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Computational Fluid Dynamics Program at NASA Ames Research Center

The Computational Fluid Dynamics (CFD) Program at NASA Ames Research Center is reviewed and discussed. The technical elements of the CFD Program are listed and briefly discussed. These elements include algorithm research, research and pilot code development, scientific visualization, advanced surface representation, volume grid generation, and numerical optimization. Next, the discipline of CFD is briefly discussed and related to other areas of research at NASA Ames including experimental fluid dynamics, computer science research, computational chemistry, and numerical aerodynamic simulation. These areas combine with CFD to form a larger area of research, which might collectively be called computational technology. The ultimate goal of computational technology research at NASA Ames is to increase the physical understanding of the world in which we live, solve problems of national importance, and increase the technical capabilities of the aerospace community. Next, the major programs at NASA Ames that either use CFD technology or perform research in CFD are listed and discussed. Briefly, this list includes turbulent/transition physics and modeling, high-speed real gas flows, interdisciplinary research, turbomachinery demonstration computations, complete aircraft aerodynamics, rotorcraft applications, powered lift flows, high alpha flows, multiple body aerodynamics, and incompressible flow applications. Some of the individual problems actively being worked in each of these areas is listed to help define the breadth or extent of CFD involvement in each of these major programs. State-of-the-art examples of various CFD applications are presented to highlight most of these areas. The main emphasis of this portion of the presentation is on examples which will not otherwise be treated at this conference by the individual presentations. Finally, a list of principal current limitations and expected future directions is given.

Holst, Terry L.↗

Improved reduced-resolution satellite imagery

The resolution of satellite imagery is often traded-off to satisfy transmission time and bandwidth, memory, and display limitations. Although there are many ways to achieve the same reduction in resolution, algorithms vary in their ability to preserve the visual quality of the original imagery. These issues are investigated in the context of the Landsat browse system, which permits the user to preview a reduced resolution version of a Landsat image. Wavelets-based techniques for resolution reduction are proposed as alternatives to subsampling used in the current system. Experts judged imagery generated by the wavelets-based methods visually superior, confirming initial quantitative results. In particular, compared to subsampling, the wavelets-based techniques were much less likely to obscure roads, transmission lines, and other linear features present in the original image, introduce artifacts and noise, and otherwise reduce the usefulness of the image. The wavelets-based techniques afford multiple levels of resolution reduction and computational speed. This study is applicable to a wide range of reduced resolution applications in satellite imaging systems, including low resolution display, spaceborne browse, emergency image transmission, and real-time video downlinking.

Ellison, James↗

Discovering Communicable Scientific Knowledge from Spatio-Temporal Data

This paper describes how we used regression rules to improve upon a result previously published in the Earth science literature. In such a scientific application of machine learning, it is crucially important for the learned models to be understandable and communicable. We recount how we selected a learning algorithm to maximize communicability, and then describe two visualization techniques that we developed to aid in understanding the model by exploiting the spatial nature of the data. We also report how evaluating the learned models across time let us discover an error in the data.

Schwabacher, Mark↗

Discovering Communicable Models from Earth Science Data

This chapter describes how we used regression rules to improve upon results previously published in the Earth science literature. In such a scientific application of machine learning, it is crucially important for the learned models to be understandable and communicable. We recount how we selected a learning algorithm to maximize communicability, and then describe two visualization techniques that we developed to aid in understanding the model by exploiting the spatial nature of the data. We also report how evaluating the learned models across time let us discover an error in the data.

Schwabacher, Mark↗

Oculomotor control of primary eye position discriminates between translation and tilt

We have previously shown that fast phase axis orientation and primary eye position in rhesus monkeys are dynamically controlled by otolith signals during head rotations that involve a reorientation of the head relative to gravity. Because of the inherent ambiguity associated with primary otolith afferent coding of linear accelerations during head translation and tilts, a similar organization might also underlie the vestibulo-ocular reflex (VOR) during translation. The ability of the oculomotor system to correctly distinguish translational accelerations from gravity in the dynamic control of primary eye position has been investigated here by comparing the eye movements elicited by sinusoidal lateral and fore-aft oscillations (0.5 Hz +/- 40 cm, equivalent to +/- 0.4 g) with those during yaw rotations (180 degrees/s) about a vertically tilted axis (23.6 degrees). We found a significant modulation of primary eye position as a function of linear acceleration (gravity) during rotation but not during lateral and fore-aft translation. This modulation was enhanced during the initial phase of rotation when there was concomitant semicircular canal input. These findings suggest that control of primary eye position and fast phase axis orientation in the VOR are based on central vestibular mechanisms that discriminate between gravity and translational head acceleration.

