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Real time visual tracking of targets in six dimensions

Six dimensional target information is produced by a target tracking vision system for use in real time target tracking by a robotic system. The vision system described in this paper produces three axes of position data and three axes of orientation data using a single camera which views a three dimensional target. The system performs target detection, target discrimination and determines the target position and orientation relative to the camera. As the target information is determined, it is communicated to a computer which is controlling the robot motion in real time. Details of the image processing algorithms and image processing hardware used in the vision system are discussed in the paper.

Walsh, Peter M.

NASA-SETI microwave observing project: Targeted Search Element (TSE)

The Targeted Search Element (TSE) performs one of two complimentary search strategies of the NASA-SETI Microwave Observing Project (MOP): the targeted search. The principle objective of the targeted search strategy is to scan the microwave window between the frequencies of one and three gigahertz for narrowband microwave emissions eminating from the direction of 773 specifically targeted stars. The scanning process is accomplished at a minimum resolution of one or two Hertz at very high sensitivity. Detectable signals will be of a continuous wave or pulsed form and may also drift in frequency. The TSE will possess extensive radio frequency interference (RFI) mitigation and verification capability as the majority of signals detected by the TSE will be of local origin. Any signal passing through RFI classification and classifiable as an extraterrestrial intelligence (ETI) candidate will be further validated at non-MOP observatories using established protocol. The targeted search will be conducted using the capability provided by the TSE. The TSE provides six Targeted Search Systems (TSS) which independently or cooperatively perform automated collection, analysis, storage, and archive of signal data. Data is collected in 10 megahertz chunks and signal processing is performed at a rate of 160 megabits per second. Signal data is obtained utilizing the largest radio telescopes available for the Targeted Search such as those at Arecibo and Nancay or at the dedicated NASA-SETI facility. This latter facility will allow continuous collection of data. The TSE also provides for TSS utilization planning, logistics, remote operation, and for off-line data analysis and permanent archive of both the Targeted Search and Sky Survey data.

Webster, L. D.

TARGET: Rapid Capture of Process Knowledge

TARGET (Task Analysis/Rule Generation Tool) represents a new breed of tool that blends graphical process flow modeling capabilities with the function of a top-down reporting facility. Since NASA personnel frequently perform tasks that are primarily procedural in nature, TARGET models mission or task procedures and generates hierarchical reports as part of the process capture and analysis effort. Historically, capturing knowledge has proven to be one of the greatest barriers to the development of intelligent systems. Current practice generally requires lengthy interactions between the expert whose knowledge is to be captured and the knowledge engineer whose responsibility is to acquire and represent the expert's knowledge in a useful form. Although much research has been devoted to the development of methodologies and computer software to aid in the capture and representation of some types of knowledge, procedural knowledge has received relatively little attention. In essence, TARGET is one of the first tools of its kind, commercial or institutional, that is designed to support this type of knowledge capture undertaking. This paper will describe the design and development of TARGET for the acquisition and representation of procedural knowledge. The strategies employed by TARGET to support use by knowledge engineers, subject matter experts, programmers and managers will be discussed. This discussion includes the method by which the tool employs its graphical user interface to generate a task hierarchy report. Next, the approach to generate production rules for incorporation in and development of a CLIPS based expert system will be elaborated. TARGET also permits experts to visually describe procedural tasks as a common medium for knowledge refinement by the expert community and knowledge engineer making knowledge consensus possible. The paper briefly touches on the verification and validation issues facing the CLIPS rule generation aspects of TARGET. A description of efforts to support TARGET's interoperability issues on PCs, Macintoshes and UNIX workstations concludes the paper.

Ortiz, C. J.

