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At least 1,639 records · Page 91

Vision based object pose estimation for mobile robots

Mobile robot navigation using visual sensors requires that a robot be able to detect landmarks and obtain pose information from a camera image. This paper presents a vision system for finding man-made markers of known size and calculating the pose of these markers. The algorithm detects and identifies the markers using a weighted pattern matching template. Geometric constraints are then used to calculate the position of the markers relative to the robot. The selection of geometric constraints comes from the typical pose of most man-made signs, such as the sign standing vertical and the dimensions of known size. This system has been tested successfully on a wide range of real images. Marker detection is reliable, even in cluttered environments, and under certain marker orientations, estimation of the orientation has proven accurate to within 2 degrees, and distance estimation to within 0.3 meters.

Wu, Annie↗

Investigation of wing upper surface flow-field disturbance due to NASA DC-8-72 in-flight inboard thrust-reverser deployment

An investigation of the wing upper surface flow-field disturbance due to in-flight inboard thrust reverser deployment on the NASA DC-8-72, which was conducted cooperatively by NASA Ames, the Federal Aviation Administration (FAA), McDonnell Douglas, and the Aerospace Industry Association (AIA), is outlined and discussed in detail. The purpose of this flight test was to obtain tufted flow visualization data which demonstrates the effect of thrust reverser deployment on the wing upper surface flow field to determine if the disturbed flow regions could be modeled by computational methods. A total of six symmetric thrust reversals of the two inboard engines were performed to monitor tuft and flow cone patterns as well as the character of their movement at the nominal Mach numbers of 0.55, 0.70, and 0.85. The tufts and flow cones were photographed and video-taped to determine the type of flow field that occurs with and without the thrust reversers deployed. In addition, the normal NASA DC-8 onboard Data Acquisition Distribution System (DADS) was used to synchronize the cameras. Results of this flight test will be presented in two parts. First, three distinct flow patterns associated with the above Mach numbers were sketched from the motion videos and discussed in detail. Second, other relevant aircraft parameters, such as aircraft's angular orientation, altitude, Mach number, and vertical descent, are discussed. The flight test participants' comments were recorded on the videos and the interested reader is referred to the video supplement section of this report for that information.

Hamid, Hedayat U.↗

STS-46 Post Flight Press Conference

At a post flight press conference, the flight crew of the STS-46 mission (Cmdr. Loren Shriver, Pilot Andrew Allen, Mission Specialists Claude Nicollier (European Space Agency (ESA)), Marsha Ivins (Flight Engineer), Jeff Hoffman (Payload Commander), Franklin Chang-Dias, and Payload Specialist Franco Malerba (Italian Space Agency (ISA))) discussed their roles in and presented video footage, slides and still photographs of the different aspects of their mission. The primary objectives of the mission were the deployment of ESA's European Retrievable Carrier (EURECA) satellite and the joint NASA/ISA deployment and testing of the Tethered Satellite System (TSS). Secondary objectives included the IMAX Camera, the Limited Duration Space Environment Candidate Materials Exposure (LDVE), and the Pituitary Growth Hormone Cell Function (PHCF) experiments. Video footage of the EURECA and TSS deployment procedures are shown. Earth views were extensive and included Javanese volcanoes, Amazon basin forest ground fires, southern Mexico, southern Bolivian volcanoes, south-west Sudan and the Sahara Desert, and Melville Island, Australia. Questions from reporters and journalists from Johnson Space Center and Kennedy Space Center were discussed.

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Ranging Apparatus and Method Implementing Stereo Vision System

A laser-directed ranging system for use in telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a left and right video camera mounted on a camera platform, and a remotely positioned operator. The position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. A laser is provided between the left and right video camera and is directed by the user to point to a target device. The images produced by the left and right video cameras are processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. The horizontal disparity between the two processed images is calculated for use in a stereometric ranging analysis from which range is determined.

