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NASA NTRS2005

Optimal Configuration of Human Motion Tracking Systems: A Systems Engineering Approach

Human motion tracking systems represent a crucial technology in the area of modeling and simulation. These systems, which allow engineers to capture human motion for study or replication in virtual environments, have broad applications in several research disciplines including human engineering, robotics, and psychology. These systems are based on several sensing paradigms, including electro-magnetic, infrared, and visual recognition. Each of these paradigms requires specialized environments and hardware configurations to optimize performance of the human motion tracking system. Ideally, these systems are used in a laboratory or other facility that was designed to accommodate the particular sensing technology. For example, electromagnetic systems are highly vulnerable to interference from metallic objects, and should be used in a specialized lab free of metal components.

Henderson, Steve↗

NASA NTRS2012

Stereo and IMU-Assisted Visual Odometry for Small Robots

This software performs two functions: (1) taking stereo image pairs as input, it computes stereo disparity maps from them by cross-correlation to achieve 3D (three-dimensional) perception; (2) taking a sequence of stereo image pairs as input, it tracks features in the image sequence to estimate the motion of the cameras between successive image pairs. A real-time stereo vision system with IMU (inertial measurement unit)-assisted visual odometry was implemented on a single 750 MHz/520 MHz OMAP3530 SoC (system on chip) from TI (Texas Instruments). Frame rates of 46 fps (frames per second) were achieved at QVGA (Quarter Video Graphics Array i.e. 320 240), or 8 fps at VGA (Video Graphics Array 640 480) resolutions, while simultaneously tracking up to 200 features, taking full advantage of the OMAP3530's integer DSP (digital signal processor) and floating point ARM processors. This is a substantial advancement over previous work as the stereo implementation produces 146 Mde/s (millions of disparities evaluated per second) in 2.5W, yielding a stereo energy efficiency of 58.8 Mde/J, which is 3.75 better than prior DSP stereo while providing more functionality.

Source record↗

NASA NTRS1989

Modeling and sensory feedback control for space manipulators

The positioning control problem of the endtip of space manipulators whose base are uncontrolled is examined. In such a case, the conventional control method for industrial robots based on a local feedback at each joint is not applicable, because a solution of the joint displacements that satisfies a given position and orientation of the endtip is not decided uniquely. A sensory feedback control scheme for space manipulators based on an artificial potential defined in a task-oriented coordinates is proposed. Using this scheme, the controller can easily determine the input torque of each joint from the data of an external sensor such as a visual device. Since the external sensor is mounted on the unfixed base, the manipulator must track the moving image of the target in sensor coordinates. Moreover the dynamics of the base and the manipulator are interactive. However, the endtip is proven to asymptotically approach the stationary target in an inertial coordinate frame by the Liapunov's method. Finally results of computer simulation for a 6-link space manipulator model show the effectiveness of the proposed scheme.

Masutani, Yasuhiro↗

NASA NTRS1995

Temporal MTF of Motion Perception

Although human motion sensing mechanisms can be stimulated by rapid changes in the visual input the response of the motion mechanisms themselves is rather sluggish, i.e. they cannot track rapid changes in the speed or direction of a moving stimulus when there are no positional cues to the variation. We tested the ability of human observers to detect sinusoidal perturbations in the velocity of a moving stimulus at a variety of temporal frequencies and drift velocities; the results show a low-pass temporal characteristic, and performance is degraded at high velocities.

Mulligan, Jeffrey B.↗

NASA NTRS2017

Comprehensive Oculomotor Behavioral Response Assessment (COBRA)

An eye movement-based methodology and assessment tool may be used to quantify many aspects of human dynamic visual processing using a relatively simple and short oculomotor task, noninvasive video-based eye tracking, and validated oculometric analysis techniques. By examining the eye movement responses to a task including a radially-organized appropriately randomized sequence of Rashbass-like step-ramp pursuit-tracking trials, distinct performance measurements may be generated that may be associated with, for example, pursuit initiation (e.g., latency and open-loop pursuit acceleration), steady-state tracking (e.g., gain, catch-up saccade amplitude, and the proportion of the steady-state response consisting of smooth movement), direction tuning (e.g., oblique effect amplitude, horizontal-vertical asymmetry, and direction noise), and speed tuning (e.g., speed responsiveness and noise). This quantitative approach may provide fast and results (e.g., a multi-dimensional set of oculometrics and a single scalar impairment index) that can be interpreted by one without a high degree of scientific sophistication or extensive training.

