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NASA NTRS1984

Effect of high latitude filtering on NWP skill

The high latitude filtering techniques commonly employed in global grid point models to eliminate the high frequency waves associated with the convergence of meridians, can introduce serious distortions which ultimately affect the solution at all latitudes. Experiments completed so far with the 4 deg x 5 deg, 9-level GLAS Fourth Order Model indicate that the high latitude filter currently in operation affects only minimally its forecasting skill. In one case, however, the use of pressure gradient filter significantly improved the forecast. Three day forecasts with the pressure gradient and operational filters are compared as are 5-day forecasts with no filter.

Kalnay, E.↗

NASA NTRS2007

Robotic Vision-Based Localization in an Urban Environment

A system of electronic hardware and software, now undergoing development, automatically estimates the location of a robotic land vehicle in an urban environment using a somewhat imprecise map, which has been generated in advance from aerial imagery. This system does not utilize the Global Positioning System and does not include any odometry, inertial measurement units, or any other sensors except a stereoscopic pair of black-and-white digital video cameras mounted on the vehicle. Of course, the system also includes a computer running software that processes the video image data. The software consists mostly of three components corresponding to the three major image-data-processing functions: Visual Odometry This component automatically tracks point features in the imagery and computes the relative motion of the cameras between sequential image frames. This component incorporates a modified version of a visual-odometry algorithm originally published in 1989. The algorithm selects point features, performs multiresolution area-correlation computations to match the features in stereoscopic images, tracks the features through the sequence of images, and uses the tracking results to estimate the six-degree-of-freedom motion of the camera between consecutive stereoscopic pairs of images (see figure). Urban Feature Detection and Ranging Using the same data as those processed by the visual-odometry component, this component strives to determine the three-dimensional (3D) coordinates of vertical and horizontal lines that are likely to be parts of, or close to, the exterior surfaces of buildings. The basic sequence of processes performed by this component is the following: 1. An edge-detection algorithm is applied, yielding a set of linked lists of edge pixels, a horizontal-gradient image, and a vertical-gradient image. 2. Straight-line segments of edges are extracted from the linked lists generated in step 1. Any straight-line segments longer than an arbitrary threshold (e.g., 30 pixels) are assumed to belong to buildings or other artificial objects. 3. A gradient-filter algorithm is used to test straight-line segments longer than the threshold to determine whether they represent edges of natural or artificial objects. In somewhat oversimplified terms, the test is based on the assumption that the gradient of image intensity varies little along a segment that represents the edge of an artificial object.

Mchenry, Michael↗

NASA NTRS1967

Closed circuit TV system monitors welding operations

TV camera system that has a special vidicon tube with a gradient density filter is used in remote monitoring of TIG welding of stainless steel. The welding operations involve complex assembly welding tools and skates in areas of limited accessibility.

Gilman, M.↗

NASA NTRS1992

Evaluating some computer exhancement algorithms that improve the visibility of cometary morphology

Digital enhancement of cometary images is a necessary tool in studying cometary morphology. Many image processing algorithms, some developed specifically for comets, have been used to enhance the subtle, low contrast coma and tail features. We compare some of the most commonly used algorithms on two different images to evaluate their strong and weak points, and conclude that there currently exists no single 'ideal' algorithm, although the radial gradient spatial filter gives the best overall result. This comparison should aid users in selecting the best algorithm to enhance particular features of interest.

Larson, Stephen M.↗

NASA NTRS1994

Flatfielding and photometric accuracy of the first Hubble Space Telescope Wide Field Camera

