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NASA NTRS1992

Hand/Eye Coordination For Fine Robotic Motion

Fine motions of robotic manipulator controlled with help of visual feedback by new method reducing position errors by order of magnitude. Robotic vision subsystem includes five cameras: three stationary ones providing wide-angle views of workspace and two mounted on wrist of auxiliary robot arm. Stereoscopic cameras on arm give close-up views of object and end effector. Cameras measure errors between commanded and actual positions and/or provide data for mapping between visual and manipulator-joint-angle coordinates.

Lokshin, Anatole M.↗

NASA NTRS1998

Shear-Sensitive Liquid Crystal Coating Method: Surface-Inclination Effects on Shear Vector Measurements

The shear-sensitive liquid crystal coating (SSLCC) method is an image-based technique for both visualizing dynamic surface-flow phenomena, such as transition and separation, and for measuring the continuous shear-stress vector distribution acting on an aerodynamic surface. Under proper lighting and viewing conditions (discussed below), the coating changes color in response to an applied aerodynamic shear. This color-change response is continuous and reversible, with a response time of milliseconds, and is a function of both the shear magnitude and the shear vector orientation relative to the observer. The liquid crystal phase of matter is a weakly-ordered, viscous, non-Newtonian fluid state that exists between the nonuniform liquid phase and the ordered solid phase of certain organic compounds. Cholesteric liquid crystal compounds possess a helical molecular arrangement that selectively scatters white light, incident along the helical axis, as a three-dimensional spectrum. This property is linked to the helical pitch length, which is within the range of wavelengths in the visible spectrum. The pitch length, and hence the wavelength of the scattered light, is influenced by shear stress normal to the helical axis. This unique optical property produces a measurable color change in response to an applied shearing force. The full-surface shear stress vector measurement method, developed at NASA-Ames, is schematically illustrated. As with the visualization method, the coated test surface is illuminated from the normal direction with white light and the camera is positioned at an above-plane view angle of approximately 30 deg. Experiments have been initiated at NASA Ames to begin the process of quantifying surface-inclination (surface-curvature) effects on shear vector measurement accuracy. In preliminary experiments, surface-inclination angles theta(sub x), theta(sub y) of 0, +/-5, +/-10, and +/-15 deg were employed. In this arrangement, white-light illumination was positioned normal to the untilted test surface, and the camera above-plane view angle was set at 30 deg relative to the untilted test surface. As can be seen, vector-aligned lambda(sub d) values showed no dependence on theta(sub x) or theta(sub y) for absolute values of these tilt angles is less than or equal to 15 deg. Acquisition and analyses of full-surface color images are presently underway to definitively document the insensitivity limits of the shear vector measurement methodology to surface-slope variations.

Reda, Daniel C.↗

NASA NTRS1982

Voyager spacecraft images of Jupiter and Saturn

The Voyager imaging system is described, noting that it is made up of a narrow-angle and a wide-angle TV camera, each in turn consisting of optics, a filter wheel and shutter assembly, a vidicon tube, and an electronics subsystem. The narrow-angle camera has a focal length of 1500 mm; its field of view is 0.42 deg and its focal ratio is f/8.5. For the wide-angle camera, the focal length is 200 mm, the field of view 3.2 deg, and the focal ratio of f/3.5. Images are exposed by each camera through one of eight filters in the filter wheel on the photoconductive surface of a magnetically focused and deflected vidicon having a diameter of 25 mm. The vidicon storage surface (target) is a selenium-sulfur film having an active area of 11.14 x 11.14 mm; it holds a frame consisting of 800 lines with 800 picture elements per line. Pictures of Jupiter, Saturn, and their moons are presented, with short descriptions given of the area being viewed.

