, we compare random with combinatorial generation of inputs. Combinatorial (or t-way) testing requires every combination of any t parameter values to be covered by at least one test. Combinatorial methods can be highly effective because empirical data suggest that nearly all failures involve the interaction of a small number of parameters (1 to 6). Thus, for example, if all deadlocks involve at most 5-way interactions between n parameters, then exhaustive testing of all n-way interactions adds no additional information that would not be obtained by testing all 5-way interactions. While the maximum degree of interaction between parameters involved in the deadlocks clearly cannot be known in advance, covering all t-way interactions may be more efficient than using random generation of inputs. In this study we tested this hypothesis for t = 2, 3, and 4 for deadlock detection in a network simulation. Achieving the same degree of coverage provided by 4-way tests would have required approximately 3.2 times as many random tests; thus combinatorial methods were more efficient for detecting deadlocks involving a higher degree of interactions. The paper reviews explanations for these results and implications for modeling and simulation.

Kuhn, D. Richard↗

Real Time On-line Space Research Laboratory Environment Monitoring with Off-line Trend and Prediction Analysis

One of the responsibilities of the NASA Glenn Principal Investigator Microgravity Services is to support NASA sponsored investigators in the area of reduced-gravity acceleration data analysis, interpretation and the monitoring of the reduced-gravity environment on-board various carriers. With the International Space Station currently operational, a significant amount of acceleration data is being down-linked and processed on ground for both the space station onboard environment characterization (and verification) and scientific experiments. Therefore, to help principal investigator teams monitor the acceleration level on-board the International Space Station to avoid undesirable impact on their experiment, when possible, the NASA Glenn Principal Investigator Microgravity Services developed an artificial intelligence monitoring system, which detects in near real time any change in the environment susceptible to affect onboard experiments. The main objective of the monitoring system is to help research teams identify the vibratory disturbances that are active at any instant of time onboard the International Space Station that might impact the environment in which their experiment is being conducted. The monitoring system allows any space research scientist, at any location and at any time, to see the current acceleration level on-board the Space Station via the World Wide Web. From the NASA Glenn s Exploration Systems Division web site, research scientists can see in near real time the active disturbances, such as pumps, fans, compressor, crew exercise, re-boost, extra-vehicular activity, etc., and decide whether or not to continue operating or stopping (or making note of such activity for later correlation with science results) their experiments based on the g-level associated with that specific event. A dynamic graphical display accessible via the World Wide Web shows the status of all the vibratory disturbance activities with their degree of confidence as well as their g-level contribution to the environment. The system can detect both known and unknown vibratory disturbance activities. It can also perform trend analysis and prediction by analyzing past data over many Increments of the space station for selected disturbance activities. This feature can be used to monitor the health of onboard mechanical systems to detect and prevent potential system failure as well as for use by research scientists during their science results analysis. Examples of both real time on-line vibratory disturbance detection and off-line trend analysis are presented in this paper. Several soft computing techniques such as Kohonen s Self-Organizing Feature Map, Learning Vector Quantization, Back-Propagation Neural Networks, and Fuzzy Logic were used to design the system.

Jules, Kenol↗

(Quickly) Testing the Tester via Path Coverage

The configuration complexity and code size of an automated testing framework may grow to a point that the tester itself becomes a significant software artifact, prone to poor configuration and implementation errors. Unfortunately, testing the tester by using old versions of the software under test (SUT) may be impractical or impossible: test framework changes may have been motivated by interface changes in the tested system, or fault detection may become too expensive in terms of computing time to justify running until errors are detected on older versions of the software. We propose the use of path coverage measures as a "quick and dirty" method for detecting many faults in complex test frameworks. We also note the possibility of using techniques developed to diversify state-space searches in model checking to diversify test focus, and an associated classification of tester changes into focus-changing and non-focus-changing modifications.