Long exposures with the original Hubble Space Telescope (HST) Wide Field Camera (WFC) through the F555W and F785LP filters show gradients in the background following standard pipeline calibration. We show that these gradients also appear in stellar photometry, and thus must be predominantly the result of inaccurate flatfielding at a level of 10 to 20%. Color errors may be even larger. Applying corrections to the flatfield frames based on the background structure leads to an improved accuracy of approximately 4% for single-measurement photometry within a single CCD chip, compared to the approximately 10% accuracy suggested by previous studies. We have reanalyzed the F555W and F785LP calibration photometry to derive zero points appropriate for corrected data; these new zero points have internal consistency at a level of approximately 1.2%, based on comparison between the chip-to-chip offsets and the sky levels observed in corrected images. This indicates that relative photometry approaching 1 to 2% is achievable with the WFC. The new zero point values for corrected data are 22.90, 23.04, 23.04, and 22.96 (F555W), and 21.56, 21.64, 21.44, and 21.47 (F785LP) for chips WF1-WF4, respectively. Comparison is made with other zero points, and the applicability of 'delta flats' is briefly discussed.

Phillips, Andrew C.↗

NASA NTRS2007

Leica ADS40 Sensor for Coastal Multispectral Imaging

The Leica ADS40 Sensor as it is used for coastal multispectral imaging is presented. The contents include: 1) Project Area Overview; 2) Leica ADS40 Sensor; 3) Focal Plate Arrangements; 4) Trichroid Filter; 5) Gradient Correction; 6) Image Acquisition; 7) Remote Sensing and ADS40; 8) Band comparisons of Satellite and Airborne Sensors; 9) Impervious Surface Extraction; and 10) Impervious Surface Details.

Craig, John C.↗

NASA NTRS2019

Design and Modeling of the Off-Axis Parabolic Deformable (OPD) Mirror Laboratory

Coronagraph-equipped direct imaging missions need an active wavefront control system to cancel out the optical aberrations that degrade the performance of the coronagraphs. A fast steering mirror is used to control Line-of-Sight (LoS) pointing error caused by the telescope jitter. In addition to controlling other low-order aberrations such as astigmatism and coma, high stroke, high actuator density deformable mirrors (DMs) are also used to control the electric field at the required high spatial frequencies. We are designing a testbed to verify a different deformable architecture, where the powered optic in the optical train are controllable and have lower actuator count compared to the existing DMs with flat nominal surfaces. This simplifies the packaging issue for space missions and reduces both cost and risk of having the entire coronagraph instrument's performance depending on one or two high-actuator count DMs. The testbed would also be capable of testing different low-order wavefront sensing algorithms, which focuses in the near-term on a new adaptive Kalman filtering and gradient decent method to estimate the harmonic LoS errors that affect space telescopes. In long run, we would test different machine learning techniques to estimate low-order aberrations and non-linear algorithms for digging the region of high contrast called the dark holes (DH).

Subedi, Hari↗

NASA NTRS2019

Design and Modeling of the Off-Axis Parabolic Deformable Mirror Laboratory

Communication↗

NASA NTRS1967

A direct derivation of the optimal linear filter using the maximum principle.

Optimal linear filter derivation using Pontryagin maximum principle and gradient matrices for optimal filter coefficients

Athans, M.↗

NASA NTRS1989

Robot acting on moving bodies (RAMBO): Preliminary results

A robot system called RAMBO is being developed. It is equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a moving object. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations nearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enchancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows the use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using parametric cubic splines between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗

NASA NTRS1989

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗

NASA NTRS1999

On the Dome Effect of Flux Radiometers to Radiative Forcing

Since the introduction of thermopile, pyranometers (solar, e.g., 0.3-3.0 micrometers) and pyrgeometers (terrestrial, e.g., 4-50 micrometers) have become instruments commonly used for measuring the broadband hemispherical irradiances at the surface in a long-term, monitoring mode for decades. These commercially available radiometers have been manufactured in several countries such as from the United States, Asia, and Europe, and are generally reliable and economical. These worldwide distributions of surface measurements become even more important in the era of Earth remote sensing in studying climate forcing. However, recent studies from field campaigns have pointed out that erroneous factors (e.g., temperature gradients between the filter dome and detector, emissivity of the thermopile) are responsible for the unacceptable level of uncertainty (e.g., 10-20 W m (exp -2)). Using a newly developed instrument of Quantum Well Infrared Photodetector (QWIP), we have characterized the brightness temperature fields of pyranometers and pyrgeometers under various sky conditions. The QWIP is based on the superlattice (GaAs/AlGaAs) technology and has a noise equivalent temperature (NE delta T) less than 0.1 K. The quality of pyranometer and pyrgeometer measurements can be improved largely by applying proper knowledge of the thermal parameters affecting the operation of the thermopile systems. For example, we show a method to determine the "dome factor" (the longwave emission divided by the longwave transmission of a pyrgeometer dome) from field measurements. The results show, and are verified independently by the QWIP, that our dome factors of 0.59 and 0.90 are much smaller than the value of 4.0 assumed by the WMO (World Meteorological Organization). Data correction procedure and algorithm will be presented and discussed.

