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The telerobotic manipulator's collision detection algorithm is described. Its applied structural model of the world environment and template representation of objects is evaluated. Functional issues that are required for the manipulator to operate in a more complex and realistic environment are discussed.
A Health Monitoring System (HMS) Framework for the Space Shuttle Main Engine (SSME) has been developed by United Technologies Corporation (UTC) for the NASA Lewis Research Center. As part of this effort, fault detection algorithms have been developed to detect the SSME faults with sufficient time to shutdown the engine. These algorithms have been designed to provide monitoring coverage during the startup, mainstage and shutdown phases of the SSME operation. The algorithms have the capability to detect multiple SSME faults, and are based on time series, regression and clustering techniques. This paper presents a discussion of candidate algorithms suitable for fault detection followed by a description of the algorithms selected for implementation in the HMS and the results of testing these algorithms with the SSME test stand data.
An aerospace vehicle may operate throughout a wide range of flight environmental conditions that affect its dynamic characteristics. Even when the control design incorporates a degree of robustness, system parameters may drift enough to cause its performance to degrade below an acceptable level. The object of this paper is to develop a change detection algorithm so that we can build a highly adaptive control system applicable to aircraft systems. The idea is to detect system changes with minimal time delay. The algorithm developed is called Minimal Time-Change Detection Algorithm (MT-CDA) which detects the instant of change as quickly as possible with false-alarm probability below a certain specified level. Simulation results for the aircraft lateral motion with a known or unknown change in control gain matrices, in the presence of doublet input, indicate that the algorithm works fairly well as theory indicates though there is a difficulty in deciding the exact amount of change in some situations. One of MT-CDA distinguishing properties is that detection delay of MT-CDA is superior to that of Whiteness Test.
The area of coldest cloud tops above thunderstorms sometimes has a distinct V or U shape. This pattern, often referred to as an "enhanced-V signature, has been observed to occur during and preceding severe weather. This study describes an algorithmic approach to objectively detect overshooting tops, temperature couplets, and enhanced-V features with observations from the Geostationary Operational Environmental Satellite and Low Earth Orbit data. The methodology consists of temperature, temperature difference, and distance thresholds for the overshooting top and temperature couplet detection parts of the algorithm and consists of cross correlation statistics of pixels for the enhanced-V detection part of the algorithm. The effectiveness of the overshooting top and temperature couplet detection components of the algorithm is examined using GOES and MODIS image data for case studies in the 2003-2006 seasons. The main goal is for the algorithm to be useful for operations with future sensors, such as GOES-R.
An automated cloud edge detection algorithm was developed and extensively tested. The algorithm uses in-situ cloud physics data measured by a research aircraft coupled with ground-based weather radar measurements to determine whether the aircraft is in or out of cloud. Cloud edges are determined when the in/out state changes, subject to a hysteresis constraint. The hysteresis constraint prevents isolated transient cloud puffs or data dropouts from being identified as cloud boundaries. The algorithm was verified by detailed manual examination of the data set in comparison to the results from application of the automated algorithm.
