Stereoscopy and automatic feature tracking for analysis of stereo imaging data
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stereoscopy↗
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Automatic Feature Tracking on Small Bodies for Autonomous Approach
Abstract—The autonomous approach of a spacecraft to an asteroid or comet (a small body) relies heavily on visual feature tracking to aid in estimating relative trajectories and the properties of the small body. Feature tracking for small bodies brings several challenges, including changing lighting, poor visual texture, and a concentration of features in a small part of an image. Six existing, open-source algorithms for feature tracking were tested on a simulated dataset and compared to the ground truth in the path of features. The main finding is that none of the algorithms provide all of the desired characteristics of long feature tracks with low errors and few outliers. Instead, there is a trade-off between long feature tracks and low error. The feature-matching algorithms SIFT, and BRISK provide good error characteristics, but short feature tracks, whereas the optical flow algorithm KLT provides long feature tracks, but with many features of large error. Given the challenges in feature tracking, it is recommended to focus development on each component of a feature tracking system: detection, description, and outlier rejection.
Morrell, Benjamin J↗
Low-Cost Tracking Ground Terminal Designed to Use Cryogenically Cooled Electronics
A computer-controlled, tracking ground terminal will be assembled at the NASA Glenn Research Center at Lewis Field to receive signals transmitted by the Glenn's Direct Data Distribution (D3) payload planned for a shuttle flight in low Earth orbit. The terminal will enable direct data reception of up to two 622-megabits-per-second (Mbps) beams from the space-based, K-band (19.05-GHz) transmitting array at an end-user bit error rate of up to 10(exp -12). The ground terminal will include a 0.9-m-diameter receive-only Cassegrain reflector antenna with a corrugated feed horn incorporating a dual circularly polarized, K-band feed assembly mounted on a multiaxis, gimbaled tracking pedestal as well as electronics to receive the downlink signals. The tracking system will acquire and automatically track the shuttle through the sky for all elevations greater than 20 above the horizon. The receiving electronics for the ground terminal consist of a six-pole microstrip bandpass filter, a three-stage monolithic microwave integrated circuit (MMIC) amplifier, and a Stirling cycle cryocooler (1 W at 80 K). The Sterling cycle cryocooler cools the front end of the receiver, also known as the low-noise amplifier (LNA), to about 77 K. Cryocooling the LNA significantly increases receiver performance, which is necessary so that it can use the antenna, which has an aperture of only 0.9 m. The following drawing illustrates the cryoterminal.
Wald, Lawrence W.↗
Automatic electronic fish tracking system
A newly developed electronic fish tracking system to automatically monitor the movements and migratory habits of fish is reported. The system is aimed particularly at studies of effects on fish life of industrial facilities which use rivers or lakes to dump their effluents. Location of fish is acquired by means of acoustic links from the fish to underwater Listening Stations, and by radio links which relay tracking information to a shore-based Data Base. Fish over 4 inches long may be tracked over a 5 x 5 mile area. The electronic fish tracking system provides the marine scientist with electronics which permit studies that were not practical in the past and which are cost-effective compared to manual methods.
Osborne, P. W.↗
A mathematical technique for programming automatic picture transmission tracking angles.
Computer programming of satellite orbit tracking angles for automatic picture transmission receiving stations
Pitts, D. E.↗
Fragmentation cross sections of 28Si at 14.5 GeV/nucleon
We used CR39 plastic nuclear track detectors (C12H18O7) in combination with automatic track measurement techniques to determine total charge changing and partial cross sections for the production of fragments of charge ZF = 6 to ZF = 13 in collisions of 28Si beam nuclei at 14.5 GeV/nucleon in targets H, C, CR39, (C18H38O), Al, Cu, Ag, and Pb. By application of factorization rules, measured partial cross sections are separated into pure nuclear and electromagnetic components. The cross sections for electromagnetic dissociation agree with theoretical models. The results are consistent with a Z2 dependence of virtual photon spectra.
NASA Discipline Number 04-10↗
Automated semiconductor vacuum chemical vapor deposition facility
A semiconductor vacuum chemical vapor deposition facility (totally automatic) was developed. Wafers arrived on an air track, automatically loaded into a furnace tube, processed, returned to the track, and sent on to the next operation. The entire process was controlled by a computer.
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Automated semiconductor diffusion and oxidation facility
A semiconductor diffusion and oxidation facility (totally automated) was developed. Wafers arrived on an air track, automatically loaded into a furnace tube, processed, returned to track, and sent on to the next process. The entire process was controlled by a computer.