Li, Larry C.↗

The MISR Calibration Program

The Multiangle Imaging SpectroRadiometer (MISR) is currently under development for NASA's Earth Observing System. The instrument consists of nine pushbroom cameras, each with four spectral bands in the visible and near-infrared. The cameras point in different view directions to provide measurements from nadir to highly oblique view angles in the along-track plane. Multiple view-angle observations provide a unique resource for studies of clouds, aerosols, and the surface. MISR is built to challenging radiometric and geometric performance specifications. Radiometric accuracy, for example, must be within +/- 3%/ 1 sigma, and polarization insensitivity must be better than +/- 1 %. An onboard calibrator (OBC) provides monthly updates to the instrument gain coefficients. Spectralon diffuse panels are used within the OBC to provide a uniform target for the cameras to view. The absolute radiometric scale is established both preflight and in orbit through the use of detector standards. During the mission, ground data processing to accomplish radiometric calibration, geometric rectification and registration of the nine view-angle imagery, and geophysical retrievals will proceed in an automated fashion. A global dataset is produced every 9 days. This paper details the preflight characterization of the MISR instrument, the design of the OBC, and the radiance product processing.

Bruegge, Carol J.↗

AFM Studies of Lunar Soils and Application to the Mars 2001 Mission

The upcoming Mars 01 mission will carry an Atomic Force Microscope (AFM) as part of the Mars Environmental Compatibility Assessment (MECA) instrument. By operating in a tapping mode, the AFM is capable of sub-nanometer resolution in three dimensions and can distinguish between substances of different compositions by employing phase contrast imaging. To prepare for the Mars 01 mission, we are testing the AFM on a lunar soil to determine its ability to define particle shapes and sizes and grain-surface textures. The test materials are from the Apollo 17 soil 79221, which is a mixture of agglutinates, impact and volcanic beads, and mare and highland rock and mineral fragments. The majority of the lunar soil particles are less than 100 microns in size, comparable to the sizes estimated for martian dust. We have used the AFM to examine several different soil particles at various resolutions. The instrument has demonstrated the ability to identify parallel ridges characteristic of twinning on a 150 micron plagioclase feldspar particle. Extremely small (10-100 nanometer) adhering particles are visible on the surface of the feldspar grain, and they appear elongate with smooth surfaces. Phase contrast imaging of the nanometer particles shows several compositions to be present. When the AFM was applied to a 100 micron glass spherule, it was possible to define an extremely smooth surface; this is in clear contrast to results from a basalt fragment which exhibited a rough surface texture. Also visible on the surface of the glass spherule were chains of 100 nanometer and smaller impact melt droplets. For the '01 Mars mission, the AFM is intended to define the size and shape distributions of soil particles, in combination with the NMCA optical microscope system and images from the Robot Arm Camera (RAC). These three data sets will provide a means of assessing potentially hazardous soil and dust properties. The study that we have conducted on the lunar soils now suggests that the NMCA experiment will be able to define grain transport and weathering processes. For example, it should be possible to determine if Martian grains have been subjected to aeolian or water transport, volcanic activity, impact melting processes, in-situ weathering, and a host of other processes. Additionally, textural maturity could be assessed (via freshness and form of fracture patterns and grain shapes). Thus, the AFM has the potential to shed new light on Martian surface processes by adding the submicroscopic dimension to planetary investigations.

Weitz, C. M.↗

Ultrasonic Imaging System

An imaging system is described which can be used to either passively search for sources of ultrasonics or as an active phase imaging system. which can image fires. gas leaks, or air temperature gradients. This system uses an array of ultrasonic receivers coupled to an ultrasound collector or lens to provide an electronic image of the ultrasound intensity in a selected angular region of space. A system is described which includes a video camera to provide a visual reference to a region being examined for ultrasonic signals.

Youngquist, Robert C.↗

STS-114 Crew Interviews Eileen Collins, CDR

Commander Eileen Collins of the STS-114 space mission is seen during a pre-launch interview. She answers questions about the primary goals of the mission which are to exchange the expedition six and expedition seven crews. Also, she says that a large amount of logistics will be taken up to the International Space Station. The primary payload on this mission include: 1) The Utilization and Logistics Flight-1 (ULF-1); 2) Raffaello Multi-Purpose Logistics Module (MPLM); and 3) External Stowage Platform (ESP-2) which are all explained in detail by the Commander. The Window Observational Research Facility (WORF) rack, Human Research Facility (HRF) rack, Minus Eighty Degree Laboratory Freezer (MELF) and EXPRESS rack are the Space Station equipment to be installed on the International Space Station (I.S.S.). Collins is the Intravehicular Activity (IVA) specialist for this mission who oversees the three Extravehicular Activity (EVA)'s performed by Mission Specialists Soichi Noguchi and Stephen Robinson. The three EVA's include an external camera installation, positioning devices for an ammonia system and the installation of Floating Potential Measuring Unit (FPMU). Commander Collins expresses that she wants to have a successful mission, and also wants to see the Earth from space.

