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NASA NTRSDate not supplied

Visual and Inertial Datasets for an eVTOL Aircraft Approach and Landing Scenario

A National Aeronautics and Space Administration (NASA) project developing computer vision algorithms for autonomous flight is producing real-world datasets with cameras mounted on aircraft. In related domains, such as autonomous driving, open datasets are key to innovation and advancement in computer vision and autonomous perception for future Advanced Air Mobility (AAM) operations. Few vision datasets, however, are publicly available in the aviation context. This paper introduces preliminary datasets containing several examples of approach and landing scenarios. The platform aircraft include a multirotor small unmanned aerial system (sUAS) and a crewed helicopter as surrogates for future electric vertical take-off and landing (eVTOL) aircraft. The dataset provides video imagery with associated inertial navigation system-global positioning system (INS-GPS) position and attitude estimates and other sensors. Surveyed locations of the visual features of the landing area are included. This dataset is the first to be released in an ongoing effort to collect and share large, diverse datasets relevant to autonomous aviation; community critique that can inform and improve future flight campaigns is welcome.

Nelson Brown↗
NASA NTRS1998

Minimization of Retinal Slip Cannot Explain Human Smooth-Pursuit Eye Movements

Existing models assume that pursuit attempts a direct minimization of retinal image motion or "slip" (e.g. Robinson et al., 1986; Krauzlis & Weisberger, 1989). Using occluded line-figure stimuli, we have previously shown that humans can accurately pursue stimuli for which perfect tracking does not zero retinal slip (Neurologic ARCO). These findings are inconsistent with the standard control strategy of matching eye motion to a target-motion signal reconstructed by adding retinal slip and eye motion, but consistent with a visual front-end which estimates target motion via a global spatio-temporal integration for pursuit and perception. Another possible explanation is that pursuit simply attempts to minimize slip perpendicular to the segments (and neglects parallel "sliding" motion). To resolve this, 4 observers (3 naive) were asked to pursue the center of 2 types of stimuli with identical velocity-space descriptions and matched motion energy. The line-figure "diamond" stimulus was viewed through 2 invisible 3 deg-wide vertical apertures (38 cd/m2 equal to background) such that only the sinusoidal motion of 4 oblique line segments (44 cd/m2 was visible. The "cross" was identical except that the segments exchanged positions. Two trajectories (8's and infinity's) with 4 possible initial directions were randomly interleaved (1.25 cycles, 2.5s period, Ax = Ay = 1.4 deg). In 91% of trials, the diamond appeared rigid. Correspondingly, pursuit was vigorous (mean Again: 0.74) with a V/H aspect ratio approx. 1 (mean: 0.9). Despite a valid rigid solution, the cross however appeared rigid in 8% of trials. Correspondingly, pursuit was weaker (mean Hgain: 0.38) with an incorrect aspect ratio (mean: 1.5). If pursuit were just minimizing perpendicular slip, performance would be the same in both conditions.

Stone, Leland S.↗
NASA NTRS1999

Gravitropism of hypocotyls of wild-type and starch-deficient Arabidopsis seedlings in spaceflight studies

The major purpose of this spaceflight project was to investigate the starch-statolith hypothesis for gravity perception, and a secondary goal was to study plant growth and development under spaceflight conditions. This research was based on our ground studies of gravity perception in the wild type and three starch-deficient (one starchless and two reduced starch) mutants of Arabidopsis thaliana (L.) Heynh. Dark-grown seedlings that developed in microgravity were given one of several (30 min, 60 min, or 90 min) 1-g stimuli by an on-board centrifuge, and additional controls for seedling development also were performed. These latter control experiments included a morphological study of plants that developed in space in microgravity (F microg), in space on a centrifuge (F 1g), on the ground (G 1g), and on a rotating clinostat on the ground. Since elevated levels of ethylene were reported in the spacecraft atmosphere, additional controls for morphology and gravitropism with added ethylene also were performed. While exogenous ethylene reduced the absolute magnitude of the response in all four strains of Arabidopsis, this gas did not appear to change the relative graviresponsiveness among the strains. The relative response of hypocotyls of microgravity-grown seedlings to the stimuli provided by the in-flight centrifuge was: wild type > starch-deficient mutants. Although the protoplast pressure model for gravity perception cannot be excluded, these results are consistent with a statolith-based model for perception in plants.

