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NASA NTRS1992

Precise determination of earth's center of mass using measurements from the Global Positioning System

Global Positioning System (GPS) data from a worldwide geodetic experiment were collected during a 3-week period early in 1991. Geocentric station coordinates were estimated using the GPS data, thus defining a dynamically determined reference frame origin which should coincide with the earth center of mass, or geocenter. The 3-week GPS average geocenter estimates agree to 7-13 cm with geocenter estimates determined from satellite laser ranging, a well-established technique. The RMS of daily GPS geocenter estimates were 4 cm for x and y, and 30 cm for z.

Vigue, Yvonne↗

NASA NTRS2000

BOREAS RSS-3 Imagery and Snapshots from a Helicopter-Mounted Video Camera

The BOREAS RSS-3 team collected helicopter-based video coverage of forested sites acquired during BOREAS as well as single-frame "snapshots" processed to still images. Helicopter data used in this analysis were collected during all three 1994 IFCs (24-May to 16-Jun, 19-Jul to 10-Aug, and 30-Aug to 19-Sep), at numerous tower and auxiliary sites in both the NSA and the SSA. The VHS-camera observations correspond to other coincident helicopter measurements. The field of view of the camera is unknown. The video tapes are in both VHS and Beta format. The still images are stored in JPEG format.

Walthall, Charles L.↗

NASA NTRS2010

Stereoscopic Machine-Vision System Using Projected Circles

A machine-vision system capable of detecting obstacles large enough to damage or trap a robotic vehicle is undergoing development. The system includes (1) a pattern generator that projects concentric circles of laser light forward onto the terrain, (2) a stereoscopic pair of cameras that are aimed forward to acquire images of the circles, (3) a frame grabber and digitizer for acquiring image data from the cameras, and (4) a single-board computer that processes the data. The system is being developed as a prototype of machine- vision systems to enable robotic vehicles ( rovers ) on remote planets to avoid craters, large rocks, and other terrain features that could capture or damage the vehicles. Potential terrestrial applications of systems like this one could include terrain mapping, collision avoidance, navigation of robotic vehicles, mining, and robotic rescue. This system is based partly on the same principles as those of a prior stereoscopic machine-vision system in which the cameras acquire images of a single stripe of laser light that is swept forward across the terrain. However, this system is designed to afford improvements over some of the undesirable features of the prior system, including the need for a pan-and-tilt mechanism to aim the laser to generate the swept stripe, ambiguities in interpretation of the single-stripe image, the time needed to sweep the stripe across the terrain and process the data from many images acquired during that time, and difficulty of calibration because of the narrowness of the stripe. In this system, the pattern generator does not contain any moving parts and need not be mounted on a pan-and-tilt mechanism: the pattern of concentric circles is projected steadily in the forward direction. The system calibrates itself by use of data acquired during projection of the concentric-circle pattern onto a known target representing flat ground. The calibration- target image data are stored in the computer memory for use as a template in processing terrain images. During operation on terrain, the images acquired by the left and right cameras are analyzed. The analysis includes (1) computation of the horizontal and vertical dimensions and the aspect ratios of rectangles that bound the circle images and (2) comparison of these aspect ratios with those of the template. Coordinates of distortions of the circles are used to identify and locate objects. If the analysis leads to identification of an object of significant size, then stereoscopicvision algorithms are used to estimate the distance to the object. The time taken in performing this analysis on a single pair of images acquired by the left and right cameras in this system is a fraction of the time taken in processing the many pairs of images acquired in a sweep of the laser stripe across the field of view in the prior system. The results of the analysis include data on sizes and shapes of, and distances and directions to, objects. Coordinates of objects are updated as the vehicle moves so that intelligent decisions regarding speed and direction can be made. The results of the analysis are utilized in a computational decision-making process that generates obstacle-avoidance data and feeds those data to the control system of the robotic vehicle.

