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At least 361 records · Page 20

Evaluation of Stereology for Snow Microstructure Measurement and Microwave Emission Modeling: A Case Study

Reliable microstructure measurement of snow is a requirement for microwave radiative transfer model validation. Snow specific surface area (SSA) can be measured using stereological methods, in which snow samples are cast in the field and photographed in the laboratory. Processing stereology photographs manually by counting intersections of test cycloids with air–ice boundaries reduces the problems in binary segmentation. This paper is a case study to evaluate the repeatability of the manually stereology interpretation by two independent research groups. We further assessed how uncertainty in snow SSA influences simulated brightness temperature(TB) driven by the Microwave Emission Model of Layered Snowpacks (MEMLS), and how stereology compares to Near Infrared (NIR) camera and hand lens. Data was obtained from two alpine snow profiles from Steamboat Springs, Colorado. Results showed that stereological SSA values measured by two groups are highly consistent, and the ground radiometer measured TBat 19 and 37 GHz was successfully predicted (RMSE<3.8 K);simulations using NIR SSA and hand-lens geometric grain size (Dg)measurements have larger errors. This conclusion was not sensitive to uncertainty in the free parameters of TB modeling.

Microwave radiometry↗

A model for intensity profiles of dust jets near the nucleus of Comet Halley

The Giotto spacecraft's Halley Multicolor Camera images have been used to derive intensity profiles of the jetlike dust features that are associated with active regions of the Comet Halley nucleus. An intensity profile's asymptotic behavior at a radius greater than 100 km from the nucleus can be seen as arising from a source located at a hypothetical point below the active source region. Several source distributions are investigated. The extended source model considers divergent dust flow from an active area of arbitrary shape. It is concluded that the surface is neither smooth nor homogeneous, but must instead be characterized by varying curvature and roughness in order to reflect the observed conical dust flow.

Huebner, W. F.↗

Modeling Deformable Linear Objects for Autonomous Robotic Outfitting of Lunar Surface Systems

This paper presents structural models of deformable linear objects (DLOs). DLOs are a subclass of deformable objects that encompasses common outfitting elements such as cables and ropes. Models are validated through hardware experiments, and integration in a robotic autonomy architecture for space environments is discussed. A persistent human presence on the lunar surface is one of the next major milestones in space exploration. This requires the development of robust extraplanetary construction technologies including structures and materials modeling and robotic systems. Previous robotic construction technology development has primarily focused on structural assembly, with significantly less focus on robotically performed outfitting tasks to instantiate subsystems providing power, data, life support, etc. These tasks involve manipulation of highly flexible elements, which are difficult to model, such as cable harnesses, ropes, and hoses. Robotic manipulation of DLOs, especially cable harnesses, is an active area of research as cable harnesses are essential for providing power and data to space assets. DLO models that can be used for robot manipulator trajectory generation are necessary for autonomous operation of lunar infrastructure. There are many proposed methods for modeling DLOs, and they primarily fall into three types: 1) discrete model-based, 2) continuum model-based, and 3) Neural Network-based. These types each have pros and cons, and the tradeoff between model accuracy and computational speed informs which type should be used. An understanding of this trade-off is imperative for real-time control of autonomous systems. High computational requirements reduce the speed of the model, making real-time control difficult, while accuracy is critical to preventing collisions. Discrete models, such as a mass-spring multibody representation, require relatively few calculations, and accuracy is directly tied to the step size of the discretization. Continuum models, such as a B-spline representation or a Cosserat rod model (a mix of continuous and discrete), are more informed of the structural properties of the cable and are much more accurate than a rigid body mass-spring model, but at significant computational cost. A Neural Network approach can provide an online solution with very few computational steps, but properly generating training data can be difficult and validation for an in-space application is not trivial. This paper explores the trade-off between different modeling approaches and compares accuracy and computational speed/complexity of the three types mentioned above. Model accuracy is evaluated using a cable in a static configuration. True cable shape is obtained using a depth camera for RGB images and point-cloud segmentation. The purpose of this experiment is to evaluate the trade-offs of different approaches to the DLO modeling problem. Understanding the tradeoffs between different cable modeling techniques paves the way for developing robotic control and planning architectures necessary for real-time manipulation of DLOs for lunar infrastructure outfitting. Real-time control is required for robotic systems to be able to actively manipulate a cable in a harsh environment where model and sensor errors compound, and environmental conditions can cause significant disturbances. Cable routing must be performed in areas with high density of objects/obstacles: through truss structures, near solar panels or mirror arrays, next to bundles of electrical equipment. Understanding the best way to plan and manipulate a cable without disrupting the environment or damaging the cable is imperative to robotic outfitting operations on the lunar surface.

