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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 433 records · Page 24
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

A gravity field comparison and analysis to support Magellan navigation

The orbit characteristics of Magellan are such that the spacecraft is extremely sensitive to gravity perturbations; therefore, the precision orbit determination required to construct the radar images is very dependent on accurate gravitational field modeling. As such, a comparison and analysis is presented of four global harmonic Venusian gravity fields generated by two-way S-band Doppler tracking data from the Pioneer Venus Orbiter in order to support the precise navigational requirements of the Magellan spacecraft. The four fields are: (1) one of degree and order 10 (a 10 x 10) from Mottinger et al. (1985), (2) an 18 x 18 from Bills et al. (1987), (3) a 21 x 21 from McNamee et al. (1990), and (4) a 36 x 36 from Smith et al. (1991). Least-square fits are done with each gravity field on 36 8-rev Magellan X-band data arcs, spaced at 10-deg longitude intervals, completely encircling Venus. Trajectory differences are also performed for two distinct cases, one where the gravity field modeling coincides, and the other where the gravity fields are very different. Although all of the above fields are found to model Venus gravity fairly well, the results show that there is still much room for improvement in Venus gravity modeling.

Kronschnabl, G. R.↗
NASA NTRS2003

"Virtual Cockpit Window" for a Windowless Aerospacecraft

A software system processes navigational and sensory information in real time to generate a three-dimensional-appearing image of the external environment for viewing by crewmembers of a windowless aerospacecraft. The design of the particular aerospacecraft (the X-38) is such that the addition of a real transparent cockpit window to the airframe would have resulted in unacceptably large increases in weight and cost. When exerting manual control, an aircrew needs to see terrain, obstructions, and other features around the aircraft in order to land safely. The X-38 is capable of automated landing, but even when this capability is utilized, the crew still needs to view the external environment: From the very beginning of the United States space program, crews have expressed profound dislike for windowless vehicles. The wellbeing of an aircrew is considerably promoted by a three-dimensional view of terrain and obstructions. The present software system was developed to satisfy the need for such a view. In conjunction with a computer and display equipment that weigh less than would a real transparent window, this software system thus provides a virtual cockpit window. The key problem in the development of this software system was to create a realistic three-dimensional perspective view that is updated in real time. The problem was solved by building upon a pre-existing commercial program LandForm C3 that combines the speed of flight-simulator software with the power of geographic-information-system software to generate real-time, three-dimensional-appearing displays of terrain and other features of flight environments. In the development of the present software, the pre-existing program was modified to enable it to utilize real-time information on the position and attitude of the aerospacecraft to generate a view of the external world as it would appear to a person looking out through a window in the aerospacecraft. The development included innovations in realistic horizon-limit modeling, three-dimensional stereographic display, and interfaces for utilization of data from inertial-navigation devices, Global Positioning System receivers, and laser rangefinders.

Abernathy, Michael F.↗
NASA NTRS1979

SAR - An instrument for planetary geodesy and navigation

Analysis to define an optimal data plan and to define achievable accuracy levels in determination of the physical parameters, global topography of the planet, and refined orbital element estimates of a spacecraft borne synthetic aperture radar (SAR) placed in a near polar circular orbit of 300 km altitude around the planet Venus is presented. It is shown that radar surface images can be used to improve knowledge of physical parameters of Venus, and the improvement in orbit accuracy can reduce navigational uncertainties derivable from conventional Doppler ratio tracking data, yielding a more precise history of the orbits for sensing the low order gravity field of the planet. Data plan strategies in terms of selection of ground points and their spatial distribution are related to achievable accuracy of the solution parameters, and the influence of spacecraft orbit errors on the solution accuracy was discussed.

Mohan, S. N.↗
NASA NTRS1980

State estimation and absolute image registration for geosynchronous satellites

Spacecraft state estimation and the absolute registration of Earth images acquired by cameras onboard geosynchronous satellites are described. The basic data type of the procedure consists of line and element numbers of image points called landmarks whose geodetic coordinates, relative to United States Geodetic Survey topographic maps, are known. A conventional least squares process is used to estimate navigational parameters and camera pointing biases from observed minus computed landmark line and element numbers. These estimated parameters along with orbit and attitude dynamic models are used to register images, using an automated grey level correlation technique, inside the span represented by the landmark data. In addition, the dynamic models can be employed to register images outside of the data span in a near real time mode. An important application of this mode is in support of meteorological studies where rapid data reduction is required for the rapid tracking and predicting of dynamic phenomena.