Non-NASA Center↗
NASA NTRS1996

What Perception Implies about Implementation of Interactive Acoustic Environments

Virtual acoustics, also known as 3-D sound and auralization, is the simulation of the complex acoustic field experienced by a listener within an environment. Going beyond the simple intensity panning of normal stereo techniques, the goal is to process sounds so that they appear to come from particular positions in three-dimensional space. Current techniques use digital signal processing to synthesize the acoustical properties that people use to localize a sound source. This paper briefly reviews these techniques as well as the results of a number of psychoacoustical studies designed to validate the synthesis. In particular, the relationship between the results of recent perceptual studies on the role of head motion to the implementation of interactive spatial audio systems is addressed.

Wenzel, Elizabeth M.↗
NASA NTRS1990

Gravity-induced changes in intracellular potentials in elongating cortical cells of mung bean roots

Gravity-induced changes in intracellular potentials in primary roots of 2-day-old mung bean (Vigna mungo L. cv. black matpe) seedlings were investigated using glass microelectrodes held by 3-dimensional hydraulic micro-drives. The electrodes were inserted into outer cortical cells within the elongation zone. Intracellular potentials, angle of root orientation with respect to gravity, and position within the root of the impaled cortical cell were measured simultaneously. Gravistimulation caused intracellular potential changes in cortical cells of the elongation zone. When the roots were oriented vertically, the intracellular potentials of the outer cortical cells (2 mm behind the root apex) were approximately - 115 mV. When the roots were placed horizontally cortical cells on the upper side hyperpolarized to - 154 mV within 30 s while cortical cells on the lower side depolarized to about - 62 mV. This electrical asymmetry did not occur in cells of the maturation zone. Because attempts to insert the electrode into cells of the root cap were unsuccessful, these cells were not measured. The hyperpolarization of cortical cells on the upper side was greatly reduced upon application of N,N'-dicyclohexylcarbodiimide (DCCD), an inhibitor of respiratory energy coupling. When stimulated roots were returned to the vertical, the degree of hyperpolarization of cortical cells on the previous upper side decreased within 30 s and approached that of cortical cells in non-stimulated roots. This cycle of hyperpolarization/loss of hyperpolarization was repeatable at least ten times by alternately turning the root from the vertical to the horizontal and back again. The very short (<30 s) lag period of these electrical changes indicates that they may result from stimulus-perception and transduction within the elongation zone rather than from transmission of a signal from the root cap.

NASA Discipline Plant Biology↗
NASA NTRS1990

NASA's Telerobotic Testbed

As part of the Advanced Technology Program in Telerobotics Technology conducted by NASA's Office of Aeronautics and Space Technology, a Telerobotics Testbed has been placed into use at the Jet Propulsion Laboratory. The Telerobotics Testbed represents an integration of the discipline technologies represented by its subsystems: (1) Operator Control Station, (2) Planning and Reasoning, (3) Run Time Control, (4) Sensing and Perception, and (5) Manipulation and Control Mechanization. The features provided initially by the Telerobotic Testbed are described both at the subsystem level and at the level of a fully integrated, end-to-end system. The capabilities of the total system as displayed experimentally are discussed, and the capabilities of which the Telerobotic Testbed will be capable are described. The experimental program to define the performance of the Telerobotic Testbed is discussed.

Stocky, J. F.↗
NASA NTRS1991

Recovery of gravitropism after basipetal centrifugation in protonemata of the moss Ceratodon purpureus

Apical cells of 5-day-old dark-grown protonemata of the moss Ceratodon purpureus (Hedw.) Brid. are negatively gravitropic and appear to utilize amyloplasts as statoliths. These cells exhibit a characteristic plastid zonation (five zones) with one zone (No. 3) specialized for the lateral sedimentation of amyloplasts. Basipetal centrifugation displaces all amyloplasts in the apical cell to the end wall. In basipetally centrifuged protonemata observed using infrared videomicroscopy, tip extension occurred with or without amyloplasts present in the apical dome. The initial return of upward curvature was always correlated with the return and sedimentation of amyloplasts in zone 3. Subsequent vigorous upward curvature was correlated with distinct amyloplast zonation and further sedimentation in zone 3. Initial downward ("wrong way") curvature, which often preceded upward curvature, correlated with the presence of amyloplasts in the apical dome (zone 1). These data support the hypotheses that nonsedimenting amyloplasts in zone 1 are necessary for initial downward curvature and that amyloplast sedimentation in zone 3 is necessary for upward curvature.