Tsay, S.-C.↗

NASA NTRS1999

On the Dome Effect of Flux Radiometers to Radiative Forcing

Since the introduction of thermopile, pyranometers (solar, e.g., 0.3-3.0 microns) and pyrgeometers (terrestrial, e.g., 4-50 microns) have become instruments commonly used for measuring the broadband hemispherical irradiances at the surface in a long-term, monitoring mode for decades. These commercially available radiometers have been manufactured in several countries such as from the United States, Asia, and Europe, and are generally reliable and economical. These worldwide distributions of surface measurements become even more important in the era of Earth remote sensing in studying climate forcing. However, recent studies from field campaigns have pointed out that erroneous factors (e.g., temperature gradients between the filter dome and detector, emissivity of the thermopile) are responsible for the unacceptable level of uncertainty (e.g., 10-20 W/square Meter). Using a newly developed instrument of Quantum Well Infrared Photodetector (QWIP), we have characterized the brightness temperature fields of pyranometers and pyrgeometers under various sky conditions. The QWIP is based on the superlattice (GaAs/AlGaAs) technology and has a noise equivalent temperature (NE delta T) less than 0.1 K. The quality of pyranometer and pyrgeometer measurements can be improved largely by applying proper knowledge of the thermal parameters affecting the operation of the thermopile systems. For example, we show a method to determine the "dome factor" (the longwave emission divided by the longwave transmission of a pyrgeometer dome) from field measurements. The results show, and are verified independently by the QWIP, that our dome factors of 0.59 and 0.90 are much smaller than the value of 4.0 assumed by the WMO. Data correction procedure and algorithm will be presented and discussed.

Tsay, S.-C.↗

NASA NTRS2000

Characterization of Thermal Parameters for Improving Pyranometer and Pyrgeometer Measurements

Since the introduction of thermopile, pyranometers (solar, e.g., 0.3-3.0 micrometers) and pyrgeometers (terrestrial, e.g., 4-50 micrometers) have become instruments commonly used for measuring the broadband hemispherical irradiances at the surface in a long-term, monitoring mode for decades. These commercially available radiometers have been manufactured in several countries such as from the United States, Asia, and Europe, and are generally reliable and economical. These worldwide distributions of surface measurements become even more important in the era of Earth remote sensing in studying climate change. However, recent studies from field campaigns have pointed out that erroneous factors (e.g., temperature gradients between the filter dome and detector, emissivity of the thermopile) are responsible for the unacceptable level of uncertainty (e.g., 20 W m(exp -2)). Using a newly developed instrument of Quantum Well Infrared Photodetector (QWTP), we have characterized the brightness temperature fields of pyranometers and pyrgeometers under various sky conditions. The QWIP is based on the superlattice (GaAs/AlGaAs) technology and has a noise equivalent temperature (NEAT) less than 0.1 K. The quality of pyranometer and pyrgeometer measure- ments can be improved largely by applying proper knowledge of the thermal parameters affecting the operation of the thermopile systems. Data correction procedure and algorithm will be presented and discussed.