evaluation of test systems↗

Control of the Laser Interferometer Space Antenna

The detection of gravity waves will open a new window of observation on the universe. Unlike typical observatories, which detect electromagnetic waves traveling through space-time, the Laser Interferometer Space Antenna (LISA) will detect ripples in space-time itself. Science targets include galactic binaries, merging supermassive black holes, intermediate-mass/seed black holes, and cosmological backgrounds. Gravity waves are detected by measuring the strain in space, i.e. the change in distance between a set of masses (test masses or proof masses) separated by a great distance. Ground based detection of gravity waves by Laser Interferometer Gravitational Wave Observatory (LIGO) and other observatories are possible with laser interferometry; hut the relatively short arm length (4 km) and seismic noise limit the measurement band to above 10 Hz on Earth. LISA also uses laser interferometric measurement of the change in distance between test masses, but does it in space. Each LISA spacecraft embodies two test masses. Space allows very long arm lengths (5 million km for LISA) and a very quiet acceleration environment (3.5x10(exp -15) meters per second squared/Hertz (sup 0.5) for LISA), which allows for the detection of gravity wave strains to a best sensitivity of 3x10(exp -24) strain/Hertz (sup 0.5) over the measurement band of 10(exp -4) to 10(exp -1) Hertz for a one-year observation. The LISA mission consists of three spacecraft in heliocentric orbit. The orbits are chosen so that the three spacecraft form a roughly equilateral triangle with its center located at a radius of 1 AU and 20 degrees behind the Earth, as shown. Requirements are placed on the rotational and translational dynamics of each spacecraft to ensure that the proper sensitivity for science measurements can be achieved.

Maghami, Peiman↗

Future Plans in US Flight Missions: Using Laser Remote Sensing for Climate Science Observations

Laser Remote Sensing provides critical climate science observations necessary to better measure, understand, model and predict the Earth's water, carbon and energy cycles. Laser Remote Sensing applications for studying the Earth and other planets include three dimensional mapping of surface topography, canopy height and density, atmospheric measurement of aerosols and trace gases, plume and cloud profiles, and winds measurements. Beyond the science, data from these missions will produce new data products and applications for a multitude of end users including policy makers and urban planners on local, national and global levels. NASA Missions in formulation including Ice, Cloud, and land Elevation Satellite (ICESat 2) and the Deformation, Ecosystem Structure, and Dynamics of Ice (DESDynI), and future missions such as the Active Sensing of CO2 Emissions over Nights, Days and Seasons (ASCENDS), will incorporate the next generation of LIght Detection And Ranging (lidar) instruments to measure changes in the surface elevation of the ice, quantify ecosystem carbon storage due to biomass and its change, and provide critical data on CO 2 in the atmosphere. Goddard's plans for these instruments and potential uses for the resulting data are described below. For the ICESat 2 mission, GSFC is developing a micro-pulse multi-beam lidar. This instrument will provide improved ice elevation estimates over high slope and very rough areas and result in improved lead detection for sea ice estimates. Data about the sea ice and predictions related to sea levels will continue to help inform urban planners as the changes in the polar ice accelerate. DESDynI is planned to be launched in 2017 and includes both lidar and radar instruments. GSFC is responsible for the lidar portion of the DESDynI mission and is developing a scanning laser altimeter that will measure the Earth's topography, the structure of tree canopies, biomass, and surface roughness. The DESDynI lidar will also measure and predict the response of ice masses to climate change and impact on sea level. Data from the lidar will ultimately be fused with radar data products with heretofore unseen results and applications. The 3-D structure of forests is critical to understanding the impact of land use and associated landscape changes on the habitat of life forms and consequently on their biodiversity. Lidar instruments are also under development to measure trace gases in the atmospheric such as CO2 and methane. GSFC is developing an active measurement approach to determine the CO2 column density and surface pressure for the proposed ASCENDS mission. The objective of this approach is to produce data on the amounts of anthropogenic and organic CO2 in the atmosphere with sufficient accuracy to meet the needs of target users including state, federal and international users as well as policy-related legislative, regulatory, and voluntary carbon-related management groups local to international interests. In summary, NASA will continue to rely on laser remote sensing for critical climate science observations and is committed to the development of the next generation of lidar instruments for a range of applications.