NASA Program Space Biology↗
NASA NTRS2015

NASA Ames Sustainability Initiatives: Aeronautics, Space Exploration, and Sustainable Futures

In support of the mission-specific challenges of aeronautics and space exploration, NASA Ames produces a wealth of research and technology advancements with significant relevance to larger issues of planetary sustainability. NASA research on NexGen airspace solutions and its development of autonomous and intelligent technologies will revolutionize both the nation's air transporation systems and have applicability to the low altitude flight economy and to both air and ground transporation, more generally. NASA's understanding of the Earth as a complex of integrated systems contributes to humanity's perception of the sustainability of our home planet. Research at NASA Ames on closed environment life support systems produces directly applicable lessons on energy, water, and resource management in ground-based infrastructure. Moreover, every NASA campus is a 'city'; including an urbanscape and a workplace including scientists, human relations specialists, plumbers, engineers, facility managers, construction trades, transportation managers, software developers, leaders, financial planners, technologists, electricians, students, accountants, and even lawyers. NASA is applying the lessons of our mission-related activities to our urbanscapes and infrastructure, and also anticipates a leadership role in developing future environments for living and working in space.

Planetary futures↗
NASA NTRS2010

Evaluating the Performance of Unmanned Ground Vehicle Water Detection

Water detection is a critical perception requirement for unmanned ground vehicle (UGV) autonomous navigation over cross-country terrain. During the Robotics Collaborative Technology Alliances (RCTA) program, the Jet Propulsion Laboratory (JPL) developed a set of water detection algorithms that are used to detect, localize, and avoid water bodies large enough to be a hazard to a UGV. The JPL water detection software performs the detection and localization stages using a forward-looking stereo pair of color cameras. The 3D coordinates of water body surface points are then output to a UGV's autonomous mobility system, which is responsible for planning and executing safe paths. There are three primary methods for evaluating the performance of the water detection software. Evaluations can be performed in image space on the intermediate detection product, in map space on the final localized product, or during autonomous navigation to characterize the avoidance of a variety of water bodies. This paper describes a methodology for performing the first two types of water detection performance evaluations.

stereo vision↗
DOE OSTI2016

An evidence for prompt electric field disturbance driven by changes in the solar wind density under northward IMF B z condition

Before the onset of a geomagnetic storm on 22 January 2012 (Ap = 24), an enhancement in solar wind number density from 10/cm 3 to 22/cm 3 during 0440–0510 UT under northward interplanetary magnetic field (IMF Bz) condition is shown to have enhanced the high-latitude ionospheric convection and also caused variations in the geomagnetic field globally. Some conspicuous changes in ΔX are observed not only at longitudinally separated low-latitude stations over Indian (prenoon), South American (midnight), Japanese (afternoon), Pacific (afternoon) and African (morning) sectors but also at latitudinally separated stations located over high and middle latitudes. The latitudinal variation of the amplitude of the ΔX during 0440–0510 UT is shown to be consistent with the characteristics of prompt penetration electric field disturbances. Most importantly, the density pulse event caused enhancements in the equatorial electrojet strength and the peak height of the F layer (h m F 2 ) over the Indian dip equatorial sector. Furthermore, the concomitant enhancements in electrojet current and F layer movement over the dip equator observed during this space weather event suggest a common driver of prompt electric field disturbance at this time. Such simultaneous variations are found to be absent during magnetically quiet days. In the absence of significant change in solar wind velocity and magnetospheric substorm activity, these observations point toward perceptible prompt electric field disturbance over the dip equator driven by the overcompression of the magnetosphere by solar wind density enhancement.

58 GEOSCIENCES↗
NASA NTRS1992

Visualizing the universe, part 2

It is now possible to create animated views of the universe that are realistic, physically relevant, and breathtaking. To demonstrate the point, we describe our efforts to navigate the CfA redshift survey. For our project, we selected several CCD images of spiral and elliptical galaxies, and placed them at their observed positions in redshift space. We demonstrate how, by choreographing aesthetically pleasing trajectories, we are able to develop our own and the viewer's intuition about the large-scale structures found in the CfA redshift survey. We show for instance that three-dimensional motion enhances significantly our perception of voids and sheets in the distribution of galaxies. Such sophistication happily has become possible with the 'coming of age' of observational cosmology, as data have grown to drive the field.

