Results for “camera mobility” — Page 2

NASA NTRS2014

Phonesat In-flight Experience Results

Consumer technology, over the last decade, has begun to encompass devices that enable us to figure out where we are, which way we are pointing, observe the world around us, and store and transmit this information to wherever we want. Once separate consumer products such as GPS units, digital cameras and mobile phones are now combined into the modern day Smartphone. Since these capabilities are remarkably similar to those required for the multi-million dollar satellites - so why not use a multihundred dollar Smartphone instead? The PhoneSat project of NASA Ames Research Center is developing technology demonstrations utilizing these extraordinary advances to show just how simple and cheap Space can be. The style of development revolves around the "release early, release often" Silicon Valley mentality. PhoneSat is a series of 1U CubeSat size spacecrafts that use an off-the-shelf Smartphone as their onboard computer. By doing so, PhoneSat takes advantage of the high computational capability, large memory as well as ultra-tiny sensors like high-resolution cameras and navigation devices that Smartphones offer. Along with a Smartphone, PhoneSat is equipped with other commercially available technology products, such as medical brushless motors that are used as reaction wheels. Over the four years that NASA Ames Research Center has been developing the PhoneSat project, different suborbital and orbital flight activities have proven the validity of this revolutionary approach. In early 2013, the PhoneSat project launched the first triage of PhoneSats into LEO. In the five day orbital life time, the nano-satellites flew the first functioning Smartphone based satellites (using the Nexus One and Nexus S phones), the cheapest satellite (a total parts cost below $3,500) and one of the fastest on-board processors (CPU speed of 1GHz). In late 2013, the PhoneSat project launched an improved version of its bus to a higher altitude orbit which provided data about the overall system's tolerance to the space environment. In this paper, an overview of the PhoneSat project as well as a summary of the in-flight experimental results is presented. NASA Ames Research Center is carrying on its effort to bring a paradigm shift in the way we conceive Space exploration, this new approach is certainly incarnated by PhoneSat. A set of eight PhoneSat-based CubeSats is manifested to launch in 2014 with the purpose of demonstrating new technical capabilities and being a pathfinder for future Spacecraft technology missions.

CubeSat↗

NASA NTRS2000

Photogrammetry of the Map Instrument in a Cryogenic Vacuum Environment

MAP Instrument requirements dictated that the instruments Focal Plane Assembly (FPA) and Thermal Reflector System (TRS) maintain a high degree of structural integrity at operational temperatures (< 50K). To verify integrity at these extremes, an elaborate test fixture was constructed to provide a large cryogenic (< 20K) radiative environment and a mobile photogrammetry camera. This paper will discuss MAP's Instrument requirements, how those requirements were verified using photogrammetry, and the test setup used to provide the environment and camera movement needed to verify the instrument's requirements.

Hill, M.↗

DOE OSTI2020

Window obscuration sensors for mobile gas and chemical imaging cameras

An infrared (IR) imaging system for determining a concentration of a target species in an object is disclosed. The imaging system can include an optical system including a focal plane array (FPA) unit behind an optical window. The optical system can have components defining at least two optical channels thereof, said at least two optical channels being spatially and spectrally different from one another. Each of the at least two optical channels can be positioned to transfer IR radiation incident on the optical system towards the optical FPA. The system can include a processing unit containing a processor that can be configured to acquire multispectral optical data representing said target species from the IR radiation received at the optical FPA. One or more of the optical channels may be used in detecting objects on or near the optical window, to avoid false detections of said target species.

Mallery, Ryan↗

DOE OSTI2022

Window obscuration sensors for mobile gas and chemical imaging cameras

An infrared (IR) imaging system for determining a concentration of a target species in an object is disclosed. The imaging system can include an optical system including a focal plane array (FPA) unit behind an optical window. The optical system can have components defining at least two optical channels thereof, said at least two optical channels being spatially and spectrally different from one another. Each of the at least two optical channels can be positioned to transfer IR radiation incident on the optical system towards the optical FPA. The system can include a processing unit containing a processor that can be configured to acquire multispectral optical data representing said target species from the IR radiation received at the optical FPA. One or more of the optical channels may be used in detecting objects on or near the optical window, to avoid false detections of said target species.

