Results for “Simultaneous Localization and Mapping” — Page 3

NASA NTRS1989

Cartesian control of redundant robots

A Cartesian-space position/force controller is presented for redundant robots. The proposed control structure partitions the control problem into a nonredundant position/force trajectory tracking problem and a redundant mapping problem between Cartesian control input F is a set member of the set R(sup m) and robot actuator torque T is a set member of the set R(sup n) (for redundant robots, m is less than n). The underdetermined nature of the F yields T map is exploited so that the robot redundancy is utilized to improve the dynamic response of the robot. This dynamically optimal F yields T map is implemented locally (in time) so that it is computationally efficient for on-line control; however, it is shown that the map possesses globally optimal characteristics. Additionally, it is demonstrated that the dynamically optimal F yields T map can be modified so that the robot redundancy is used to simultaneously improve the dynamic response and realize any specified kinematic performance objective (e.g., manipulability maximization or obstacle avoidance). Computer simulation results are given for a four degree of freedom planar redundant robot under Cartesian control, and demonstrate that position/force trajectory tracking and effective redundancy utilization can be achieved simultaneously with the proposed controller.

Colbaugh, R.↗

NASA NTRS1990

Distributed memory approaches for robotic neural controllers

The suitability is explored of two varieties of distributed memory neutral networks as trainable controllers for a simulated robotics task. The task requires that two cameras observe an arbitrary target point in space. Coordinates of the target on the camera image planes are passed to a neural controller which must learn to solve the inverse kinematics of a manipulator with one revolute and two prismatic joints. Two new network designs are evaluated. The first, radial basis sparse distributed memory (RBSDM), approximates functional mappings as sums of multivariate gaussians centered around previously learned patterns. The second network types involved variations of Adaptive Vector Quantizers or Self Organizing Maps. In these networks, random N dimensional points are given local connectivities. They are then exposed to training patterns and readjust their locations based on a nearest neighbor rule. Both approaches are tested based on their ability to interpolate manipulator joint coordinates for simulated arm movement while simultaneously performing stereo fusion of the camera data. Comparisons are made with classical k-nearest neighbor pattern recognition techniques.

Jorgensen, Charles C.↗

NASA NTRS1981

Venus gravity fields

Results of Pioneer Venus Orbiter observations concerning the gravity field of Venus are presented. The gravitational data was obtained from reductions of Doppler radio tracking data for the Orbiter, which is in a highly eccentric orbit with periapsis altitude varying from 145 to 180 km and nearly fixed periapsis latitude of 15 deg N. The global gravity field was obtained through the simultaneous estimation of the orbit state parameters and gravity coefficients from long-period variations in orbital element rates. The global field has been described with sixth degree and order spherical harmonic coefficients, which are capable of resolving the three major topographical features on Venus. Local anomalies have been mapped using line-of-sight accelerations derived from the Doppler residuals between 40 deg N and 10 deg S latitude at approximately 300 km spatial resolution. Gravitational data is observed to correspond to topographical data obtained by radar altimeter, with most of the gravitational anomalies about 20-30 milligals. Simulations evaluating the isostatic states of two topographic features indicate that at least partial isostasy prevails, with the possibility of complete compensation.

Sjogren, W. L.↗

NASA NTRS2003

Structure and Variability of Water Vapor in the Upper Troposphere and Lower Stratosphere

An algorithm has been developed to synoptically-map asynoptic measurements, while rejecting small-scale under-sampled variance that is intrinsic to satellite measurements of water vapor, cloud, and other convective properties. The algorithm has been validated against high-resolution Global Cloud Imagery (GCI) , constructed from 6 satellites simultaneously viewing the global convective pattern. It has been applied to synoptically map Upper-tropospheric humidity (UTH) from UARS/MLS. Mapped distributions of UTH have been used, jointly with the GCI, to study how the upper troposphere is humidified. The time-mean distribution of UTH is spatially correlated to the time-mean distribution of cold cloud fraction eta(sub c) (T less than 230 K). Regions of large UTH coincide with regions of large eta(sub c), which mark deep convection. They also coincide with regions of reduced vertical stability, in which the vertical gradient of Theta is weakened by convective mixing. Coldest cloud cover is attended convective overshoots above the local tropopause, which is simultaneously coldest and highest. Together, these features reflect the upper-troposphere being ventilated by convection, which mixes in air from lower levels.