Amy M Quartaro↗

Launch Vehicle Loads Analysis Using Pressure-Sensitive Paint

Pressure transducers have been the instrumentation of choice for measuring unsteady flow phenomena. With recent advances in high-speed cameras, high-powered LEDs, and fast-response, pressure-sensitive paint, the unsteady pressure-sensitive paint (uPSP) technique has become a valuable alternative for production wind tunnel facilities, enabling time-resolved measurements of unsteady pressure fluctuations over a dense spatial grid on a wind tunnel model. Launch vehicle ground tests have proven to be a particularly well-matched application for uPSP due to the high signal level relative to tunnel background acoustics, relatively simple camera optical access, and rigidity of the model in wind-on test conditions. This presentation will highlight recent advances in data reduction of uPSP measurement data from recent launch vehicle wind tunnel tests at the NASA Ames Unitary Plan Wind Tunnel Complex (UPWT). The system can provide both localized surface pressure spectra as well as regional or zonal estimates of turbulence correlation model parameters. In addition, integrated vehicle-scale loads can be provided for buffet analysis. Data is reduced at the on-premise NASA Advanced Supercomputer (NAS) Division for just-in-time delivery of results during an ongoing wind tunnel test.

Pressure-Sensitive Paint↗

Launch Vehicle Loads Analysis Using Pressure-Sensitive Paint

Pressure transducers have been the instrumentation of choice for measuring unsteady flow phenomena. With recent advances in high-speed cameras, high-powered LEDs, and fast-response, pressure-sensitive paint, the unsteady pressure-sensitive paint (uPSP) technique has become a valuable alternative for production wind tunnel facilities, enabling time-resolved measurements of unsteady pressure fluctuations over a dense spatial grid on a wind tunnel model. Launch vehicle ground tests have proven to be a particularly well-matched application for uPSP due to the high signal level relative to tunnel background acoustics, relatively simple camera optical access, and rigidity of the model in wind-on test conditions. This presentation will highlight recent advances in data reduction of uPSP measurement data from recent launch vehicle wind tunnel tests at the NASA Ames Unitary Plan Wind Tunnel Complex (UPWT). The system can provide both localized surface pressure spectra as well as regional or zonal estimates of turbulence correlation model parameters. In addition, integrated vehicle-scale loads can be provided for buffet analysis. Data is reduced at the on-premise NASA Advanced Supercomputer (NAS) Division for just-in-time delivery of results during an ongoing wind tunnel test.

