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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 37 records · Page 2

The application of image processing to satellite navigation

Given the locations of several landmarks on a satellite acquired image and their true geographic coordinates, the position and orientation of the satellite can be determined. Two methods for automatically locating the image coordinates of specified landmarks are described. The first, a particularly fast sequential similarity detection algorithm for template matching was originally described by Nagel and Rosenfeld. The second method involves iteratively resampling the picture function in the vicinity of the anticipated landmark. A variety of other speedup methods is also described. An application to SMS imagery is envisioned.

Hord, R. M.↗

On-board landmark navigation and attitude reference parallel processor system

An approach to autonomous navigation and attitude reference for earth observing spacecraft is described along with the landmark identification technique based on a sequential similarity detection algorithm (SSDA). Laboratory experiments undertaken to determine if better than one pixel accuracy in registration can be achieved consistent with onboard processor timing and capacity constraints are included. The SSDA is implemented using a multi-microprocessor system including synchronization logic and chip library. The data is processed in parallel stages, effectively reducing the time to match the small known image within a larger image as seen by the onboard image system. Shared memory is incorporated in the system to help communicate intermediate results among microprocessors. The functions include finding mean values and summation of absolute differences over the image search area. The hardware is a low power, compact unit suitable to onboard application with the flexibility to provide for different parameters depending upon the environment.

Gilbert, L. E.↗

Acoustic Emission Methods for the Health Evaluation of Integrated Pressure Components

At the request of the Pressure Systems Senior Discipline Expert, to overcome the access and detectable flaw size limitations of other nondestructive evaluation (NDE) methods for integrated components, a technique akin to seismology was advanced to perceive the earliest signs of cracking in titanium components before they escalate into serious issues. In this project we achieved a landmark in Acoustic Emission (AE) testing with the first NASA Probability of Detection (POD) study. This is an important first step to the certification of the AE method for flight components and was based on the testing of notched panels. By working closely with industry allies and employing approved methods from the boiler and pressure vessel sector, we not only met but surpassed all POD benchmarks with our test and acceptance criteria. In experiments involving solution heat-treated and aged 6Al-4V-Ti alloy tested with broadband sensors, we recorded a 96% success rate, with zero false positives reported. Our research shows that in some cases, AE testing can locate smaller cracks than other NDE methods. An industry tool for scaling results to full pressure vessels is highlighted. However, before applying our findings to NASA components, tests to validate the transfer functions are advised.

acoustic↗

Detection of early-universe gravitational-wave signatures and fundamental physics

Detection of a gravitational-wave signal of non-astrophysical origin would be a landmark discovery, potentially providing a significant clue to some of our most basic, big-picture scientific questions about the Universe. In this white paper, we survey the leading early-Universe mechanisms that may produce a detectable signal—including inflation, phase transitions, topological defects, as well as primordial black holes—and highlight the connections to fundamental physics. We review the complementarity with collider searches for new physics, and multimessenger probes of the large-scale structure of the Universe.

79 ASTRONOMY AND ASTROPHYSICS↗

Autonomous landmark tracking orbit determination strategy

In this paper, an orbit determination strategy is described that is fully autonomous and relies on a computer-based crater detection and identification algorithm that is suitable for both automation of the ground based navigation system and autonomous spacecraft based navigation.

landmark tracking orbit determination↗

Advanced Earth Observation System Instrumentation Study (AEOSIS)

The feasibility, practicality, and cost are investigated for establishing a national system or grid of artificial landmarks suitable for automated (near real time) recognition in the multispectral scanner imagery data from an earth observation satellite (EOS). The intended use of such landmarks, for orbit determination and improved mapping accuracy is reviewed. The desirability of using xenon searchlight landmarks for this purpose is explored theoretically and by means of experimental results obtained with LANDSAT 1 and LANDSAT 2. These results are used, in conjunction with the demonstrated efficiency of an automated detection scheme, to determine the size and cost of a xenon searchlight that would be suitable for an EOS Searchlight Landmark Station (SLS), and to facilitate the development of a conceptual design for an automated and environmentally protected EOS SLS.