Callahan, Lisa W.↗

Broadband and filter radiometers at Ross Island, Antarctica: detection of cloud ice phase versus liquid water influences on shortwave and longwave radiation

Abstract. Surface radiometer data from Ross Island, Antarctica, collected during the austral summer 2015–2016 by the US Department of Energy Atmospheric Radiation Measurement (ARM) program West Antarctic Radiation Experiment (AWARE), are used to evaluate how shortwave and longwave irradiance respond to changing cloud properties as governed by contrasting meteorological regimes. Shortwave atmospheric transmittance is derived from pyranometer measurements, and cloud conservative-scattering optical depth is derived from filter radiometer measurements at 870 nm. With onshore flow associated with marine air masses, clouds contain mostly liquid water. With southerly flow over the Transantarctic Mountains, orographic forcing induces substantial cloud ice water content. These ice and mixed-phase clouds attenuate more surface shortwave irradiance than the maritime-influenced clouds and also emit less longwave irradiance due to colder cloud base temperature. These detected irradiance changes are in a range that can mean onset or inhibition of surface melt over ice shelves. This study demonstrates how basic and relatively low-cost broadband and filter radiometers can be used to detect subtle climatological influences of contrasting cloud microphysical properties at very remote locations.

54 ENVIRONMENTAL SCIENCES↗

Land Cover Change Analysis and Spatial Variations in Southeast Asian Nations: Insights on Spatial Scale Dynamics

Land cover type is a fundamental aspect of studies using remote sensing for environmental analysis such as monitoring deforestation, quantifying wildland fire emissions, and more. There are many land cover products available for varying time periods and spatial resolutions, each with different land cover class definitions and number of land cover classes. These differences yield inherent variation in land cover estimates. In this study, we explore the spatial and areal variation between two major datasets for their commonly available time of 2018 to 2022 (MODIS 500m Land Cover and Esri Sentinel-2 10m land cover) in the continental Southeast Asia countries of Cambodia, Laos, Myanmar, Thailand, and Vietnam. To enable comparison, we resampled the datasets and reclassified the land cover classes to a common scheme. Major disagreement was detected between Esri and MODIS, especially for the wetlands/flooded vegetation class in which only 3.6% of pixels were in agreement. In addition to quantifying variation between the datasets, we quantify land cover change at the decadal scale of 2001, 2011, and 2021 for each country and identified province-level hotspots of land cover change. Cambodia experienced the highest rate of land cover change with 67.8% of total land area changed, followed by Vietnam (58.6%), Laos (50.2%), Myanmar (46.9%), and Thailand (46.3%). The highest rate of land cover change was detected in Odtar Mean Chey, Cambodia, which had large swaths of forest area cleared for agricultural production, river damming, and more. Ultimately, many areas in the region experienced forest clearing for crop production (i.e. rice) which appeared to be classified as wetland in the MODIS product, and crop in the Esri product. Myanmar was the only country which did not experience net decline in forest area over the 2001 to 2021 time period.

Land Cover Change↗

The influence of hold times on LCF and FCG behavior in a P/M Ni-base superalloy

The relative importance of creep and environmental interactions in high temperature fatigue behavior has been investigated for as-HIP Rene 95. Strain-controlled low cycle fatigue and load-controlled fatigue crack growth tests were performed at elevated temperatures in argon, followed by fractographic analyses of the fracture surfaces by scanning electron microscopy. Fatigue lives were drastically reduced and crack growth rates increased one hundred fold as a result of superposition of hold times on continuous cycling. A change in fracture mode with hold time also was noted. Chromium oxide was detected on the fracture surface by Auger electron spectroscopy. The drastic changes in fatigue resistance due to hold times were attributed primarily to environmental interactions with fatigue processes.

Choe, S. J.↗

Robust Semantic Mapping and Localization on a Free-Flying Robot in Microgravity

We propose a system that uses semantic object detections to localize a microgravity free-flyer. Many applications require absolute localization in a known reference frame, such as the execution of waypoint trajectories defined by human operators. Classical geometric methods build a map of point features, which may not be able to be associated after lighting or environmental changes. By contrast, semantics remain invariant to changes up to the robustness of the detection algorithm and motion of the semantic objects. In this work, we describe our approaches for both offline semantic map generation as well as online localization against a semantic map, intended to run in real-time on the robot. We additionally demonstrate how our semantic localizer outperforms image-feature matching in some cases, and show the robustness of the algorithm to environmental changes. Crucially, we show in our experiments that when semantics are used to supplement point features, localization is always improved. To our knowledge, these experiments demonstrate the first use of learned semantics for localization on a free-flying robot in microgravity.

Localization↗