pressure-sensitive paint↗

Leonid Storm Flux Analysis From One Leonid MAC Video AL50R

A detailed meteor flux analysis is presented of a seventeen-minute portion of one videotape, collected on November 18, 1999, during the Leonid Multi-instrument Aircraft Campaign. The data was recorded around the peak of the Leonid meteor storm using an intensified CCD camera pointed towards the low southern horizon. Positions of meteors on the sky were measured. These measured meteor distributions were compared to a Monte Carlo simulation, which is a new approach to parameter estimation for mass ratio and flux. Comparison of simulated flux versus observed flux levels, seen between 1:50:00 and 2:06:41 UT, indicate a magnitude population index of r = 1.8 +/- 0.1 and mass ratio of s = 1.64 +/- 0.06. The average spatial density of the material contributing to the Leonid storm peak is measured at 0.82 +/- 0.19 particles per square kilometer per hour for particles of at least absolute visual magnitude +6.5. Clustering analysis of the arrival times of Leonids impacting the earth's atmosphere over the total observing interval shows no enhancement or clumping down to time scales of the video frame rate. This indicates a uniformly random temporal distribution of particles in the stream encountered during the 1999 epoch. Based on the observed distribution of meteors on the sky and the model distribution, recommendations am made for the optimal pointing directions for video camera meteor counts during future ground and airborne missions.

Gural, Peter S.↗

Modeling of internal contaminant deposition on a cold instrument sensor

A model is developed to predict the deposition of contaminants on the CCD sensors of the Wide Field Planetary Camera to determine expected performance parameters. Contaminant deposition due to internal instrument sources is considered as is the mechanism of transport to the CCDs themselves. The Contamination Analysis Program (CAP) model considers deposition and reemission kinetics, nodal containment sources, and internodal shape factors related to line-of-sight transport. Indirect transport is also accounted for in the CAP model by considering the effect of diffuse reflection at internodal exchanges. The effective total transport factors for each node-to-node exchange is precalculated to reduce the effective number of nodes and reducing run time of the CAP program. The method is applied to four distinct conditions and is found to be suitable for the analysis of internal self-contamination. Cold traps, venting, and vacuumlike design are factors which are found to be important for cold-sensitive sensors.

Barengoltz, Jack B.↗

Digital cartography of the planets - New methods, its status, and its future

A system has been developed that establishes a standardized cartographic database for each of the 19 planets and major satellites that have been explored to date. Compilation of the databases involves both traditional and newly developed digital image processing and mosaicking techniques, including radiometric and geometric corrections of the images. Each database, or digital image model (DIM), is a digital mosaic of spacecraft images that have been radiometrically and geometrically corrected and photometrically modeled. During compilation, ancillary data files such as radiometric calibrations and refined photometric values for all camera lens and filter combinations and refined camera-orientation matrices for all images used in the mapping are produced. The system is designed to aid in the following: access to and utilization of spatial data returned by planetary spacecraft; coregistration of cartographic image and topographic elevation models with geological, geophysical, and geochemical databases; and the design and preparation of both standard and custom map products. A major goal of the project is to publish the DIMs on compact computer-compatible media such as digital-optical (CD-ROM) disks.

Batson, R. M.↗

Plate measurement techniques and reduction methods used by the West German satellite observers, and resulting consequences for the observation

The West German tracking stations are equipped with ballistic cameras. Plate measurement and plate reduction must therefore follow photogrammetric methods. Approximately 100 star positions and 200 satellite positions are measured on each plate. The mathematical model for spatial rotation of the bundle of rays is extended by including terms for distortion and internal orientation of the camera as well as by providing terms for refraction which are computed for the measured coordinates of the star positions on the plate. From the measuring accuracy of the plate coordinates it follows that the timing accuracy for the exposures has to be about one millisecond, in order to obtain a homogeneous system.

Deker, H.↗

Deep Interacting Multiple Model Filtering

In this paper, a deep learning-based multiple model estimation framework is presented for the state estimation of hybrid dynamical systems from high dimensional observations such as camera images. A low dimensional vector which represents the measurement of the latent dynamical system and its corresponding variance are learned using a deep encoder neural network. An Interacting Multiple Model (IMM) filter is used to generate the latent state estimates and covariances using multiple dynamical models, which can be learned using backpropagation through time. The state estimates of the dynamical system and the corresponding covariance matrix are generated from the latent state estimates and covariance using a deep decoder neural network. The whole network is trained in an end-to-end manner using a loss function which minimizes the negative log-likelihood of the neural network parameters. Simulation results are presented using a 2D bouncing ball example and estimation error statistics are computed which demonstrates the accuracy and consistency of the estimation.