The water cycle strongly influences life on Earth. In particular, the precipitation modifies the atmospheric column thermodynamics through the process of evaporation and serves as a proxy for latent heat modulation. For this reason, a correct precipitation parameterization (especially low-intensity precipitation) at global scale, bedsides improving our understanding of the hydrological cycle, it is crucial to reduce the associated uncertainty of the global climate models to correctly forecast future scenarios, i.e. to apply fast mitigation strategies. In this study we developed an algorithm to automatically detect precipitation from lidar measurements obtained by the National and Aeronautics Space Administration (NASA) Micropulse lidar network (MPLNET) permanent observational site in Goddard. The algorithm, once full operational, will deliver in Near Real Time (latency 1.5h) a new rain mask product that will be publicly available on MPLNET website as part of the new Version 3 Level 1.5 data. The methodology, based on an image processing technique, can detect only light precipitation events (defined by intensity and duration) as the morphological filters used through the detection process are applied on the lidar volume depolarization ratio range corrected composite images, i.e. heavy rain events are unusable as the lidar signal is completely extinguished after few meters in the precipitation or no signal detected because of the water accumulated on the receiver optics. Results from the algorithm, besides filling a gap in precipitation and virga detection by radars, are of particular interest for the scientific community because will help to better understand long-term aerosol-cloud interactions and aerosol atmospheric removal (scavenging effect) by rain as multi-year database being available for several MPLNET permanent observational sites across the globe. Moreover, we developed the automatic algorithm at Universitat Politecnica de Catalunya (UPC) Barcelona, the unique permanent observation station member of MPLNET and the European Aerosol Lidar Network (EARLINET) In the future the algorithm can be then easily applied to any other lidar and/or ceilometer network infrastructure in the frame of World Meteorological Organization (WMO) Global Aerosol Watch (GAW) aerosol lidar observation network (GALION)
Some earlier work by the Search for Extraterrestrial Intelligence (SETI) Science Working Group (SWG) on the derivation of spectrum analyzer thresholds for a pulse detection algorithm based on an analysis of false alarm rates is extended. The algorithm previously analyzed was intended to detect a finite sequence of i periodically spaced pulses that did not necessarily occupy the entire observation interval. This algorithm would recognize the presence of such a signal only if all i-received pulse powers exceeded a threshold T(i): these thresholds were selected to achieve a desired false alarm rate, independent of i. To simplify the analysis, it was assumed that the pulses were synchronous with the spectrum sample times. This analysis extends the earlier effort to include infinite and/or asynchronous pulse trains. Furthermore, to decrease the possibility of missing an extraterrestrial intelligence signal, the algorithm was modified to detect a pulse train even if some of the received pulse powers fall below the threshold. The analysis employs geometrical arguments that make it conceptually easy to incorporate boundary conditions imposed on the derivation of the false alarm rates. While the exact results can be somewhat complex, simple closed form approximations are derived that produce a negligible loss of accuracy.
Precipitation modifies atmospheric column thermodynamics through the process of evaporation and serves as a proxy for latent heat modulation. For this reason, a correct precipitation parameterization (especially for low-intensity precipitation) within global scale models is crucial. In addition to improving our modeling of the hydrological cycle, this will reduce the associated uncertainty of global climate models in correctly forecasting future scenarios, and will enable the application of mitigation strategies. In this manuscript we present a proof of concept algorithm to automatically detect precipitation from lidar measurements obtained from the National Aeronautics and Space Administration Micropulse lidar network (MPLNET). The algorithm, once tested and validated against other remote sensing instruments, will be operationally implemented into the network to deliver a near real time (latency <1.5 h) rain masking variable that will be publicly available on MPLNET website as part of the new Version 3 data products. The methodology, based on an image processing technique, detects only light precipitation events (defined by intensity and duration) such as light rain, drizzle, and virga. During heavy rain events, the lidar signal is completely extinguished after a few meters in the precipitation or it is unusable because of water accumulated on the receiver optics. Results from the algorithm, in addition to filling a gap in light rain, drizzle, and virga detection by radars, are of particular interest for the scientific community as they help to fully characterize the aerosol cycle, from emission to deposition, as precipitation is a crucial meteorological phenomenon accelerating atmospheric aerosol removal through the scavenging effect. Algorithm results will also help the understanding of long term aerosol–cloud interactions, exploiting the multi-year database from several MPLNET permanent observational sites across the globe. The algorithm is also applicable to other lidar and/or ceilometer network infrastructures in the framework of the Global Aerosol Watch (GAW) aerosol lidar observation network (GALION).
This paper discusses the use of a crater detection algorithm for Mars crater imagery.
The water cycle strongly influences life on Earth. In particular, the precipitation modifies the atmospheric column thermodynamics through the process of evaporation and serves as a proxy for latent heat modulation. For this reason, a correct precipitation parameterization (especially low-intensity precipitation) at global scale, bedsides improving our understanding of the hydrological cycle, it is crucial to reduce the associated uncertainty of the global climate models to correctly forecast future scenarios, i.e. to apply fast mitigation strategies. In this study we developed an algorithm to automatically detect precipitation from lidar measurements obtained by the National and Aeronautics Space Administration (NASA) Micropulse lidar network (MPLNET) permanent observational site in Goddard. The algorithm, once full operational, will deliver in Near Real Time (latency 1.5h) a new rain mask product that will be publicly available on MPLNET website as part of the new Version 3 Level 1.5 data. The methodology, based on an image processing technique, can detect only light precipitation events (defined by intensity and duration) as the morphological filters used through the detection process are applied on the lidar volume depolarization ratio range corrected composite images, i.e. heavy rain events are unusable as the lidar signal is completely extinguished after few meters in the precipitation or no signal detected because of the water accumulated on the receiver optics.