Birnbaum, M. M.↗

NASA NTRS2019

Quantitative Comparison of Proprietary and Open-Source Georeferencing Tools for Use with Astronaut Photography

The Crew Earth Observations (CEO) Facility within the Earth Science and Remote Sensing Unit at NASA’s Johnson Space Center supports the acquisition, analysis, and curation of astronaut photography of Earth’s surface and atmosphere. Astronauts on the International Space Station (ISS) respond to requests from CEO to acquire imagery of scientific and education targets, to include high profile targets in response to activations from the International Charter for Space & Major Disasters (also known as the International Disaster Charter, or IDC) and NASA’s Disasters Program. CEO facilitates the acquisition of astronaut photography in response to IDC events and delivers georeferenced data products to the United States Geological Survey (USGS) for distribution to the disaster community. Using GeoRef, an internal web-based tool developed in collaboration with NASA’s Ames Research Center, CEO generates data packages of georeferenced imagery, uncertainty images for assessing control and tie point accuracy, and metadata documenting raw and processed data. Operational experience with the Georef software identified vulnerabilities to internal code and server errors that can significantly increase time of data production. As such, CEO developed a backup procedure in case the GeoRef software experiences front-end or back-end errors. A system using OSGEO’s open-source QGIS software combined with a semi-automated pipeline using the object-oriented Python language and the Geospatial Abstract Library for generating metadata is quantitatively compared to GeoRef’s data package for quality and productivity. Root Mean Square Error (RMSE) provides a standard measurement of data quality as it relates to ground error. Assessing RMSE measurements generated from georeferenced astronaut photographs acquired with different obliquity and focal length offers a comprehensive accuracy assessment of the software’s transformation algorithms. This assessment will indicate the software's ability to produce data products with the least ground-error or highest data quality regarding ground accuracy. In addition, a comparison of the software’s efficiency in generating a data package that includes georeferenced images, metadata, and uncertainty images for measuring tie/ground point error was performed. Initial results, based on the comparison of three nadir-facing astronaut photographs acquired with a 95mm focal length, reveal the QGIS-based system's average RMSE is 2.36 (pixels) suggesting its georectification system produces data products that meet and perhaps improve upon Georef solution's average RMSE of 32.99 (pixels). However, the QGIS system was unable to reproduce two unique Georef data products, uncertainty images for measuring tie and control point errors and a translated unwrapped image. In addition, the Georef software is designed to accept handheld camera pose information from a hardware component (Geosens) scheduled for deployment on the ISS in late 2018; this information is intended to provide increased accuracy and auto-registration capability for astronaut photographs. Future work is expected to determine the QGIS-based georectification system’s potential as an open-source alternative (and operational backup) to Georef for georeferencing the full range of resolutions and viewing angles unique to handheld digital camera imagery in support of ISS disaster response activities.

Jagge, Amy M.↗

DOE OSTI2023

Vehicle Localization in 3D World Coordinates Using Single Camera at Traffic Intersection

Optimizing traffic control systems at traffic intersections can reduce the network-wide fuel consumption, as well as emissions of conventional fuel-powered vehicles. While traffic signals have been controlled based on predetermined schedules, various adaptive signal control systems have recently been developed using advanced sensors such as cameras, radars, and LiDARs. Among these sensors, cameras can provide a cost-effective way to determine the number, location, type, and speed of the vehicles for better-informed decision-making at traffic intersections. In this research, a new approach for accurately determining vehicle locations near traffic intersections using a single camera is presented. For that purpose, a well-known object detection algorithm called YOLO is used to determine vehicle locations in video images captured by a traffic camera. YOLO draws a bounding box around each detected vehicle, and the vehicle location in the image coordinates is converted to the world coordinates using camera calibration data. During this process, a significant error between the center of a vehicle’s bounding box and the real center of the vehicle in the world coordinates is generated due to the angled view of the vehicles by a camera installed on a traffic light pole. As a means of mitigating this vehicle localization error, two different types of regression models are trained and applied to the centers of the bounding boxes of the camera-detected vehicles. The accuracy of the proposed approach is validated using both static camera images and live-streamed traffic video. Based on the improved vehicle localization, it is expected that more accurate traffic signal control can be made to improve the overall network-wide energy efficiency and traffic flow at traffic intersections.