Nankervis, R.↗
NASA NTRS1994

A reactive system for open terrain navigation: Performance and limitations

We describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the vehicle, and a planning module which issues commands to the vehicle controller. Our approach is to use the concept of 'early traversability evaluation', and on the use of reactive planning for generating commands to drive the vehicle. We argue that our approach leads to a robust and efficient navigation system. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain.

Langer, D.↗
DOE OSTI2025

Radiation Imaging with Event Camera

Neuromorphic or event-based imaging is a new, commercially available sensor technology inspired by how the human eye works. Instead of measuring frames at a fixed rate, the camera measures changes in pixel intensity asynchronously. This difference in readout architecture results in a high dynamic range and low latency. Event-based cameras have been used in a variety of applications, including object tracking, navigation, and lidar technologies. However, event-based cameras have not been adequately researched for their ability to image high-energy particles. This report explores the use of an event camera for imaging alpha, beta, and X-rays particles, when coupled with scintillator screens to convert high-energy particles into visible light. Methods to process event data were developed and are presented here, along with the results. The event camera can measure alpha and beta particles with comparable performance to that of a conventional camera. Event cameras can also image higher-activity sources and offer the possibility of discriminating particle interaction types on the basis of timing differences, which typical cameras cannot do. Additionally, event cameras can image objects with an X-ray source when the source strength dynamically changes but does not create a high-contrast image during static X-ray measurement.

47 OTHER INSTRUMENTATION↗
NASA NTRS2013

4DoF Drift Free Navigation Using Inertial Cues and Optical Flow

In this paper, we describe a novel approach in fusing optical flow with inertial cues (3D acceleration and 3D angular velocities) in order to navigate a Micro Aerial Vehicle (MAV) drift free in 4DoF and metric velocity. Our approach only requires two consecutive images with a minimum of three feature matches. It does not require any (point) map nor any type of feature history. Thus it is an inherently failsafe approach that is immune to map and feature-track failures. With these minimal requirements we show in real experiments that the system is able to navigate drift free in all angles including yaw, in one metric position axis, and in 3D metric velocity. Furthermore, it is a power-on-and-go system able to online self-calibrate the inertial biases, the visual scale and the full 6DoF extrinsic transformation parameters between camera and IMU.

reconnissance↗
NASA NTRS1984

Spatial information technologies for remote sensing today and tomorrow; Proceedings of the Ninth Pecora Symposium, Sioux Falls, SD, October 2-4, 1984

Topics discussed at the symposium include hardware, geographic information system (GIS) implementation, processing remotely sensed data, spatial data structures, and NASA programs in remote sensing information systems. Attention is also given GIS applications, advanced techniques, artificial intelligence, graphics, spatial navigation, and classification. Papers are included on the design of computer software for geographic image processing, concepts for a global resource information system, algorithm development for spatial operators, and an application of expert systems technology to remotely sensed image analysis.

Source record↗
NASA NTRS1986

Engineering Voyager 2's encounter with Uranus

Changes made by radio control from the ground in the Voyager 2 spacecraft as it approached Uranus are described. Reduced power required that subsystems and heaters had to be switched on and off in carefully synchronized fashion. Low light levels required increased exposure times, so the jiggling of the spacecraft had to be minimized. Coding changes were made and image data were compressed to cope with the reduced bit rate at larger distances. Successful efforts to cope with failures in the primary radio receiver and in the computer instructions for image compression are described, as are changes made on the ground in the spacecraft navigation.

Laeser, Richard P.↗
NASA NTRS1993

Application of aircraft navigation sensors to enhanced vision systems

In this presentation, the applicability of various aircraft navigation sensors to enhanced vision system design is discussed. First, the accuracy requirements of the FAA for precision landing systems are presented, followed by the current navigation systems and their characteristics. These systems include Instrument Landing System (ILS), Microwave Landing System (MLS), Inertial Navigation, Altimetry, and Global Positioning System (GPS). Finally, the use of navigation system data to improve enhanced vision systems is discussed. These applications include radar image rectification, motion compensation, and image registration.

