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NASA NTRS1991

Development of techniques required for the application of a laser to three dimensional visual sensing

The ongoing vision research at the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) is directed toward identifying and addressing the relevant issues involved in applying visual sensing to space assembly tasks. A considerable amount of effort has been devoted to passive sensing techniques such as using multiple cameras to identify objects in a scene. To compliment the capabilities of the passive visual system in the CIRSSE robotics testbed, research is being conducted in active sensing techniques. This report is description of the research associated with the testbed's laser scanner and its application as an active sensing device. The report is comprised of five major topics. First is a brief description of the CIRSSE visual system and a summary of the active sensing research that has been conducted up to this point. Second, some of the methods currently used to calibrate CIRSSE's laser scanner are described as well as an appraisal of the effectiveness of these methods. Third, is a discussion of how the laser scanner can be employed in concert with a camera to provide a three dimensional point estimation capability. Fourth, there is a description of methods that can be used to detect the presence of the laser beam in a cluttered camera image. Finally, there is a summary of the current state of this research and a description of research planned for the future.

Ryan, Arthur M.↗

NASA NTRS1992

Algorithms for airborne Doppler radar wind shear detection

Honeywell has developed algorithms for the detection of wind shear/microburst using airborne Doppler radar. The Honeywell algorithms use three dimensional pattern recognition techniques and the selection of an associated scanning pattern forward of the aircraft. This 'volumetric scan' approach acquires reflectivity, velocity, and spectral width from a three dimensional volume as opposed to the conventional use of a two dimensional azimuthal slice of data at a fixed elevation. The algorithm approach is based on detection and classification of velocity patterns which are indicative of microburst phenomenon while minimizing the false alarms due to ground clutter return. Simulation studies of microburst phenomenon and x-band radar interaction with the microburst have been performed and results of that study are presented. Algorithm performance indetection of both 'wet' and 'dry' microbursts is presented.

Gillberg, Jeff↗

NASA NTRS1993

Radio stimulation and diagnostics of space plasmas

We have investigated the small-scale topside ionospheric plasma structures first observed at Millstone Hill, Massachusetts with the 440 MHz incoherent scatter radar. These small-scale obliquely propagating plasma modes occurring in the vicinity of the midlatitude ionospheric trough, have large radar cross-sections and narrow spectral widths. They have, until recently, been dismissed solely as hard target contamination of the incoherent scatter radar. The geophysical conditions associated with the ionospheric trough, such as the field-aligned current activity and steep plasma density gradients, suggest that these recently discovered small-scale topside ionospheric plasmas may also appear in the auroral and polar ionosphere. In fact, this speculation has been corroborated by the preliminary experiments and data analyses at Tromso, Norway and Sondrestromfjord, Greenland. The primary research results are highlighted. Described in Section 3 are the experiments conducted at Arecibo, Puerto Rico in the past summer for simulating the geophysical conditions of generating these topside ionospheric plasma structures. Recommendation for the future research is finally given. Attached as the appendix of this report are several chapters which present the detailed results of research in the concerned topside ionospheric clutter. Highlights of the research results include: (1) causes of the enhanced radar backscatter (ERB) phenomenon; (2) occurrence of the ERB phenomenon; (3) altitudes of the ERB phenomenon; (4) strength of the ERB returns; (5) range of altitudes of the ERB returns; (6) occurrence frequency of the ERB phenomenon; (7) Doppler effect of the ERB phenomenon; (8) persistency of the ERB; and (9) distinction between ERB phenomenon and space object signatures.

Lee, Min-Chang↗

NASA NTRS1992

Selection of LCTV operating curves for input and filter

A liquid crystal television (LCTV) SLM's phase, amplitude, and polarization all influence our selection of operating curves for input and filter. With its continuum of drive voltage, the LCTV permits grey-level control in both locations. Selection of an optimum curve depends on expected variations in signal amplitude, presence of input scene structured noise, and other factors. Using modulators obtained from a commercially available projection LCTV, and with no specifically added input noise present, we have obtained laboratory results in which the ratio of peak intensity to correlator system noise exceeded 100:1. Unfortunately, it was massively inefficient to implement the algorithm which had been developed as the abstract for this paper was submitted. Fortunately, we have quite recently developed two insights that will speed it by several orders of magnitude, and we shall report that result in the future. We will also extend the work to include clutter objects and additive input scene noise.