Var, R. E.↗

VSLAM and Coplanar POSIT for Advanced Air Mobility Approach and Landing

Advanced Air Mobility (AAM) aircraft have many challenges for landing accurately and safely in urban, suburban, and rural environments. Localization in large and open rural environments could utilize GPS, but AAM aircraft in urban environments will encounter GPS degradation. Another challenge involves flight operation time, i.e., flying during the day or at night. There are different types of guidelines and landmarks at runways, heliports, and vertiports for daytime and nighttime applications. Tailoring feature detection methods for AAM approach and landing during the day and night pose different issues and challenges. It is easier to detect edges, lines, and other runway markers during the day than at night. Conversely, it is easier to detect landing light configurations and patterns at nighttime than daytime. Consequently, utilizing the same feature detector for daytime and nighttime operations may not be feasible. This paper focuses on vision-based precision approach and landing (PAL) and builds on previous work by comparing ORB SLAM, custom VSLAM, and coplanar pose from orthography and scaling with iterations (POSIT) for daytime and nighttime operations. Implementing high fidelity simulations with computer graphics and extracting video frames from flight test data provide promising results for AAM PAL applications.

Evan Kawamura↗

VSLAM and Vision-based Approach and Landing for Advanced Air Mobility

Advanced Air Mobility (AAM) aircraft have many challenges in landing accurately and safely in urban, suburban, and rural environments. Localization in large and open rural environments could utilize GPS, but AAM aircraft in urban environments will encounter GPS degradation. Another challenge involves flight operation time, i.e., flying during the day or at night. There are different guidelines, landmarks, and landing light configurations at runways, heliports, and vertiports for daytime and nighttime applications. Tailoring feature detection methods for AAM approach and landing during the day and night pose different issues and challenges. It is easier to detect edges, lines, and other runway markers during the day than at night. Conversely, it is easier to see landing light configurations and patterns at nighttime than daytime. Consequently, utilizing the same feature detector for daytime and nighttime operations may not be feasible. This paper focuses on a vision-based precision approach and landing (PAL) by comparing ORB SLAM 2, a Vision Simultaneous Localization and Mapping (VSLAM) algorithm, and a novel EKF that combines onboard IMU measurements with coplanar pose from orthography and scaling with iterations (COPOSIT). Conducting unmanned aerial system (UAS) flight tests at NASA Armstrong Flight Research Center (AFRC) with landmarks and fiducials distributed around the landing zone provides a simulated AAM approach and landing data to test vision-based PAL methods to provide Alternative Position, Navigation, and Timing (APNT) solutions for AAM PAL applications. The novel vision-based PAL EKF with IMU and COPOSIT provides accurate state estimation when distributed landmarks and fiducials are in the field of view.

distributed sensing↗

Processing Images of Craters for Spacecraft Navigation

A crater-detection algorithm has been conceived to enable automation of what, heretofore, have been manual processes for utilizing images of craters on a celestial body as landmarks for navigating a spacecraft flying near or landing on that body. The images are acquired by an electronic camera aboard the spacecraft, then digitized, then processed by the algorithm, which consists mainly of the following steps: 1. Edges in an image detected and placed in a database. 2. Crater rim edges are selected from the edge database. 3. Edges that belong to the same crater are grouped together. 4. An ellipse is fitted to each group of crater edges. 5. Ellipses are refined directly in the image domain to reduce errors introduced in the detection of edges and fitting of ellipses. 6. The quality of each detected crater is evaluated. It is planned to utilize this algorithm as the basis of a computer program for automated, real-time, onboard processing of crater-image data. Experimental studies have led to the conclusion that this algorithm is capable of a detection rate >93 percent, a false-alarm rate <5 percent, a geometric error <0.5 pixel, and a position error <0.3 pixel.

Cheng, Yang↗

Microrover research at JPL

Planetary exploration with microrovers can be extended beyond the baseline short-range capability proposed for the Mars Environmental Survey (MESUR) microrover mission. The useful range of the microrover can be increased by using local landmarks to accurately reach desired science sites with a minimal number of Earth commands. Furthermore, onboard processing can give indications of excessive sinkage or slippage, which comprise hazards which may not be detectable from imaging, as well as to improve dead reckoning performance. Lastly, it is important to estimate the mean and variance of mission parameters such as time-to-reach-goal, energy-to-reach-goal, and likelihood-of-finding landmark. The author of the paper discusses research focused on accomplishing these objectives.