Stone, Leland S.↗

NASA NTRS2004

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

NASA NTRS2017

Real-Time Risk Assessment Framework for Unmanned Aircraft System (UAS) Traffic Management (UTM)

The new Federal Aviation Administration (FAA) Small Unmanned Aircraft rule (Part 107) marks the first national regulations for commercial operation of small unmanned aircraft systems (sUAS) under 55 pounds within the National Airspace System (NAS). Although sUAS flights may not be performed beyond visual line-of-sight or over non- participant structures and people, safety of sUAS operations must still be maintained and tracked at all times. Moreover, future safety-critical operation of sUAS (e.g., for package delivery) are already being conceived and tested. NASA's Unmanned Aircraft System Trac Management (UTM) concept aims to facilitate the safe use of low-altitude airspace for sUAS operations. This paper introduces the UTM Risk Assessment Framework (URAF) which was developed to provide real-time safety evaluation and tracking capability within the UTM concept. The URAF uses Bayesian Belief Networks (BBNs) to propagate off -nominal condition probabilities based on real-time component failure indicators. This information is then used to assess the risk to people on the ground by calculating the potential impact area and the effects of the impact. The visual representation of the expected area of impact and the nominal risk level can assist operators and controllers with dynamic trajectory planning and execution. The URAF was applied to a case study to illustrate the concept.

Ancel, Ersin↗

NASA NTRSDate not supplied

Oculometric Surveillance of Neuro-Ocular Function

Future missions to the moon or Mars will require the crew to monitor and assess their health and performance more autonomously, with approaches easily useable and interpretable by non-clinicians. If an autonomous oculometric diagnostic-support system proves to be a reliable predictor of impending impairment of visual function in the case of primary ocular pathology on Earth, then it could also be applied in the future to the surveillance of crew to detect the potential progression of sensorimotor and neuro-ocular compromises during extended spaceflight missions, e.g., SANS, and thus guide earlier and more effective countermeasure intervention. Towards that goal, we intend to determine if a set of largely independent eye-movement metrics, called oculometrics, measured using a simple voluntary eye-tracking task that can be completed in just 5 minutes per eye, could provide clinically valid biomarkers of functional visual deficits due to primary ocular pathology. The premise is that oculometrics could be used to monitor slowly evolving ocular pathologies, potentially detecting them even before structural evidence appears in ocular imaging or other current state-of-the-art clinical measures. This study investigates how NASA’s patented oculometric assessment of visual and visuomotor function, shown to correlate with performance in a manual control task, will correlate with standard ophthalmological tests to confirm clinical and thus operational, validity.

eye movements↗

NASA NTRS1982

Wind measurements by parachute

Tests used the 8 cm Lotta grenade as well as 12 cm M/70 and 10.5 m/62 grenades, released at altitudes between 2000 and 6400 meters. The parachutes were tracked by AP and RFK. In later experiments wind data were also obtained for comparison by tracking hydrogen filled balloons in part with the CORA system, in part with radar. Generally radar picked up the objects without visual assistance. Wind measurements from parachutes correlated well with those obtained by balloon. Even when the radar locked on to a part of a grenade, descending faster than the parachute, some of the measurements obtained were good. Bodies with a greater rate of descent than parachutes, with less or no tendency toward drift and with sufficient, surface for radar tracking, ought to provide reliable results. The existence of vertically well defined winds of jet stream type at low altitudes was established.

Nordstroem, S.↗

NASA NTRS2010

Monte-Carlo Simulation of Radiation Track Structure and Calculation of Dose Deposition in Nanovolumes