Ghananeel Rotithor↗

A Simulation Architecture for Air Traffic Over Urban Environments Supporting Autonomy Research in Advanced Air Mobility

NASA is conducting investigations into Advanced Air Mobility (AAM) concepts, aircraft, and operations. One of the most challenging scenarios for AAM will be enabling safe routine access into densely populated urban centers. To address challenges in the urban environment, a moderately high-fidelity simulation capability is needed to investigate AAM flight operations over a regional area for the development and evaluation of autonomy technologies. This paper describes a system to simulate flight operations around regions such as the San Francisco-Oakland Bay area at a moderately-high scale (10's-100's of flights) that incorporates detailed vehicle models and control necessary to support research in airborne autonomy. The flight vehicle utilizes NASA AAM concept vehicle dynamics integrated with a custom flight management system and flight control system to accurately simulate all phases of flight. Glass cockpit displays have been developed for monitoring aircraft operation over a detailed simulated urban environment. Simulation models have been integrated to simulate air and ground-based sensors, such as radar and LIDAR. The commercial X-Plane software package is used as a rendering engine to mimic vision-based sensors (such as onboard and ground-based cameras) at various times of day and in various weather conditions over a relatively detailed graphical model of the city. The paper presents a detailed illustration of the simulation and software architecture used for traffic over this urban region. This system is enabling the evaluation of NASA research concepts in autonomy for urban AAM operations on the path toward aircraft flight test evaluation.

Keerthana Kannan↗

IRIS: High-fidelity Perception Sensor Modeling for Closed-Loop Planetary Simulations

Perception plays a key role in autonomous and semi-autonomous planetary exploration vehicles. For instance, landers can use computer vision techniques for identifying safe landing locations, aerial vehicles use cameras as navigation sensors, and planetary rovers use them for localization and hazard detection. Engineering simulations of such systems requires the accurate modeling of perception and vision sensors for simulating autonomy scenarios. In addition, the modeling of sensors for landers, aerial and ground vehicles requires the ability to handle large and high-resolution terrains, the accurate modeling of illumination, hi-fidelity rendering via ray/path tracing and the inclusion of sensor characteristics. Vision sensor models strive to simulate sensor reality by using physics principles to model the interaction of light and objects. Furthermore, high frame rate performance is highly desirable for in-the-loop simulations involving vehicle dynamics and control software. In this paper we describe a new sensor modeling capability called Inter-planetary Rendering for Imaging and Sensors (IRIS) that meets these requirements for the real-time and high-fidelity simulation of vision sensors for planetary aerospace and robotics applications.

Elmquist, Asher↗

Digital cartography of Io

A high resolution controlled mosaic of the hemisphere of Io centered on longitude 310 degrees is produced. Digital cartographic techniques were employed. Approximately 80 Voyager 1 clear and blue filter frames were utilized. This mosaic was merged with low-resolution color images. This dataset is compared to the geologic map of this region. Passage of the Voyager spacecraft through the Io plasma torus during acquisition of the highest resolution images exposed the vidicon detectors to ionized radiation, resulting in dark-current buildup on the vidicon. Because the vidicon is scanned from top to bottom, more charge accumulated toward the bottom of the frames, and the additive error increases from top to bottom as a ramp function. This ramp function was removed by using a model. Photometric normalizations were applied using the Minnaert function. An attempt to use Hapke's photometric function revealed that this function does not adequately describe Io's limb darkening at emission angles greater than 80 degrees. In contrast, the Minnaert function accurately describes the limb darkening up to emission angles of about 89 degrees. The improved set of discrete camera angles derived from this effort will be used in conjunction with the space telemetry pointing history file (the IPPS file), corrected on 4 or 12 second intervals to derive a revised time history for the pointing of the Infrared Interferometric Spectrometer (IRIS). For IRIS observations acquired between camera shutterings, the IPPS file can be corrected by linear interpolation, provided that the spacecraft motions were continuous. Image areas corresponding to the fields of view of IRIS spectra acquired between camera shutterings will be extracted from the mosaic to place the IRIS observations and hotspot models into geologic context.

