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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 55 records · Page 3
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NASA NTRSDate not supplied

Optical Navigation Attitude Estimation and Calibration Performance Improvement using Outlier Rejection

Spacecraft optical navigation (OpNav) systems process a sequence of images of celestial bodies against a starfield background to estimate the position and velocity of the vehicle. While attitude is sometimes available from an onboard star tracker, it is often desirable to recognize the background stars in the OpNav images to better align the image. While many image processing algorithms exist for finding stars, efficiency and reliability remain key issues in the presence of extended bodies(e.g. the Moon, Earth), especially when attempting to solve the full lost-in-space problem. Some star outliers(stars identified with high residuals)could appear in the camera field of view, however using them in the attitude estimation or camera calibration would lead to less accurate results. Therefore, we require new and robust approaches to remove these outliers before any further processing. The emphasis of the work is on developing a simple and robust iterative technique to detect and reject the outliers which could be found in any frame during the lost in space attitude determination or during the camera calibration. These outliers are determined based on the residuals of the centroids of the detected stars and the corresponding location using the star catalog. If the residuals exceed a predetermined threshold value, the object will be detected as an outlier and will be removed before another attitude determination and calibration iteration is performed. The performance for both attitude determination and on-orbit camera calibration are improved by an almost two-fold increase in accuracy when applying this outlier rejection technique.

OpNav↗
NASA NTRS2012

Photogrammetry Measurements During a Tanking Test on the Space Shuttle External Tank, ET-137

On November 5, 2010, a significant foam liberation threat was observed as the Space Shuttle STS-133 launch effort was scrubbed because of a hydrogen leak at the ground umbilical carrier plate. Further investigation revealed the presence of multiple cracks at the tops of stringers in the intertank region of the Space Shuttle External Tank. As part of an instrumented tanking test conducted on December 17, 2010, a three dimensional digital image correlation photogrammetry system was used to measure radial deflections and overall deformations of a section of the intertank region. This paper will describe the experimental challenges that were overcome in order to implement the photogrammetry measurements for the tanking test in support of STS-133. The technique consisted of configuring and installing two pairs of custom stereo camera bars containing calibrated cameras on the 215-ft level of the fixed service structure of Launch Pad 39-A. The cameras were remotely operated from the Launch Control Center 3.5 miles away during the 8 hour duration test, which began before sunrise and lasted through sunset. The complete deformation time history was successfully computed from the acquired images and would prove to play a crucial role in the computer modeling validation efforts supporting the successful completion of the root cause analysis of the cracked stringer problem by the Space Shuttle Program. The resulting data generated included full field fringe plots, data extraction time history analysis, section line spatial analyses and differential stringer peak ]valley motion. Some of the sample results are included with discussion. The resulting data showed that new stringer crack formation did not occur for the panel examined, and that large amounts of displacement in the external tank occurred because of the loads derived from its filling. The measurements acquired were also used to validate computer modeling efforts completed by NASA Marshall Space Flight Center (MSFC).

Littell, Justin D.↗
NASA NTRS2010

Optical See-Through Head Mounted Display Direct Linear Transformation Calibration Robustness in the Presence of User Alignment Noise

Augmented Reality (AR) is a technique by which computer generated signals synthesize impressions that are made to coexist with the surrounding real world as perceived by the user. Human smell, taste, touch and hearing can all be augmented, but most commonly AR refers to the human vision being overlaid with information otherwise not readily available to the user. A correct calibration is important on an application level, ensuring that e.g. data labels are presented at correct locations, but also on a system level to enable display techniques such as stereoscopy to function properly [SOURCE]. Thus, vital to AR, calibration methodology is an important research area. While great achievements already have been made, there are some properties in current calibration methods for augmenting vision which do not translate from its traditional use in automated cameras calibration to its use with a human operator. This paper uses a Monte Carlo simulation of a standard direct linear transformation camera calibration to investigate how user introduced head orientation noise affects the parameter estimation during a calibration procedure of an optical see-through head mounted display.

Axholt, Magnus↗
NASA NTRS1977

Viking lander camera radiometry calibration report, volume 2

The requirements the performance validation, and interfaces for the RADCAM program, to convert Viking lander camera image data to radiometric units were established. A proposed algorithm is described, and an appendix summarizing the planned reduction of camera test data was included.

