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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2021

Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft

In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired from a sequence of monocular images by a Structure-from-Motion approach into a local, robot-centric, multi-resolution elevation map of the overflown terrain, which fuses depth measurements according to their lateral surface resolution (pixel-footprint) in a probabilistic framework based on the concept of dynamic Level of Detail. Map aggregation only requires depth maps and the associated poses, which are obtained from an on-board Visual Odometry algorithm. An efficient landing site detection method then exploits the features of the underlying multi-resolution map to detect safe landing sites based on the slope, roughness, and quality of the reconstructed terrain surface. The evaluation of the performance of the mapping and landing site detection modules are analyzed independently and jointly in simulated and realworld experiments in order to establish the efficacy of the proposed approach.

Brockers, Roland↗
NASA NTRS2021

Autonomous Safe Landing Site Detection for a FutureMars Science Helicopter

Future Mars Rotorcrafts require advanced navigation capabilities to enable all terrain access for science investigations with long distance flights that are executed fully autonomously. A critical component is the ability to safely land in hazardous terrain as part of a mission, or triggered by an emergency situation. In this paper, we present an advanced navigation system for continuous on-board terrain reconstruction for the purpose of hazard-free landing site detection for the autonomous navigation of a Mars Science Helicopter - a JPL research concept that investigates the feasibility of flying a multi-kilogram science payload at various Mars science locations, with flight ranges of multiple kilometers per flight. Our approach builds on a visionbased perception system that incorporates an on-board visualinertial state estimator augmented by a laser altimeter (range- VIO), and a structure-from-motion 3D reconstruction approach that uses a single, downward-looking camera to provide dense depth measurements while the vehicle is in motion. Depth measurements are accumulated in a local, robot-centric, multiresolution elevation map that is analyzed by a landing site detector to extract safe landing areas below the rotorcraft, based on a heuristic that includes slope, roughness and the presence of landing hazards. Detected landing sites are prioritized by an on-board autonomy engine that either selects suitable landing sites for immediate landing maneuvers, or can explore a terrain location as part of a mission in order to find a best landing site in a pre-planned area. We demonstrate and evaluate our approach on simulated data and data acquired with a surrogate unmanned aerial system (UAS) executing flights over relevant terrain.

Tzanetos, Teddy↗
NASA NTRS2022

Optimizing Terrain Mapping and Landing Site Detection for Autonomous UAVs

The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi- resolution height map reconstruction and safe landing spot detection. Structure-from-Motion measurements are aggregated in a pyramid structure using a novel Optimal Mixture of Gaus- sians formulation that provides a comprehensive uncertainty model. Our multiresolution pyramid is built more efficiently and accurately than past work by decoupling pyramid filling from the measurement updates of different resolutions.To detect the safest landing location, after an optimized hazard segmentation, we use a mean shift algorithm on multiple distance transform peaks to account for terrain roughness and uncertainty. The benefits of our contributions are evaluated on real and synthetic flight data.

Brockers, Roland↗
NASA NTRS2004

Mineralogy, Abundance, and Hydration State of Sulfates and Chlorides at the Mars Pathfinder Landing Site

Detection of elevated concentrations of S and Cl at the landing sites of Viking 1 and 2 [1], and Mars Pathfinder (MP) [2-5] reveals the presence of sulfates and chlorides in soil and rock samples [1-10]. These data are consistent with the findings of Ca sulfates and NaCl in Martian meteorites [11,12], and with Earth-based spectroscopic observations [13,14] tentatively indicating the presence of sulfates on Mars. Although the correlation of S and Mg in Viking and MP samples could reveal the occurrence of Mg sulfate [1-10], the mineralogy of sulfates and chlorides remains unclear.