Juday, Richard D.↗

NASA NTRS1992

Alaska SAR processor implementation of E-ERS-1

The synthetic aperture radar (SAR) data processing algorithm used by the Alaska SAR Facility (ASF) for the European Space Agency's first Remote-Sensing Satellite (E-ERS-1) SAR data are examined. Preprocessing highlights two features: signal measurement, which includes signal-to-noise ratio, replica measurement, and noise measurement; and Doppler measurement, which includes clutter lock and autofocus. The custom pipeline architecture performs the main processing with controls at the input interface, range correlator, corner-turn memory, azimuth correlator, and multi-look memory. The control software employs a flexible control scheme. The Committee on Earth Observation Satellites (CEOS) format encapsulates the ASF products. System performance for SAR image processing of E-ERS-1 data is reviewed.

Cuddy, David↗

NASA NTRS1992

Phase difference statistics related to sensor and forest parameters

The information content of ordinary synthetic aperture radar (SAR) data is principally contained in the radiometric polarization channels, i.e., the four Ihh, Ivv, Ihv and Ivh backscattered intensities. In the case of clutter, polarimetric information is given by the four complex degrees of coherence, from which the mean polarization phase differences (PPD), correlation coefficients or degrees of polarization can be deduced. For radiometric features, the polarimetric parameters are corrupted by multiplicative speckle noise and by some sensor effects. The PPD distribution is related to the sensor, speckle and terrain properties. Experimental results are given for the variation of the terrain hh/vv mean phase difference and magnitude of the degree of coherence observed on bare soil and on different pine forest stands.

Lopes, A.↗

NASA NTRS1992

An examination of the assumptions in the POLCAL cross-talk removal algorithm

The POLCAL crosstalk removal algorithm is based on the statistical properties of the image background and does not need any corner reflector or active radar calibrator deployed in the scene. The advantage of being able to remove the crosstalk contamination without using external calibration targets gives rise to the consideration of algorithms based on clutter statistics in polarimetric synthetic aperture radar (SAR) images in more detail. The basic assumption of the POLCAL procedure is the decorrelation of copolarized and cross-polarized backscatter, which is valid for natural targets with azimuthal symmetry. This assumption and others regarding the properties of the imaged surface are examined. An improved version called POLCALII is presented, and its performance is compared with POLCAL.

Zink, M.↗

NASA NTRS1993

Breaking Kelvin-Helmholtz waves and cloud-top entrainment as revealed by K-band Doppler radar

Radars have occasionally detected breaking Kelvin-Helmholtz (KH) waves under clear-air conditions in the atmospheric boundary layer and in the free troposphere. However, very few direct measurements of such waves within clouds have previously been reported and those have not clearly documented wave breaking. In this article, we present some of the most detailed and striking radar observations to date of breaking KH waves within clouds and at cloud top and discuss their relevance to the issue of cloud-top entrainment, which is believed to be important in convective and stratiform clouds. Aircraft observations reported by Stith suggest that vortex-like circulations near cloud top are an entrainment mechanism in cumuliform clouds. Laboratory and modeling studies have examined possibility that KH instability may be responsible for mixing at cloud top, but direct observations have not yet been presented. Preliminary analyses shown here may help fill this gap. The data presented in this paper were obtained during two field projects in 1991 that included observations from the NOAA Wave Propagation Laboratory's K-band Doppler radar (wavelength = 8.7 mm) and special rawinsonde ascents. The sensitivity (-30 dBZ at 10 km range), fine spatial resolution (375-m pulse length and 0.5 degrees beamwidth), velocity measurement precision (5-10 cm s-1), scanning capability, and relative immunity to ground clutter make it sensitive to non-precipitating and weakly precipitating clouds, and make it an excellent instrument to study gravity waves in clouds. In particular, the narrow beam width and short pulse length create scattering volumes that are cylinders 37.5 m long and 45 m (90 m) in diameter at 5 km (10 km) range. These characteristics allow the radar to resolve the detailed structure in breaking KH waves such as have been seen in photographic cloud images.