Magnetized Target Fusion Driven by Plasma Liners

Magnetized target fusion (MTF) attempts to combine the favorable attributes of magnetic confinement fusion (MCF) for energy confinement with the attributes of inertial confinement fusion (ICF) for efficient compression heating and wall-free containment of the fusing plasma. It uses a material liner to compress and contain a magnetized plasma. For practical applications, standoff drivers to deliver the imploding momentum flux to the target plasma remotely are required. Spherically converging plasma jets have been proposed as standoff drivers for this purpose. The concept involves the dynamic formation of a spherical plasma liner by the merging of plasma jets, and the use of the liner so formed to compress a spheromak or a field reversed configuration (FRC). For the successful implementation of the scheme, plasma jets of the requisite momentum flux density need to be produced. Their transport over sufficiently large distances (a few meters) needs to be assured. When they collide and merge into a liner, relative differences in velocity, density and temperature of the jets could give rise to instabilities in the development of the liner. Variation in the jet properties must be controlled to ensure that the growth rate of the instabilities are not significant over the time scale of the liner formation before engaging with the target plasma. On impact with the target plasma, some plasma interpenetration might occur between the liner and the target. The operating parameter space needs to be identified to ensure that a reasonably robust and conducting contact surface is formed between the liner and the target. A mismatch in the "impedance" between the liner and the target plasma could give rise to undesirable shock heating of the liner leading to increased entropy (thermal losses) in the liner. Any irregularities in the liner will accentuate the Rayleigh-Taylor instabilities during the compression of the target plasma by the liner.

Thio, Y. C. Francis

Effects of Pre-Existing Target Structure on the Formation of Large Craters

The shapes of large-scale craters and the mechanics responsible for melt generation are influenced by broad and small-scale structures present in a target prior to impact. For example, well-developed systems of fractures often create craters that appear square in outline, good examples being Meteor Crater, AZ and the square craters of 433 Eros. Pre-broken target material also affects melt generation. Kieffer has shown how the shock wave generated in Coconino sandstone at Meteor crater created reverberations which, in combination with the natural target heterogeneity present, created peaks and troughs in pressure and compressed density as individual grains collided to produce a range of shock mineralogies and melts within neighboring samples. In this study, we further explore how pre-existing target structure influences various aspects of the cratering process. We combine experimental and numerical techniques to explore the connection between the scales of the impact generated shock wave and the pre-existing target structure. We focus on the propagation of shock waves in coarse, granular media, emphasizing its consequences on excavation, crater growth, ejecta production, cratering efficiency, melt generation, and crater shape. As a baseline, we present a first series of results for idealized targets where the particles are all identical in size and possess the same shock impedance. We will also present a few results, whereby we increase the complexities of the target properties by varying the grain size, strength, impedance and frictional properties. In addition, we investigate the origin and implications of reverberations that are created by the presence of physical and chemical heterogeneity in a target.

Barnouin-Jha, O. S.

Absolute Position of Targets Measured Through a Chamber Window Using Lidar Metrology Systems

Lidar is a useful tool for taking metrology measurements without the need for physical contact with the parts under test. Lidar instruments are aimed at a target using azimuth and elevation stages, then focus a beam of coherent, frequency modulated laser energy onto the target, such as the surface of a mechanical structure. Energy from the reflected beam is mixed with an optical reference signal that travels in a fiber path internal to the instrument, and the range to the target is calculated based on the difference in the frequency of the returned and reference signals. In cases when the parts are in extreme environments, additional steps need to be taken to separate the operator and lidar from that environment. A model has been developed that accurately reduces the lidar data to an absolute position and accounts for the three media in the testbed air, fused silica, and vacuum but the approach can be adapted for any environment or material. The accuracy of laser metrology measurements depends upon knowing the parameters of the media through which the measurement beam travels. Under normal conditions, this means knowledge of the temperature, pressure, and humidity of the air in the measurement volume. In the past, chamber windows have been used to separate the measuring device from the extreme environment within the chamber and still permit optical measurement, but, so far, only relative changes have been diagnosed. The ability to make accurate measurements through a window presents a challenge as there are a number of factors to consider. In the case of the lidar, the window will increase the time-of-flight of the laser beam causing a ranging error, and refract the direction of the beam causing angular positioning errors. In addition, differences in pressure, temperature, and humidity on each side of the window will cause slight atmospheric index changes and induce deformation and a refractive index gradient within the window. Also, since the window is a dispersive media, the effect of both phase and group indices have to be considered. Taking all these factors into account, a method was developed to measure targets through multiple regions of different materials and produce results that are absolute measurements of target position in three-dimensional space, rather than simply relative position. The environment in which the lidar measurements are taken must be broken down into separate regions of interest and each region solved for separately. In this case, there were three regions of interest: air, fused silica, and vacuum. The angular position of the target inside the chamber is solved using only phase index and phase velocity, while the ranging effects due to travel from air to glass to vacuum/air are solved with group index and group velocity. When all parameters are solved simultaneously, an absolute knowledge of the position of each target within an environmental chamber can be derived. Novel features of this innovation include measuring absolute position of targets through multiple dispersive and non-dispersive media, deconstruction of lidar raw data from a commercial off-the-shelf unit into reworkable parameters, and use of group velocities to reduce range data. Measurement of structures within a vacuum chamber or other harsh environment, such as a furnace, may now be measured as easily as if they were in an ambient laboratory. This analysis permits transformation of the raw data into absolute spatial units (e.g., mm). This technique has also been extended to laser tracker, theodolite, and cathetometer measurements through refractive media.

