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At least 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2021

Comprehension of Spatial Constraints by Neural Logic Learning from a Single RGB-D Scan

Autonomous industrial assembly relies on the precise measurement of spatial constraints as designed by computer-aided design (CAD) software such as SolidWorks. This paper proposes a framework for an intelligent industrial robot to understand the spatial constraints for model assembly. An extended generative adversary network (GAN) with a 3D long short-term memory (LSTM) network was designed to composite 3D point clouds from a single RGB-D scan. The spatial constraints of the segmented point clouds are identified by a neural-logic network that incorporates general knowledge of spatial constraints in terms of first-order logic. The model was designed to comprehend a complete set of spatial constraints that are consistent with industrial CAD software, including left, right, above, below, front, behind, parallel, perpendicular, concentric, and coincident relations. The accuracy of 3D model composition and spatial constraint identification was evaluated by the RGB-D scans and 3D models in the ABC dataset. The proposed model achieved 57.23% intersection over union (IoU) in 3D model composition, and over 99% in comprehending all spatial constraints.

Wang, Dali↗
NASA NTRS2017

Traverse Planning with Temporal-Spatial Constraints

We present an approach to planning rover traverses in a domain that includes temporal-spatial constraints. We are using the NASA Resource Prospector mission as a reference mission in our research. The objective of this mission is to explore permanently shadowed regions at a Lunar pole. Most of the time the rover is required to avoid being in shadow. This requirement depends on where the rover is located and when it is at that location. Such a temporal-spatial constraint makes traverse planning more challenging for both humans and machines. We present a mixed-initiative traverse planner which addresses this challenge. This traverse planner is part of the Exploration Ground Data Systems (xGDS), which we have enhanced with new visualization features, new analysis tools, and new automation for path planning, in order to be applicable to the Re-source Prospector mission. The key concept that is the basis of the analysis tools and that supports the automated path planning is reachability in this dynamic environment due to the temporal-spatial constraints.

temporal-spatial constraints↗
NASA NTRS1995

TRACON Aircraft Arrival Planning and Optimization Through Spatial Constraint Satisfaction

A new aircraft arrival planning and optimization algorithm has been incorporated into the Final Approach Spacing Tool (FAST) in the Center-TRACON Automation System (CTAS) developed at NASA-Ames Research Center. FAST simulations have been conducted over three years involving full-proficiency, level five air traffic controllers from around the United States. From these simulations an algorithm, called Spatial Constraint Satisfaction, has been designed, coded, undergone testing, and soon will begin field evaluation at the Dallas-Fort Worth and Denver International airport facilities. The purpose of this new design is an attempt to show that the generation of efficient and conflict free aircraft arrival plans at the runway does not guarantee an operationally acceptable arrival plan upstream from the runway -information encompassing the entire arrival airspace must be used in order to create an acceptable aircraft arrival plan. This new design includes functions available previously but additionally includes necessary representations of controller preferences and workload, operationally required amounts of extra separation, and integrates aircraft conflict resolution. As a result, the Spatial Constraint Satisfaction algorithm produces an optimized aircraft arrival plan that is more acceptable in terms of arrival procedures and air traffic controller workload. This paper discusses the current Air Traffic Control arrival planning procedures, previous work in this field, the design of the Spatial Constraint Satisfaction algorithm, and the results of recent evaluations of the algorithm.

Bergh, Christopher P.↗
NASA NTRS1989

Spatial constraints of stereopsis in video displays

Recent development in video technology, such as the liquid crystal displays and shutters, have made it feasible to incorporate stereoscopic depth into the 3-D representations on 2-D displays. However, depth has already been vividly portrayed in video displays without stereopsis using the classical artists' depth cues described by Helmholtz (1866) and the dynamic depth cues described in detail by Ittleson (1952). Successful static depth cues include overlap, size, linear perspective, texture gradients, and shading. Effective dynamic cues include looming (Regan and Beverly, 1979) and motion parallax (Rogers and Graham, 1982). Stereoscopic depth is superior to the monocular distance cues under certain circumstances. It is most useful at portraying depth intervals as small as 5 to 10 arc secs. For this reason it is extremely useful in user-video interactions such as telepresence. Objects can be manipulated in 3-D space, for example, while a person who controls the operations views a virtual image of the manipulated object on a remote 2-D video display. Stereopsis also provides structure and form information in camouflaged surfaces such as tree foliage. Motion parallax also reveals form; however, without other monocular cues such as overlap, motion parallax can yield an ambiguous perception. For example, a turning sphere, portrayed as solid by parallax can appear to rotate either leftward or rightward. However, only one direction of rotation is perceived when stereo-depth is included. If the scene is static, then stereopsis is the principal cue for revealing the camouflaged surface structure. Finally, dynamic stereopsis provides information about the direction of motion in depth (Regan and Beverly, 1979). Clearly there are many spatial constraints, including spatial frequency content, retinal eccentricity, exposure duration, target spacing, and disparity gradient, which - when properly adjusted - can greatly enhance stereodepth in video displays.