Mallery, Ryan↗

DOE OSTI2023

Window obscuration sensors for mobile gas and chemical imaging cameras

An infrared (IR) imaging system for determining a concentration of a target species in an object is disclosed. The imaging system can include an optical system including a focal plane array (FPA) unit behind an optical window. The optical system can have components defining at least two optical channels thereof, said at least two optical channels being spatially and spectrally different from one another. Each of the at least two optical channels can be positioned to transfer IR radiation incident on the optical system towards the optical FPA. The system can include a processing unit containing a processor that can be configured to acquire multispectral optical data representing said target species from the IR radiation received at the optical FPA. One or more of the optical channels may be used in detecting objects on or near the optical window, to avoid false detections of said target species.

Mallery, Ryan↗

DOE OSTI2023

Window obscuration sensors for mobile gas and chemical imaging cameras

An infrared (IR) imaging system for determining a concentration of a target species in an object is disclosed. The imaging system can include an optical system including a focal plane array (FPA) unit behind an optical window. The optical system can have components defining at least two optical channels thereof, said at least two optical channels being spatially and spectrally different from one another. Each of the at least two optical channels can be positioned to transfer IR radiation incident on the optical system towards the optical FPA. The system can include a processing unit containing a processor that can be configured to acquire multispectral optical data representing said target species from the IR radiation received at the optical FPA. One or more of the optical channels may be used in detecting objects on or near the optical window, to avoid false detections of said target species.

Mallery, Ryan↗

DOE OSTI2024

Window obscuration sensors for mobile gas and chemical imaging cameras

An infrared (IR) imaging system for determining a concentration of a target species in an object is disclosed. The imaging system can include an optical system including a focal plane array (FPA) unit behind an optical window. The optical system can have components defining at least two optical channels thereof, said at least two optical channels being spatially and spectrally different from one another. Each of the at least two optical channels can be positioned to transfer IR radiation incident on the optical system towards the optical FPA. The system can include a processing unit containing a processor that can be configured to acquire multispectral optical data representing said target species from the IR radiation received at the optical FPA. One or more of the optical channels may be used in detecting objects on or near the optical window, to avoid false detections of said target species.

Mallery, Ryan↗

DOE OSTI2024

Window obscuration sensors for mobile gas and chemical imaging cameras

An infrared (IR) imaging system for determining a concentration of a target species in an object is disclosed. The imaging system can include an optical system including a focal plane array (FPA) unit behind an optical window. The optical system can have components defining at least two optical channels thereof, said at least two optical channels being spatially and spectrally different from one another. Each of the at least two optical channels can be positioned to transfer IR radiation incident on the optical system towards the optical FPA. The system can include a processing unit containing a processor that can be configured to acquire multispectral optical data representing said target species from the IR radiation received at the optical FPA. One or more of the optical channels may be used in detecting objects on or near the optical window, to avoid false detections of said target species.

Mallery, Ryan↗

NASA NTRS2013

Spacecraft 3D Augmented Reality Mobile App

The Spacecraft 3D application allows users to learn about and interact with iconic NASA missions in a new and immersive way using common mobile devices. Using Augmented Reality (AR) techniques to project 3D renditions of the mission spacecraft into real-world surroundings, users can interact with and learn about Curiosity, GRAIL, Cassini, and Voyager. Additional updates on future missions, animations, and information will be ongoing. Using a printed AR Target and camera on a mobile device, users can get up close with these robotic explorers, see how some move, and learn about these engineering feats, which are used to expand knowledge and understanding about space. The software receives input from the mobile device's camera to recognize the presence of an AR marker in the camera's field of view. It then displays a 3D rendition of the selected spacecraft in the user's physical surroundings, on the mobile device's screen, while it tracks the device's movement in relation to the physical position of the spacecraft's 3D image on the AR marker.