INTRODUCTION: The radiation track structure is of crucial importance to understand radiation damage to molecules and subsequent biological effects. Of a particular importance in radiobiology is the induction of double-strand breaks (DSBs) by ionizing radiation, which are caused by clusters of lesions in DNA, and oxidative damage to cellular constituents leading to aberrant signaling cascades. DSB can be visualized within cell nuclei with gamma-H2AX experiments. MATERIAL AND METHODS: In DSB induction models, the DSB probability is usually calculated by the local dose obtained from a radial dose profile of HZE tracks. In this work, the local dose imparted by HZE ions is calculated directly from the 3D Monte-Carlo simulation code RITRACKS. A cubic volume of 5 micron edge (Figure 1) is irradiated by a (Fe26+)-56 ion of 1 GeV/amu (LET approx.150 keV/micron) and by a fluence of 450 H+ ions, 300 MeV/amu (LET approx. 0.3 keV/micron). In both cases, the dose deposited in the volume is approx.1 Gy. The dose is then calculated into each 3D pixels (voxels) of 20 nm edge and visualized in 3D. RESULTS AND DISCUSSION: The dose is deposited uniformly in the volume by the H+ ions. The voxels which receive a high dose (orange) corresponds to electron track ends. The dose is deposited differently by the 56Fe26+ ion. Very high dose (red) is deposited in voxels with direct ion traversal. Voxels with electron track ends (orange) are also found distributed around the path of the track. In both cases, the appearance of the dose distribution looks very similar to DSBs seen in gammaH2AX experiments, particularly when the visualization threshold is applied. CONCLUSION: The refinement of the dose calculation to the nanometer scale has revealed important differences in the energy deposition between high- and low-LET ions. Voxels of very high dose are only found in the path of high-LET ions. Interestingly, experiments have shown that DSB induced by high-LET radiation are more difficult to repair. Therefore, this new approach may be useful to understand the nature of DSB and oxidative damage induced by ionizing radiation.

Plante, I.↗

DOE OSTI2026

In-situ observation of calcium chloride hexahydrate phase separation via neutron imaging

Inorganic salt hydrate offers a low-cost thermal energy storage solution with high energy density, but phase separation during thermal cycling poses a significant challenge, leading to irreversible performance degradation. In this research, neutron radiography was used to investigate phase separation in calcium chloride hexahydrate (CaCl₂·6H₂O, CCH) during thermal cycling to track its gradual accumulation into calcium chloride tetrahydrate (CaCl₂·4H₂O, CC4). Through in-situ visualization, phase separation and CC4 sedimentation were observed to occur during the cooling phase between 301.40 K and 304.80 K. CC4 accumulated linearly to 7.99 wt% after 10 thermal cycles. Crystallization and multi-cycle conversion models were developed to validate neutron imaging results of CC4 formation. The predicted CC4 content after 10 thermal cycles closely aligned with experimental observations. Neutron imaging offers a novel approach to investigate salt hydrate phase change materials (PCMs). It enables in-situ visualization of sub-hydrate (CC4) formation from original hydrate (CCH) in metastable phase change range (between 301.40 ± 0.66 K and 304.80 ± 0.60 K). Thereby, it provides a new insight of understanding the basis of phase separation mechanism and paves the way for future research of improving PCM thermal cycling performance.

Li, Yucen [The University of Tennessee, Knoxville]↗

NASA NTRS1960

Simulator Investigation of Controls and Display Required for Terminal Phase of Coplanar Orbital Rendezvous

A simulator study was made of presentations and control requirements for a manned astrovehicle employed in the interception of artificial satellites during the terminal phase of an orbital rendezvous of the satellite. The study was considered in terms of a manned interceptor having a home berth at a manned space station which is in circular orbit 500 miles above the earth. Interceptions were restricted to coplanar conditions and ranges of one-half mile. The results are believed to be generally applicable to conditions wherein the target is in the terminal area. Presentations which do not provide for attitude indications of the intercepting vehicle are not satisfactory. A direct-visual-observation presentation employing a screen, a projected star background, and a projected image of the target provided a feeling of "realism" in tracking and would be a satisfactory pilot-training aid. Use of longitudinal-translation and attitude controls alone is inadequate. Use of translation control alone, parallel and normal to the axis of the intercepting vehicle, is effective; the addition of attitude control enhanced the effectiveness, provided the control was used discriminately. Direct-visual-observation interceptions can be performed effectively without the aid of range and rate-of-closure-of-range meters at speeds up to approximately 50 feet per second; however, higher speeds of interception require the use of these instruments.

Wolowicz, Chester H.↗

NASA NTRS2022

A Modular Framework for Integrating and Visualizing Telemetry for Mars 2020 Rover Mechanism Operations

The analysis of mechanism telemetry requires a wide variety of tools to quickly and effectively assess spacecraft state, capture long-term trends in system performance, and identify and track anomalous events. Such analysis often requires spacecraft telemetry to first be transformed into derived fields and aggregated statistics before operators can begin their analysis. In past missions, aspects of this process have been automated, but operators were expected to use their own tools and procedures to understand and visualize the data, which led to redundant and inconsistent tools and processes. The Mech Data Tools Python library (MDT) was developed to provide a flexible, unified tool set for operators to extract and analyze mechanism telemetry over the life of the Mars 2020 surface mission. MDT consists of a set of configurable components that implement standard interfaces for ingesting input and producing output. Components can be chained together to form a data processing pipeline. Data are ingested from several sources within the greater Mars 2020 cloud infrastructure and stored in pandas DataFrames, which allows users to leverage the data manipulation capabilities present within the widely-used pandas library. Visualization capabilities are provided through the Plotly library, which generates interactive plots for users to interpret. Following the beginning of Mars 2020 surface operations, usage of MDT has spread to all mechanism-focused subsystems and has demonstrated great utility in analyzing early surface activities. This paper describes MDT’s evolution from heritage mechanism telemetry tools, the critical architecture decisions and challenges faced over MDT’s two years of development, and current applications of MDT in support of mechanism operations.