Falco, Emilio E.↗
DOE OSTI2016

X-ray crystallographic studies of the extracellular domain of the first plant ATP receptor, DORN1, and the orthologous protein from Camelina sativa

Does not respond to nucleotides 1 (DORN1) has recently been identified as the first membrane-integral plant ATP receptor, which is required for ATP-induced calcium response, mitogen-activated protein kinase activation and defense responses in Arabidopsis thaliana . In order to understand DORN1-mediated ATP sensing and signal transduction, crystallization and preliminary X-ray studies were conducted on the extracellular domain of DORN1 (atDORN1-ECD) and that of an orthologous protein, Camelina sativa lectin receptor kinase I.9 (csLecRK-I.9-ECD or csI.9-ECD). A variety of deglycosylation strategies were employed to optimize the glycosylated recombinant atDORN1-ECD for crystallization. In addition, the glycosylated csI.9-ECD protein was crystallized at 291 K. X-ray diffraction data were collected at 4.6 Å resolution from a single crystal. The crystal belonged to space group C 222 or C 222 1 , with unit-cell parameters a = 94.7, b = 191.5, c = 302.8 Å. These preliminary studies have laid the foundation for structural determination of the DORN1 and I.9 receptor proteins, which will lead to a better understanding of the perception and function of extracellular ATP in plants.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1993

Automated system function allocation and display format: Task information processing requirements

An important consideration when designing the interface to an intelligent system concerns function allocation between the system and the user. The display of information could be held constant, or 'fixed', leaving the user with the task of searching through all of the available information, integrating it, and classifying the data into a known system state. On the other hand, the system, based on its own intelligent diagnosis, could display only relevant information in order to reduce the user's search set. The user would still be left the task of perceiving and integrating the data and classifying it into the appropriate system state. Finally, the system could display the patterns of data. In this scenario, the task of integrating the data is carried out by the system, and the user's information processing load is reduced, leaving only the tasks of perception and classification of the patterns of data. Humans are especially adept at this form of display processing. Although others have examined the relative effectiveness of alphanumeric and graphical display formats, it is interesting to reexamine this issue together with the function allocation problem. Currently, Johnson Space Center is the test site for an intelligent Thermal Control System (TCS), TEXSYS, being tested for use with Space Station Freedom. Expert TCS engineers, as well as novices, were asked to classify several displays of TEXSYS data into various system states (including nominal and anomalous states). Three different display formats were used: fixed, subset, and graphical. The hypothesis tested was that the graphical displays would provide for fewer errors and faster classification times by both experts and novices, regardless of the kind of system state represented within the display. The subset displays were hypothesized to be the second most effective display format/function allocation condition, based on the fact that the search set is reduced in these displays. Both the subset and the graphic display conditions were hypothesized to be processed more efficiently than the fixed display conditions.

Czerwinski, Mary P.↗
NASA NTRS1991

Operator-coached machine vision for space telerobotics

A prototype system for interactive object modeling has been developed and tested. The goal of this effort has been to create a system which would demonstrate the feasibility of high interactive operator-coached machine vision in a realistic task environment, and to provide a testbed for experimentation with various modes of operator interaction. The purpose for such a system is to use human perception where machine vision is difficult, i.e., to segment the scene into objects and to designate their features, and to use machine vision to overcome limitations of human perception, i.e., for accurate measurement of object geometry. The system captures and displays video images from a number of cameras, allows the operator to designate a polyhedral object one edge at a time by moving a 3-D cursor within these images, performs a least-squares fit of the designated edges to edge data detected with a modified Sobel operator, and combines the edges thus detected to form a wire-frame object model that matches the Sobel data.