Mackey, Jeffrey R.↗

NASA NTRS2006

Range-Measuring Video Sensors

Optoelectronic sensors of a proposed type would perform the functions of both electronic cameras and triangulation- type laser range finders. That is to say, these sensors would both (1) generate ordinary video or snapshot digital images and (2) measure the distances to selected spots in the images. These sensors would be well suited to use on robots that are required to measure distances to targets in their work spaces. In addition, these sensors could be used for all the purposes for which electronic cameras have been used heretofore. The simplest sensor of this type, illustrated schematically in the upper part of the figure, would include a laser, an electronic camera (either video or snapshot), a frame-grabber/image-capturing circuit, an image-data-storage memory circuit, and an image-data processor. There would be no moving parts. The laser would be positioned at a lateral distance d to one side of the camera and would be aimed parallel to the optical axis of the camera. When the range of a target in the field of view of the camera was required, the laser would be turned on and an image of the target would be stored and preprocessed to locate the angle (a) between the optical axis and the line of sight to the centroid of the laser spot.

Howard, Richard T.↗

NASA NTRS2012

Dig Hazard Assessment Using a Stereo Pair of Cameras

This software evaluates the terrain within reach of a lander s robotic arm for dig hazards using a stereo pair of cameras that are part of the lander s sensor system. A relative level of risk is calculated for a set of dig sectors. There are two versions of this software; one is designed to run onboard a lander as part of the flight software, and the other runs on a PC under Linux as a ground tool that produces the same results generated on the lander, given stereo images acquired by the lander and downlinked to Earth. Onboard dig hazard assessment is accomplished by executing a workspace panorama command sequence. This sequence acquires a set of stereo pairs of images of the terrain the arm can reach, generates a set of candidate dig sectors, and assesses the dig hazard of each candidate dig sector. The 3D perimeter points of candidate dig sectors are generated using configurable parameters. A 3D reconstruction of the terrain in front of the lander is generated using a set of stereo images acquired from the mast cameras. The 3D reconstruction is used to evaluate the dig goodness of each candidate dig sector based on a set of eight metrics. The eight metrics are: 1. The maximum change in elevation in each sector, 2. The elevation standard deviation in each sector, 3. The forward tilt of each sector with respect to the payload frame, 4. The side tilt of each sector with respect to the payload frame, 5. The maximum size of missing data regions in each sector, 6. The percentage of a sector that has missing data, 7. The roughness of each sector, and 8. Monochrome intensity standard deviation of each sector. Each of the eight metrics forms a goodness image layer where the goodness value of each sector ranges from 0 to 1. Goodness values of 0 and 1 correspond to high and low risk, respectively. For each dig sector, the eight goodness values are merged by selecting the lowest one. Including the merged goodness image layer, there are nine goodness image layers for each stereo pair of mast images.

Rankin, Arturo L.↗

NASA NTRS2013

The NuSTAR Extragalactic Survey: A First Sensitive Look at the High-Energy Cosmic X-Ray Background Population