47 OTHER INSTRUMENTATION↗

NASA NTRS2008

Adjustable-Viewing-Angle Endoscopic Tool for Skull Base and Brain Surgery

The term Multi-Angle and Rear Viewing Endoscopic tooL (MARVEL) denotes an auxiliary endoscope, now undergoing development, that a surgeon would use in conjunction with a conventional endoscope to obtain additional perspective. The role of the MARVEL in endoscopic brain surgery would be similar to the role of a mouth mirror in dentistry. Such a tool is potentially useful for in-situ planetary geology applications for the close-up imaging of unexposed rock surfaces in cracks or those not in the direct line of sight. A conventional endoscope provides mostly a frontal view that is, a view along its longitudinal axis and, hence, along a straight line extending from an opening through which it is inserted. The MARVEL could be inserted through the same opening as that of the conventional endoscope, but could be adjusted to provide a view from almost any desired angle. The MARVEL camera image would be displayed, on the same monitor as that of the conventional endoscopic image, as an inset within the conventional endoscopic image. For example, while viewing a tumor from the front in the conventional endoscopic image, the surgeon could simultaneously view the tumor from the side or the rear in the MARVEL image, and could thereby gain additional visual cues that would aid in precise three-dimensional positioning of surgical tools to excise the tumor. Indeed, a side or rear view through the MARVEL could be essential in a case in which the object of surgical interest was not visible from the front. The conceptual design of the MARVEL exploits the surgeon s familiarity with endoscopic surgical tools. The MARVEL would include a miniature electronic camera and miniature radio transmitter mounted on the tip of a surgical tool derived from an endo-scissor (see figure). The inclusion of the radio transmitter would eliminate the need for wires, which could interfere with manipulation of this and other surgical tools. The handgrip of the tool would be connected to a linkage similar to that of an endo-scissor, but the linkage would be configured to enable adjustment of the camera angle instead of actuation of a scissor blade. It is envisioned that thicknesses of the tool shaft and the camera would be less than 4 mm, so that the camera-tipped tool could be swiftly inserted and withdrawn through a dime-size opening. Electronic cameras having dimensions of the order of millimeters are already commercially available, but their designs are not optimized for use in endoscopic brain surgery. The variety of potential endoscopic, thoracoscopic, and laparoscopic applications can be expected to increase as further development of electronic cameras yields further miniaturization and improvements in imaging performance.

Bae, Youngsam↗

NASA NTRS1993

Modeling Spectralon's Bidirectional Reflectance for In-flight Calibration of Earth-Orbiting Sensors

The in-flight calibration of the EOS Multi-angle Imaging SpectroRadiometer (MISR) will be achieved, in part, by observing deployable Spectralon panels. This material reflects light diffusely, and allows all cameras to view a near constant radiance field. This is particularly true when a panel is illuminated near the surface normal. To meet the challenging MISR calibration requirements, however, very accurate knowledge of the panel reflectance must be known for all utilized angles of illumination, and for all camera and monitoring photodiode view angles. It is believed that model predictions of the panels Bidirectional Reflectance Distribution Function (BRDF) can be used in conjunction with a measurements program to provide the required characterization. This paper describes the results of a model inversion which was conducted using measured Spectralon BRDF data at several illumination angles. Four physical parameters of the material were retrieved, and are available for use with the model to predict reflectance for any arbitrary illumination or view angle. With these data the root mean square difference between the model and the observations is currently of the order of the noise in the data, at about +/- l%. With this success the model will now be used in a variety of future studies, including the development of a measurements test plan, the validation of these data, and the prediction of a new BRDF profile, should the material degrade in space.

Flasse, Stephane P.↗

NASA NTRSDate not supplied

MISR Level 1B2 Ellipsoid Data (MI1B2E_V1)

The MISR instrument consists of nine pushbroom cameras which measure radiance in four spectral bands. Global coverage is achieved in nine days. The cameras are arranged with one camera pointing toward the nadir, four cameras pointing forward and four cameras pointing aftward. It takes 7 minutes for all nine cameras to view the same surface location. The view angles relative to the surface reference ellipsoid, are 0, 26.1, 45.6, 60.0, and 70.5 degrees. The spectral band shapes are nominally gaussian, centered at 443, 555, 670, and 865 nm. The Ellipsoid product is referenced to the World Geodetic System 1984 (WGS84) ellipsoid, which approximates the Earth's shape at sea level. In this product, the radiances and associated altitudes are projected to the ellipsoid, so that higher elevation data appear displaced from their true location for non-nadir camera views, much as they are seen by the instrument. (A cloud at location F, or a mountain top at location T in the image below appears as if it is at location E.) The more oblique the camera view, or the higher in altitude the feature, the more displaced the elevated data will appear. This displacement is used to advantage in MISR stereo retrievals, and this product is the primary input to Level 2 top-of-atmosphere/cloud processing. [Location=GLOBAL] [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=563.2 km (cross-track); Longitude_Resolution=140.8 km (along-track); Horizontal_Resolution_Range=250 meters - < 500 meters; Temporal_Resolution=about 15 orbits/day; Temporal_Resolution_Range=about 15 orbits/day].