Bon, Bruce↗
NASA NTRS2010

Human Perception of Ambiguous Inertial Motion Cues

Human daily activities on Earth involve motions that elicit both tilt and translation components of the head (i.e. gazing and locomotion). With otolith cues alone, tilt and translation can be ambiguous since both motions can potentially displace the otolithic membrane by the same magnitude and direction. Transitions between gravity environments (i.e. Earth, microgravity and lunar) have demonstrated to alter the functions of the vestibular system and exacerbate the ambiguity between tilt and translational motion cues. Symptoms of motion sickness and spatial disorientation can impair human performances during critical mission phases. Specifically, Space Shuttle landing records show that particular cases of tilt-translation illusions have impaired the performance of seasoned commanders. This sensorimotor condition is one of many operational risks that may have dire implications on future human space exploration missions. The neural strategy with which the human central nervous system distinguishes ambiguous inertial motion cues remains the subject of intense research. A prevailing theory in the neuroscience field proposes that the human brain is able to formulate a neural internal model of ambiguous motion cues such that tilt and translation components can be perceptually decomposed in order to elicit the appropriate bodily response. The present work uses this theory, known as the GIF resolution hypothesis, as the framework for experimental hypothesis. Specifically, two novel motion paradigms are employed to validate the neural capacity of ambiguous inertial motion decomposition in ground-based human subjects. The experimental setup involves the Tilt-Translation Sled at Neuroscience Laboratory of NASA JSC. This two degree-of-freedom motion system is able to tilt subjects in the pitch plane and translate the subject along the fore-aft axis. Perception data will be gathered through subject verbal reports. Preliminary analysis of perceptual data does not indicate that the GIF resolution hypothesis is completely valid for non-rotational periodic motions. Additionally, human perception of translation is impaired without visual or spatial reference. The performance of ground-base subjects in estimating tilt after brief training is comparable with that of crewmembers without training.

Zhang, Guan-Lu↗
DOE OSTI2024

Unconventional gas-phase synthesis of biphenyl and its atropisomeric methyl-substituted derivatives

The biphenyl molecule (C 12 H 10 ) acts as a fundamental molecular backbone in the stereoselective synthesis of organic materials due to its inherent twist angle causing atropisomerism in substituted derivatives and in molecular mass growth processes in circumstellar environments and combustion systems. Here, we reveal an unconventional low-temperature phenylethynyl addition–cyclization–aromatization mechanism for the gas-phase preparation of biphenyl (C 12 H 10 ) along with ortho-, meta-, and para-substituted methylbiphenyl (C 13 H 12 ) derivatives through crossed molecular beams and computational studies providing compelling evidence on their formation via bimolecular gas-phase reactions of phenylethynyl radicals (C 6 H 5 CC, X 2 A 1 ) with 1,3-butadiene-d 6 (C 4 D 6 ), isoprene (CH 2 C(CH 3 )CHCH 2 ), and 1,3-pentadiene (CH 2 CHCHCHCH 3 ). The dynamics involve de-facto barrierless phenylethynyl radical additions via submerged barriers followed by facile cyclization and hydrogen shift prior to hydrogen atom emission and aromatization to racemic mixtures (ortho, meta) of biphenyls in overall exoergic reactions. Furthermore, these findings not only challenge our current perception of biphenyls as high temperature markers in combustion systems and astrophysical environments, but also identify biphenyls as fundamental building blocks of complex polycyclic aromatic hydrocarbons (PAHs) such as coronene (C 24 H 12 ) eventually leading to carbonaceous nanoparticles (soot, grains) in combustion systems and in deep space thus affording critical insight into the low-temperature hydrocarbon chemistry in our universe.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS1989

USSR Space Life Sciences Digest, issue 21

This is the twenty-first issue of NASA's USSR Space Life Sciences Digest. It contains abstracts of 37 papers published in Russian language periodicals or books or presented at conferences and of a Soviet monograph on animal ontogeny in weightlessness. Selected abstracts are illustrated with figures and tables from the original. A book review of a work on adaptation to stress is also included. The abstracts in this issue have been identified as relevant to 25 areas of space biology and medicine. These areas are: adaptation, biological rhythms, body fluids, botany, cardiovascular and respiratory systems, cytology, developmental biology, endocrinology, enzymology, equipment and instrumentation, exobiology, gravitational biology, habitability and environmental effects, hematology, human performance, life support systems, mathematical modeling, metabolism, microbiology, musculoskeletal system, neurophysiology, operational medicine, perception, psychology, and reproductive system.

Hooke, Lydia Razran↗
NASA NTRS1989

On the efficacy of cinema, or what the visual system did not evolve to do

Spatial displays, and a constraint that they do not place on the use of spatial instruments are discussed. Much of the work done in visual perception by psychologists and by computer scientists has concerned displays that show the motion of rigid objects. Typically, if one assumes that objects are rigid, one can then proceed to understand how the constant shape of the object can be perceived (or computed) as it moves through space. The author maintains that photographs and cinema are visual displays that are also powerful forms of art. Their efficacy, in part, stems from the fact that, although viewpoint is constrained when composing them, it is not nearly so constrained when viewing them. It is obvious, according to the author, that human visual systems did not evolve to watch movies or look at photographs. Thus, what photographs and movies present must be allowed in the rule-governed system under which vision evolved. Machine-vision algorithms, to be applicable to human vision, should show the same types of tolerance.

Cutting, James E.↗