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Cross sections for the production of fragments with Z greater than or equal to 8 by fragmentation of Z greater than or equal to 9 and less than or equal to 26 nuclei
Charge changing nuclear collisions in plastic nuclear track detectors were studied using a new experimental technique of automatic track measurement for etched tracks in plastic detectors. Partial cross sections for the production of fragments of charge Z approximately 8 were measured for projectile nuclei of charge 9 approximately Z approximately 26 in the detector material CR39 and in silver. for this purpose three independent experiments were performed using Bevalac beams. The first one was an exposure of a stack of CR39 plastic plates to 1.8 GeV/nucl. Ar-40 nuclei. The second one was an exposure of another CR39 stack of 1.7 GeV/nucl. Fe-56 projectiles. In the third experiment a mixed stack of CR39 plates and silver foils was irradiated with 1.7 GeV/nucl. Fe-56 nuclei. Thus the measurement of nuclear cross sections in a light target (CR39 = C12H18O7) and as well in a heavy target (silver) was possible.
Heinrich, W.↗
Numerical Investigation of the Micromechanics of Composite Fracture
A generalized program for the two-dimensional analysis of static crack growth problems was developed and is being tested. In addition to a detailed examination and development of fracture criteria needed to track cracks in composites at the micromechanical level, the program employs fully automatic finite element mesh generation. This is an entirely new approach in program structure that is being taken to allow for the automatic tracking of discrete crack growth. The maximum strain energy density criterion (T-criterion) was found to be a good alternative to the minimum strain energy density criterion (S-criterion).
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Investigation, development and application of optimal output feedback theory. Volume 2: Development of an optimal, limited state feedback outer-loop digital flight control system for 3-D terminal area operation
This report contains the development of a digital outer-loop three dimensional radio navigation (3-D RNAV) flight control system for a small commercial jet transport. The outer-loop control system is designed using optimal stochastic limited state feedback techniques. Options investigated using the optimal limited state feedback approach include integrated versus hierarchical control loop designs, 20 samples per second versus 5 samples per second outer-loop operation and alternative Type 1 integration command errors. Command generator tracking techniques used in the digital control design enable the jet transport to automatically track arbitrary curved flight paths generated by waypoints. The performance of the design is demonstrated using detailed nonlinear aircraft simulations in the terminal area, frequency domain multi-input sigma plots, frequency domain single-input Bode plots and closed-loop poles. The response of the system to a severe wind shear during a landing approach is also presented.
Broussard, J. R.↗
Tracking the Martian CO2 Polar Ice Caps in Infrared Images
Researchers at NASA s Jet Propulsion Laboratory have developed a method for automatically tracking the polar caps on Mars as they advance and recede each year (see figure). The seasonal Mars polar caps are composed mainly of CO2 ice and are therefore cold enough to stand out clearly in infrared data collected by the Thermal Emission Imaging System (THEMIS) onboard the Mars Odyssey spacecraft. The Bimodal Image Temperature (BIT) histogram analysis algorithm analyzes raw, uncalibrated data to identify images that contain both "cold" ("polar cap") and "warm" ("not polar cap") pixels. The algorithm dynamically identifies the temperature that separates these two regions. This flexibility is critical, because in the absence of any calibration, the threshold temperature can vary significantly from image to image. Using the identified threshold, the algorithm classifies each pixel in the image as "polar cap" or "not polar cap," then identifies the image row that contains the spatial transition from "polar cap" to "not polar cap." While this method is useful for analyzing data that has already been returned by THEMIS, it has even more significance with respect to data that has not yet been collected. Instead of seeking the polar cap only in specific, targeted images, the simplicity and efficiency of this method makes it feasible for direct, onboard use. That is, THEMIS could continuously monitor its observations for any detections of the polar-cap edge, producing detections over a wide range of spatial and temporal conditions. This effort can greatly contribute to our understanding of long-term climatic change on Mars.
Wagstaff, Kiri L.↗
CTRANS: A Monte Carlo program for radiative transfer in plane parallel atmospheres with imbedded finite clouds: Development, testing and user's guide
The program called CTRANS is described which was designed to perform radiative transfer computations in an atmosphere with horizontal inhomogeneities (clouds). Since the atmosphere-ground system was to be richly detailed, the Monte Carlo method was employed. This means that results are obtained through direct modeling of the physical process of radiative transport. The effects of atmopheric or ground albedo pattern detail are essentially built up from their impact upon the transport of individual photons. The CTRANS program actually tracks the photons backwards through the atmosphere, initiating them at a receiver and following them backwards along their path to the Sun. The pattern of incident photons generated through backwards tracking automatically reflects the importance to the receiver of each region of the sky. Further, through backwards tracking, the impact of the finite field of view of the receiver and variations in its response over the field of view can be directly simulated.