Kubalak, David

Dividing the Concentrator Target From the Genesis Mission

The Genesis spacecraft, launched in 2001, traveled to a Lagrangian point between the Earth and Sun to collect particles from the solar wind and return them to Earth. However, during the return of the spacecraft in 2004, the parachute failed to open during descent, and the Genesis spacecraft crashed into the Utah desert. Many of the solar wind collectors were broken into smaller pieces, and the field team rapidly collected the capsule and collector pieces for later assessment. On each of the next few days, the team discovered that various collectors had survived intact, including three of four concentrator targets. Within a month, the team had imaged more than 10,000 fragments and packed them for transport to the Astromaterials Acquisition and Curation Office within the ARES Directorate at JSC. Currently, the Genesis samples are curated along with the other extraterrestrial sample collections within ARES. Although they were broken and dirty, the Genesis solar wind collectors still offered the science community the opportunity to better understand our Sun and the solar system as a whole. One of the more highly prized concentrator collectors survived the crash almost completely intact. The Genesis Concentrator was designed to concentrate the solar wind by a factor of at least 20 so that solar oxygen and nitrogen isotopes could be measured. One of these materials was the Diamond-on-Silicon (DoS) concentrator target. Unfortunately, the DoS concentrator broke on impact. Nevertheless, the scientific value of the DoS concentrator target was high. The Genesis Allocation Committee received a request for approximately 1 cm(sup 2) of the DoS specimen taken near the focal point of the concentrator for the analysis of solar wind nitrogen isotopes. The largest fragment, Genesis sample 60000, was designated for this allocation and needed to be precisely cut. The requirement was to subdivide the designated sample in a manner that prevented contamination of the sample and minimized the risk of losing or breaking the precious requested sample fragment. The Genesis curator determined that the use of laser scribing techniques to "cut" a precise line and subsequently cleave the sample (in a controlled break of the sample along that line) was the best method for accomplishing the sample subdivision. However, there were risks, including excess heating of the sample, that could cause some of the implanted solar wind to be lost via thermal diffusion. Accidentally breaking the sample during the handling and cleaving process was an additional risk. Early in fiscal year 2013, to address this delicate, complicated task, the ARES Directorate assembled its top scientists to develop a cutting plan that would ensure success when applied to the actual concentrator target wafer; i.e., to produce an approximately 1 cm(sup 2) piece from the requested area of the wafer. The team, subsequently referred to as the JSC Genesis Tiger Team, spent months researching and testing parameters and techniques related to scribing, cleaving, transporting, handling, and holding (i.e., mounting) the specimen. The investigation required considerable "thinking outside the box," and many, many trials using nonflight wafer analogs. After all preliminary testing, the following method was adopted as the final cutting plan. It was used in two final end-to-end practice runs before being used on the actual flight target wafer. The wafer was oriented on the laser cutting stage with the 100 and 010 directions of the wafer parallel to the corresponding X and Y directions of the cutting stage. The laser was programed to scribe 31 lines of the appropriate length along the Y stage direction. The programed scribe lines were separated by 5 micron in the X direction. The laser parameters were set as follows: (1) The laser power was 0.5 watts; (2) each line consisted of 50 passes, with the Z position being advanced 5 micron per pass; and (3) 30 s would elapse before the next line was scribed to allow for wafer cool down from any possible heating via the laser. The ablated material that "stuck" in the "scribe-cut" was removed from the "cut" using an ultrasonic micro-tool. After all the ablated silicon was removed from the wafer, the wafer was repositioned in exactly the same orientation on the laser stage. The laser was focused using the bottom of the wafer channel, and the 31-line scribing pattern described above was reprogrammed using the Z position of the groove bottom as the starting Z value instead of the top wafer surface, which was used previously. Upon completion of the second set of scribes, the ultrasonic micro-tool was again used to clean out the cut. The wafer was remounted on the stage in exactly the same orientation as before. The laser was again focused on the bottom of the groove. This time, however, the laser was.programed to scribe only one line down the exact center of the channel. The final scribe line consisted of 100 passes with a Z advance of 5 micron per pass and with the laser power set at 0.5 watts. As mentioned above, the final cutting plan was practiced in two end-to-end trials using non-flight, triangular-shaped silicon wafers similar in size and orientation to the actual DOS 60000 target sample. The actual scribing of the triangular-shaped wafers required scribing two lines and cleaving (i.e. scribe-cleave, then scribe-cleave) to obtain the piece requested for allocation. Early in December 2012, after many months of experiments and practicing and perfecting the techniques and procedures, the team successfully subdivided the Genesis DoS 60000 target sample, one of the most scientifically important samples from the Genesis mission (figure 2). On December 17, 2012, the allocated piece of concentrator target sample was delivered to the requesting principal investigator.The cutting plan developed for the subdivision of this sample will be used as the model for subdividing future requested Genesis flight wafers (appropriately modified for different wafer types).