Salby, Murry L.↗

NASA NTRS1973

Conformal mapping technique for two-dimensional porous media and jet impingement heat transfer

Transpiration cooling and liquid metals both provide highly effective heat transfer. Using Darcy's law in porous media, and the inviscid approximation for liquid metals, the local fluid velocity in these flows equals the gradient of a potential, The energy equation and flow region are simplified when transformed into potential plane coordinates. In these coordinates the present problems are reduced to heat conduction solutions which are mapped into the physical geometry. Results are obtained for a porous region with simultaneously prescribed surface temperature and heat flux, heat transfer in a two-dimensional porous bed, and heat transfer for two liquid metal slot jets impinging on a heated plate.

Siegel, R.↗

NASA NTRS1974

Conformal mapping technique for two-dimensional porous media and jet impingement heat transfer

Transpiration cooling and liquid metals both provide highly effective heat transfer. Using Darcy's law in porous media and the inviscid approximation for liquid metals, the local fluid velocity in these flows equals the gradient of a potential. The energy equation and flow region are simplified when transformed into potential plane coordinates. In these coordinates, the present problems are reduced to heat conduction solutions which are mapped into the physical geometry. Results are obtained for a porous region with simultaneously prescribed surface temperature and heat flux, heat transfer in a two-dimensional porous bed, and heat transfer for two liquid metal slot jets impinging on a heated plate.

Siegel, R.↗

NASA NTRS2005

Vision Based Localization in Urban Environments

As part of DARPA's MARS2020 program, the Jet Propulsion Laboratory developed a vision-based system for localization in urban environments that requires neither GPS nor active sensors. System hardware consists of a pair of small FireWire cameras and a standard Pentium-based computer. The inputs to the software system consist of: 1) a crude grid-based map describing the positions of buildings, 2) an initial estimate of robot location and 3) the video streams produced by each camera. At each step during the traverse the system: captures new image data, finds image features hypothesized to lie on the outside of a building, computes the range to those features, determines an estimate of the robot's motion since the previous step and combines that data with the map to update a probabilistic representation of the robot's location. This probabilistic representation allows the system to simultaneously represent multiple possible locations, For our testing, we have derived the a priori map manually using non-orthorectified overhead imagery, although this process could be automated. The software system consists of two primary components. The first is the vision system which uses binocular stereo ranging together with a set of heuristics to identify features likely to be part of building exteriors and to compute an estimate of the robot's motion since the previous step. The resulting visual features and the associated range measurements are software component, a particle-filter based localization system. This system uses the map and the then fed to the second primary most recent results from the vision system to update the estimate of the robot's location. This report summarizes the design of both the hardware and software and will include the results of applying the system to the global localization of a robot over an approximately half-kilometer traverse across JPL'S Pasadena campus.

unmanned-ground vehicles↗

NASA NTRS1988

Mapping of auroral kilometric radiation sources to the aurora

Auroral kilometric radiation (AKR) and optical auroral emissions are observed simultaneously using plasma wave instrumentation and auroral imaging photometers carried on the DE 1 spacecraft. The DE 1 plasma wave instrument measures the relative phase of signals from orthogonal electric dipole antennas, and from these measurements, apparent source directions can be determined with a high degree of precision. Wave data are analyzed for several strong AKR events, and source directions are determined for several emission frequencies. By assuming that the AKR originates at cyclotron resonant altitudes, a candidate source field line is identified. When the selected source field line is traced down to auroral altitudes on the concurrent DE 1 auroral image, a striking correspondece between the AKR source field line and localized auroral features is produced. The magnetic mapping study provides strong evidence that AKR sources occur on field lines associated with discrete auroral arcs, and it provides confirmation that AKR is generated near the electron cyclotron frequency.