EOSDIS↗

NASA NTRSDate not supplied

MISR Level 1B2 Ellipsoid Data (MI1B2E_V2)

The MISR instrument consists of nine pushbroom cameras which measure radiance in four spectral bands. Global coverage is achieved in nine days. The cameras are arranged with one camera pointing toward the nadir, four cameras pointing forward and four cameras pointing aftward. It takes 7 minutes for all nine cameras to view the same surface location. The view angles relative to the surface reference ellipsoid, are 0, 26.1, 45.6, 60.0, and 70.5 degrees. The spectral band shapes are nominally gaussian, centered at 443, 555, 670, and 865 nm. The Ellipsoid product is referenced to the World Geodetic System 1984 (WGS84) ellipsoid, which approximates the Earth's shape at sea level. In this product, the radiances and associated altitudes are projected to the ellipsoid, so that higher elevation data appear displaced from their true location for non-nadir camera views, much as they are seen by the instrument. (A cloud at location F, or a mountain top at location T in the image below appears as if it is at location E.) The more oblique the camera view, or the higher in altitude the feature, the more displaced the elevated data will appear. This displacement is used to advantage in MISR stereo retrievals, and this product is the primary input to Level 2 top-of-atmosphere/cloud processing. [Location=GLOBAL] [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=563.2 km (cross-track); Longitude_Resolution=140.8 km (along-track); Horizontal_Resolution_Range=500 meters - < 1 km; Temporal_Resolution=about 15 orbits/day; Temporal_Resolution_Range=about 15 orbits/day].

EOSDIS↗

NASA NTRSDate not supplied

MISR Level 1B2 Ellipsoid Data (MI1B2E_V3)

The MISR instrument consists of nine pushbroom cameras which measure radiance in four spectral bands. Global coverage is achieved in nine days. The cameras are arranged with one camera pointing toward the nadir, four cameras pointing forward and four cameras pointing aftward. It takes 7 minutes for all nine cameras to view the same surface location. The view angles relative to the surface reference ellipsoid, are 0, 26.1, 45.6, 60.0, and 70.5 degrees. The spectral band shapes are nominally gaussian, centered at 443, 555, 670, and 865 nm. The Ellipsoid product is referenced to the World Geodetic System 1984 (WGS84) ellipsoid, which approximates the Earth's shape at sea level. In this product, the radiances and associated altitudes are projected to the ellipsoid, so that higher elevation data appear displaced from their true location for non-nadir camera views, much as they are seen by the instrument. (A cloud at location F, or a mountain top at location T in the image below appears as if it is at location E.) The more oblique the camera view, or the higher in altitude the feature, the more displaced the elevated data will appear. This displacement is used to advantage in MISR stereo retrievals, and this product is the primary input to Level 2 top-of-atmosphere/cloud processing. [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=563.2 km (cross-track); Longitude_Resolution=140.8 km (along-track); Temporal_Resolution=about 15 orbits/day; Temporal_Resolution_Range=about 15 orbits/day].