NASA Discipline Neuroscience↗

Quantitative description and correction of longitudinal drifts in the Fermilab linac

The Fermi National Accelerator Laboratory (Fermilab) Linac accepts 750 keV H- ions from the front end and accelerates them to 400 MeV for injection into the Booster rapid cycling synchrotron. Day-to-day drifts in the beam longitudinal trajectory during regular operation are of the order of several degrees. They are believed to cause additional losses in both the Linac and the Booster and are addressed by empirically adjusting cavity phases of front end and Linac RF cavities. This work explores a scheme for expressing these drifts in terms of phase shifts in the low-energy part of the Linac. Such a description allows for a simplified visual representation of the drifts, suggests a clear algorithm for their compensation, and provides a tool for estimating efficiency of such compensation.

43 PARTICLE ACCELERATORS↗

G2PDeep-v2: A Web-Based Deep-Learning Framework for Phenotype Prediction and Biomarker Discovery for All Organisms Using Multi-Omics Data

Multi-omics data offers rich insights into complex traits across organisms, yet integrating and analyzing these datasets for phenotype prediction and marker discovery remains challenging. Researchers need accessible tools that combine deep learning, hyperparameter optimization, visualization, and downstream analysis in a unified web platform. To address this, we developed G2PDeep-v2, a web-based platform powered by deep learning for phenotype prediction and marker discovery from multi-omics data across a wide range of organisms, including humans and plants. The server provides multiple services for researchers to create deep-learning models through an interactive interface and train these models using an automated hyperparameter tuning algorithm on high-performance computing resources. Users can visualize the results of phenotype and markers predictions and perform Gene Set Enrichment Analysis for the significant markers to provide insights into the molecular mechanisms underlying complex diseases, conditions and other biological phenotypes being studied.

59 BASIC BIOLOGICAL SCIENCES↗

Polar exponential sensor arrays unify iconic and Hough space representation

The log-polar coordinate system, inherent in both polar exponential sensor arrays and log-polar remapped video imagery, is identical to the coordinate system of its corresponding Hough transform parameter space. The resulting unification of iconic and Hough domains simplifies computation for line recognition and eliminates the slope quantization problems inherent in the classical Cartesian Hough transform. The geometric organization of the algorithm is more amenable to massively parallel architectures than that of the Cartesian version. The neural architecture of the human visual cortex meets the geometric requirements to execute 'in-place' log-Hough algorithms of the kind described here.

Weiman, Carl F. R.↗

Volumetric Rendering on Wavelet-Based Adaptive Grid

Numerical modeling of physical phenomena frequently involves processes across a wide range of spatial and temporal scales. In the last two decades, the advancements in wavelet-based numerical methodologies to solve partial differential equations, combined with the unique properties of wavelet analysis to resolve localized structures of the solution on dynamically adaptive computational meshes, make it feasible to perform large-scale numerical simulations of a variety of physical systems on a dynamically adaptive computational mesh that changes both in space and time. Volumetric visualization of the solution is an essential part of scientific computing, yet the existing volumetric visualization techniques do not take full advantage of multi-resolution wavelet analysis and are not fully tailored for visualization of a compressed solution on the wavelet-based adaptive computational mesh. Our objective is to explore the alternatives for the visualization of time-dependent data on space-time varying adaptive mesh using volume rendering while capitalizing on the available sparse data representation. Two alternative formulations are explored. The first one is based on volumetric ray casting of multi-scale datasets in wavelet space. Rather than working with the wavelets at the finest possible resolution, a partial inverse wavelet transform is performed as a preprocessing step to obtain scaling functions on a uniform grid at a user-prescribed resolution. As a result, a solution in physical space is represented by a superposition of scaling functions on a coarse regular grid and wavelets on an adaptive mesh. An efficient and accurate ray casting algorithm is based just on these coarse scaling functions. Additional details are added during the ray tracing by taking an appropriate number of wavelets into account based on support overlap with the interpolation point, wavelet coefficient magnitude, and other characteristics, such as opacity accumulation (front to back ordering) and deviation from frontal viewing direction. The second approach is based on complementing of wavelet-based adaptive mesh to the traditional Adaptive Mesh Refinement (AMR) mesh. Both algorithms are illustrated and compared to the existing volume visualization software for Rayleigh-Benard thermal convection and electron density data sets in terms of rendering time and visual quality for different data compression of both wavelet-based and AMR adaptive meshes.