Huff, R. L.↗

NASA NTRS1986

Multipolarization radar images for geologic mapping and vegetation discrimination

NASA has developed an airborne SAR that simultaneously yields image data in four linear polarizations in L-band with 10-m resolution over a swath of about 10 km. Signal data are recorded both optically and digitally and annotated in each of the channels to facilitate completely automated digital correlation. Comparison of the relative intensities of the different polarizations furnishes discriminatory mapping information. Local intensity variations in like-polarization images result from topographic effects, while strong cross polarization responses denote the effects of vegetation cover and, in some cases, possible scattering from the subsurface. In each of the areas studied, multiple polarization data led to the discrimination and mapping of unique surface unit features.

Evans, D. L.↗

NASA NTRS1992

The thermal structure, dust loading, and meridional transport in the Martian atmosphere during late southern summer

We have derived a comprehensive picture of the thermal structure and dust loading of the Martian atmosphere in a relatively clear period during late southern summer. Using a new technique for the simultaneous retrieval of atmospheric temperatures and airborne dust abundances, we examined a subset of the Mariner 9 infrared interferometer spectrometer (IRIS) thermal emission spectra spanning L sub s = 343 degrees to 348 degrees. Global maps of temperature and dust optical depth as functions of latitude (plus or minus 90 degrees), altitude (approx. 0-60 km), and Mars local time of day were constructed from the profiles from individual spectra. One of the principal conclusions from this work is that both dayside and nightside atmospheric temperatures at altitudes above about 40 km are warmer over the winter (north) polar regions than over the equator or the summer (south) polar regions. These anomalous temperatures are consistent with ground-based observations of polar warming at higher altitudes (50-85 km), and they indicate that the atmosphere is not in radiative equilibrium. Zonal-mean zonal winds are derived from the observed meridional gradients of the zonally averaged temperatures assuming geostrophy and zero surface zonal wind. The intense eastward jets (with velocities exceeding 120 m/s) correspond to regions of strong horizontal temperature gradients. Similar calculations have been reported previously, but they were not global in coverage. Both the zonal-mean meridional circulation and large-scale waves contribute to the north-south atmospheric transport.

Santee, M.↗

NASA NTRSDate not supplied

Demonstration of Chromospheric Magnetic Mapping with CLASP2.1

Probing the magnetic nature of the Sun’s chromosphere requires measurement of the polarization profiles of relevant magnetically sensitive spectral lines, many of which are in the ultraviolet spectrum, necessitating observations above the absorbing terrestrial atmosphere. The CLASP series of sounding rocket missions were designed to develop and test a technique for observing the Sun in ultraviolet light, and for quantifying the polarization of that light. By demonstrating successful measurement and interpretation of the polarization in hydrogen Lyman-alpha and the Mg II h and k spectral lines, these missions are crucial steps towards routine quantitative characterization of the local thermal and magnetic conditions in the solar chromosphere. In the most recent observations, CLASP2.1, the spectrograph slit was scanned across an active region plage to acquire a two-dimensional map of Stokes V/I, to demonstrate the ability of UV spectropolarimetry to yield chromospheric magnetic fields over a large area. The technique yields a set of simultaneous line-of-sight magnetograms at multiple heights within the plage atmosphere. By combining the CLASP2.1 measurements with magnetograms from Hinode/SOT or SDO/HMI, a wide range of atmospheric heights are mapped, from the photosphere to the upper chromosphere.