The International Satellite Cloud Climatology Project (ISCCP) cloud detection algorithm is applied to artic data, and modifications are suggested. Both Advanced Very High Resolution Radiometer (AVHRR) and Scanning Multichannel Microwave Radiometer (SMMR) data are examined. Synthetic AVHRR and SMMR data are also generated. Modifications suggested include the use of snow and ice data sets for the estimation of surface parameters, additional AVHRR channels, and surface class characteristic values when clear sky values cannot be obtained. Greatest improvement in computed cloud fraction is realized over snow and ice surfaces; over other surfaces all versions perform similarly. Since the use of SMMR for surface analysis increases the computational burden, its use may be justified only over snow and ice-covered regions.
Seven algorithms for failure detection, isolation, and correction of strapdown inertial instruments in the dodecahedron configuration are competitively evaluated by means of a digital computer simulation that provides them with identical inputs. Their performance is compared in terms of orientation errors and computer burden. The analytical foundations of the algorithms are presented. The features that are found to contribute to superior performance are use of a definite logical structure, elimination of interaction between failures, different thresholds for first and second failures, use of the 'parity' test signals, and avoidance of iteration loops.
Algorithms for failure detection, isolation, and correction of redundant inertial instruments in the strapdown dodecahedron configuration are competitively evaluated in a digital computer simulation that subjects them to identical environments. Their performance is compared in terms of orientation and inertial velocity errors and in terms of missed and false alarms. The algorithms appear in the simulation program in modular form, so that they may be readily extracted for use elsewhere. The simulation program and its inputs and outputs are described. The algorithms, along with an eight algorithm that was not simulated, also compared analytically to show the relationships among them.
For Mars, 57,633 craters from the manually assembled catalogues and 72,668 additional craters identified using several crater detection algorithms (CDAs) have been merged into the MA130301GT catalogue. By contrast, for the Moon the most complete previous catalogue contains only 14,923 craters. Two recent missions provided higher-quality digital elevation maps (DEMs): SELENE (in 1/16° resolution) and Lunar Reconnaissance Orbiter (we used up to 1/512°). This was the main motivation for work on the new Crater Shape-based interpolation module, which improves previous CDA as follows: (1) it decreases the number of false-detections for the required number of true detections; (2) it improves detection capabilities for very small craters; and (3) it provides more accurate automated measurements of craters' properties. The results are: (1) LU60645GT, which is currently the most complete (up to ∼D>=8 km) catalogue of Lunar craters; and (2) MA132843GT catalogue of Martian craters complete up to ∼D>=2 km, which is the extension of the previous MA130301GT catalogue. As previously achieved for Mars, LU60645GT provides all properties that were provided by the previous Lunar catalogues, plus: (1) correlation between morphological descriptors from used catalogues; (2) correlation between manually assigned attributes and automated measurements; (3) average errors and their standard deviations for manually and automatically assigned attributes such as position coordinates, diameter, depth/diameter ratio, etc; and (4) a review of positional accuracy of used datasets. Additionally, surface dating could potentially be improved with the exhaustiveness of this new catalogue. The accompanying results are: (1) the possibility of comparing a large number of Lunar and Martian craters, of e.g. depth/diameter ratio and 2D profiles; (2) utilisation of a method for re-projection of datasets and catalogues, which is very useful for craters that are very close to poles; and (3) the extension of the previous framework for evaluation of CDAs with datasets and ground-truth catalogue for the Moon.