Hussey, Kevin J.↗

DOE OSTI2021

FedADMP: A Joint Anomaly Detection and Mobility Prediction Framework via Federated Learning

With the proliferation of mobile devices and smart cameras, detecting anomalies and predicting their mobility are critical for enhancing safety in ubiquitous computing systems. Due to data privacy regulations and limited communication bandwidth, it is infeasible to collect, transmit, and store all data from mobile devices at a central location. To overcome this challenge, we propose FedADMP, a federated learning based joint Anomaly Detection and Mobility Prediction framework. FedADMP adaptively splits the training process between the server and clients to reduce computation loads on clients. To protect the privacy of user data, clients in FedADMP upload only intermediate model parameters to the cloud server. We also develop a differential privacy method to prevent the cloud server and external attackers from inferring private information during the model upload procedure. Extensive experiments using real-world datasets show that FedADMP consistently outperforms existing methods.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS2020

RMIT AR Android Application Abstract

This summer, I've worked as an intern for IT-C1's Rapid Model Import Tool (RMIT) project under Bill Little. The goal of this project was to develop a mobile application for IT-C1's larger project, RMIT, so that it could be deployed in a convenient way. The current function of RMIT is to import file types that are not normally compatible with the Unity 3D software development engine and make them into files that can be placed into Unity for the specific purpose of viewing CAD models in virtual reality (VR). The mobile application that I worked on uses augmented reality (AR), using the camera on a mobile device, to show virtual models in the real world for the purpose of visualization and understanding. In addition to single-player capabilities, this application will include a multi-player mode so that collaborating engineers can see each other's work on their own devices.Working on this application required many steps. First, I hard to learn a lot about how mobile development is different from desktop development, and what the limitations of augmented reality are at its current state. From there, I was assigned new tasks and goals every two weeks, which included addingground plane and air plane functionality, designing a user interface, adding multi-player capability and allowing the user to manipulate models placed in a scene.

Dorian Thompson↗

NASA NTRS1990

The real-time learning mechanism of the Scientific Research Associates Advanced Robotic System (SRAARS)

Scientific research associates advanced robotic system (SRAARS) is an intelligent robotic system which has autonomous learning capability in geometric reasoning. The system is equipped with one global intelligence center (GIC) and eight local intelligence centers (LICs). It controls mainly sixteen links with fourteen active joints, which constitute two articulated arms, an extensible lower body, a vision system with two CCD cameras and a mobile base. The on-board knowledge-based system supports the learning controller with model representations of both the robot and the working environment. By consecutive verifying and planning procedures, hypothesis-and-test routines and learning-by-analogy paradigm, the system would autonomously build up its own understanding of the relationship between itself (i.e., the robot) and the focused environment for the purposes of collision avoidance, motion analysis and object manipulation. The intelligence of SRAARS presents a valuable technical advantage to implement robotic systems for space exploration and space station operations.

Chen, Alexander Y.↗

NASA NTRS2022

How to Build a Rover: An Overview of the Mars 2020 Mission’s Vehicle System Testbed

While NASA’s Mars rover Perseverance continues to make groundbreaking achievements on the Red Planet, its twin is hard at work here on Earth. The Operational Perseverance Twin for the Integration of Mechanisms and Instruments Sent to Mars, or OPTIMISM, is the Mars 2020 Vehicle System Testbed (VSTB) rover operated by NASA Jet Propulsion Laboratory (JPL) in Pasadena, California. OPTIMISM’s home is the JPL Mars Yard; an outdoor field with red soil that simulates the terrain encountered by Perseverance. The VSTB is a full-scale engineering model of the flight rover, serving a number of functions to ensure mission operations can continue smoothly and on schedule. The VSTB possesses instrumentation, computers, mechanisms, cameras, and a Mobility subsystem that are nearly identical to its extraterrestrial twin. Its high fidelity allows the rover to be a highly effective tool to fully test system functionality and performance prior to commanding the flight rover. The early stages of building OPTIMISM began a few months prior to Perseverance departing JPL for Cape Canaveral, FL in early 2020. Electrical integration of the flight system avionics, and compatibility checkouts of the electrical ground support equipment ensured that the foundation of the electrical system was operational and in place. Next, the internal harnessing was installed and compatibility checks of the rover instrumentation and mechanisms were performed to confirm the system was prepared for full buildup. Finally, mechanical assembly of the rover chassis with its external components completed the integration of the system before it was moved to the Mars Yard for its initial phase of testing to perform verification & validation (V&V) of the Mobility subsystem requirements. By the time Perseverance landed at Jezero Crater in February 2021, the first phase of VSTB operations was underway. Surface guidance, navigation, and control (SGNC) testing for the Mobility subsystem ensured functionality and performance requirements were met for various capabilities such as visual odometry (VO), mapping, and automatic navigation (AutoNav). Subsequent integration of the robotic arm (RA) onto the VSTB enabled the V&V campaign for surface sampling operations (SSO) to commence. As the mission’s engineering operations (EO) have gotten underway, the VSTB has been utilized for an array of purposes including troubleshooting software anomalies, and performing dry-runs for first time activities (FTAs) prior to sending the commands to Perseverance. OPTIMISM will continue to serve mission critical functions as long as Perseverance is roving the Red Planet.