David E McKenzie↗

NASA NTRSDate not supplied

Innovative Features of NASA's Celestial Mapping System to Support Exploration in the Lunar South Pole

Introduction: NASA's Celestial Mapping System (CMS) is developed to address the need for 3D tools for planetary science investigations, mission planning, in-situ operations, in a 3D-first design constructed around a unified view of a planetary globe. At present CMS provides many critical functionalities that include 1) Equipment planning and optimized placement on Lunar surface 2) Line of sight (visibility ) analysis 3) Powerful measurement tools based on 3D terrain with realistic 3D models to represent rovers, astronauts and equipment 4) Visualization of de-rived mapping products (e.g. resource maps), and 5) Data engine for hosting new observations that are not available in other contemporary lunar data tools. CMS is built on the foundation of powerful NASA WorldWind globe engines. In near future, users will be able to simultaneously deploy CMS onto multiple hardware configurations and platforms such as Windows, Linux, iOS and Android. The users will also have the flexibility to update to the latest imagery and terrain datasets as they are being acquired (in real time) before and/or during the exploration mission. CMS is also capable of consumption and analysis of data from locally hosted and external sources. It supports Open Geospatial Consorti-um (OGC) data and file standards, with current integrations of datasets from the Astrogeology Science Center of USGS which include global and local data acquired from NASA (LRO, Clementine, Lunar Orbiter) and JAXA (SELENE/Kaguya) with the capability of integrating more datasets. With development experience in both the end-user application and planetary engine side, CMS is also able to adapt to newer Lunar cartography standards as they develop and become recognized by international geospatial panels. Overcoming Polar Distortions: 3D geospatial applications traditionally suffer from significant distortion of imagery at the poles due to following reasons – 1) distortions in the source imagery 2) Incompatible tessellation algorithm on the poles 3) map projections. In the lunar context, with the focus on the South pole, this is not acceptable. The CMS team is researching ways to address polar distortion of imagery with new tessellation algorithms and by reprojecting the data using projections that are more accurate in polar scenarios. Figure1 shows the potential error introduced by different tessellation methods, represented by the red and green circles for Shoemaker crater. There is ~2 Km difference in the placement of the crater. Line of Sight Analysis and Traverse Planning: We have developed a built-in line of sight analysis (LOS) tool in CMS that analyzes the terrain profile and obstructions and provides the visibility of a given terrain for a remote observer. Figure 2 shows the viewshed analysis on the PSR in Nobile region. The PSR was created with help of HORUS generated images. The yellow pin shows the observer location outside the PSR. The yellow area shows the visible part of PSR. The obstructed area with no visibility for the observer is shown in red. This analysis was ex-tended further to set different heights for various observers and then perform the viewshed analysis. Combining the different visibility profiles can help designing improved traverses within the crater.

Geospatial Mapping↗

NASA NTRSDate not supplied

Innovative Features of NASA's Celestial Mapping System to Support Exploration in the Lunar South Pole

Introduction: NASA's Celestial Mapping System (CMS) is developed to address the need for 3D tools for planetary science investigations, mission planning, in-situ operations, in a 3D-first design constructed around a unified view of a planetary globe. At present CMS provides many critical functionalities that include 1) Equipment planning and optimized placement on Lunar surface 2) Line of sight (visibility ) analysis 3) Powerful measurement tools based on 3D terrain with realistic 3D models to represent rovers, astronauts and equipment 4) Visualization of de-rived mapping products (e.g. resource maps), and 5) Data engine for hosting new observations that are not available in other contemporary lunar data tools. CMS is built on the foundation of powerful NASA WorldWind globe engines. In near future, users will be able to simultaneously deploy CMS onto multiple hardware configurations and platforms such as Windows, Linux, iOS and Android. The users will also have the flexibility to update to the latest imagery and terrain datasets as they are being acquired (in real time) before and/or during the exploration mission. CMS is also capable of consumption and analysis of data from locally hosted and external sources. It supports Open Geospatial Consorti-um (OGC) data and file standards, with current integrations of datasets from the Astrogeology Science Center of USGS which include global and local data acquired from NASA (LRO, Clementine, Lunar Orbiter) and JAXA (SELENE/Kaguya) with the capability of integrating more datasets. With development experience in both the end-user application and planetary engine side, CMS is also able to adapt to newer Lunar cartography standards as they develop and become recognized by international geospatial panels. Overcoming Polar Distortions: 3D geospatial applications traditionally suffer from significant distortion of imagery at the poles due to following reasons – 1) distortions in the source imagery 2) Incompatible tessellation algorithm on the poles 3) map projections. In the lunar context, with the focus on the South pole, this is not acceptable. The CMS team is researching ways to address polar distortion of imagery with new tessellation algorithms and by reprojecting the data using projections that are more accurate in polar scenarios. Figure1 shows the potential error introduced by different tessellation methods, represented by the red and green circles for Shoemaker crater. There is ~2 Km difference in the placement of the crater. Line of Sight Analysis and Traverse Planning: We have developed a built-in line of sight analysis (LOS) tool in CMS that analyzes the terrain profile and obstructions and provides the visibility of a given terrain for a remote observer. Figure 2 shows the viewshed analysis on the PSR in Nobile region. The PSR was created with help of HORUS generated images. The yellow pin shows the observer location outside the PSR. The yellow area shows the visible part of PSR. The obstructed area with no visibility for the observer is shown in red. This analysis was ex-tended further to set different heights for various observers and then perform the viewshed analysis. Combining the different visibility profiles can help designing improved traverses within the crater.