Sweet, Barbara T.↗
NASA NTRS1994

The virtual library: Coming of age

With the high speed networking capabilities, multiple media options, and massive amounts of information that exist in electronic format today, the concept of a 'virtual' library or 'library without walls' is becoming viable. In virtual library environment, the information processed goes beyond the traditional definition of documents to include the results of scientific and technical research and development (reports, software, data) recorded in any format or media: electronic, audio, video, or scanned images. Network access to information must include tools to help locate information sources and navigate the networks to connect to the sources, as well as methods to extract the relevant information. Graphical User Interfaces (GUI's) that are intuitive and navigational tools such as Intelligent Gateway Processors (IGP) will provide users with seamless and transparent use of high speed networks to access, organize, and manage information. Traditional libraries will become points of electronic access to information on multiple medias. The emphasis will be towards unique collections of information at each library rather than entire collections at every library. It is no longer a question of whether there is enough information available; it is more a question of how to manage the vast volumes of information. The future equation will involve being able to organize knowledge, manage information, and provide access at the point of origin.

Hunter, Judy F.↗
NASA NTRS2010

Flight Results from the HST SM4 Relative Navigation Sensor System

On May 11, 2009, Space Shuttle Atlantis roared off of Launch Pad 39A enroute to the Hubble Space Telescope (HST) to undertake its final servicing of HST, Servicing Mission 4. Onboard Atlantis was a small payload called the Relative Navigation Sensor experiment, which included three cameras of varying focal ranges, avionics to record images and estimate, in real time, the relative position and attitude (aka "pose") of the telescope during rendezvous and deploy. The avionics package, known as SpaceCube and developed at the Goddard Space Flight Center, performed image processing using field programmable gate arrays to accelerate this process, and in addition executed two different pose algorithms in parallel, the Goddard Natural Feature Image Recognition and the ULTOR Passive Pose and Position Engine (P3E) algorithms

Naasz, Bo↗
NASA NTRS2011

Machine Vision for Relative Spacecraft Navigation During Approach to Docking

This paper describes a machine vision system for relative spacecraft navigation during the terminal phase of approach to docking that: 1) matches high contrast image features of the target vehicle, as seen by a camera that is bore-sighted to the docking adapter on the chase vehicle, to the corresponding features in a 3d model of the docking adapter on the target vehicle and 2) is robust to on-orbit lighting. An implementation is provided for the case of the Space Shuttle Orbiter docking to the International Space Station (ISS) with quantitative test results using a full scale, medium fidelity mock-up of the ISS docking adapter mounted on a 6-DOF motion platform at the NASA Marshall Spaceflight Center Flight Robotics Laboratory and qualitative test results using recorded video from the Orbiter Docking System Camera (ODSC) during multiple orbiter to ISS docking missions. The Natural Feature Image Registration (NFIR) system consists of two modules: 1) Tracking which tracks the target object from image to image and estimates the position and orientation (pose) of the docking camera relative to the target object and 2) Acquisition which recognizes the target object if it is in the docking camera Field-of-View and provides an approximate pose that is used to initialize tracking. Detected image edges are matched to the 3d model edges whose predicted location, based on the pose estimate and its first time derivative from the previous frame, is closest to the detected edge1 . Mismatches are eliminated using a rigid motion constraint. The remaining 2d image to 3d model matches are used to make a least squares estimate of the change in relative pose from the previous image to the current image. The changes in position and in attitude are used as data for two Kalman filters whose outputs are smoothed estimate of position and velocity plus attitude and attitude rate that are then used to predict the location of the 3d model features in the next image.

Chien, Chiun-Hong↗
NASA NTRS2006

Use of Very Long Baseline Array Interferometric Data for Spacecraft Navigation

The main VLBI technique that is used at JPL is known as the Delta Differential One-way Ranging ((Delta)DOR). Two DSN antennas simultaneously track a source, and alternate between sources. The signals recorded at the antennas from each source are correlated to obtain the delay in arrival to the two antennas, and the delays are differenced to remove common-source errors. An alternative technique is to use carrier phase differences between antennas. This is routinely done by the Very Large Baseline Array (VLBA) as part of source imaging. The VLBA capabilities are used for scientific research, but also have the potential to be used for navigation. Two main experiments were performed with the VLBA and JPL spacecraft. This paper describes and analyzes these experiments and discusses the possible uses of VLBA tracking for spacecraft navigation.