Lauer, H. V., Jr.

Experimental Impacts into Strength-Layered Targets: Ejecta Kinematics and Crater Morphometry

Impact craters can serve as probes of the subsurface structure of a planetary body and provide hints about a target's properties. Crater morphology, for example, can be used to estimate the thickness of a regolith layer above a more competent unit. Small lunar craters in the maria show a morphological progression from a simple bowl shape to flat-floored and concentric as crater diameter increases for a given regolith thickness. The final shape is a result of the subsurface flow-field initiated as the projectile transfers its energy and momentum to the target surface. In strength-layered targets, such as the lunar maria, the substrate modifies the flow field and thereby the excavation of the crater. Here we report on a series of experimental impacts into targets composed of a layer of loose sand above a stronger substrate. As we varied the sand's thickness, we imaged individual ejecta trajectories as the craters grew, from which we derived ejection-speed scaling relationships. In addition, we used a 3D scanner to construct topographic maps of the substrate, pre-impact target, and post-impact surface. This permitted us to examine the final craters' morphologies and morphometries with respect to the original stratigraphy of the target. As expected, craters became shallower and smaller as the sand's thickness decreased, transitioning from bowl-shaped to concentric as observed on the Moon. Subtle and important details show that the stronger substrate affected the subsurface flow-field by redirecting material upward and outward even when the interface was still well below the final crater's floor. Compared to the control target (loose sand only), the stronger substrate below the sand layer resulted in a much more complex pattern of ejecta. While most of the ejected material was still contained within a typical outward-moving curtain, a number of ejected particles moved along low-speed, high-angle (near 90°) trajectories. The number of these high-angle trajectories increased as the sand layer thinned, perhaps implying that self-secondary cratering would require the presence of a strong subsurface layer below the impact site. Such results refine our understanding of crater excavation in layered targets with implications for ejecta deposits and final crater shapes observed on the Moon.