Geospatial Mapping↗

NASA NTRS2002

Defect Localization Capabilities of a Global Detection Scheme: Spatial Pattern Recognition Using Full-field Vibration Test Data in Plates

Recently, a conceptually simple approach, based on the notion of defect energy in material space has been developed and extensively studied (from the theoretical and computational standpoints). The present study focuses on its evaluation from the viewpoint of damage localization capabilities in case of two-dimensional plates; i.e., spatial pattern recognition on surfaces. To this end, two different experimental modal test results are utilized; i.e., (1) conventional modal testing using (white noise) excitation and accelerometer-type sensors and (2) pattern recognition using Electronic speckle pattern interferometry (ESPI), a full field method capable of analyzing the mechanical vibration of complex structures. Unlike the conventional modal testing technique (using contacting accelerometers), these emerging ESPI technologies operate in a non-contacting mode, can be used even under hazardous conditions with minimal or no presence of noise and can simultaneously provide measurements for both translations and rotations. Results obtained have clearly demonstrated the robustness and versatility of the global NDE scheme developed. The vectorial character of the indices used, which enabled the extraction of distinct patterns for localizing damages proved very useful. In the context of the targeted pattern recognition paradigm, two algorithms were developed for the interrogation of test measurements; i.e., intensity contour maps for the damaged index, and the associated defect energy vector field plots.

Saleeb, A. F.↗

NASA NTRS2015

Coupled Low-thrust Trajectory and System Optimization via Multi-Objective Hybrid Optimal Control

The optimization of low-thrust trajectories is tightly coupled with the spacecraft hardware. Trading trajectory characteristics with system parameters ton identify viable solutions and determine mission sensitivities across discrete hardware configurations is labor intensive. Local independent optimization runs can sample the design space, but a global exploration that resolves the relationships between the system variables across multiple objectives enables a full mapping of the optimal solution space. A multi-objective, hybrid optimal control algorithm is formulated using a multi-objective genetic algorithm as an outer loop systems optimizer around a global trajectory optimizer. The coupled problem is solved simultaneously to generate Pareto-optimal solutions in a single execution. The automated approach is demonstrated on two boulder return missions.

Spacecraft Systems↗

NASA NTRS2001

Structure and Variability of Water Vapor in the Upper Troposphere and Lower Stratosphere