Mcewen, Alfred S.↗

Wide angle pinhole camera

Hemispherical refracting element gives pinhole camera 180 degree field-of-view without compromising its simplicity and depth-of-field. Refracting element, located just behind pinhole, bends light coming in from sides so that it falls within image area of film. In contrast to earlier pinhole cameras that used water or other transparent fluids to widen field, this model is not subject to leakage and is easily loaded and unloaded with film. Moreover, by selecting glass with different indices of refraction, field at film plane can be widened or reduced.

Franke, J. M.↗

High resolution remote sensing missions of a tethered satellite

The application of the Tethered Satellite (TS) as an operational remote sensing platform is studied. It represents a new platform capable of covering the altitudes between airplanes and free flying satellites, offering an adequate lifetime, high geometric and radiometric resolution and improved cartographic accuracy. Two operational remote sensing missions are proposed: one using two linear array systems for along track stereoscopic observation and one using a synthetic aperture radar combined with an interferometric technique. These missions are able to improve significantly the accuracy of future real time cartographic systems from space, also allowing, in the case of active microwave systems, the Earth's observation both in adverse weather and at any time, day or night. Furthermore, a simulation program is described in which, in order to examine carefully the potentiality of the TS as a new remote sensing platform, the orbital and attitude dynamics description of the TSS is integrated with the sensor viewing geometry, the Earth's ellipsoid, the atmospheric effects, the Sun illumination and the digital elevation model. A preliminary experiment has been proposed which consist of a metric camera to be deployed downwards during the second Shuttle demonstration flight.

Vetrella, S.↗

Reexamination of evidence for a radiatively decaying neutrino

Large-aperture low-dispersion exposures obtained with the IUE short-wavelength camera have been reanalyzed to examine the possibility of using nonstandard electroweak models to explain the steplike signal of 5-sigma significance in the cosmic background claimed by Auriemma et al. (1985). The present results show that no evidence yet exists for the postulated cosmic UV radiation from neutrino decay. Error bars of the order of 20,000 photons/sq cm per s per A per sr are found for the brightnesses of Auriemma et al., and it is suggested that their steps may be due to fixed pattern noise in the detector rather than to a cosmic signal.

Murthy, J.↗

Laser Measurement Of Convective-Heat-Transfer Coefficient

Coefficient of convective transfer of heat at spot on surface of wind-tunnel model computed from measurements acquired by developmental laser-induced-heat-flux technique. Enables non-intrusive measurements of convective-heat-transfer coefficients at many points across surfaces of models in complicated, three-dimensional, high-speed flows. Measurement spot scanned across surface of model. Apparatus includes argon-ion laser, attenuator/beam splitter electronic shutter infrared camera, and subsystem.

Porro, A. Robert↗

Test and Analysis of Sub-Components of Aluminum-Lithium Alloy Cylinders

Integrally machined blade-stiffened panels subjected to an axial compressive load were tested and analyzed to observe the buckling, crippling, and postcrippling response of the panels. The panels were fabricated from aluminum-lithium alloys 2195 and 2050, and both alloys have reduced material properties in the short transverse material direction. The tests were designed to capture a failure mode characterized by the stiffener separating from the panel in the postbuckling range. This failure mode is attributed to the reduced properties in the short transverse direction. Full-field measurements of displacements and strains using three-dimensional digital image correlation systems and local measurements using strain gages were used to capture the deformation of the panel leading up to the failure of the panel for specimens fabricated from 2195. High-speed cameras were used to capture the initiation of the failure. Finite element models were developed using an isotropic strain-hardening material model. Good agreement was observed between the measured and predicted responses for both alloys.

Haynie, Waddy T.↗