Wilcox, Brian↗

Planning for execution monitoring on a planetary rover

A planetary rover will be traversing largely unknown and often unknowable terrain. In addition to geometric obstacles such as cliffs, rocks, and holes, it may also have to deal with non-geometric hazards such as soft soil and surface breakthroughs which often cannot be detected until rover is in imminent danger. Therefore, the rover must monitor its progress throughout a traverse, making sure to stay on course and to detect and act on any previously unseen hazards. Its onboard planning system must decide what sensors to monitor, what landmarks to take position readings from, and what actions to take if something should go wrong. The planning systems being developed for the Pathfinder Planetary Rover to perform these execution monitoring tasks are discussed. This system includes a network of planners to perform path planning, expectation generation, path analysis, sensor and reaction selection, and resource allocation.

Gat, Erann↗

Fast Local Spatial Verification for Feature-Agnostic Large-Scale Image Retrieval

Images from social media can reflect diverse viewpoints, heated arguments, and expressions of creativity, adding new complexity to retrieval tasks. Researchers working on Content-Based Image Retrieval (CBIR) have traditionally tuned their algorithms to match filtered results with user search intent. However, we are now bombarded with composite images of unknown origin, authenticity, and even meaning. With such uncertainty, users may not have an initial idea of what the search query results should look like. For instance, hidden people, spliced objects, and subtly altered scenes can be difficult for a user to detect initially in a meme image, but may contribute significantly to its composition. It is pertinent to design systems that retrieve images with these nuanced relationships in addition to providing more traditional results, such as duplicates and near-duplicates — and to do so with enough efficiency at large scale. In this work, we propose a new approach for spatial verification that aims at modeling object-level regions using image keypoints retrieved from an image index, which is then used to accurately weight small contributing objects within the results, without the need for costly object detection steps. We call this method the Objects in Scene to Objects in Scene (OS2OS) score, and it is optimized for fast matrix operations, which can run quickly on either CPUs or GPUs. It performs comparably to state-of-the-art methods on classic CBIR problems (Oxford 5K, Paris 6K, and Google-Landmarks), and outperforms them in emerging retrieval tasks such as image composite matching in the NIST MFC2018 dataset and meme-style imagery from Reddit.

42 ENGINEERING↗

A New Strategy to Land Precisely on the Northern Plains of Mars

During the Phoenix mission landing site selection process, the Mars Reconnaissance Orbiter (MRO) High Resolution Imaging Science Experiment (HiRISE) images revealed widely spread and dense rock fields in the northern plains. Automatic rock mapping and subsequent statistical analyses showed 30-90% CFA (cumulative fractional area) covered by rocks larger than 1 meter in dense rock fields around craters. Less dense rock fields had 5-30% rock coverage in terrain away from craters. Detectable meter-scale boulders were found nearly everywhere. These rocks present a risk to spacecraft safety during landing. However, they are the most salient topographic features in this region, and can be good landmarks for spacecraft localization during landing. In this paper we present a novel strategy that uses abundance of rocks in northern plains for spacecraft localization. The paper discusses this approach in three sections: a rock-based landmark terrain relative navigation (TRN) algorithm; the TRN algorithm feasibility; and conclusions.

pin point landing↗

A high-throughput skim-sequencing approach for genotyping, dosage estimation and identifying translocations

The development of next-generation sequencing (NGS) enabled a shift from array-based genotyping to directly sequencing genomic libraries for high-throughput genotyping. Even though whole-genome sequencing was initially too costly for routine analysis in large populations such as breeding or genetic studies, continued advancements in genome sequencing and bioinformatics have provided the opportunity to capitalize on whole-genome information. As new sequencing platforms can routinely provide high-quality sequencing data for sufficient genome coverage to genotype various breeding populations, a limitation comes in the time and cost of library construction when multiplexing a large number of samples. Here we describe a high-throughput whole-genome skim-sequencing (skim-seq) approach that can be utilized for a broad range of genotyping and genomic characterization. Using optimized low-volume Illumina Nextera chemistry, we developed a skim-seq method and combined up to 960 samples in one multiplex library using dual index barcoding. With the dual-index barcoding, the number of samples for multiplexing can be adjusted depending on the amount of data required, and could be extended to 3,072 samples or more. Panels of doubled haploid wheat lines ( Triticum aestivum , CDC Stanley x CDC Landmark), wheat-barley ( T . aestivum x Hordeum vulgare ) and wheat-wheatgrass ( Triticum durum x Thinopyrum intermedium ) introgression lines as well as known monosomic wheat stocks were genotyped using the skim-seq approach. Bioinformatics pipelines were developed for various applications where sequencing coverage ranged from 1 × down to 0.01 × per sample. Using reference genomes, we detected chromosome dosage, identified aneuploidy, and karyotyped introgression lines from the skim-seq data. Leveraging the recent advancements in genome sequencing, skim-seq provides an effective and low-cost tool for routine genotyping and genetic analysis, which can track and identify introgressions and genomic regions of interest in genetics research and applied breeding programs.