Zolotov, M. Y.↗
NASA NTRS2022

Bayesian Deep Learning for Segmentation for Autonomous Safe Planetary Landing

Hazard detection is critical for enabling autonomous landing on planetary surfaces. Current state-of-the-art methods leverage traditional computer vision approaches to automate the identification of safe terrain from input digital elevation models (DEMs). However, performance for these methods can degrade for input DEMs with increased sensor noise. In the last decade, deep learning techniques have been developed for various applications. Nevertheless, their applicability to safety-critical space missions has often been limited due to concerns regarding their outputs’ reliability. In response to these limitations, this paper proposes an application of the Bayesian deep learning segmentation method for hazard detection. The developed approach enables reliable, safe landing site detection by i) generating simultaneously a safety prediction map and its uncertainty map via Bayesian deep learning and semantic segmentation, and ii) using the uncertainty map to filter out the uncertain pixels in the prediction map so that the safe site identification is performed only based on the certain pixels (i.e., pixels for which the model is certain about its safety prediction). Experiments are presented with simulated data based on a Mars HiRISE digital terrain model by varying uncertainty threshold and noise levels to demonstrate the performance of the proposed approach.

Kento Tomita↗
NASA NTRS2000

Analysis of Radar Images of Angkor, Cambodia

During the 1996 AIRSAR Pacific Rim Deployment, data were collected over Angkor in Cambodia. The temples of Angkor date the succession of cities to the 9th-13th century AD, but little is known of its prehistoric habitation. A related area of archaeological debate has been the origin, spiritual meaning and use of the hydraulic constructions in the urban zone. The high resolution, multi-channel capability of AIRSAR, together with the unprecedentedly accurate topography provided by TOPSAR, offer identification and delineation of these features. Examples include previously unrecorded circular earthworks around circular village sites, detection of unrecorded earthwork dykes, reservoirs and canal features, and of temple sites located some distance from the main temple complex at Angkor.

Freeman, Anthony↗
NASA NTRS2005

Lightning Detection Efficiency Analysis Process: Modeling Based on Empirical Data

A ground based lightning detection system employs a grid of sensors, which record and evaluate the electromagnetic signal produced by a lightning strike. Several detectors gather information on that signal s strength, time of arrival, and behavior over time. By coordinating the information from several detectors, an event solution can be generated. That solution includes the signal s point of origin, strength and polarity. Determination of the location of the lightning strike uses algorithms based on long used techniques of triangulation. Determination of the event s original signal strength relies on the behavior of the generated magnetic field over distance and time. In general the signal from the event undergoes geometric dispersion and environmental attenuation as it progresses. Our knowledge of that radial behavior together with the strength of the signal received by detecting sites permits an extrapolation and evaluation of the original strength of the lightning strike. It also limits the detection efficiency (DE) of the network. For expansive grids and with a sparse density of detectors, the DE varies widely over the area served. This limits the utility of the network in gathering information on regional lightning strike density and applying it to meteorological studies. A network of this type is a grid of four detectors in the Rondonian region of Brazil. The service area extends over a million square kilometers. Much of that area is covered by rain forests. Thus knowledge of lightning strike characteristics over the expanse is of particular value. I have been developing a process that determines the DE over the region [3]. In turn, this provides a way to produce lightning strike density maps, corrected for DE, over the entire region of interest. This report offers a survey of that development to date and a record of present activity.

Rompala, John T.↗
NASA NTRS1977

Analysis of a discrete spectrum analyzer for the detection of radio frequency interference

As the radio frequency spectrum becomes increasingly overcrowded, interference with mission-critical DSN operations is rising at an alarming rate. To alleviate this problem the DSN is developing a wideband surveillance system for on-site detection and identification of potential sources of radio frequency interference (RFI), which will complement the existing frequency coordination activities. The RFI monitoring system is based on a wideband, multi-look discrete spectrum analyzer operating on fast Fourier transform principles. An extensive general statistical analysis is presented of such spectrum analyzers and derives threshold detection performance formulas for signals of interest. These results are then applied to the design of the RFI spectrum analyzer under development.