Vezolainen, Alexei V.↗

A Synchronized Sensor Array for Remote Monitoring of Avian and Bat Interactions with Offshore Renewable Energy Facilities

Wind energy production in the U.S. is projected to increase to 35% of our nation’s energy by 2050. This substantial increase in the U.S. is only a portion of the global wind industry growth, as many countries strive to reduce greenhouse gas emissions. A major environmental concern and potential market barrier for expansion of wind energy is bird and bat mortality from impacts with turbine blades, towers, and nacelles. Carcass surveys are the standard protocol for quantifying mortality at onshore sites. This method is imperfect, however, due to survey frequency at remote sites, removal of carcasses by scavengers between surveys, searcher efficiency, and other biases as well as delays of days to weeks or more in obtaining information on collision events. Furthermore, carcass surveys are not feasible at offshore wind energy sites. Near-real-time detection and quantification of interaction rates is possible at both onshore and offshore wind facilities using an onboard, integrated sensor package with data transmitted to central processing centers. We developed and experimentally tested an array of sensors that continuously monitors for interactions (including impacts) of birds and bats with wind turbines. The synchronized array includes three sensor nodes: (1) vibration (accelerometers and contact microphones), (2) optical (visual and infrared spectrum cameras), and (3) bioacoustics (acoustic and ultrasonic microphones). Accelerometers and contact acoustic microphones are placed at the root of each blade to detect impact vibrations and sound waves propagating through the structure. On-board data processing algorithms using wavelet analysis detect impact signals exceeding background vibration. Stereo-visual and infrared cameras were placed on the nacelle to allow target tracking, distance, and size calculations. On-board image processing and target detection algorithms identify moving targets within the camera field of view. Bioacoustic recorders monitor vocalizations and echolocations to aid in identifying organisms involved in interactions. Data from all sensors are temporarily stored in ring (i.e., circular) buffers with a duration varying by sensor type. Detection of target presence or impact by any of the sensors can trigger the archiving of data from all buffers for transmission to a central data processing center for evaluation and post-processing. This mitigates the risk of “data mortgages” posed by continual recording and minimizes personnel time required to manually review event data. We first conducted individual component tests at laboratories and field sites in Corvallis and Newport, Oregon, and Seattle and Sequim, Washington. We conducted additional component tests on research wind turbines at the North American Wind Research and Training Center, Mesalands Community College (MCC; General Electric 1.5 MW turbine), New Mexico, and the National Wind Technology Center, National Renewable Energy Laboratory (NREL; Controls Advanced Research Turbines 3 [CART 3] 600 kW Westinghouse turbine), Colorado. We conducted fully integrated system tests at NREL in October 2014 and April 2015. We used only research wind turbines so that we could conduct controlled, experimentally generated impacts using empty and water-filled tennis balls shot from a compressed air cannon on the ground. The approx. 57-140 g tennis balls (depending on water content) were at the upper mass range for bats, but lower mass range for marine birds. Therefore, the ability to detect collisions of most seabirds is likely greater than our experiments demonstrate, but possibly lower for some bats depending on the background signal of a given turbine. Vibration data demonstrated that background signals of operating turbines varied markedly among the CART 3 under normal operation (greatest), GE (moderate), and CART 3 during idle rotation (generator not engaged; least). In total, we measured 63 experimental blade impacts on the two research turbines. Impaction detection was dependent on background signals, position of impact on the blade (a tip strike resulted in the strongest impact signal), and impact kinetics (velocity of ball and whether the ball struck the surface of the blade or the leading edge of the blade struck the ball). Overall detection percentage ranged from 100% for the “quietest” conditions (CART 3 idle rotation), down to 35% for the noisiest (CART 3 normal operation). Impact signals were detected from sensors on more than one blade (i.e., blades other than the blade struck) 50% - 75% of the time. Stereo imaging provided valuable metrics, but increased data processing and equipment cost. Given the cost of cameras with sufficient resolution for target identification, we suggest mounting cameras directly on the blades to continuously view the entire rotor swept area with the fewest number of cameras. Bioacoustic microphones provide taxonomic identification, as well as information on ambient noise levels. They also assist in identifying environmental conditions such as hail storms, high winds, thunder, lightning, etc., that may contribute to a collision or a false positive detection. We demonstrated a proof of concept for an integrated sensor array to detect and identify bird and bat collisions with wind turbines. The next phase of research and development for this system will miniaturize and integrate sensors from all three nodes into a single wireless package that can be attached directly to the blade. This next generation system would use all “smart” sensors capable of onboard data processing to drastically reduce data streams and processing time on a central computer. A provisional patent for the blade mounted system was submitted by Oregon State University and recorded by the U.S. Patent and Trademark Office (application no. 62313028). Eventually, technology and industry advances will allow this low cost monitoring system to be designed into materials during manufacturing so that all turbines could be monitored with either a subset or full suite of sensors. As standard equipment on all commercial turbines, the sensor suite would allow the industry to effectively monitor whether individual turbines were causing mortalities or not and under what circumstances. It would also provide real-time evaluation of mechanical and structural integrity of a turbine via vibration, image, and acoustic data streams, thereby permitting modifications in operation to limit environmental or mechanical damage.