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Deflections in Lava Flow Directions Relative to Topography in the Tharsis Region: Indicators of Post-Flow Tectonic Motion

High-resolution topographic data for Mars from the Mars Orbiter Laser Altimeter (MOLA), and imagery from the Mars Orbiter Camera (MOC) and the Thermal Emission Imaging System (THEMIS) allow for the first accurate assessment of lava flow directions relative to topographic slopes in the Tharsis region. Tharisis has long been recognized as the dominant tectonic and volcanic province on the planet, with a complex geologic history. In this study, lava flow directions on Daedalia Planum, Syria Planum, Tempe Terra, and near the Tharsis Montes are compared with MOLA topographic contours to look for deviations of flow directions from the local slope direction. The topographic deviations identified in this study are likely due to Tharsis tectonic deformation that has modified the regional topography subsequent to the emplacement of the flows, and can be used to model the mechanisms and magnitudes of relatively recent tectonism in the region. A similar approach was used to identify possible postflow tectonic subsidence on the Snake River Plain in Idaho.

Chadwick, D. J.↗

Videogrammetric Model Deformation Measurement Technique

The theory, methods, and applications of the videogrammetric model deformation (VMD) measurement technique used at NASA for wind tunnel testing are presented. The VMD technique, based on non-topographic photogrammetry, can determine static and dynamic aeroelastic deformation and attitude of a wind-tunnel model. Hardware of the system includes a video-rate CCD camera, a computer with an image acquisition frame grabber board, illumination lights, and retroreflective or painted targets on a wind tunnel model. Custom software includes routines for image acquisition, target-tracking/identification, target centroid calculation, camera calibration, and deformation calculations. Applications of the VMD technique at five large NASA wind tunnels are discussed.

Burner, A. W.↗

Deflections in Lava Flow Directions Relative to Topography in the Tharsis Region of Mars: Indications of Post-Flow Tectonic Motion

High-resolution topographic data from the Mars Orbiter Laser Altimeter (MOLA), and imagery from the Mars Orbiter Camera (MOC) and the Thermal Emission Imaging System (THEMIS) allow for the first accurate assessment of lava flow directions relative to topographic slopes in the Tharsis region. Tharisis has long been recognized as the dominant tectonic and volcanic province on the planet, with a complex geologic history. In this study, lava flow directions on Daedalia Planum, Syria Planum, Tempe Terra, and near the Tharsis Montes are compared with MOLA topographic contours to look for deviations of flow directions from the local slope direction. The topographic deviations identified in this study are likely due to Tharsis tectonic deformation that has modified the regional topography subsequent to the emplacement of the flows, and can be used to model the mechanisms and magnitudes of relatively recent tectonism in the region. A similar approach was used to identify possible post-flow tectonic subsidence on the Snake River Plain in Idaho.

Chadwick, D. J.↗

Moonshine Versus Earthshine: Physics Makes a Difference

Introduction: Recently released, high-resolution images from the Mars Orbiter Camera (MOC) and the Thermal Emission Imaging System (THEMIS) reveal a myriad of intriguing landforms banked along the northern edge of Terby Crater located on the northern rim of Hellas (approx.28degS, 287degW). Landforms within this crater include north-trending troughs and ridges, a remarkable 2.5 km-thick sequence of exposed layers, mantled ramps that extend across and between layered sequences, fan-like structures, sinuous channels, collapse pits, a massive landslide and viscous flow features. The suite of diverse landforms in Terby and its immediate surroundings attest to a diversity of rock types and geologic processes, making this locality ideal for studying landform-climate relationships on Mars. In order to decipher the complicated geologic history of Terby Crater and the nature of the layered deposits, a generalized geomorphic map was created and the slope of the layered deposits was examined.

Wilson, T. L.↗

STS-121/Discovery: Mission Status Briefing

Tony Ceccacci (Space Shuttle Flight Director) discussed the following activities: starboard survey, two space rendezvous, nose cap survey, timelines. Rick LaBrode (International Space Station Flight Director) discussed the following activities: preparation for Shuttle Docking, leak checks, pressurization checks, final configuration for cameras, setting up the internal wireless information system, accelerometers, etc. Then the floor was open to questions from the press.