60 APPLIED LIFE SCIENCES↗

Spatial top-down proteomics for the functional characterization of human kidney

Background: The Human Proteome Project has credibly detected nearly 93% of the roughly 20,000 proteins which are predicted by the human genome. However, the proteome is enigmatic, where alterations in amino acid sequences from polymorphisms and alternative splicing, errors in translation, and post-translational modifications result in a proteome depth estimated at several million unique proteoforms. Recently mass spectrometry has been demonstrated in several landmark efforts mapping the human proteoform landscape in bulk analyses. Herein, we developed an integrated workflow for characterizing proteoforms from human tissue in a spatially resolved manner by coupling laser capture microdissection, nanoliter-scale sample preparation, and mass spectrometry imaging. Results: Using healthy human kidney sections as the case study, we focused our analyses on the major functional tissue units including glomeruli, tubules, and medullary rays. After laser capture microdissection, these isolated functional tissue units were processed with microPOTS (microdroplet processing in one-pot for trace samples) for sensitive top-down proteomics measurement. This provided a quantitative database of 616 proteoforms that was further leveraged as a library for mass spectrometry imaging with near-cellular spatial resolution over the entire section. Notably, several mitochondrial proteoforms were found to be differentially abundant between glomeruli and convoluted tubules, and further spatial contextualization was provided by mass spectrometry imaging confirming unique differences identified by microPOTS, and further expanding the field-of-view for unique distributions such as enhanced abundance of a truncated form (1-74) of ubiquitin within cortical regions. Conclusions: We developed an integrated workflow to directly identify proteoforms and reveal their spatial distributions. Where of the 20 differentially abundant proteoforms identified as discriminate between tubules and glomeruli by microPOTS, the vast majority of tubular proteoforms were of mitochondrial origin (8 of 10) where discriminate proteoforms in glomeruli were primarily hemoglobin subunits (9 of 10). These trends were also identified within ion images demonstrating spatially resolved characterization of proteoforms that has the potential to reshape discovery-based proteomics because the proteoforms are the ultimate effector of cellular functions. Applications of this technology have the potential to unravel etiology and pathophysiology of disease states, informing on biologically active proteoforms, which remodel the proteomic landscape in chronic and acute disorders.

59 BASIC BIOLOGICAL SCIENCES↗

Localization from Visual Landmarks on a Free-Flying Robot

We present the localization approach for Astrobee,a new free-flying robot designed to navigate autonomously on board the International Space Station (ISS). Astrobee will conduct experiments in microgravity, as well as assisst astronauts and ground controllers. Astrobee replaces the SPHERES robots which currently operate on the ISS, which were limited to operating in a small cube since their localization system relied on triangulation from ultrasonic transmitters. Astrobee localizes with only monocular vision and an IMU, enabling it to traverse the entire US segment of the station. Features detected on a previously-built map, optical flow information,and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise.Finally, we extensively evaluate the behavior of the filter on atwo-dimensional testing surface.

Coltin, Brian↗

Localization from Visual Landmarks on a Free-Flying Robot

We present the localization approach for Astrobee, a new free-flying robot designed to navigate autonomously on the International Space Station (ISS). Astrobee will accommodate a variety of payloads and enable guest scientists to run experiments in zero-g, as well as assist astronauts and ground controllers. Astrobee will replace the SPHERES robots which currently operate on the ISS, whose use of fixed ultrasonic beacons for localization limits them to work in a 2 meter cube. Astrobee localizes with monocular vision and an IMU, without any environmental modifications. Visual features detected on a pre-built map, optical flow information, and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise, and extensively evaluate the localization algorithm.

Coltin, Brian↗