Two fixed-threshold Canada Centre for Remote Sensing and European Space Agency (CCRS and ESA) and three contextual GIGLIO, International Geosphere and Biosphere Project, and Moderate Resolution Imaging Spectroradiometer (GIGLIO, IGBP, and MODIS) algorithms were used for fire detection with Advanced Very High Resolution Radiometer (AVHRR) data acquired over Canada during the 1995 fire season. The CCRS algorithm was developed for the boreal ecosystem, while the other four are for global application. The MODIS algorithm, although developed specifically for use with the MODIS sensor data, was applied to AVHRR in this study for comparative purposes. Fire detection accuracy assessment for the algorithms was based on comparisons with available 1995 burned area ground survey maps covering five Canadian provinces. Overall accuracy estimations in terms of omission (CCRS=46%, ESA=81%, GIGLIO=75%, IGBP=51%, MODIS=81%) and commission (CCRS=0.35%, ESA=0.08%, GIGLIO=0.56%, IGBP=0.75%, MODIS=0.08%) errors over forested areas revealed large differences in performance between the algorithms, with no relevance to type (fixed-threshold or contextual). CCRS performed best in detecting real forest fires, with the least omission error, while ESA and MODIS produced the highest omission error, probably because of their relatively high threshold values designed for global application. The commission error values appear small because the area of pixels falsely identified by each algorithm was expressed as a ratio of the vast unburned forest area. More detailed study shows that most commission errors in all the algorithms were incurred in nonforest agricultural areas, especially on days with very high surface temperatures. The advantage of the high thresholds in ESA and MODIS was that they incurred the least commission errors.
In this research we addressed the problem of obstacle detection for low altitude rotorcraft flight. In particular, the problem of detecting thin wires in the presence of image clutter and noise was studied. Wires present a serious hazard to rotorcrafts. Since they are very thin, their detection early enough so that the pilot has enough time to take evasive action is difficult, as their images can be less than one or two pixels wide. Two approaches were explored for this purpose. The first approach involved a technique for sub-pixel edge detection and subsequent post processing, in order to reduce the false alarms. After reviewing the line detection literature, an algorithm for sub-pixel edge detection proposed by Steger was identified as having good potential to solve the considered task. The algorithm was tested using a set of images synthetically generated by combining real outdoor images with computer generated wire images. The performance of the algorithm was evaluated both, at the pixel and the wire levels. It was observed that the algorithm performs well, provided that the wires are not too thin (or distant) and that some post processing is performed to remove false alarms due to clutter. The second approach involved the use of an example-based learning scheme namely, Support Vector Machines. The purpose of this approach was to explore the feasibility of an example-based learning based approach for the task of detecting wires from their images. Support Vector Machines (SVMs) have emerged as a promising pattern classification tool and have been used in various applications. It was found that this approach is not suitable for very thin wires and of course, not suitable at all for sub-pixel thick wires. High dimensionality of the data as such does not present a major problem for SVMs. However it is desirable to have a large number of training examples especially for high dimensional data. The main difficulty in using SVMs (or any other example-based learning method) is the need for a very good set of positive and negative examples since the performance depends on the quality of the training set.
In this research we addressed the problem of obstacle detection for low altitude rotorcraft flight. In particular, the problem of detecting thin wires in the presence of image clutter and noise was studied. Wires present a serious hazard to rotorcrafts. Since they are very thin, their detection early enough so that the pilot has enough time to take evasive action is difficult, as their images can be less than one or two pixels wide. After reviewing the line detection literature, an algorithm for sub-pixel edge detection proposed by Steger was identified as having good potential to solve the considered task. The algorithm was tested using a set of images synthetically generated by combining real outdoor images with computer generated wire images. The performance of the algorithm was evaluated both, at the pixel and the wire levels. It was observed that the algorithm performs well, provided that the wires are not too thin (or distant) and that some post processing is performed to remove false alarms due to clutter.
Onboard far-field aircraft detection is needed for safe non-cooperative traffic mitigation for autonomous small Unmanned Aerial System (sUAS) operations. This work presents an aircraft detect and track pipeline that fuses image differencing and morphological filtering detections for inputs to a Kalman-based object tracking pipeline. The pipeline is evaluated using two types of flight encounters: 1) motorcopter sUAS vs. fixed-wing sUAS 2) motorcopter sUAS vs general aviation plane.