Levitt, B. K.↗
NASA NTRS2010

Digital Microfluidics Sample Analyzer

Three innovations address the needs of the medical world with regard to microfluidic manipulation and testing of physiological samples in ways that can benefit point-of-care needs for patients such as premature infants, for which drawing of blood for continuous tests can be life-threatening in their own right, and for expedited results. A chip with sample injection elements, reservoirs (and waste), droplet formation structures, fluidic pathways, mixing areas, and optical detection sites, was fabricated to test the various components of the microfluidic platform, both individually and in integrated fashion. The droplet control system permits a user to control droplet microactuator system functions, such as droplet operations and detector operations. Also, the programming system allows a user to develop software routines for controlling droplet microactuator system functions, such as droplet operations and detector operations. A chip is incorporated into the system with a controller, a detector, input and output devices, and software. A novel filler fluid formulation is used for the transport of droplets with high protein concentrations. Novel assemblies for detection of photons from an on-chip droplet are present, as well as novel systems for conducting various assays, such as immunoassays and PCR (polymerase chain reaction). The lab-on-a-chip (a.k.a., lab-on-a-printed-circuit board) processes physiological samples and comprises a system for automated, multi-analyte measurements using sub-microliter samples of human serum. The invention also relates to a diagnostic chip and system including the chip that performs many of the routine operations of a central labbased chemistry analyzer, integrating, for example, colorimetric assays (e.g., for proteins), chemiluminescence/fluorescence assays (e.g., for enzymes, electrolytes, and gases), and/or conductometric assays (e.g., for hematocrit on plasma and whole blood) on a single chip platform.

Pollack, Michael G.↗
NASA NTRS1977

Analytical methods for toxic gases from thermal degradation of polymers

Toxic gases evolved from the thermal oxidative degradation of synthetic or natural polymers in small laboratory chambers or in large scale fire tests are measured by several different analytical methods. Gas detector tubes are used for fast on-site detection of suspect toxic gases. The infrared spectroscopic method is an excellent qualitative and quantitative analysis for some toxic gases. Permanent gases such as carbon monoxide, carbon dioxide, methane and ethylene, can be quantitatively determined by gas chromatography. Highly toxic and corrosive gases such as nitrogen oxides, hydrogen cyanide, hydrogen fluoride, hydrogen chloride and sulfur dioxide should be passed into a scrubbing solution for subsequent analysis by either specific ion electrodes or spectrophotometric methods. Low-concentration toxic organic vapors can be concentrated in a cold trap and then analyzed by gas chromatography and mass spectrometry. The limitations of different methods are discussed.

Hsu, M.-T. S.↗
NASA NTRS2007

STS-114 Micrometeoroid/Orbital Debris (MMOD) Post-Flight Assessment

NASA Johnson Space Center (JSC) personnel assisted Kennedy Space Center (KSC) inspection teams in the identification of 41 micrometeoroid/orbital debris (MMOD) impact sites on the OV-103 vehicle (Discovery) during STS-114 postflight inspections. There were 14 MMOD impacts reported on the crew module windows (Figure 1). The largest impact feature, a 6.6 mm x 5.8 mm crater on window #4, was caused by a particle with an estimated diameter of 0.22 mm (Figure 2). This impact was among the largest ever recorded on a crew module window. The window was removed and replaced. Scanning Electron Microscope/Energy Dispersive X-ray (SEM/EDX) analysis of dental mold samples from the impact site to determine particle origin was inconclusive, possibly due to contamination picked up on the ferry flight from Edwards Air Force Base to KSC. The radiators on the inside of the payload bay doors sustained 19 impacts (Figure 3) with one of the impacts causing a face sheet perforation. The 0.61 mm diameter hole was produced by a particle with an estimated diameter of 0.4 mm, which approaches the 0.5-mm critical particle diameter of the wing leading edge reinforced carbon-carbon (RCC) panel high-temperature regions (Zone 3, Figure 4) that was established during Return to Flight testing of the RCC panels. An inspection of the payload bay door exterior insulation (FRSI) revealed a 5.8 mm x 4.5 mm defect that was caused by an MMOD particle with unknown composition, as the sample obtained was contaminated. Figure 5 provides a summary of the exterior surface survey that was conducted following the STS-114 mission. Two windows were removed and replaced due to hypervelocity impact. Nineteen impacts were recorded on the payload bay door radiators, with one face sheet penetration. Three impact sites were identified on the FRSI. There were four hypervelocity impact sites detected on the wing leading edge RCC panels. One impact was detected on the top cover of the TPS sample box (TSB) payload that was mounted on a carrier in the aft portion of the payload bay.