Rojas, Jose Trujillo↗

NASA NTRSDate not supplied

ISRU Pilot Excavator (IPEx) Technology Readiness Level 5 Design Overview

This paper details the mechanical and mechatronic design of the Technology Readiness Level (TRL)-5 In-Situ Resource Utilization (ISRU) Pilot Excavator (IPEx). IPEx is a robotic excavator designed for a technology demonstration of regolith mining in the lunar south -pole region. The novel design uses pairs of counter-acting excavation tools called bucket drums, that dig at the same time in opposing directions to reduce the reaction force needed, thereby enabling mining with a small, low-mass, robotic system. IPEx builds on the prior work of the Regolith Advanced Surface Systems Operations Robot (RASSOR), which is the TRL-4 implementation of this concept. The TRL-5 IPEx subsystems that are discussed in this paper include: Regolith Delivery Subsystem (RDS), Mobility Subsystem (MS), Cameras and Dust Mitigation Subsystem (CDMS), and Thermal Control Subsystem (TCS). Each subsystem is described in detail with rationale for design selections. Dust tolerance is a key feature for IPEx and this paper details a thermal control system with an actuated radiator cover and phase change material as well as camera modules with removable electrodynamic dust shields (EDS). Additional components such as actuators, wheels, and bucket drums are discussed in detail. Due to their complexity, the avionics and software subsystems will be discussed in a separate publication.

RASSOR↗

NASA NTRS1992

Testbed for remote telepresence research

The paper describes the design and implementation of a telepresence system, as well as its control hardware and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free-flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three-DOF platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.

Adnan, Sarmad↗

DOE OSTI2022

NA-IM TGESC Mobile Device Secure Sled [Slides]

SafeCase provides essential controls such as: 1) Audio masking and 2) camera blocking capabilities if a mobile device has been compromised. This exoskeleton phone case provides a solution in secure spaces at a hardware level providing key attack surface reductions and potential exposures from an audio and visual standpoint.

47 OTHER INSTRUMENTATION↗

NASA NTRS1992

Estimation of the absolute position of mobile systems by an optoelectronic processor

A method that determine the absolute position of a mobile system with a hybrid optoelectronic processor has been developed. Position estimates are based on an analysis of circular landmarks that are detected by a TV camera attached to the mobile system. The difference between the known shape of the landmark and its image provides the information needed to determine the absolute position of the mobile system. For robust operation, the parameters of the landmark image are extracted at high speeds using an optical processor that performs an optical Hough transform. The coordinates of the mobile system are computed from these parameters in a digital co-processor using fast algorithms. Different sources of position estimation errors have also been analyzed, and consequent algorithms to improve the navigation performance of the mobile system have been developed and evaluated by both computer simulation and experiments.

Feng, Liqiang↗

NASA NTRS1977

Particle motion on Mars inferred from the Viking lander cameras

Data from Viking lander cameras indicate fine particle mobility on the surface of Mars such as: probable ventifacts, rock-associated raised streaks, and particulate drifts. Peak wind directions inferred from Chryse and Utopia are roughly equal, and are consistant with those inferred by orbiter photography. A 24 deg systematic offset between: (1) the direction of rock-associated streaks in the Viking I landing site, and (2) Mariner 9 and Viking observations of crater-associated streaks is consistant with a Coriolis acceleration of particles entrained by high-velocity winds during the production of crater-associated streaks. It is suggested that if a large fraction of collision impact energy goes into deformation, strain, and rupture, a preferential destruction of the most easily saltated grains and a depletion of 15-micron diameter grains will be observed. Investigations of particulates dumped on the landing grid suggest that major saltation events took place between sols 96 and 207, caused by winds of greater than 50 meters/sec normalized to the top of the boundary layer.

Sagan, C.↗