We report on the first 10 identifications of sources serendipitously detected by the Nuclear Spectroscopic Telescope Array (NuSTAR) to provide the first sensitive census of the cosmic X-ray background source population at approximately greater than 10 keV. We find that these NuSTAR-detected sources are approximately 100 times fainter than those previously detected at approximately greater than 10 keV and have a broad range in redshift and luminosity (z = 0.020-2.923 and L(sub 10-40 keV) approximately equals 4 × 10(exp 41) - 5 × 10(exp 45) erg per second; the median redshift and luminosity are z approximately equal to 0.7 and L(sub 10-40 keV) approximately equal to 3 × 10(exp 44) erg per second, respectively. We characterize these sources on the basis of broad-band approximately equal to 0.5 - 32 keV spectroscopy, optical spectroscopy, and broad-band ultraviolet-to-mid-infrared spectral energy distribution analyses. We find that the dominant source population is quasars with L(sub 10-40 keV) greater than 10(exp 44) erg per second, of which approximately 50% are obscured with N(sub H) approximately greater than 10(exp 22) per square centimeters. However, none of the 10 NuSTAR sources are Compton thick (N(sub H) approximately greater than 10(exp 24) per square centimeters) and we place a 90% confidence upper limit on the fraction of Compton-thick quasars (L(sub 10-40 keV) greater than 10(exp 44) erg per second) selected at approximately greater than 10 keV of approximately less than 33% over the redshift range z = 0.5 - 1.1. We jointly fitted the rest-frame approximately equal to 10-40 keV data for all of the non-beamed sources with L(sub 10-40 keV) greater than 10(exp 43) erg per second to constrain the average strength of reflection; we find R less than 1.4 for gamma = 1.8, broadly consistent with that found for local active galactic nuclei (AGNs) observed at approximately greater than 10 keV. We also constrain the host-galaxy masses and find a median stellar mass of approximately 10(exp 11) solar mass, a factor approximately 5 times higher than the median stellar mass of nearby high-energy selected AGNs, which may be at least partially driven by the order of magnitude higher X-ray luminosities of the NuSTAR sources. Within the low source-statistic limitations of our study, our results suggest that the overall properties of the NuSTAR sources are broadly similar to those of nearby high-energy selected AGNs but scaled up in luminosity and mass.

Spectroscopic↗

NASA NTRS2022

On the Stellar Populations of Galaxies at z=9–11:The Growth of Metals and Stellar Mass at Early Times

We present a detailed stellar population analysis of 11 bright (H < 26.6) galaxies at z=9−11 (three spectroscopically confirmed) to constrain the chemical enrichment and growth of stellar mass of early galaxies. We use the flexible Bayesian spectral energy distribution (SED) fitting code Prospector with a range of star-formation histories (SFHs), a flexible dust attenuation law and a self-consistent modeling of emission lines. This approach allows us to assess how different priors affect our results, and how well we can break degeneracies between dust attenuation, stellar ages, metallicity and emission lines using data which probe only the rest-frame ultraviolet to optical wavelengths. We measure a median observed ultraviolet spectral slope β= −1.87+0.35−0.43 for relatively massive star-forming galaxies (9 10

Sandro Tacchella↗

NASA NTRS1998

Sarnoff JND Vision Model for Flat-Panel Design

This document describes adaptation of the basic Sarnoff JND Vision Model created in response to the NASA/ARPA need for a general-purpose model to predict the perceived image quality attained by flat-panel displays. The JND model predicts the perceptual ratings that humans will assign to a degraded color-image sequence relative to its nondegraded counterpart. Substantial flexibility is incorporated into this version of the model so it may be used to model displays at the sub-pixel and sub-frame level. To model a display (e.g., an LCD), the input-image data can be sampled at many times the pixel resolution and at many times the digital frame rate. The first stage of the model downsamples each sequence in time and in space to physiologically reasonable rates, but with minimum interpolative artifacts and aliasing. Luma and chroma parts of the model generate (through multi-resolution pyramid representation) a map of differences-between test and reference called the JND map, from which a summary rating predictor is derived. The latest model extensions have done well in calibration against psychophysical data and against image-rating data given a CRT-based front-end. THe software was delivered to NASA Ames and is being integrated with LCD display models at that facility,