Schor, Clifton↗
DOE OSTI2021

Gravitomagnetic vorticity generation in black hole accretion discs: a potential spatial constraint on plasma flow stability

We calculate the vorticity generation rate in the accretion disc near a slowly rotating black hole in the low-velocity, weak-field limit of general relativity. Specifically, we find that the frame-dragging effect due to the black hole’s rotation – manifested through the gravitomagnetic field – can generate vorticity in a moving plasma in the accretion disc. The mechanism remains operational as long as the accretion disc has non-negligible vertical height and is independent of the exact thermodynamical profile of the disc. The enstrophy density generation rate, as a measure of turbulence and dissipation, is presented, which indicates that the frame-dragging effect can disrupt the stability of the disc away from the z = 0 plane.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2010

An Optimization Model for Scheduling Problems with Two-Dimensional Spatial Resource Constraint

Traditional scheduling problems involve determining temporal assignments for a set of jobs in order to optimize some objective. Some scheduling problems also require the use of limited resources, which adds another dimension of complexity. In this paper we introduce a spatial resource-constrained scheduling problem that can arise in assembly, warehousing, cross-docking, inventory management, and other areas of logistics and supply chain management. This scheduling problem involves a twodimensional rectangular area as a limited resource. Each job, in addition to having temporal requirements, has a width and a height and utilizes a certain amount of space inside the area. We propose an optimization model for scheduling the jobs while respecting all temporal and spatial constraints.

Garcia, Christopher↗
DOE OSTI2021

Robotic Understanding of Spatial Relationships Using Neural-Logic Learning

Understanding spatial relations of objects is critical in many robotic applications such as grasping, manipulation, and obstacle avoidance. Humans can simply reason object's spatial relations from a glimpse of a scene based on prior knowledge of spatial constraints. The proposed method enables a robot to comprehend spatial relationships among objects from RGB-D data. This paper proposed a neural-logic learning framework to learn and reason spatial relations from raw data by following logic rules on spatial constraints. The neural-logic network consists of three blocks: grounding block, spatial logic block, and inference block. The grounding block extracts high-level features from the raw sensory data. The spatial logic blocks can predicate fundamental spatial relations by training a neural network with spatial constraints. The inference block can infer complex spatial relations based on the predicated fundamental spatial relations. Simulations and robotic experiments evaluated the performance of the proposed method.

Wang, Dali↗
DOE OSTI2020

A spatial emergent constraint on the sensitivity of soil carbon turnover to global warming

Carbon cycle feedbacks represent large uncertainties in climate change projections, and the response of soil carbon to climate change contributes the greatest uncertainty to this. Future changes in soil carbon depend on changes in litter and root inputs from plants and especially on reductions in the turnover time of soil carbon (τ s ) with warming. An approximation to the latter term for the top one metre of soil (ΔC s,τ ) can be diagnosed from projections made with the CMIP6 and CMIP5 Earth System Models (ESMs), and is found to span a large range even at 2 °C of global warming (-196 ± 117 PgC). Here, we present a constraint on ΔC s,τ , which makes use of current heterotrophic respiration and the spatial variability of τs inferred from observations. This spatial emergent constraint allows us to halve the uncertainty in ΔC s,τ at 2 °C to -232 ± 52 PgC.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2011