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Adaptive DFT-based Interferometer Fringe Tracking
An automatic interferometer fringe tracking system has been developed, implemented, and tested at the Infrared Optical Telescope Array (IOTA) observatory at Mt. Hopkins, Arizona. The system can minimize the optical path differences (OPDs) for all three baselines of the Michelson stellar interferometer at IOTA. Based on sliding window discrete Fourier transform (DFT) calculations that were optimized for computational efficiency and robustness to atmospheric disturbances, the algorithm has also been tested extensively on off-line data. Implemented in ANSI C on the 266 MHz PowerPC processor running the VxWorks real-time operating system, the algorithm runs in approximately 2.0 milliseconds per scan (including all three interferograms), using the science camera and piezo scanners to measure and correct the OPDs. The adaptive DFT-based tracking algorithm should be applicable to other systems where there is a need to detect or track a signal with an approximately constant-frequency carrier pulse.
Wilson, Edward↗
X33 Reusable Launch Vehicle Control on Sliding Modes: Concepts for a Control System Development
Control of the X33 reusable launch vehicle is considered. The launch control problem consists of automatic tracking of the launch trajectory which is assumed to be optimally precalculated. It requires development of a reliable, robust control algorithm that can automatically adjust to some changes in mission specifications (mass of payload, target orbit) and the operating environment (atmospheric perturbations, interconnection perturbations from the other subsystems of the vehicle, thrust deficiencies, failure scenarios). One of the effective control strategies successfully applied in nonlinear systems is the Sliding Mode Control. The main advantage of the Sliding Mode Control is that the system's state response in the sliding surface remains insensitive to certain parameter variations, nonlinearities and disturbances. Employing the time scaling concept, a new two (three)-loop structure of the control system for the X33 launch vehicle was developed. Smoothed sliding mode controllers were designed to robustly enforce the given closed-loop dynamics. Simulations of the 3-DOF model of the X33 launch vehicle with the table-look-up models for Euler angle reference profiles and disturbance torque profiles showed a very accurate, robust tracking performance.
Shtessel, Yuri B.↗
Monitoring Data-Structure Evolution in Distributed Message-Passing Programs
Monitoring the evolution of data structures in parallel and distributed programs, is critical for debugging its semantics and performance. However, the current state-of-art in tracking and presenting data-structure information on parallel and distributed environments is cumbersome and does not scale. In this paper we present a methodology that automatically tracks memory bindings (not the actual contents) of static and dynamic data-structures of message-passing C programs, using PVM. With the help of a number of examples we show that in addition to determining the impact of memory allocation overheads on program performance, graphical views can help in debugging the semantics of program execution. Scalable animations of virtual address bindings of source-level data-structures are used for debugging the semantics of parallel programs across all processors. In conjunction with light-weight core-files, this technique can be used to complement traditional debuggers on single processors. Detailed information (such as data-structure contents), on specific nodes, can be determined using traditional debuggers after the data structure evolution leading to the semantic error is observed graphically.
Sarukkai, Sekhar R.↗
Evaluation of Computerized Edge Tracking for Quantifying Intima-Media Thickness of the Common Carotid Artery from B-Mode Ultrasound Image
A new method to measure carotid intima-media thickness (IMT) from Bb-mode ultrasound images was developed that utilizes automatic tracking of the lumen-intima and media-adventitia echoes.
carotid arteries ultrasound atherosclerosis↗
The Dynamics Explorer Langmuir probe instrument
The Dynamics Explorer Langmuir probe instrument (DE-LANG), a spare unit from the Pioneer Venus mission that has been modified to work with the DE spacecraft, is described. Two independent sensors are connected to individual adaptive sweep voltage circuits that continuously track the changing electron temperature and spacecraft potential while autoranging electrometers adjust their gain in response to the changing plasma density. The control signals used in achieving this automatic tracking provide a continuous monitor of the ionospheric parameters without telemetering each volt-ampere curve. In addition, internal data storage circuits permit high-resolution, high-data-rate sampling of selected volt-ampere curves for transmission to the ground to verify or correct the inflight processed data.
Krehbiel, J. P.↗