Brill, Michael H.↗

NASA NTRS1999

An Acoustic Charge Transport Imager for High Definition Television

This project, over its term, included funding to a variety of companies and organizations. In addition to Georgia Tech these included Florida Atlantic University with Dr. William E. Glenn as the P.I., Kodak with Mr. Mike Richardson as the P.I. and M.I.T./Polaroid with Dr. Richard Solomon as the P.I. The focus of the work conducted by these organizations was the development of camera hardware for High Definition Television (HDTV). The focus of the research at Georgia Tech was the development of new semiconductor technology to achieve a next generation solid state imager chip that would operate at a high frame rate (I 70 frames per second), operate at low light levels (via the use of avalanche photodiodes as the detector element) and contain 2 million pixels. The actual cost required to create this new semiconductor technology was probably at least 5 or 6 times the investment made under this program and hence we fell short of achieving this rather grand goal. We did, however, produce a number of spin-off technologies as a result of our efforts. These include, among others, improved avalanche photodiode structures, significant advancement of the state of understanding of ZnO/GaAs structures and significant contributions to the analysis of general GaAs semiconductor devices and the design of Surface Acoustic Wave resonator filters for wireless communication. More of these will be described in the report. The work conducted at the partner sites resulted in the development of 4 prototype HDTV cameras. The HDTV camera developed by Kodak uses the Kodak KAI-2091M high- definition monochrome image sensor. This progressively-scanned charge-coupled device (CCD) can operate at video frame rates and has 9 gm square pixels. The photosensitive area has a 16:9 aspect ratio and is consistent with the "Common Image Format" (CIF). It features an active image area of 1928 horizontal by 1084 vertical pixels and has a 55% fill factor. The camera is designed to operate in continuous mode with an output data rate of 5MHz, which gives a maximum frame rate of 4 frames per second. The MIT/Polaroid group developed two cameras under this program. The cameras have effectively four times the current video spatial resolution and at 60 frames per second are double the normal video frame rate.

Hunt, William D.↗

NASA NTRSDate not supplied

Recent Progress in the International Laser Ranging Service (ILRS)

The International Laser Ranging Service (ILRS) provides Satellite Laser Ranging (SLR) and Lunar Laser Ranging (LLR) observations and data products with a focus on Earth and Lunar science and engineering applications. The basic observables are the precise two-way time-of-flight of ultra-short laser pulses from ground stations to retroreflector arrays on satellites and the Moon and the one-way time-of-flight measurements to space-borne receivers (transponders). SLR is one of the four space geodetic techniques (along with VLBI, GNSS, and DORIS). The International Terrestrial Reference Frame (ITRF) development, maintained by IERS, is based on these geodetic observations. Fundamental data products include accurate satellite ephemerides, Earth orientation parameters, three dimensional coordinates and velocities of the ILRS tracking stations, time-varying geocenter coordinates, static and time-varying coefficients of the Earth’s gravity field, fundamental physical constants, lunar ephemerides and librations, and lunar orientation parameters. The ILRS continues to expand spatial and temporal coverage of SLR observations. New stations with new technologies are being deployed; existing stations are being upgraded. Some of these stations are multi-technique Core Sites. New satellites are expanding applications and strengthening the ILRS contribution to the reference frame. New analysis, modeling, and data processing techniques are improving data products. New campaigns are expanding our applications into relativity and the study of non-gravitational forces. New activities are underway on Lunar Laser Ranging, Time Transfer, and Space Debris Tracking, helping to expand laser ranging applications. This talk will give an update on the current ILRS activities and their impact on ILRS data products.

Report on the ILRS activities↗

NASA NTRS2012

Improved DORIS Reference Frame Solution from NASA GSFC

At GSFC, since 2008, we have been routinely processing data to DORIS and SLR satellites from 1993. A SINEX time series, based on processing of DORIS data from 1993 to 2008 (designated wd10) was included in the IDS combination for ITRF2008 (Le Bail et al., 2010; Valette et al., 2010). We have updated this series with the addition of new satellites Cryosat2 and Jason-2, and the new series (designated wd12) is routinely submitted to the IDS combination center for inclusion in the DORIS operational combination. In preparation for an eventual reprocessing of all the DORIS data for eventual inclusion in a new ITRF we are now updating our processing standards. As a first step, we update to the ITRF2008 reference frame as expressed through DPOD2008. In addition, we apply the GMF and GPT models for the troposphere, and we update the modeling for the change in pitch of SPOT-5 solar arrays after January 2008. Finally, we consider updated standards for static and time-variable gravity modeling. With this base series, we compute cumulative solution, expressed in ITRF2008, and examine the week-by-week station solution parameters, in particular scale, WRMS and Helmert transformation parameters. Finally we consider a joint solution with SLR, where the DORIS system is tied to SLR in two ways, first through the orbit computations using satellites tracked by both SLR and DORIS (e.g. TOPEX, Envisat, Jason-2, Cryosat2), and second through explicit ties at collocated sites. As one of the means of testing of these DORIS-only and SLR+DORIS solutions, we examine the vertical rates at sites in the vicinity of tide gauges.

