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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↗

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↗

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.↗

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.↗

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↗

NASA NTRS1988

Spatially recursive filtering and smoothing for multibody dynamics

Methods developed recently by the author to solve the problem of forward dynamics for nonlinear joint-connected multibody systems are summarized. Solution of this problem is of interest in such application areas as robotics, deploying structures, ground vehicles, and pointing of antennas and instrumented platforms. The problem is solved by the recursive filtering and smoothing techniques of state estimation theory. The filtering stage takes the applied joint moments as inputs to produce a sequence of spatial constraint forces acting at the joints of the system. The smoothing stage takes the innovations process resulting from the filter as an input and produces a set of spatial accelerations and a corresponding set of joint-angle accelerations.

Rodriguez, G.↗

NASA NTRS1989

An intelligent user interface for browsing satellite data catalogs

A large scale domain-independent spatial data management expert system that serves as a front-end to databases containing spatial data is described. This system is unique for two reasons. First, it uses spatial search techniques to generate a list of all the primary keys that fall within a user's spatial constraints prior to invoking the database management system, thus substantially decreasing the amount of time required to answer a user's query. Second, a domain-independent query expert system uses a domain-specific rule base to preprocess the user's English query, effectively mapping a broad class of queries into a smaller subset that can be handled by a commercial natural language processing system. The methods used by the spatial search module and the query expert system are explained, and the system architecture for the spatial data management expert system is described. The system is applied to data from the International Ultraviolet Explorer (IUE) satellite, and results are given.

Cromp, Robert F.↗

NASA NTRS1989

An intelligent user interface for browsing satellite data catalogs

Cromp, Robert F.↗

NASA NTRS1976

Laser induced fluorescence applied to turbulent reacting flows

The saturated fluorescence method makes use of the great simplifications which occur when under conditions of intense radiation the excitation process becomes saturated. A description is presented of the saturated fluorescence method, taking into account rate equations and saturation, radiative transfer, the two-level system, a multilevel system, and measurements under saturation conditions. The detectability limits of the method are investigated. Fluorescence trapping is found to place an upper limit on the number density of the fluorescing species that can be measured without signal loss. Turbulence places time and spatial constraints on the measurements, but otherwise poses no difficulties. Saturated laser induced fluorescence spectroscopy appears to be a most promising method for measuring species concentrations in flames.

Daily, J. W.↗

NASA NTRS1986

A design concept for an MMIC microstrip phased array

A conceptual design for a microstrip phased array with monolithic microwave integrated circuit (MMIC) amplitude and phase controls is described. The MMIC devices used are 20 GHz variable power amplifiers and variable phase shifters recently developed by NASA contractors for applications in future Ka band advanced satellite communication antenna systems. The proposed design concept is for a general NxN element array of rectangular lattice geometry. Subarray excitation is incorporated in the MMIC phased array design to reduce the complexity of the beam forming network and the number of MMIC components required. The proposed design concept takes into consideration the RF characteristics and actual phyical dimensions of the MMIC devices. Also, solutions to spatial constraints and interconnections associated with currently available packaging designs are discussed. Finally, the design of the microstrip radiating elements and their radiation characteristics are examined.

Lee, R. Q.↗

NASA NTRS1991

Pictorial communication in virtual and real environments

Papers about the communication between human users and machines in real and synthetic environments are presented. Individual topics addressed include: pictorial communication, distortions in memory for visual displays, cartography and map displays, efficiency of graphical perception, volumetric visualization of 3D data, spatial displays to increase pilot situational awareness, teleoperation of land vehicles, computer graphics system for visualizing spacecraft in orbit, visual display aid for orbital maneuvering, multiaxis control in telemanipulation and vehicle guidance, visual enhancements in pick-and-place tasks, target axis effects under transformed visual-motor mappings, adapting to variable prismatic displacement. Also discussed are: spatial vision within egocentric and exocentric frames of reference, sensory conflict in motion sickness, interactions of form and orientation, perception of geometrical structure from congruence, prediction of three-dimensionality across continuous surfaces, effects of viewpoint in the virtual space of pictures, visual slant underestimation, spatial constraints of stereopsis in video displays, stereoscopic stance perception, paradoxical monocular stereopsis and perspective vergence. (No individual items are abstracted in this volume)

Ellis, Stephen R.↗

NASA NTRS1990

Physical retrieval of precipitation water contents from Special Sensor Microwave/Imager (SSM/I) data. Part 2: Retrieval method and applications (report version)

A physical retrieval method for estimating precipitating water distributions and other geophysical parameters based upon measurements from the DMSP-F8 SSM/I is developed. Three unique features of the retrieval method are (1) sensor antenna patterns are explicitly included to accommodate varying channel resolution; (2) precipitation-brightness temperature relationships are quantified using the cloud ensemble/radiative parameterization; and (3) spatial constraints are imposed for certain background parameters, such as humidity, which vary more slowly in the horizontal than the cloud and precipitation water contents. The general framework of the method will facilitate the incorporation of measurements from the SSMJT, SSM/T-2 and geostationary infrared measurements, as well as information from conventional sources (e.g., radiosondes) or numerical forecast model fields.

Olson, William S.↗