Martner, Brooks E.↗

NASA NTRS1992

The geophysical signal of the martian global dichotomy

A first-order tectonic question for Mars is the origin and nature of the global dichotomy (GD) separating approximately the northern and southern hemispheres of the planet. It is appropriate to focus on hypotheses for the origin of the GD as well as on geophysical models of related internal structure that are constrained by present-day observations. There are basic planetary scale observations that relate to the GD: (1) the dichotomy boundary separates two fundamentally different elevations on the planet, as the terrain to the north is lower by an average of about 3 km; (2) the boundary separates terrain of regionally distinct crater ages, heavily cratered (older) in the south and sparsely cratered (younger) in the north; (3) the amount of ancient crust apparently removed from north of the dichotomy boundary cannot be accounted for by simple surface erosion and deposition in the south, and the constraint becomes particularly severe if isostatic adjustment is presumed to have accompanied this process. This last point leads to the supposition that some type of interior process must have been responsible for the creation of the GD. An obvious way to create the observed elevation difference between the two hemispheres is with a thinner crust in the north, although a denser cust would also work. Hypotheses for producing a thinner northern crust include preferential sub-crustal erosion, a giant impact, and simply invoking the crustal thickness difference as a primordial feature of the planet. If the GD represents a fundamental change in the crustal thickness of Mars, then there should be geophysical evidence of this. The center-of-figure to center-of-mass offset of the planet may be related to the GD, but the Tharsis topography must certainly also contribute. If the Tharsis and GD effects can be separated, then a crustal thickness model can be tested, though the results will not be unique. The gravity field provides another geophysical constraint on GD models. A simple change in thickness of an isostatically compensated crust should show a characteristic gravity signal across the dichotomy boundary. There is a gravity anomaly that is clearly associated with the boundary in regions where the gravity signal is not cluttered by contributions from other features such as Tharsis and Elysium. The gravity signal has a complex spatial relationship with the boundary, and efforts are presently underway to model this anomaly.

Phillips, Roger J.↗

NASA NTRS1994

A new method for recognizing quadric surfaces from range data and its application to telerobotics and automation, final phase

In the final phase of the proposed research a complete top to down three dimensional object recognition scheme has been proposed. The various three dimensional objects included spheres, cones, cylinders, ellipsoids, paraboloids, and hyperboloids. Utilizing a newly developed blob determination technique, a given range scene with several non-cluttered quadric surfaces is segmented. Next, using the earlier (phase 1) developed alignment scheme, each of the segmented objects are then aligned in a desired coordinate system. For each of the quadric surfaces based upon their intersections with certain pre-determined planes, a set of distinct features (curves) are obtained. A database with entities such as the equations of the planes and angular bounds of these planes has been created for each of the quadric surfaces. Real range data of spheres, cones, cylinders, and parallelpipeds have been utilized for the recognition process. The developed algorithm gave excellent results for the real data as well as for several sets of simulated range data.

Mielke, Roland↗

NASA NTRS1994

Vision based object pose estimation for mobile robots

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

Wu, Annie↗

NASA NTRS1994

The MITy micro-rover: Sensing, control, and operation

The sensory, control, and operation systems of the 'MITy' Mars micro-rover are discussed. It is shown that the customized sun tracker and laser rangefinder provide internal, autonomous dead reckoning and hazard detection in unstructured environments. The micro-rover consists of three articulated platforms with sensing, processing and payload subsystems connected by a dual spring suspension system. A reactive obstacle avoidance routine makes intelligent use of robot-centered laser information to maneuver through cluttered environments. The hazard sensors include a rangefinder, inclinometers, proximity sensors and collision sensors. A 486/66 laptop computer runs the graphical user interface and programming environment. A graphical window displays robot telemetry in real time and a small TV/VCR is used for real time supervisory control. Guidance, navigation, and control routines work in conjunction with the mapping and obstacle avoidance functions to provide heading and speed commands that maneuver the robot around obstacles and towards the target.

Malafeew, Eric↗

NASA NTRS1994

Windshear certification data base for forward-look detection systems

Described is an introduction to a comprehensive database that is to be used for certification testing of airborne forward-look windshear detection systems. The database was developed by NASA Langley Research Center, at the request of the Federal Aviation Administration (FAA), to support the industry initiative to certify and produce forward-looking windshear detection equipment. The database contains high-resolution three-dimensional fields for meteorological variables that may be sensed by forward-looking systems. The database is made up of seven case studies that are generated by the Terminal Area Simulation System, a state-of-the-art numerical system for the realistic modeling of windshear phenomena. The selected cases contained in the certification documentation represent a wide spectrum of windshear events. The database will be used with vendor-developed sensor simulation software and vendor-collected ground-clutter data to demonstrate detection performance in a variety of meteorological conditions using NASA/FAA pre-defined path scenarios for each of the certification cases. A brief outline of the contents and sample plots from the database documentation are included. These plots show fields of hazard factor, or F-factor (Bowles 1990), radar reflectivity, and velocity vectors on a horizontal plane overlayed with the applicable certification paths. For the plot of the F-factor field the region of 0.105 and above signify an area of hazardous, performance decreasing windshear, while negative values indicate regions of performance increasing windshear. The values of F-factor are based on 1-Km averaged segments along horizontal flight paths, assuming an air speed of 150 knots (approx. 75 m/s). The database has been released to vendors participating in the certification process. The database and associated document have been transferred to the FAA for archival storage and distribution.