Upper-tropospheric humidity (UTH) has been synoptically mapped via an algorithm that rejects small-scale undersampled variance, which is intrinsic to asymptotic measurements of water vapor, cloud, and other convective properties. Mapped distributions of UTH have been used, jointly with high-resolution Global Cloud Imagery (GCI), to study how the upper troposphere is humidified. The time-mean distribution of UTH is spatially correlated to the time-mean distribution of cold cloud fraction (eta)(sub c) (T < than 230 K). Regions of large UTH coincide with regions of large eta(sub c), which mark deep convection. They also coincide with regions of reduced vertical stability, in which the vertical gradient of theta is weakened by convective mixing. Coldest cloud cover is attended convective overshoots above the local tropopause, which is simultaneously coldest and highest. Together, these features reflect the upper-troposphere being ventilated by convection, which mixes in moist air from lower levels. Histograms of UTH and eta(sub c) have been applied to construct the joint probability density function, which quantifies the relationship between these properties. The expected value of UTH in convective regions is strongly correlated to the expected value of eta(sub c). In ensembles of asymptotic samples, the correlation between epsilon[UTH] and epsilon[eta(sub c)] exceeds 0.80. As these expectations reflect the most likely values, the strong correlation between epsilon[UTH] and epsilon[eta(sub c)] indicates that the large-scale organization of UTH is strongly shaped by convective pumping of moisture from lower levels. The same relationship holds for unsteady fields - even though, instantaneously, those fields are comprised almost entirely of small-scale convective structure. The spatial autocorrelation of UTH, constructed at high resolution from overpass data along ascending and descending tracks of the orbit, is limited to only a couple of degrees in the horizontal. This mirrors the spatial autocorrelation of eta(sub c), which likewise operates coherently on short scales. The short correlation scale of UTH, which reflects the scale of individual convective systems, is comparable to the spacing of retrievals from MLS. These scales are undersampled in the asynoptic measurements. Despite their prevalence, the mapping algorithm described above successfully recovers synoptic behavior operating coherently on large scales. It reveals eastward migration of anomalous UTH from the Indian ocean to the central Pacific, in association with the modulation of convection by the Madden-Julian oscillation. Additional information is contained in the original extended abstract.

Salby, Murry L.↗

NASA NTRS1994

A scanning defect mapping system for semiconductor characterization

We have developed an optical scanning system that generates maps of the spatial distributions of defects in single and polycrystalline silicon wafers. This instrument, called Scanning Defect Mapping System, utilizes differences in the scattering characteristics of dislocation etch pits and grain boundaries from a defect-etched sample to identify and count them. This system simultaneously operates in the dislocation mode and the grain boundary (GB) mode. In the 'dislocation mode,' the optical scattering from the etch pits is used to statistically count dislocations, while ignoring the GB's. Likewise, in the 'grain boundary mode' the system only recognizes the local scattering from the GB's to generate grain boundary distributions. The information generated by this instrument is valuable for material quality control, identifying mechanisms of defect generation and the nature of thermal stresses during the crystal growth, and the solar cell process design.

Sopori, Bushnan L.↗

NASA NTRS2010

Comments on "The "Elevated Heat Pump" Hypothesis for the Aerosol-Monsoon Hydroclimate Link: "Grounded" in Observations?" by S. Nigam and M. Bollasina

In their recent paper Nigam and Bollasina [2010, hereafter NB] claimed to have found observational evidences that are at variance with the Elevated Heat Pump (EHP) hypothesis regarding the possible impacts of absorbing aerosols on the South Asian summer monsoon [Lau et al., 2006; Lau and Km 2006). We found NB's arguments and inferences against the EHP hypothesis flawed, stemming from a lack of understanding and an out-of-context interpretation of the hypothesis. It was argued that the simultaneous negative correlation of aerosol with rainfall, and correlations with other quantities in May as evidences against the EHP hypothesis. They cannot be more wrong in that argument. First, Lau and Kim [2006, hereafter, LKO6] never stated that the main rainfall response to EHP is in May. Second, the EHP is about responses of the entire Indian monsoon system that are non-local in space and time with respect to the aerosol forcing. Third, the correlation maps shown in NB, including the increased convection over the Bay of Bengal is not the response to EHP but rather represents the large-scale circulation that provides the build-up of the aerosols, before the onset of the monsoon rainfall over India. Because aerosol can only accumulate where there is little or no wash-out by rain, the negative correlation is a necessary condition for increased atmospheric loading of aerosols.

Lau, K. M.↗