Jennifer L B Anderson

Visual Target Tracking on the Mars Exploration Rovers

Visual Target Tracking (VTT) has been implemented in the new Mars Exploration Rover (MER) Flight Software (FSW) R9.2 release, which is now running on both Spirit and Opportunity rovers. Applying the normalized cross-correlation (NCC) algorithm with template image magnification and roll compensation on MER Navcam images, VTT tracks the target and enables the rover to approach the target within a few cm over a 10 m traverse. Each VTT update takes 1/2 to 1 minute on the rovers, 2-3 times faster than one Visual Odometry (Visodom) update. VTT is a key element to achieve a target approach and instrument placement over a 10-m run in a single sol in contrast to the original baseline of 3 sols. VTT has been integrated into the MER FSW so that it can operate with any combination of blind driving, Autonomous Navigation (Autonav) with hazard avoidance, and Visodom. VTT can either guide the rover towards the target or simply image the target as the rover drives by. Three recent VTT operational checkouts on Opportunity were all successful, tracking the selected target reliably within a few pixels.

target approach

Autonomous target acquisition techniques

Target acquisition is often needed in a deep space mission where the detector on board the space vehicle must be able to perform the decision making process in acquiring the target. That is, the system for target acquisition must be autonomous. This paper presents several autonomous target acquisition techniques, applicable to deep space mission, for detecting stationary and moving targets. These techniques are useful for sensors such as radar, star tracker and television since the target must be found before it can be tracked. A minimum signal-to-noise ratio can be specified for successful acquisition of target.

Brock, H. I.

Differences in the production of noncharacteristic radiation in gaseous and solid targets

Bell et al. (1975) found that the observed yield of noncharacteristic radiation (NCR) for a beam of S atoms hitting Al and Ne targets is of approximately equal magnitude for gaseous and solid targets under similar collision conditions. They concluded that NCR is produced predominantly in single collisions for 55-MeV S atoms on an Al target. This conclusion is tested in a similar collision system by comparing the NCR yields obtained with a 40-MeV Si(6+) ion beam on SiH4 (gaseous target) and on Al (solid target). Corrected X-ray spectra recorded in both cases clearly indicate a difference in the NCR yield for gaseous and solid targets. The results suggest that double collisions dominate the NCR production and that a single-collision production contribution of 15% to 20% is an upper limit for the projectile-target system used.

Laubert, R.

Reflectance differences between Target and Torch rape cultivars

Spectroradiometric reflectance measurements were made on Target and Torch plants (four and five leaves, respectively) that were growing in 0.09 m2 soil-containing flats. Torch's spectrophotometric single leaf reflectance was consistently lower than Target's at the 650-nm chlorophyll absorption band because Torch's chlorophyll concentration was larger than Target's, which caused more red light absorption. Spectroradiometric measurements indicate that: wet soil strongly absorbs visible light (500 to 700 nm) so that Target's soil-containing flat with 60% plant cover has less reflectance than Torch's soil-containing flat with 75% plant cover; Torch (most foiliage) has higher near-infrared (750 to 1,350 nm) reflectance than Target (least foliage); and the 2,200-nm wavelength is a candidate band to distinguish Target from Torch. The difference in chlorophyll concentrations between Target and Torch, compared with leaf structural differences, is apparently the most important factor that would affect the infrared color film's tonal response to vegetation in the photographic sensitive region (500 to 900 nm).

Gausman, H. W.

External calibration of SIR-B Imagery with area-extended and point targets

Data collected by the Shuttle Imaging Radar-B (SIR-B) on two ascending orbits over a site in west-central Illinois were used to establish end-to-end transfer functions for conversion of the digital numbers on the eight-bit image to values of the radar backscattering coefficient, sigma(0). The transfer function for each data take was defined by the SIR response to an array of six calibrated point targets of known radar cross section and to a large number of area-extended targets, also with a known cross section, as measured by externally calibrated, truck-mounted scatterometers. In spite of variance in the SIR transmit power, end-to-end transfer functions generated from either point targets or area-extended targets were found to yield close agreement for a given pass, indicating that targets of known radar cross section can be used to provide transfer functions for orbital SAR. Although the use of area-extended targets yielded the most satisfactory results, the use of point targets is far simpler and may be the preferred alternative for many situations.

Dobson, M. C.