17 WIND ENERGY↗

Dynamic Mode Decomposition of Unsteady Pressure-Sensitive Paint Measurements for the NASA Unitary Plan Wind Tunnel Tests

This paper describes the Dynamic Mode Decomposition (DMD) of the pressures on the scale model of the Space Launch System (SLS) Block 1 cargo vehicle with the Unsteady Pressure-Sensitive Paint (uPSP) measurements, which were collected in the Ascent Transient Aerodynamics Tests with the Unitary Plan Wind Tunnel 11-by-11-foot Transonic Wind Tunnel in September 2019 at NASA Ames Research Center. The work described in this paper is a part of NASA’s development of a new state-of-the-art uPSP capability in production wind tunnels. The conventional DMD algorithm is based on the Singular Value Decomposition (SVD) of the data matrix. For the matrix of the uPSP measurements of the SLS ATAT, the number of rows is equal to the number of nodes in the grid of the scale model, and the number of columns is equal to the number of frames in the videos taken with 4 Phantom high-speed cameras. In this paper, it is verified that, for the time series with zero mean value, the DMD is equivalent to the decomposition with the Discrete Fourier Transform (DFT). Considering the uPSP is mainly used in the assessment of the unsteady, aerodynamic phenomena, the DMD of the uPSP measurements can be implemented in two steps: (1) subtract the mean value from the uPSP measurement on each of the grid nodes; (2) apply the Fast Fourier Transform (FFT) on the resulting zero-mean time series. The DMD of the uPSP measurements with FFT has two advantages: (1) the computational complexity of FFT is O(N*logN), where N is the length of the time series; (2) compared to the SVD-based DMD algorithm, the DMD with FFT can be easily implemented in parallel processing. A sample matrix of uPSP measurements, at the size of 341 grid nodes and 128 frames, is generated. Figures 1 and 2 show the eigenvalues and the ratios of the eigenvectors, respectively, of the sample matrix, without and with the mean value removed on each of the grid nodes, computed with the SVD-based DMD and the FFT. The figures demonstrate the equivalence of the SVD-based DMD and the decomposition with DFT/FFT for the time series with zero mean value. The results of DMD of the uPSP measurements of the SLS ATAT in September 2019 are presented in the paper. The DMD modes at different frequencies are shown, the aerodynamic phenomena (e.g. shockwave and vortex shedding) are demonstrated and the correlation of the DMD modes with the test configuration parameter (e.g., the Mach Number) is discussed. Figure 3 shows a software tool to visualize the DMD modes. The code to implement the algorithm described in this paper was written in C, with libraries of FFTW for FFT and MPI/OpenMP for parallel processing, and executed on the NASA Pleiades supercomputer. Funding for this research was provided by the NASA Aerosciences Evaluation and Test Capabilities Project.