TOA↗

NASA NTRS2005

Video Mosaicking for Inspection of Gas Pipelines

A vision system that includes a specially designed video camera and an image-data-processing computer is under development as a prototype of robotic systems for visual inspection of the interior surfaces of pipes and especially of gas pipelines. The system is capable of providing both forward views and mosaicked radial views that can be displayed in real time or after inspection. To avoid the complexities associated with moving parts and to provide simultaneous forward and radial views, the video camera is equipped with a wide-angle (>165 ) fish-eye lens aimed along the axis of a pipe to be inspected. Nine white-light-emitting diodes (LEDs) placed just outside the field of view of the lens (see Figure 1) provide ample diffuse illumination for a high-contrast image of the interior pipe wall. The video camera contains a 2/3-in. (1.7-cm) charge-coupled-device (CCD) photodetector array and functions according to the National Television Standards Committee (NTSC) standard. The video output of the camera is sent to an off-the-shelf video capture board (frame grabber) by use of a peripheral component interconnect (PCI) interface in the computer, which is of the 400-MHz, Pentium II (or equivalent) class. Prior video-mosaicking techniques are applicable to narrow-field-of-view (low-distortion) images of evenly illuminated, relatively flat surfaces viewed along approximately perpendicular lines by cameras that do not rotate and that move approximately parallel to the viewed surfaces. One such technique for real-time creation of mosaic images of the ocean floor involves the use of visual correspondences based on area correlation, during both the acquisition of separate images of adjacent areas and the consolidation (equivalently, integration) of the separate images into a mosaic image, in order to insure that there are no gaps in the mosaic image. The data-processing technique used for mosaicking in the present system also involves area correlation, but with several notable differences: Because the wide-angle lens introduces considerable distortion, the image data must be processed to effectively unwarp the images (see Figure 2). The computer executes special software that includes an unwarping algorithm that takes explicit account of the cylindrical pipe geometry. To reduce the processing time needed for unwarping, parameters of the geometric mapping between the circular view of a fisheye lens and pipe wall are determined in advance from calibration images and compiled into an electronic lookup table. The software incorporates the assumption that the optical axis of the camera is parallel (rather than perpendicular) to the direction of motion of the camera. The software also compensates for the decrease in illumination with distance from the ring of LEDs.

Magruder, Darby↗

NASA NTRS1987

The Fringe Reading Facility at the Max-Planck-Institut fuer Stroemungsforschung

A Mach-Zehnder interferometer is used for optical flow measurements in a transonic wind tunnel. Holographic interferograms are reconstructed by illumination with a He-Ne-laser and viewed by a video camera through wide angle optics. This setup was used for investigating industrial double exposure holograms of truck tires in order to develop methods of automatic recognition of certain manufacturing faults. Automatic input is achieved by a transient recorder digitizing the output of a TV camera and transferring the digitized data to a PDP11-34. Interest centered around sequences of interferograms showing the interaction of vortices with a profile and subsequent emission of sound generated by this process. The objective is the extraction of quantitative data which relates to the emission of noise.

Becker, F.↗

NASA NTRS1988

Voyager 2 imaging eclipse observations of the Jovian high altitude haze

High stratospheric haze layer characteristics are presently explored in view of Voyager 2 wide-angle camera images of the Jupiter northern hemisphere dawn and dusk limbs. It is noted that such phenomena as particle size, refractive index, haze top altitude, and density have major effects on the intensity of scattered light; a unique solution specifying each of these is not possible. Important limits on the altitude of the haze top and haze extinction coefficients in the high stratosphere are nevertheless derived. The images show considerable, unanticipated differences between the dawn and dusk limbs at high latitude, suggesting a dynamically active upper atmosphere.

West, Robert A.↗

NASA NTRSDate not supplied

A Virtual Reality Planning Environment for High-Risk, High-Latency Teleoperation

In-Space Servicing, Assembly, and Manufacturing has the potential to enable larger-scale and longer-lived infrastructure projects in space. Servicing in particular has the potential to vastly increase the usable lifetimes of satellites, both newly launched and existing. However, some of these servicing tasks require delicate manipulation and, to apply to existing satellites, need to be able to operate on structures that were not designed for servicing and, in some cases, where the exact shape of the structure is not known in advance. For this reason, human-in-the-loop ground-based teleoperation is the only option for some missions. Ground-based teleoperation presents its own difficulties. In addition to the challenge of performing delicate operations in constrained spaces, communication with the servicing platform is subject to a variable time delay on the order of 2-7 seconds, and the only visual feedback comes from camera views with limited situational awareness and viewing angles.