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Cameras Reveal Elements in the Short Wave Infrared

Goodrich ISR Systems Inc. (formerly Sensors Unlimited Inc.), based out of Princeton, New Jersey, received Small Business Innovation Research (SBIR) contracts from the Jet Propulsion Laboratory, Marshall Space Flight Center, Kennedy Space Center, Goddard Space Flight Center, Ames Research Center, Stennis Space Center, and Langley Research Center to assist in advancing and refining indium gallium arsenide imaging technology. Used on the Lunar Crater Observation and Sensing Satellite (LCROSS) mission in 2009 for imaging the short wave infrared wavelengths, the technology has dozens of applications in military, security and surveillance, machine vision, medical, spectroscopy, semiconductor inspection, instrumentation, thermography, and telecommunications.

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Creep Measurement Video Extensometer

Understanding material behavior under load is critical to the efficient and accurate design of advanced aircraft and spacecraft. Technologies such as the one disclosed here allow accurate creep measurements to be taken automatically, reducing error. The goal was to develop a non-contact, automated system capable of capturing images that could subsequently be processed to obtain the strain characteristics of these materials during deformation, while maintaining adequate resolution to capture the true deformation response of the material. The measurement system comprises a high-resolution digital camera, computer, and software that work collectively to interpret the image.

Jaster, Mark↗

Detection of Planetary Emission from the Exoplanet TrES-2 Using Spitzer/IRAC

We present here the results of our observations of TrES-2 using the Infrared Array Camera on Spitzer. We monitored this transiting system during two secondary eclipses, when the planetary emission is blocked by the star. The resulting decrease in flux is 0.127% +/- 0.021%, 0.230% +/- 0.024%, 0.199% +/- 0.054%, and 0.359% +/- 0.060% at 3.6 microns, 4.5 microns, 5.8 microns, and 8.0 microns, respectively. We show that three of these flux contrasts are well fit by a blackbody spectrum with T(sub eff) = 1500 K, as well as by a more detailed model spectrum of a planetary atmosphere. The observed planet-to-star flux ratios in all four lRAC channels can be explained by models with and without a thermal inversion in the atmosphere of TrES-2, although with different atmospheric chemistry. Based on the assumption of thermochemical equilibrium, the chemical composition of the inversion model seems more plausible, making it a more favorable scenario. TrES-2 also falls in the category of highly irradiated planets which have been theoretically predicted to exhibit thermal inversions. However, more observations at infrared and visible wavelengths would be needed to confirm a thermal inversion in this system. Furthermore, we find that the times of the secondary eclipses are consistent with previously published times of transit and the expectation from a circular orbit. This implies that TrES-2 most likely has a circular orbit, and thus does not obtain additional thermal energy from tidal dissipation of a non-zero orbital eccentricity, a proposed explanation for the large radius of this planet. Key words: eclipses - infrared: stars - planetary systems - stars: individual (OSC 03549-02811) - techniques: photometric

Donovan, Francis T.↗

OH PLIF Visualization of the UVa Supersonic Combustion Experiment: Configuration A

Hydroxyl radical (OH) planar laser-induced fluorescence (PLIF) measurements were performed in the University of Virginia s dual-mode scramjet experiment. The test section was set up in configuration A, which includes a Mach 2 nozzle, combustor, and extender section. Hydrogen fuel was injected through an unswept compression ramp at two different equivalence ratios. Through the translation of the optical system and the use of two separate camera views, the entire optical range of the combustor was accessed. Single-shot, average, and standard deviation images of the OH PLIF signal are presented at several streamwise locations. The results show the development of a highly turbulent flame structure and provide an experimental database to be used for numerical model assessment.

Johansen, Craig T.↗

OH PLIF Visualization of the UVa Supersonic Combustion Experiment: Configuration A

Hydroxyl radical (OH) planar laser-induced fluorescence (PLIF) measurements were performed in the University of Virginia supersonic combustion experiment. The test section was set up in configuration A, which includes a Mach 2 nozzle, combustor, and extender section. Hydrogen fuel was injected through an unswept compression ramp at two different equivalence ratios. Through the translation of the optical system and the use of two separate camera views, the entire optically accessible range of the combustor was imaged. Single-shot, average, and standard deviation images of the OH PLIF signal are presented at several streamwise locations. The results show the development of a highly turbulent flame structure and provide an experimental database to be used for numerical model assessment.

Johansen, Craig T.↗