Pressure-Sensitive Paint↗

BigNeuron: a resource to benchmark and predict performance of algorithms for automated tracing of neurons in light microscopy datasets

BigNeuron is an open community bench-testing platform with the goal of setting open standards for accurate and fast automatic neuron tracing. We gathered a diverse set of image volumes across several species that is representative of the data obtained in many neuroscience laboratories interested in neuron tracing. Here, we report generated gold standard manual annotations for a subset of the available imaging datasets and quantified tracing quality for 35 automatic tracing algorithms. The goal of generating such a hand-curated diverse dataset is to advance the development of tracing algorithms and enable generalizable benchmarking. Together with image quality features, we pooled the data in an interactive web application that enables users and developers to perform principal component analysis, t-distributed stochastic neighbor embedding, correlation and clustering, visualization of imaging and tracing data, and benchmarking of automatic tracing algorithms in user-defined data subsets. The image quality metrics explain most of the variance in the data, followed by neuromorphological features related to neuron size. Furthermore, we observed that diverse algorithms can provide complementary information to obtain accurate results and developed a method to iteratively combine methods and generate consensus reconstructions. The consensus trees obtained provide estimates of the neuron structure ground truth that typically outperform single algorithms in noisy datasets. However, specific algorithms may outperform the consensus tree strategy in specific imaging conditions. Finally, to aid users in predicting the most accurate automatic tracing results without manual annotations for comparison, we used support vector machine regression to predict reconstruction quality given an image volume and a set of automatic tracings.

97 MATHEMATICS AND COMPUTING↗

Visual Odometry for Autonomous Deep-Space Navigation Project

Autonomous rendezvous and docking (AR&D) is a critical need for manned spaceflight, especially in deep space where communication delays essentially leave crews on their own for critical operations like docking. Previously developed AR&D sensors have been large, heavy, power-hungry, and may still require further development (e.g. Flash LiDAR). Other approaches to vision-based navigation are not computationally efficient enough to operate quickly on slower, flight-like computers. The key technical challenge for visual odometry is to adapt it from the current terrestrial applications it was designed for to function in the harsh lighting conditions of space. This effort leveraged Draper Laboratory’s considerable prior development and expertise, benefitting both parties. The algorithm Draper has created is unique from other pose estimation efforts as it has a comparatively small computational footprint (suitable for use onboard a spacecraft, unlike alternatives) and potentially offers accuracy and precision needed for docking. This presents a solution to the AR&D problem that only requires a camera, which is much smaller, lighter, and requires far less power than competing AR&D sensors. We have demonstrated the algorithm’s performance and ability to process ‘flight-like’ imagery formats with a ‘flight-like’ trajectory, positioning ourselves to easily process flight data from the upcoming ‘ISS Selfie’ activity and then compare the algorithm’s quantified performance to the simulated imagery. This will bring visual odometry beyond TRL 5, proving its readiness to be demonstrated as part of an integrated system.Once beyond TRL 5, visual odometry will be poised to be demonstrated as part of a system in an in-space demo where relative pose is critical, like Orion AR&D, ISS robotic operations, asteroid proximity operations, and more.

Robinson, Shane↗

Visual Odometry for Autonomous Deep-Space Navigation Project

Autonomous rendezvous and docking (AR&D) is a critical need for manned spaceflight, especially in deep space where communication delays essentially leave crews on their own for critical operations like docking. Previously developed AR&D sensors have been large, heavy, power-hungry, and may still require further development (e.g. Flash LiDAR). Other approaches to vision-based navigation are not computationally efficient enough to operate quickly on slower, flight-like computers. The key technical challenge for visual odometry is to adapt it from the current terrestrial applications it was designed for to function in the harsh lighting conditions of space. This effort leveraged Draper Laboratory's considerable prior development and expertise, benefitting both parties. The algorithm Draper has created is unique from other pose estimation efforts as it has a comparatively small computational footprint (suitable for use onboard a spacecraft, unlike alternatives) and potentially offers accuracy and precision needed for docking. This presents a solution to the AR&D problem that only requires a camera, which is much smaller, lighter, and requires far less power than competing AR&D sensors. We have demonstrated the algorithm's performance and ability to process 'flight-like' imagery formats with a 'flight-like' trajectory, positioning ourselves to easily process flight data from the upcoming 'ISS Selfie' activity and then compare the algorithm's quantified performance to the simulated imagery. This will bring visual odometry beyond TRL 5, proving its readiness to be demonstrated as part of an integrated system. Once beyond TRL 5, visual odometry will be poised to be demonstrated as part of a system in an in-space demo where relative pose is critical, like Orion AR&D, ISS robotic operations, asteroid proximity operations, and more.