Very Large Baseline Array (VLBA)↗
DOE OSTI2023

Bridging Time-series Image Phenotyping and Functional–Structural Plant Modeling to Predict Adventitious Root System Architecture

Root system architecture (RSA) is an important measure of how plants navigate and interact with the soil environment. However, current methods in studying RSA must make tradeoffs between precision of data and proximity to natural conditions, with root growth in germination papers providing accessibility and high data resolution. Functional–structural plant models (FSPMs) can overcome this tradeoff, though parameterization and evaluation of FSPMs are traditionally based in manual measurements and visual comparison. Here, we applied a germination paper system to study the adventitious RSA and root phenology of Populus trichocarpa stem cuttings using time-series image-based phenotyping augmented by FSPM. We found a significant correlation between timing of root initiation and thermal time at cutting collection (P value = 0.0061, R 2 = 0.875), but little correlation with RSA. We also present a use of RhizoVision [1] for automatically extracting FSPM parameters from time series images and evaluating FSPM simulations. A high accuracy of the parameterization was achieved in predicting 2D growth with a sensitivity rate of 83.5%. This accuracy was lost when predicting 3D growth with sensitivity rates of 38.5% to 48.7%, while overall accuracy varied with phenotyping methods. Despite this loss in accuracy, the new method is amenable to high throughput FSPM parameterization and bridges the gap between advances in time-series phenotyping and FSPMs.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1995

Algorithms for detection of objects in image sequences captured from an airborne imaging system

This research was initiated as a part of the effort at the NASA Ames Research Center to design a computer vision based system that can enhance the safety of navigation by aiding the pilots in detecting various obstacles on the runway during critical section of the flight such as a landing maneuver. The primary goal is the development of algorithms for detection of moving objects from a sequence of images obtained from an on-board video camera. Image regions corresponding to the independently moving objects are segmented from the background by applying constraint filtering on the optical flow computed from the initial few frames of the sequence. These detected regions are tracked over subsequent frames using a model based tracking algorithm. Position and velocity of the moving objects in the world coordinate is estimated using an extended Kalman filter. The algorithms are tested using the NASA line image sequence with six static trucks and a simulated moving truck and experimental results are described. Various limitations of the currently implemented version of the above algorithm are identified and possible solutions to build a practical working system are investigated.

Kasturi, Rangachar↗
NASA NTRS2009

Wrap-Around Out-the-Window Sensor Fusion System

The Advanced Cockpit Evaluation System (ACES) includes communication, computing, and display subsystems, mounted in a van, that synthesize out-the-window views to approximate the views of the outside world as it would be seen from the cockpit of a crewed spacecraft, aircraft, or remote control of a ground vehicle or UAV (unmanned aerial vehicle). The system includes five flat-panel display units arranged approximately in a semicircle around an operator, like cockpit windows. The scene displayed on each panel represents the view through the corresponding cockpit window. Each display unit is driven by a personal computer equipped with a video-capture card that accepts live input from any of a variety of sensors (typically, visible and/or infrared video cameras). Software running in the computers blends the live video images with synthetic images that could be generated, for example, from heads-up-display outputs, waypoints, corridors, or from satellite photographs of the same geographic region. Data from a Global Positioning System receiver and an inertial navigation system aboard the remote vehicle are used by the ACES software to keep the synthetic and live views in registration. If the live image were to fail, the synthetic scenes could still be displayed to maintain situational awareness.

Fox, Jeffrey↗
NASA NTRS2003

Design, Development and Testing of the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) Guidance, Navigation and Control System

Engineers at NASA Johnson Space Center have designed, developed, and tested a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spaceflight activities. The technology demonstration system, known as the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam), has been integrated into the approximate form and function of a flight system. The primary focus has been to develop a system capable of providing external views of the International Space Station. The Mini AERCam system is spherical-shaped and less than eight inches in diameter. It has a full suite of guidance, navigation, and control hardware and software, and is equipped with two digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations. Tests have been performed in both a six degree-of-freedom closed-loop orbital simulation and on an air-bearing table. The Mini AERCam system can also be used as a test platform for evaluating algorithms and relative navigation for autonomous proximity operations and docking around the Space Shuttle Orbiter or the ISS.

Wagenknecht, J.↗