Teleoperation↗

NASA NTRSDate not supplied

MISR Level 1B2 Terrain Data (MI1B2T_V1)

The MISR instrument consists of nine pushbroom cameras which measure radiance in four spectral bands. Global coverage is achieved in nine days. The cameras are arranged with one camera pointing toward the nadir, four cameras pointing forward and four cameras pointing aftward. It takes 7 minutes for all nine cameras to view the same surface location. The view angles relative to the surface reference ellipsoid, are 0, 26.1, 45.6, 60.0, and 70.5 degrees. The spectral band shapes are nominally gaussian, centered at 443, 555, 670, and 865 nm. The Terrain data are re-projected to the terrain altitude. In this product, surface data from all cameras will appear in the same geographic location. Thus, this product is the primary input to Level 2 aerosol/surface processing, which requires co-registration of the L1B2 imagery at the surface. Clouds will still be displaced due to their elevation above the surface, but this time with respect to the terrain rather than the ellipsoid. (The mountain location T is now assigned the geographic location at T, and the Cloud at F appears at the geographic location T.) In Level 2 aerosol/surface processing, algorithms are applied to screen out the clouds. Terrain data only exist for MISR blocks containing some land. [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=563.2 km (cross-track); Longitude_Resolution=140.8 km (along-track).; Temporal_Resolution=about 15 orbits/day; Temporal_Resolution_Range=about 15 orbits/day].

NEAR IR WAVELENGTHS↗

NASA NTRSDate not supplied

MISR Level 1B2 Terrain Data (MI1B2T_V2)

The MISR instrument consists of nine pushbroom cameras which measure radiance in four spectral bands. Global coverage is achieved in nine days. The cameras are arranged with one camera pointing toward the nadir, four cameras pointing forward and four cameras pointing aftward. It takes 7 minutes for all nine cameras to view the same surface location. The view angles relative to the surface reference ellipsoid, are 0, 26.1, 45.6, 60.0, and 70.5 degrees. The spectral band shapes are nominally gaussian, centered at 443, 555, 670, and 865 nm. The Terrain data are re-projected to the terrain altitude. In this product, surface data from all cameras will appear in the same geographic location. Thus, this product is the primary input to Level 2 aerosol/surface processing, which requires co-registration of the L1B2 imagery at the surface. Clouds will still be displaced due to their elevation above the surface, but this time with respect to the terrain rather than the ellipsoid. (The mountain location T is now assigned the geographic location at T, and the Cloud at F appears at the geographic location T.) In Level 2 aerosol/surface processing, algorithms are applied to screen out the clouds. Terrain data only exist for MISR blocks containing some land. [Location=GLOBAL LAND] [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=563.2 km (cross-track); Longitude_Resolution=140.8 km (along-track).; Temporal_Resolution=about 15 orbits/day; Temporal_Resolution_Range=about 15 orbits/day].

SPECTRAL BANDS↗

NASA NTRSDate not supplied

MISR Level 1B2 Terrain Data (MI1B2T_V3)

The MISR instrument consists of nine pushbroom cameras which measure radiance in four spectral bands. Global coverage is achieved in nine days. The cameras are arranged with one camera pointing toward the nadir, four cameras pointing forward and four cameras pointing aftward. It takes 7 minutes for all nine cameras to view the same surface location. The view angles relative to the surface reference ellipsoid, are 0, 26.1, 45.6, 60.0, and 70.5 degrees. The spectral band shapes are nominally gaussian, centered at 443, 555, 670, and 865 nm. The Terrain data are re-projected to the terrain altitude. In this product, surface data from all cameras will appear in the same geographic location. Thus, this product is the primary input to Level 2 aerosol/surface processing, which requires co-registration of the L1B2 imagery at the surface. Clouds will still be displaced due to their elevation above the surface, but this time with respect to the terrain rather than the ellipsoid. (The mountain location T is now assigned the geographic location at T, and the Cloud at F appears at the geographic location T.) In Level 2 aerosol/surface processing, algorithms are applied to screen out the clouds. Terrain data only exist for MISR blocks containing some land. [Location=GLOBAL LAND] [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=563.2 km (cross-track); Longitude_Resolution=140.8 km (along-track).; Temporal_Resolution=about 15 orbits/day; Temporal_Resolution_Range=about 15 orbits/day].

IMAGERY↗

NASA NTRS1993

Graphics simulation and training aids for advanced teleoperation

Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations.

Kim, Won S.↗