Superpixel-Augmented Endmember Detection for Hyperspectral Images

Superpixels are homogeneous image regions comprised of several contiguous pixels. They are produced by shattering the image into contiguous, homogeneous regions that each cover between 20 and 100 image pixels. The segmentation aims for a many-to-one mapping from superpixels to image features; each image feature could contain several superpixels, but each superpixel occupies no more than one image feature. This conservative segmentation is relatively easy to automate in a robust fashion. Superpixel processing is related to the more general idea of improving hyperspectral analysis through spatial constraints, which can recognize subtle features at or below the level of noise by exploiting the fact that their spectral signatures are found in neighboring pixels. Recent work has explored spatial constraints for endmember extraction, showing significant advantages over techniques that ignore pixels relative positions. Methods such as AMEE (automated morphological endmember extraction) express spatial influence using fixed isometric relationships a local square window or Euclidean distance in pixel coordinates. In other words, two pixels covariances are based on their spatial proximity, but are independent of their absolute location in the scene. These isometric spatial constraints are most appropriate when spectral variation is smooth and constant over the image. Superpixels are simple to implement, efficient to compute, and are empirically effective. They can be used as a preprocessing step with any desired endmember extraction technique. Superpixels also have a solid theoretical basis in the hyperspectral linear mixing model, making them a principled approach for improving endmember extraction. Unlike existing approaches, superpixels can accommodate non-isometric covariance between image pixels (characteristic of discrete image features separated by step discontinuities). These kinds of image features are common in natural scenes. Analysts can substitute superpixels for image pixels during endmember analysis that leverages the spatial contiguity of scene features to enhance subtle spectral features. Superpixels define populations of image pixels that are independent samples from each image feature, permitting robust estimation of spectral properties, and reducing measurement noise in proportion to the area of the superpixel. This permits improved endmember extraction, and enables automated search for novel and constituent minerals in very noisy, hyperspatial images. This innovation begins with a graph-based segmentation based on the work of Felzenszwalb et al., but then expands their approach to the hyperspectral image domain with a Euclidean distance metric. Then, the mean spectrum of each segment is computed, and the resulting data cloud is used as input into sequential maximum angle convex cone (SMACC) endmember extraction.

Thompson, David R.↗
DOE OSTI2024

Floating Wind Farm Layout Optimization Considering Moorings and Seabed Variations

This paper presents a method for optimizing the layout of floating wind farms that accounts for realistic seabed variations and the consequent adjustments to the mooring systems required for different turbine positions. The mooring lines of floating wind farms create large spatial constraints that are depth-dependent, since mooring designs must adapt to variations in seabed conditions over the array area. We develop a layout optimization methodology that addresses this, adjusting mooring system designs based on the local seabed characteristics as the layout changes and using steady-state models for the wake effects and mooring lines. The approach includes design algorithms that adjust the anchor positions and line length to achieve the desired mooring line profile for different water depths, and a layout optimization framework that implements spatial constraints between the turbines, mooring lines, and lease area boundaries. Demonstrating the method on several cases shows the effect of the seabed and spatial-constraint factors, as well as their interactions, on the optimal array layout. This demonstration paves the way for scaling up the method, using more powerful optimization algorithms to handle larger farm sizes and situations with more intensely varied seabed conditions.

17 WIND ENERGY↗
NASA NTRS2000

Airborne Laser Altimetry Mapping of the Greenland Ice Sheet: Application to Mass Balance Assessment

In 1998 and '99, the Arctic Ice Mapping (AIM) program completed resurveys of lines occupied 5 years earlier revealing elevation changes of the Greenland ice sheet and identifying areas of significant thinning, thickening and balance. In planning these surveys, consideration had to be given to the spatial constraints associated with aircraft operation, the spatial nature of ice sheet behavior, and limited resources, as well as temporal issues, such as seasonal and interannual variability in the context of measurement accuracy. This paper examines the extent to which the sampling and survey strategy is valid for drawing conclusions on the current state of balance of the Greenland ice sheet. The surveys covered the entire ice sheet with an average distance of 21.4 km between each location on the ice sheet and the nearest flight line. For most of the ice sheet, the elevation changes show relatively little spatial variability, and their magnitudes are significantly smaller than the observed elevation change signal. As a result, we conclude that the density of the sampling and the accuracy of the measurements are sufficient to draw meaningful conclusions on the state of balance of the entire ice sheet over the five-year survey period. Outlet glaciers, however, show far more spatial and temporal variability, and each of the major ones is likely to require individual surveys in order to determine its balance.