Lemoine, Frank↗

NASA NTRS1978

Advanced Multispectral Scanner (AMS) study

The status of aircraft multispectral scanner technology was accessed in order to develop preliminary design specifications for an advanced instrument to be used for remote sensing data collection by aircraft in the 1980 time frame. The system designed provides a no-moving parts multispectral scanning capability through the exploitation of linear array charge coupled device technology and advanced electronic signal processing techniques. Major advantages include: 10:1 V/H rate capability; 120 deg FOV at V/H = 0.25 rad/sec; 1 to 2 rad resolution; high sensitivity; large dynamic range capability; geometric fidelity; roll compensation; modularity; long life; and 24 channel data acquisition capability. The field flattening techniques of the optical design allow wide field view to be achieved at fast f/nos for both the long and short wavelength regions. The digital signal averaging technique permits maximization of signal to noise performance over the entire V/H rate range.

Source record↗

NASA NTRS1991

A video event trigger for high frame rate, high resolution video technology

When video replaces film the digitized video data accumulates very rapidly, leading to a difficult and costly data storage problem. One solution exists for cases when the video images represent continuously repetitive 'static scenes' containing negligible activity, occasionally interrupted by short events of interest. Minutes or hours of redundant video frames can be ignored, and not stored, until activity begins. A new, highly parallel digital state machine generates a digital trigger signal at the onset of a video event. High capacity random access memory storage coupled with newly available fuzzy logic devices permits the monitoring of a video image stream for long term or short term changes caused by spatial translation, dilation, appearance, disappearance, or color change in a video object. Pretrigger and post-trigger storage techniques are then adaptable for archiving the digital stream from only the significant video images.

Williams, Glenn L.↗

NASA NTRS2004

Data Longevity Beyond 2010

The current cache of S/X-band geodetic/astrometric VLBI data accumulated since 1979 is approx. 5 million observations and is increasing by approx. 300,000 observations per year. The long time interval and access to all such VLBI data for re-analysis have contributed to their usefulness for the terrestrial and celestial reference frames, Earth orientation parameters, tidal and non-tidal loading, and troposphere. While data access and integrity have been maintained through the Mark III data base system as storage devices and media have evolved, past transitions have been major projects. A new format and retention concept to ensure eternal archiving and access should make use of self-documentation, generalized media, network connectivity and multiple redundancy. Similarly permanent organizations or sequences of organizations are also necessary.