Robinson, Shane↗

Magnetic Particle Imaging Guided Real-Time Percutaneous Transluminal Angioplasty in a Phantom Model

PurposeTo investigate the potential of real-time magnetic particle imaging (MPI) to guide percutaneous transluminal angioplasty (PTA) of vascular stenoses in a phantom model.Materials and MethodsExperiments were conducted on a custom-built MPI scanner. Vascular stenosis phantoms consisted of polyvinyl chloride tubes (inner diameter 8 mm) prepared with a centrally aligned cable tie to form ~ 50% stenoses. MPI angiography for visualization of stenoses was performed using the superparamagnetic iron oxide nanoparticle-based contrast agent Ferucarbotran (10 mmol (Fe)/l). Balloon catheters and guidewires for PTA were visualized using custom-made lacquer markers based on Ferucarbotran. Stenosis dilation (n = 3) was performed by manually inflating the PTA balloon with diluted Ferucarbotran. An online reconstruction framework was implemented for real-time imaging with very short latency time.ResultsVisualization of stenosis phantoms and guidance of interventional instruments in real-time (4 frames/s, ~ 100 ms latency time) was possible using an online reconstruction algorithm. Labeling of guidewires and balloon catheters allowed for precise visualization of instrument positions.ConclusionReal-time MPI-guided PTA in a phantom model is feasible.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

Enabling Analysis of Air Quality Data From Tropospheric Emissions: Monitoring of POllution (Tempo) Via Cloud-Based Tools

Launched in April 2023, the Tropospheric Emissions: Monitoring of POllution (TEMPO) instrument provides high-resolution measurements of key atmospheric pollutants, such as ozone, nitrogen dioxide, and formaldehyde. Maximizing the use and utility of this new source of air quality information requires streamlining data access for a wide variety of research, public health, and other interested users. These varied applications often require the data to be structured in different ways, e.g., specific formats, array shapes, or file sizes. To enable access to TEMPO data in different forms, the NASA Atmospheric Science Data Center (ASDC), as part of the NASA Earth Science Data and Information System (ESDIS), provides a variety of cloud-based data transformation and GIS visualization tools. This presentation demonstrates methods of accessing and working with TEMPO data through these services, while highlighting aspects of the software and algorithmic workflows that perform the necessary data transformations. Examples include data subsetting, concatenation, and visualizations accessible via Jupyter notebooks and GIS software.

Daniel Kaufman↗

Localization Using Visual Odometry and a Single Downward-Pointing Camera

Stereo imaging is a technique commonly employed for vision-based navigation. For such applications, two images are acquired from different vantage points and then compared using transformations to extract depth information. The technique is commonly used in robotics for obstacle avoidance or for Simultaneous Localization And Mapping, (SLAM). Yet, the process requires a number of image processing steps and therefore tends to be CPU-intensive, which limits the real-time data rate and use in power-limited applications. Evaluated here is a technique where a monocular camera is used for vision-based odometry. In this work, an optical flow technique with feature recognition is performed to generate odometry measurements. The visual odometry sensor measurements are intended to be used as control inputs or measurements in a sensor fusion algorithm using low-cost MEMS based inertial sensors to provide improved localization information. Presented here are visual odometry results which demonstrate the challenges associated with using ground-pointing cameras for visual odometry. The focus is for rover-based robotic applications for localization within GPS-denied environments.

Swank, Aaron J.↗

Real-time tracking using stereo and motion: Visual perception for space robotics

The state-of-the-art in computing technology is rapidly attaining the performance necessary to implement many early vision algorithms at real-time rates. This new capability is helping to accelerate progress in vision research by improving our ability to evaluate the performance of algorithms in dynamic environments. In particular, we are becoming much more aware of the relative stability of various visual measurements in the presence of camera motion and system noise. This new processing speed is also allowing us to raise our sights toward accomplishing much higher-level processing tasks, such as figure-ground separation and active object tracking, in real-time. This paper describes a methodology for using early visual measurements to accomplish higher-level tasks; it then presents an overview of the high-speed accelerators developed at Teleos to support early visual measurements. The final section describes the successful deployment of a real-time vision system to provide visual perception for the Extravehicular Activity Helper/Retriever robotic system in tests aboard NASA's KC135 reduced gravity aircraft.

Nishihara, H. Keith↗