Abdalati, W.↗
NASA NTRS2011

A New Global Mascon Solution Tuned for High-Latitude Ice Studies

A new global mascon solution has been developed with I-arc-degree spatial and IO-day temporal sampling. The global mas cons are estimated from the reduction of nearly 8 years of GRACE K-band range-rate data. Temporal and anisotropic spatial constraints have been applied for land, ocean and ice regions. The solution construction and tuning is focused towards the Greenland and Antarctic ice sheets (GIS and AIS) as well as the Gulf of Alaska mountain glaciers (GoA). Details of the solution development will be discussed, including the mascon parameter definitions, constraints, and the tuning of the constraint damping factor. Results will be presented, exploring the spatial and temporal variability of the ice sheets and GoA regions. A detailed error analysis will be discussed, including solution dependence on iteration, damping factor, forward modeling, and multitechnique comparisons. We also investigate the fundamental resolution of the solution and the spatial correlation of ice sheet inter-annual change. Finally, we discuss future improvements, including specific constraint application for the rest of the major land ice regions and improvements in solution regularization.

Luthcke, S. B.↗
NASA NTRS1993

Interactive method for planning constrained, fuel-optimal orbital proximity operations

An interactive graphical method for planning fuel-efficient rendezvous trajectories in the multi-spacecraft environment of the space station is presented. The method allows the operator to compose a multi-burn transfer trajectory between arbitrary initial chaser and target trajectories. The available task time of the mission is limited and the maneuver is subject to various operational constraints, such as departure, arrival, plume impingement and spatial constraints. The maneuvers are described in terms of the relataive motion experienced in a Space-Station centered coordinate system. The optimization method is based on the primer vector and its extension to non-optimal trajectories. The visual feedback of trajectory shapes, operational constraints, and optimization functions, provided by user-transparaent and continuously active background computations, allows the operator to make fast, iterative design changes which rapidly converge to fuel-efficient solutions. The optimization functions are presented. A variety of simple design examples has been presented to demonstrate the usefulness of the method. In many cases the addition of a properly positioned intermediate waypoint resulted in fuel savings of up to 30%. Furthermore, due to the counter-intuitive character of the optimization functions, most fuel-optimal solutions could not have been found without the aid of the optimization tools. Operating the system was found to be very easy, and did not require any previous in-depth knowledge of orbital dynamics or trajectory. The planning tool is an example of operator assisted optimization of nonlinear cost-functions.

Abramovitz, Adrian↗
NASA NTRS2005

Analysis of Aircraft Clusters to Measure Sector-Independent Airspace Congestion

The Distributed Air/Ground Traffic Management (DAG-TM) concept of operations* permits appropriately equipped aircraft to conduct Free Maneuvering operations. These independent aircraft have the freedom to optimize their trajectories in real time according to user preferences; however, they also take on the responsibility to separate themselves from other aircraft while conforming to any local Traffic Flow Management (TFM) constraints imposed by the air traffic service provider (ATSP). Examples of local-TFM constraints include temporal constraints such as a required time of arrival (RTA), as well as spatial constraints such as regions of convective weather, special use airspace, and congested airspace. Under current operations, congested airspace typically refers to a sector(s) that cannot accept additional aircraft due to controller workload limitations; hence Dynamic Density (a metric that is indicative of controller workload) can be used to quantify airspace congestion. However, for Free Maneuvering operations under DAG-TM, an additional metric is needed to quantify the airspace congestion problem from the perspective of independent aircraft. Such a metric would enable the ATSP to prevent independent aircraft from entering any local areas of congestion in which the flight deck based systems and procedures may not be able to ensure separation. This new metric, called Gaggle Density, offers the ATSP a mode of control to regulate normal operations and to ensure safety and stability during rare-normal or off-normal situations (e.g., system failures). It may be difficult to certify Free Maneuvering systems for unrestricted operations, but it may be easier to certify systems and procedures for specified levels of Gaggle Density that could be monitored by the ATSP, and maintained through relatively minor flow-rate (RTA type) restrictions. Since flight deck based separation assurance is airspace independent, the challenge is to measure congestion independent of sector boundaries. Figure 1 , reproduced from Ref. 1, depicts an example traffic situation. When the situation is analyzed by sector boundaries (left side of figure), a Dynamic Density metric would identify excessive congestion in the central sector. When the same traffic situation is analyzed independent of sector boundaries (right side of figure), a Gaggle Density metric would identify congestion in two dynamically defined areas covering portions of several sectors. The first step towards measuring airspace-independent congestion is to identify aircraft clusters, i.e., groups of closely spaced aircraft. The objective of this work is to develop techniques to detect and classify clusters of aircraft.