Ma, Chopo↗

NASA NTRS2016

Overview of Global Monitoring of Terrestrial Chlorophyll Fluorescence from Space

Despite the critical importance of photosynthesis for the Earth system, understanding how it is influenced by factors such as climate variability, disturbance history, and water or nutrient availability remains a challenge because of the complex interactions and the lack of GPP measurements at various temporal and spatial scales. Space observations of the sun-induced chlorophyll fluorescence (SIF) electromagnetic signal emitted by plants in the 650-850nm spectral range hold the promise of providing a new view of vegetation photosynthesis on a global basis. Global retrievals of SIF from space have recently been achieved from a number of spaceborne spectrometers originally intended for atmospheric research. Despite not having been designed for land applications, such instruments have turned out to provide the necessary spectral and radiometric sensitivity for SIF retrieval from space. The first global measurements of SIF were achieved in 2011 from spectra acquired by the Japanese GOSAT mission launched in 2009. The retrieval takes advantage of the high spectral resolution provided by GOSATs Fourier Transform Spectrometer (FTS) which allows the evaluation of the in-filling of solar Fraunhofer lines by SIF. Unfortunately, GOSAT only provides a sparse spatial sampling with individual soundings separated by several hundred kilometers. Complementary, the Global Ozone Monitoring Experiment-2 (GOME-2) instruments onboard MetOp-A and MetOp-B enable SIF retrievals since 2007 with a continuous and global spatial coverage. GOME-2 measures in the red and near-infrared (NIR) spectral regions with a spectral resolution of 0.5 nm and a pixel size of up to 40x40 km2. Most recently, another global and spatially continuous data set of SIF retrievals at 740 nm spanning the 2003-2012 time frame has been produced from ENVISATSCIAMACHY. This observational scenario has been completed by the first fluorescence data from the NASA-JPL OCO-2 mission (launched in July 2014) and the upcoming Copernicus' Sentinel 5-Precursor to be launched in early 2016. OCO-2 and TROPOMI offer the possibility of monitoring SIF globally with a 100-fold improvement in spatial and temporal resolution with respect to the current measurements from the GOSAT, GOME-2 and SCIAMACHY missions. In this contribution, we will provide an overview of existing global SIF data sets derived from space-based atmospheric spectrometers and will demonstrate the potential of such data to improve our knowledge of vegetation photosynthesis and gross primary production at the synoptic scale. We will show examples of ongoing research exploiting SIF data for an improved monitoring of photosynthetic activity in different ecosystems, including large crop belts worldwide, the Amazon rainforest and boreal evergreen forests.

vegetation agriculture satellite↗

NASA NTRS1979

Using Landsat digital data to detect moisture stress

A technique utilizing transformed Landsat digital data for detection of agricultural drought was empirically defined during the 1976 South Dakota drought. During 1977, the procedure was expanded to the Great Plains for evaluation as a technique for detecting and monitoring vegetative water stress over large areas. The technique, Green Index Number (GIN), uses Landsat digital data from 5 by 6 nautical mile sampling frames (segments) to indicate when the vegetation within the segment is undergoing drought. At known growth stages for wheat, segments were classified as drought or non-drought areas. The remote-sensing-based information was compared to a weekly ground-based index (Crop Moisture Index) provided by the United States Department of Commerce. This comparison demonstrated a high degree of agreement between the 18-day remote sensing technique and the ground-based weekly data. Maps based on GIN of parts of the USSR and Australia were produced with a two-week lag and later compared with other crop assessments of crop conditions in these areas. These maps were judged to be in general agreement with the other data sources.

Thompson, D. R.↗

NASA NTRS2003

IGS 2000 Annual Report

Contents: The IGS Governing Board 2000; Central Bureau Status 2000; Growth of the IGS Network in 2000; Analysis Activities; Data Center Activities 2000; The International Terrestrial Reference Frame; IGS Reference Frame Coordination and Working Group Activities; The IGS/BIPM Time and Frequency Pilot Project; IGS Activities in the Area of the Ionosphere 2000; IGS Tropospheric Products; IGS International GLONASS Service Pilot Project; IGS LEO Pilot Project; Continuous GPS Positioning of Tide Gauges.

GLONASS↗

NASA NTRS1990

Results of the users' requirements survey

The objectives of the High Resolution, High Frame Rate Video Technology (HHVT) Users' Requirements Survey were the following: (1) Document the requirements of potential users of the HHVT system; (2) Establish a data base relating key video parameters to HHVT users; (3) Guide the development of a high resolution, high frame rate video system offering high data storage capacity and high data transmission rates; (4) Allow users to compare their requirements to those of other users and to the state-of-the-art technology; and (5) Allow users to reassess, if necessary, their requirements in the light of existing and near-term technology. The results of the Users' Requirements Survey are presented. The diversity of these requirements indicates a need for developing a video system with great flexibility.

Butcher, Robert L.↗