Wolf, M. R.↗
NASA NTRS1992

Application of a laser scanner to three dimensional visual sensing tasks

The issues are described which are associated with using a laser scanner for visual sensing and the methods developed by the author to address them. A laser scanner is a device that controls the direction of a laser beam by deflecting it through a pair of orthogonal mirrors, the orientations of which are specified by a computer. If a calibrated laser scanner is combined with a calibrated camera, it is possible to perform three dimensional sensing by directing the laser at objects within the field of view of the camera. There are several issues associated with using a laser scanner for three dimensional visual sensing that must be addressed in order to use the laser scanner effectively. First, methods are needed to calibrate the laser scanner and estimate three dimensional points. Second, methods to estimate three dimensional points using a calibrated camera and laser scanner are required. Third, methods are required for locating the laser spot in a cluttered image. Fourth, mathematical models that predict the laser scanner's performance and provide structure for three dimensional data points are necessary. Several methods were developed to address each of these and has evaluated them to determine how and when they should be applied. The theoretical development, implementation, and results when used in a dual arm eighteen degree of freedom robotic system for space assembly is described.

Ryan, Arthur M.↗
NASA NTRS2016

Thomas Leps Internship Abstract

An optical navigation system is being flown as the backup system to the primary Deep Space Network telemetry for navigation and guidance purposes on Orion. This is required to ensure Orion can recover from a loss of communication, which would simultaneously cause a loss of DSN telemetry. Images taken of the Moon and Earth are used to give range and position information to the navigation computer for trajectory calculations and maneuver execution. To get telemetry data from these images, the size and location of the moon need to be calculated with high accuracy and precision. The reentry envelope for the Orion EM-1 mission requires the centroid and radius of the moon images to be determined within 1/3 of a pixel 3 sigma. In order to ensure this accuracy and precision can be attained, I was tasked with building precise dot grid images for camera calibration as well as building a hardware in the loop test stand for flight software and hardware proofing. To calibrate the Op-Nav camera a dot grid is imaged with the camera, the error between the image dot location and the actual dot location can be used to build a distortion map of the camera and lens system so that images can be fixed to display truth locations. To build the dot grid images I used the Electro Optics Lab optical bench Bright Object Simulator System, and gimbal. The gimbal was slewed to a series of elevations and azimuths. An image of the collimated single point light source was then taken at each position. After a series of 99 images were taken at different locations the single light spots were extracted from each image and added to a composite image containing all 99 points. During the development of these grids it was noticed that an intermittent error in the artificial "star" locations occurred. Prior to the summer this error was attributed to the gimbal having glitches in it's pointing direction and was going to be replaced, however after further examining the issue I determined it to be a software issue. I have since narrowed the likely source of the error down to a Software Development Kit released by the camera supplier PixeLink. I have since developed a workaround in order to build star grids for calibration until the software bug can be isolated and fixed. I was also tasked with building a Hardware in the Loop test stand in order to test the full Op-Nav system. A 4k screen displays simulated Lunar and Terrestrial images from a possible Orion trajectory. These images are then projected through a collimator and then captured with an Op-Nav camera controlled by an Intel NUC computer running flight software. The flight software then analyzes the images to determine attitude and position, this data is then reconstructed into a trajectory and matched to the simulated trajectory in order to determine the accuracy of the attitude and position estimates. In order for the system to work it needs to be precisely and accurately aligned. I developed an alignment procedure that allows the screen, collimator and camera to be squared, centered and collinear with each other within a micron spatially and 5 arcseconds in rotation. I also designed a rigid mount for the screen that was machined on site in Building 10 by another intern. While I was working in the EOL we received a $500k Orion startracker for alignment procedure testing. Due to my prior experience in electronics development, as an ancillary duty, I was tasked with building the cables required to operate and power the startracker. If any errors are made building these cables the startracker would be destroyed, I was honored that the director of the lab entrusted such a critical component with me. This internship has cemented my view on public space exploration. I always preferred public sector to privatization because, as a scientist, the most interesting aspects of space for me are not necessarily the most profitable. I was concerned that the public sector was faltering however, and that in order to improve human space exploration I would be forced into private sector. I now know that, at least at JSC, human spaceflight is still progressing, and exciting work is still being done. I am now actively seeking employment at JSC after I complete my Ph.D and have met with my branch chiefs and mentor to discuss transitioning to a grad Co-op position.