Tsay, Si-Chee↗

NASA NTRS2000

Thermal Characteristics of Pyranometers and Pyrgeometers in Atmosphere-Surface Energetic Measurements

Tsay, Si-Chee↗

NASA NTRS2010

Peak-Seeking Control Using Gradient and Hessian Estimates

A peak-seeking control method is presented which utilizes a linear time-varying Kalman filter. Performance function coordinate and magnitude measurements are used by the Kalman filter to estimate the gradient and Hessian of the performance function. The gradient and Hessian are used to command the system toward a local extremum. The method is naturally applied to multiple-input multiple-output systems. Applications of this technique to a single-input single-output example and a two-input one-output example are presented.

Ryan, John J.↗

NASA NTRS2021

Multi-Pass Sequential Mini-Batch Stochastic Gradient Descent Algorithms for Noise Covariance Estimation in Adaptive Kalman Filtering

Estimation of unknown noise covariances in a Kalman filter is a problem of significant practical interest in a wide array of applications. Although this problem has a long history, reliable algorithms for their estimation were scant, and necessary and sufficient conditions for identifiability of the covariances were in dispute until recently. Necessary and sufficient conditions for covariance estimation and a batch estimation algorithm were presented in our previous study. This paper presents stochastic gradient descent algorithms for noise covariance estimation in adaptive Kalman filters that are an order of magnitude faster than the batch method for similar or better root mean square error. More significantly, these algorithms are applicable to non-stationary systems where the noise covariances can occasionally jump up or down by an unknown magnitude. The computational efficiency of the new algorithms stems from adaptive thresholds for convergence, recursive fading memory estimation of the sample cross-correlations of the innovations, and accelerated stochastic gradient descent algorithms. The comparative evaluation of the proposed methods on a number of test cases demonstrates their computational efficiency and accuracy.

Adaptive Kalman filtering↗

NASA NTRS2020

A New Method to Correct the Electrochemical Concentration Cell (ECC) Ozonesonde Time Response and its Implications for "Background Current" and Pump Efficiency

The electrochemical concentration cell (ECC) ozonesonde has been the main instrument for in situ profiling of ozone worldwide; yet, some details of its operation, which contribute to the ozone uncertainty budget, are not well understood. Here, we investigate the time response of the chemical reactions inside the ECC and how corrections can be used to remove some systematic biases. The analysis is based on the understanding that two reaction pathways involving ozone occur inside the ECC that generate electrical currents on two very different timescales. The main fast-reaction pathway with a time constant of about 20 s is due the conversion of iodide to molecular iodine and the generation of two free electrons per ozone molecule. A secondary slow-reaction pathway involving the buffer generates an excess current of about 2 %–10 % with a time constant of about 25 min. This excess current can be interpreted as what has conventionally been considered the “background current”. This contribution can be calculated and removed from the measured current instead of the background current. Here we provide an algorithm to calculate and remove the contribution of the slow-reaction pathway and to correct for the time lag of the fast-reaction pathway. This processing algorithm has been applied to ozonesonde profiles at Costa Rica and during the Central Equatorial Pacific Experiment (CEPEX) as well as to laboratory experiments evaluating the performance of ECC ozonesondes. At Costa Rica, where a 1 % KI, 1/10th buffer solution is used, there is no change in the derived total ozone column; however, in the upper troposphere and lower stratosphere, average reported ozone concentrations increase by up to 7 % and above 30 km decrease by up to 7 %. During CEPEX, where a 1 % KI, full-buffer solution was used, ozone concentrations are increased mostly in the upper troposphere, with no change near the top of the profile. In the laboratory measurements, the processing algorithms have been applied to measurements using the majority of current sensing solutions and using only the stronger pump efficiency correction reported by Johnson et al. (2002). This improves the accuracy of the ECC sonde ozone profiles, especially for low ozone concentrations or large ozone gradients and removes systematic biases relative to the reference instruments. In the surface layer, operational procedures prior to launch, in particular the use of filters, influence how typical gradients above the surface are detected. The correction algorithm may report gradients that are steeper than originally reported, but their uncertainty is strongly influenced by the prelaunch procedures.

electrochemical concentration cell (ECC) ozonesond↗