Wolsieffer, Ben↗

DOE OSTI2025

Single-molecule live-cell RNA imaging with CRISPR–Csm

Abstract Understanding the diverse dynamic behaviors of individual RNA molecules in single cells requires visualizing them at high resolution in real time. However, single-molecule live-cell imaging of unmodified endogenous RNA has not yet been achieved in a generalizable manner. Here, we present single-molecule live-cell fluorescence in situ hybridization (smLiveFISH), a robust approach that combines the programmable RNA-guided, RNA-targeting CRISPR–Csm complex with multiplexed guide RNAs for direct and efficient visualization of single RNA molecules in a range of cell types, including primary cells. Using smLiveFISH, we track individual nativeNOTCH2andMAP1Btranscripts in living cells and identify two distinct localization mechanisms including the cotranslational translocation ofNOTCH2mRNA at the endoplasmic reticulum and directional transport ofMAP1BmRNA toward the cell periphery. This method has the potential to unlock principles governing the spatiotemporal organization of native transcripts in health and disease.

Biotechnology & Applied Microbiology↗

NASA NTRS1974

Investigation of new radar-data-reduction techniques used to determine drag characteristics of a free-flight vehicle

An investigation was conducted of new techniques used to determine the complete transonic drag characteristics of a series of free-flight drop-test models using principally radar tracking data. The full capabilities of the radar tracking and meteorological measurement systems were utilized. In addition, preflight trajectory design, exact kinematic equations, and visual-analytical filtering procedures were employed. The results of this study were compared with the results obtained from analysis of the onboard, accelerometer and pressure sensor data of the only drop-test model that was instrumented. The accelerometer-pressure drag curve was approximated by the radar-data drag curve. However, a small amplitude oscillation on the latter curve precluded a precise definition of its drag rise.

Woodbury, G. E.↗

NASA NTRS1981

Natural sunlight accelerated weathering of photovoltaic modules

Photovoltaic modules are exposed to the equivalent of ten years of sunlight aging in an accelerated exposure testing and evaluation program, the objective being to determine the long-term durability characteristics of flat plate modules in comparatively short periods of time. The modules are illuminated with concentrated sunlight in a large, sun-tracking, Fresnel-reflecting solar concentrator. The effects of the accelerated exposure are assessed by performing periodic visual inspections and electrical measurements. It is found that field-experienced failure modes are duplicated, that acceleration factors of 6x to 8x are readily attainable, and that the test method is feasible as a predictive tool for photovoltaic module lifetime durability.

Zerlaut, G. A.↗

NASA NTRS1987

COSPAS-SARSAT Satellite Orbit Predictor Volume 10

The satellite orbit predictor is a graphical aid for determining the relationship between the satellite (SARSAT or COSPAS) orbit, antenna coverage of the spacecraft and coverage of the Local User Terminals. The predictor allows the user to quickly visualize if a selected position will be detected and is composed of a base map and satellite track overlay for each satellite. A table of equator crossings for each satellite is included.

Friedman, Morton L.↗

NASA NTRS1988

Likelihood alarm displays

In a likelihood alarm display (LAD) information about event likelihood is computed by an automated monitoring system and encoded into an alerting signal for the human operator. Operator performance within a dual-task paradigm was evaluated with two LADs: a color-coded visual alarm and a linguistically coded synthetic speech alarm. The operator's primary task was one of tracking; the secondary task was to monitor a four-element numerical display and determine whether the data arose from a 'signal' or 'no-signal' condition. A simulated 'intelligent' monitoring system alerted the operator to the likelihood of a signal. The results indicated that (1) automated monitoring systems can improve performance on primary and secondary tasks; (2) LADs can improve the allocation of attention among tasks and provide information integrated into operator decisions; and (3) LADs do not necessarily add to the operator's attentional load.

Sorkin, Robert D.↗