Leps, Thomas↗
DOE OSTI2020

Performance Evaluation of Augmented Teleoperation of Contact Manipulation Tasks

At Argonne National Laboratory, an enhanced telerobotic concept has been suggested by providing augmented virtual fixtures for precise and dexterous manipulation. The proposed technology incorporated a human-robot interface that can assist personnel on the processes of Deactivation and Decommissioning in sites of high radiation. It has been implemented on a dual-arm robot system, known as Baxter, by integrating the Robotic Operating System (ROS) with 3D sensors and visual-haptic operator interface. However, what remained before its practical utilization is the capability for precisely placing the virtual fixtures. To this end, the objectives involved camera calibration, which required hardware fabrication and setup, as well as modification and implementation of ROS. The goal of this Research and Development is to develop an augmented-reality- based operator interface for human-inclusive, intelligent, and autonomous robotic system for the Deactivation and Decommissioning (D and D) of radioactive sites. The objectives are to develop: Collaborative Robot; Multi-modal Mixed-Reality Human-Robot Interface; Intelligent and Autonomous Behaviors. In order to achieve this, Baxter's Head-Kinect camera and Left-Hand camera need to be calibrated to overlap the real environment with the simulated environment. Camera calibration, which is crucial for precisely placing the virtual fixtures, was successful after running the simulations. The real and simulated environments overlapped, permitting the utilization of augmented teleoperation and the dexterous manipulation of Baxter for D and D applications in nuclear sites. Future steps: Performance evaluation of augmented teleoperation of contact manipulation tasks: Multiple-Camera 3D Reconstruction and Automation. Oculus Interface: Augmented reality and machine learning for enhanced telerobotic operation (Augmented Tele-autonomy): Machine-learning techniques for complex and flexible autonomous robotic behaviors. Interactive remote operation of robotic systems. Mesh cutting with simulation and real robot.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2020

The Use of Long-wave Infrared Cameras for Hazardous Waste Remediation - 20457

For over fifty years, infrared cameras have been used in military applications, nondestructive testing, condition monitoring, and predictive maintenance. As infrared cameras continue to become more sophisticated and less expensive, they are providing value in an ever-increasing variety of unique applications, including hazardous waste remediation. This paper describes several instances of how infrared cameras have been used within the US Department of Defense and the US Department of Energy in support of waste remediation projects, including the author's recent use of an infrared camera in support of the Calcine Retrieval Project at the Idaho National Laboratory. Infrared cameras provide images of infrared radiation, or heat energy, which is otherwise invisible to the unaided eye. Infrared radiation is part of the electromagnetic spectrum, which includes visible light. But unlike visible light, infrared has wavelengths longer than the human eye can detect. Infrared is emitted by everything with a temperature above absolute zero (-273 deg. C, or -459 deg. F); the higher the temperature, the greater the infrared thermal radiation, or heat, that is emitted. Even objects that feel cold to us, like ice, emit thermal radiation and can be imaged by infrared cameras. These cameras are typically used to look for abnormally hot or cold spots on a component or target area under normal operating conditions. The method provides a rapid, wide-area, noncontact technique for identifying problems associated with a temperature differential. All infrared cameras can provide qualitative thermal information by displaying relative differences in temperatures within a two-dimensional image. More expensive infrared cameras can also provide quantitative information where an absolute temperature value is assigned to each pixel associated with the displayed two-dimensional image. Proper camera calibration and a solid understanding of heat transfer and thermography techniques are required when using an infrared camera to obtain quantitative information. Case studies outlined in this paper include the rapid, non-intrusive detection of hazardous decontamination solution within one-ton shipping containers at Pine Bluff Arsenal, the non-intrusive identification of residual elemental sodium within the cooling loops of the Experimental Breeder Reactor II (EBR-II) reactor at the Idaho National Laboratory, process monitoring of heat exchanger melt-and-drain efforts during EBR-II decommissioning, and the remote detection of internal steel supports within calcine storage bins prior to bin penetration. For each use of thermography, the author describes a summary of the waste remediation effort, the infrared camera used, the thermal imaging technique employed, and the results obtained. The paper concludes with a discussion on common mistakes to avoid for similar applications of thermography. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2023

Vehicle Localization in 3D World Coordinates Using Single Camera at Traffic Intersection

Optimizing traffic control systems at traffic intersections can reduce the network-wide fuel consumption, as well as emissions of conventional fuel-powered vehicles. While traffic signals have been controlled based on predetermined schedules, various adaptive signal control systems have recently been developed using advanced sensors such as cameras, radars, and LiDARs. Among these sensors, cameras can provide a cost-effective way to determine the number, location, type, and speed of the vehicles for better-informed decision-making at traffic intersections. In this research, a new approach for accurately determining vehicle locations near traffic intersections using a single camera is presented. For that purpose, a well-known object detection algorithm called YOLO is used to determine vehicle locations in video images captured by a traffic camera. YOLO draws a bounding box around each detected vehicle, and the vehicle location in the image coordinates is converted to the world coordinates using camera calibration data. During this process, a significant error between the center of a vehicle’s bounding box and the real center of the vehicle in the world coordinates is generated due to the angled view of the vehicles by a camera installed on a traffic light pole. As a means of mitigating this vehicle localization error, two different types of regression models are trained and applied to the centers of the bounding boxes of the camera-detected vehicles. The accuracy of the proposed approach is validated using both static camera images and live-streamed traffic video. Based on the improved vehicle localization, it is expected that more accurate traffic signal control can be made to improve the overall network-wide energy efficiency and traffic flow at traffic intersections.