Switzer, George F.↗

NASA NTRS1996

Control Of A Serpentine Robot For Inspection Tasks

Efficient, robust kinematic control scheme developed to control serpentine robot designed to inspect complex structure. Takes full advantage of multiple redundant degrees of freedom of robot to provide considerable dexterity for maneuvering through workspace cluttered with stationary obstacles at initially unknown positions. Control scheme produces slithering motion.

Seraji, Homayoun↗

NASA NTRS1996

Balancing Science Objectives and Operational Constraints: A Mission Planner's Challenge

The Air Force minute sensor technology integration (MSTI-3) satellite's primary mission is to characterize Earth's atmospheric background clutter. MSTI-3 will use three cameras for data collection, a mid-wave infrared imager, a short wave infrared imager, and a visible imaging spectrometer. Mission science objectives call for the collection of over 2 million images within the one year mission life. In addition, operational constraints limit camera usage to four operations of twenty minutes per day, with no more than 10,000 data and calibrating images collected per day. To balance the operational constraints and science objectives, the mission planning team has designed a planning process to e event schedules and sensor operation timelines. Each set of constraints, including spacecraft performance capabilities, the camera filters, the geographical regions, and the spacecraft-Sun-Earth geometries of interest, and remote tracking station deconflictions has been accounted for in this methodology. To aid in this process, the mission planning team is building a series of tools from commercial off-the-shelf software. These include the mission manifest which builds a daily schedule of events, and the MSTI Scene Simulator which helps build geometrically correct scans. These tools provide an efficient, responsive, and highly flexible architecture that maximizes data collection while minimizing mission planning time.

Weldy, Michelle↗

NASA NTRS1996

Performance of Polarimetric Processing Techniques using NAWC P-3 SAR Imagery

The use of synthetic aperture radar (SAR) polarimetric processing for enhancing the detection, classification, and/or identification of scene scattering features is described. This paper describes and compares the results obtained from applying the polarimetric techniques that have been developed and/or advanced by researchers at MIT Lincoln Laboratory, and basic polarimetric match filter (PMF) techniques that have been modified to treat distributed scatterers. The paper describes the individual polarimetric processing techniques and the formulation used fro their application to polarimetric imagery obtained from the NAWC P-3 SAR. In all cases, the polarimetric techniques have been applied to enhance the detection of distributed scatterers in clutter The emphasis arises from considering most complex scatterers of interest (either man made or natural) as distributed scatterers consisting of multiple scattering centers, and many modern polarimetric radar systems have the resolution performance to resolve the multiple scattering centers. Furthermore, the individual scattering centers of a distributed target can often exhibit different polarimetric scattering characteristics, and consequently do not respond favorably to polarimetric processing techniques derived for individual point scatterers. The treatment of distributed scatterers also includes concepts for tuning the polarimetric ensemble response of individual scattering centers.

Teti, J. G., Jr.↗

NASA NTRS1996

Wideband Interferometric Sensing and Imaging Polarimetry

Wideband Interferometric Sensing and Imaging Polarimetry (WISIP) has become an important, indispensible tool in wide area military surveillance and global environmental monitoring of the terrestrial and planetary covers. It enables dynamic, real time optimal feature extraction of significant characteristics of desirable targets and/or target sections with simultaneous suppression of undesirable background clutter and propagation path speckle at hitherto unknown clarity and never before achieved quality. WISIP may be adopted to the detection, recognition, and identification (DRI) of any stationary, moving or vibrating targets or distributed scatterer segments versus arbitrary stationary, dynamical changing and/or moving geo-physical/ecological environments, provided the instantaneous 2x2 phasor and 4x4 power density matrices for forward propagation/backward scattering, respectively, can be measured with sufficient accuracy. For example, the DRI of stealthy, dynamically moving inhomogeneous volumetric scatter environments such as precipitation scatter, the ocean/sea/lake surface boundary layers, the littoral coastal surf zones, pack ice and snow or vegetative canopies, dry sands and soils, etc. can now be successfully realized. A comprehensive overview is presented on how these modern high resolution/precision, complete polarimetric co-registered signature sensing and imaging techniques, complemented by full integration of novel navigational electronic tools, such as DGPS, will advance electromagnetic vector wave sensing and imaging towards the limits of physical realization. Various examples utilizing the most recent image data take sets of airborne, space shuttle, and satellite imaging systems demonstrate the utility of WISIP.

Verdi, James Salvatore↗

NASA NTRS1998

A Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

Mutambara, Arthur G. O.↗