Aided targeting system simulation evaluation

Simulation research was conducted at the Crew Station Research and Development Facility on the effectiveness and ease of use of three targeting systems. A manual system required the aviator to scan a target array area with a simulated second generation forward looking infrared (FLIR) sensor, locate and categorize targets, and construct a target hand-off list. The interface between the aviator and the system was like that of an advanced scout helicopter (manual mode). Two aided systems detected and categorized targets automatically. One system used only the FLIR sensor and the second used FLIR fused with Longbow radar. The interface for both was like that of an advanced scout helicopter aided mode. Exposure time while performing the task was reduced substantially with the aided systems, with no loss of target hand-off list accuracy. The fused sensor system showed lower time to construct the target hand-off list and a slightly lower false alarm rate than the other systems. A number of issues regarding system sensitivity and criterion, and operator interface design are discussed.

Demaio, Joe

Synthetic aperture radar target detection, feature extraction, and image formation techniques

This report presents new algorithms for target detection, feature extraction, and image formation with the synthetic aperture radar (SAR) technology. For target detection, we consider target detection with SAR and coherent subtraction. We also study how the image false alarm rates are related to the target template false alarm rates when target templates are used for target detection. For feature extraction from SAR images, we present a computationally efficient eigenstructure-based 2D-MODE algorithm for two-dimensional frequency estimation. For SAR image formation, we present a robust parametric data model for estimating high resolution range signatures of radar targets and for forming high resolution SAR images.

Li, Jian

Penetration experiments in aluminum 1100 targets using soda-lime glass projectiles

The cratering and penetration behavior of annealed aluminum 1100 targets, with thickness varied from several centimeters to ultra-thin foils less than 1 micrometer thick, were experimentally investigated using 3.2 mm diameter spherical soda-lime glass projectiles at velocities from 1 to 7 km/s. The objective was to establish quantitative, dimensional relationships between initial impact conditions (impact velocity, projectile diameter, and target thickness) and the diameter of the resulting crater or penetration hole. Such dimensional relationships and calibration experiments are needed to extract the diameters and fluxes of hypervelocity particles from space-exposed surfaces and to predict the performance of certain collisional shields. The cratering behavior of aluminum 1100 is fairly well predicted. However, crater depth is modestly deeper for our silicate impactors than the canonical value based on aluminum projectiles and aluminum 6061-T6 targets. The ballistic-limit thickness was also different. These differences attest to the great sensitivity of detailed crater geometry and penetration behavior on the physical properties of both the target and impactor. Each penetration experiment was equipped with a witness plate to monitor the nature of the debris plume emanating from the rear of the target. This plume consists of both projectile fragments and target debris. Both penetration hole and witness-plate spray patterns systematically evolve in response to projectile diameter/target thickness. The relative dimensions of the projectile and target totally dominate the experimental products documented in this report; impact velocity is an important contributor as well to the evolution of penetration holes, but is of subordinate significance for the witness-plate spray patterns.

Horz, Friedrich

The effect of visual context on manual localization of remembered targets

This paper examines the contribution of egocentric cues and visual context to manual localization of remembered targets. Subjects pointed in the dark to the remembered position of a target previously viewed without or within a structured visual scene. Without a remembered visual context, subjects pointed to within 2 degrees of the target. The presence of a visual context with cues of straight ahead enhanced pointing performance to the remembered location of central but not off-center targets. Thus, visual context provides strong visual cues of target position and the relationship of body position to target location. Without a visual context, egocentric cues provide sufficient input for accurate pointing to remembered targets.

NASA Center JSC

Target Recognition Using Neural Networks for Model Deformation Measurements

Optical measurements provide a non-invasive method for measuring deformation of wind tunnel models. Model deformation systems use targets mounted or painted on the surface of the model to identify known positions, and photogrammetric methods are used to calculate 3-D positions of the targets on the model from digital 2-D images. Under ideal conditions, the reflective targets are placed against a dark background and provide high-contrast images, aiding in target recognition. However, glints of light reflecting from the model surface, or reduced contrast caused by light source or model smoothness constraints, can compromise accurate target determination using current algorithmic methods. This paper describes a technique using a neural network and image processing technologies which increases the reliability of target recognition systems. Unlike algorithmic methods, the neural network can be trained to identify the characteristic patterns that distinguish targets from other objects of similar size and appearance and can adapt to changes in lighting and environmental conditions.

Ross, Richard W.