47 OTHER INSTRUMENTATION↗
NASA NTRS1963

MINITRACK CALIBRATION SYSTEM

Description of calibration cameras and associated equipment employed in airplane calibrations of the minitrack satellite tracking station

SATELLITE TRACKING↗
NASA NTRS2009

Establishing a Ballistic Test Methodology for Documenting the Containment Capability of Small Gas Turbine Engine Compressors

A test methodology currently employed for large engines was extended to quantify the ballistic containment capability of a small turboshaft engine compressor case. The approach involved impacting the inside of a compressor case with a compressor blade. A gas gun propelled the blade into the case at energy levels representative of failed compressor blades. The test target was a full compressor case. The aft flange was rigidly attached to a test stand and the forward flange was attached to a main frame to provide accurate boundary conditions. A window machined in the case allowed the projectile to pass through and impact the case wall from the inside with the orientation, direction and speed that would occur in a blade-out event. High-peed, digital-video cameras provided accurate velocity and orientation data. Calibrated cameras and digital image correlation software generated full field displacement and strain information at the back side of the impact point.

Heady, Joel↗
NASA NTRS1982

Evaluation of an electro-optic remote displacement measuring system

An instrumentation system to provide a noncontact method for measurement of target positions was evaluated. The system employs two electro-optic camera units which give stereo information for use in determining three dimensional target locations. Specially developed, infrared sensitive photodetectors are used in the cameras to sense radiation from light emitting diode targets. Up to 30 of these targets can be monitored with a sampling rate of 312 Hz per target. An important part of the system is a minicomputer which is used to collect the camera data, sort it, make corrections for distortions in the electro-optic system, and perform the necesssary coordinate transformations. If target motions are restricted to locations in a plane which is perpendicular to a camera's optical axis, the system can be used with just one camera. Calibrations performed in this mode characterize accuracies in single camera operation. This information is also useful in determination of single camera contributions to total system errors. For this reason the system was tested in both the single camera and two camera (stereo) modes of operation.

Monteith, J. H.↗
NASA NTRS1987

Sensing and perception research for space telerobotics at JPL

PIFLEX is a pipelined-image processor that can perform elaborate computations whose exact nature is not fixed in the hardware, and that can handle multiple images. A wire-wrapped prototype PIFEX module has been produced and debugged, using a version of the convolver composed of three custom VLSI chips (plus the line buffers). A printed circuit layout is being designed for use with a single-chip convolver, leading to production of a PIFEX with about 120 modules. A high-level language for programming PIFEX has been designed, and a compiler will be written for it. The camera calibration software has been completed and tested. Two more terms in the camera model, for lens distortion, probably will be added later. The acquisition and tracking system has been designed and most of it has been coded in Pascal for the MicroVAX-II. The feature tracker, motion stereo module and stereo matcher have executed successfully. The model matcher is still under development, and coding has begun on the tracking initializer. The object tracker was running on a different computer from the VAX, and preliminary runs on real images have been performed there. Once all modules are working, optimization and integration will begin. Finally, when a sufficiently large PIFEX is available, appropriate parts of acquisition and tracking, including much of the feature tracker, will be programmed into PIFEX, thus increasing the speed and robustness of the system.

Gennery, Donald B.↗
NASA NTRS1987

A digital video model deformation system

The use of solid-state array cameras and a PC-controlled image acquisition system to measure model deformation in a wind tunnel is discussed. This digital system improves an earlier video model deformation system that used high-resolution tube cameras and required the manual measurement of targets on video hardcopy images. The new system eliminates both the vibration-induced distortion associated with tube cameras and the manual readup of video images necessary in the earlier version. Camera calibration and data reduction procedures necessary to convert pixel image plane data from two cameras into wing deflections are presented. Laboratory tests to establish the uncertainty of the system with the geometry to be used are described.

Burner, A. W.↗
NASA NTRS1986

A Digital Video Model Deformation System

The use of slid-state array cameras and a PC controlled image acquisition system to measure model deformation in a wind tunnel is discussed. This digital system is an improvement to an earlier video model deformation system used at the National Transonic Facility (NTF) which employed high-resolution tube cameras and required the manual measurement of targets on video hardcopy images. The new system eliminates both the vibration-induced distortion associated with tube cameras and the manual readup of video images necessary in the earlier version. Camera calibration and data reduction procedures necessary to convert pixel image plane data from two cameras into wing deflections are presented. Laboratory tests to establish the uncertainty of the new system with the geometry to be used at the NTF are described.

Burner, A. W.↗