Bilimoria, Karl D.↗
DOE OSTI2023

Impacts of Siting Considerations on Offshore Wind Technical Potential in the United States

We estimated the technical potential for the offshore wind (OSW) resource in the United States under two siting regimes to characterize the uncertainty pertaining to the local drivers of siting within a national context. We established Open Access and Limited Access regimes to represent upper and lower bounds on OSW deployment, respectively. These included spatial constraints such as technology depth limits, military use areas, protected areas, existing infrastructure, shipping lanes and more. The same spatial considerations are also considered in the Limited Access regime, but with additional buffers to existing infrastructure as well as a reduced capacity density assumption. Capacity density is the concentration of wind energy development for a given area specified in terms of megawatts (MW) per square kilometer (km 2 ). In the Open-Access regime we used a 5 MW/km 2 assumption, while in the Limited Access scenario we assumed 3 MW/km 2 . This difference reflects our intention for the Open-Access scenario to serve as an upper bound for OSW technical potential, with the Limited-Access scenario as a lower bound. We also applied three technology advancement scenarios to each of the siting regimes. The three technology scenarios (Conservative, Moderate, and Advanced) represent plausible improvements in turbine technology including increased rated power and higher hub heights.

17 WIND ENERGY↗
NASA NTRS1993

Visual display aid for orbital maneuvering - Experimental evaluation

An interactive proximity operations planning system, which allows on-site planning of fuel-efficient, multiburn maneuvers in a potential multispacecraft environment, has been experimentally evaluated. An experiment has been carried out in which nonastronaut operators with brief initial training were required to plan a trajectory to retrieve an object accidentally separated from a dual-keel Space Station, for a variety of different orbital situations. The experiments have shown that these operators were able to plan workable trajectories, satisfying a number of operational constraints. Fuel use and planning time were strongly correlated, both with the angle at which the object was separated and with the existence of spatial constraints. Planning behavior was found to be strongly operator-dependent. This finding calls for the need for standardizing planning strategies through operator training or the use of semiautomated planning schemes.

Grunwald, Arthur J.↗
NASA NTRS2023

Lake Anna Water Resources: Using NASA Earth Observations to Identify Algal Event Risk Factors in Lake Anna and Help Inform Future Management Practices

Lake Anna is a man-made reservoir and popular recreation destination that spans over 13,000 acres-9,600 public and 3,400 private-in the Piedmont region of Virginia. The Lake has recently seen a rise in documented harmful algal blooms (HABs), which pose a variety of community and ecological concerns and are often exacerbated by anthropogenic factors, such as excess nutrient loads from agricultural runoff. NASA DEVELOP has partnered with the Virginia Department of Environmental Quality (DEQ) to help monitor cyanobacteria and nutrient pollution indicators across Lake Anna. The team utilized Earth observations (EO) and in situ ancillary data to identify and monitor algal bloom trends. The team used Landsat 8 Operational Land Imager (OLI), Landsat 9 OLI-2, Sentinel-2 Multispectral Instrument (MSI), and Sentinel-3 Ocean and Land Color Instrument (OLCI) to analyze water quality variables such as chlorophyll-a, turbidity, surface temperature, and cyanobacteria. Due to the lack of comprehensive in situ data and historic HAB event records, our ability to compare and validate EOs was limited. Additionally, deficient spatial resolutions, along with a geographically complicated shoreline, accentuated the spatial constraints we faced in our analysis. After examining EOs, our results indicated conditions conducive to the formation of HABs within the upper reaches of Lake Anna. Yet, spatially dependent limiting factors may have also influenced where these phenomena developed. When used in concert with existing in situ datasets, NASA EOs provide relevant stakeholders with more comprehensive analyses with which to engage in enhanced monitoring and watershed management.

cyanobacteria↗