Hyde, J.↗
NASA NTRS2009

Carbon Nanotube Based Chemical Sensors for Space and Terrestrial Applications

A nanosensor technology has been developed using nanostructures, such as single walled carbon nanotubes (SWNTs), on a pair of interdigitated electrodes (IDE) processed with a silicon-based microfabrication and micromachining technique. The IDE fingers were fabricated using photolithography and thin film metallization techniques. Both in-situ growth of nanostructure materials and casting of the nanostructure dispersions were used to make chemical sensing devices. These sensors have been exposed to nitrogen dioxide, acetone, benzene, nitrotoluene, chlorine, and ammonia in the concentration range of ppm to ppb at room temperature. The electronic molecular sensing of carbon nanotubes in our sensor platform can be understood by intra- and inter-tube electron modulation in terms of charge transfer mechanisms. As a result of the charge transfer, the conductance of p-type or hole-richer SWNTs in air will change. Due to the large surface area, low surface energy barrier and high thermal and mechanical stability, nanostructured chemical sensors potentially can offer higher sensitivity, lower power consumption and better robustness than the state-of-the-art systems, which make them more attractive for defense and space applications. Combined with MEMS technology, light weight and compact size sensors can be made in wafer scale with low cost. Additionally, a wireless capability of such a sensor chip can be used for networked mobile and fixed-site detection and warning systems for military bases, facilities and battlefield areas.

Li, Jing↗
NASA NTRS2017

Ecological Study of Lagoons Surrounding the John F. Kennedy Space Center, Brevard County, Florida : Theses and Project Reports - Volume 2

Many of the detailed studies done in connection with Ecological Study of the Lagoons surrounding the John F. Kennedy Space Port were performed as Master's Thesis investigations by various graduate students enrolled at F. I. T. during and subsequent to the report. The scope and purpose of what we came to call "the KSC Baseline Study" caught the imagination and interest of our student body. Many who were not financially or otherwise connected with the project found their inspiration in studies that were directly connected with project, and thus added materially to the totality of the knowledge gained. An example of one such study is the first article included in this Volume, A Master's Thesis study performed by Shen Phillip Chen, who chose the site for his investigation so that his results would correlate with and extend the results of others. In addition to the Master's Theses contained in this Volume, six other graduate studies must be acknowledged here as contributing to this Report, although they have not reached the stage of final publication. Ms. Sandra Fettes has completed a study of the amounts of five trace metals in mangrove leaves from plants at various locations around the Kennedy Space Center. Mr. Bernard Cohenour has isolated and identified a number of oil consuming bacteria endemic in the waters of the Indian Rivers. Mr. Charles Waterhouse has analyzed historic data of tidal gauges in the lagoonal area and correlated it with wind field records. Mr. Renkert Meyer has measured the vertical and horizontal currents of the lagoons and is attempting an interpretation of them in terms of the wind field as a driving force. Mr. Richard Campbell has measured the rate of nitrogen fixation in both the water columns and the sediments under them in the lagoons. Mr. Craig Weiderhold has measured thl3 annual variations in the populations of benthic invertebrates in the lagoons. An integral part of the F. I. T. curriculum is a requirement that each undergraduate student perform an independent study during his Senior year and submit his results in the form and format of a professional scientific report. While none of these senior Project Reports have been included in this Volume because of space limitations, many of them aided significantly in the overall study. Typical of these were: light and dark bottle studies of the blue-green algae respiration; writing and executing computer studies comparing the water chemistry data from various sites; detection and identification of nitrogen fixation bacteria in the Indian River; measurement of dissolved oils and greases in the river, photographically recording the benthic life-forms found in the river bottom; measuring the vertical structure of drift and slope currents in too lagoons; and measurement of water level variations along the long axis of a lagoon as a function of wind stress. These articles are published as a part of this Final Report in an effort to make available for the record as much of the basic data as possible. The few articles published on the Indian River have in general not contained much detailed data, so that comparisons of current status to conditions of the past are difficult or impossible. A major effort of both the Oceanographic and Ecological communities for the past decade has been the retrieval and storage of basic data in order to permit determinations of trends or changes in baseline conditions. It is believed that the information compiled here will be of great value in any future investigations.

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