Light-Robust Pole-from-Silhouette Algorithm and Visual-Hull Estimation for Autonomous Optical Navigation to an Unknown Small Body
No abstract provided
Nesnas, Issa A.↗
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Detection of edges using local geometry
Researchers described a new representation, the local geometry, for early visual processing which is motivated by results from biological vision. This representation is richer than is often used in image processing. It extracts more of the local structure available at each pixel in the image by using receptive fields that can be continuously rotated and that go to third order spatial variation. Early visual processing algorithms such as edge detectors and ridge detectors can be written in terms of various local geometries and are computationally tractable. For example, Canny's edge detector has been implemented in terms of a local geometry of order two, and a ridge detector in terms of a local geometry of order three. The edge detector in local geometry was applied to synthetic and real images and it was shown using simple interpolation schemes that sufficient information is available to locate edges with sub-pixel accuracy (to a resolution increase of at least a factor of five). This is reasonable even for noisy images because the local geometry fits a smooth surface - the Taylor series - to the discrete image data. Only local processing was used in the implementation so it can readily be implemented on parallel mesh machines such as the MPP. Researchers expect that other early visual algorithms, such as region growing, inflection point detection, and segmentation can also be implemented in terms of the local geometry and will provide sufficiently rich and robust representations for subsequent visual processing.
Gualtieri, J. A.↗
Cooperative Lander-Surface/Aerial Microflyer Missions for Mars Exploration
Concepts are being investigated for exploratory missions to Mars based on Bioinspired Engineering of Exploration Systems (BEES), which is a guiding principle of this effort to develop biomorphic explorers. The novelty lies in the use of a robust telecom architecture for mission data return, utilizing multiple local relays (including the lander itself as a local relay and the explorers in the dual role of a local relay) to enable ranges ~10 to 1,000 km and downlink of color imagery. As illustrated in Figure 1, multiple microflyers that can be both surface or aerially launched are envisioned in shepherding, metamorphic, and imaging roles. These microflyers imbibe key bio-inspired principles in their flight control, navigation, and visual search operations. Honey-bee inspired algorithms utilizing visual cues to perform autonomous navigation operations such as terrain following will be utilized. The instrument suite will consist of a panoramic imager and polarization imager specifically optimized to detect ice and water. For microflyers, particularly at small sizes, bio-inspired solutions appear to offer better alternate solutions than conventional engineered approaches. This investigation addresses a wide range of interrelated issues, including desired scientific data, sizes, rates, and communication ranges that can be accomplished in alternative mission scenarios. The mission illustrated in Figure 1 offers the most robust telecom architecture and the longest range for exploration with two landers being available as main local relays in addition to an ephemeral aerial probe local relay. The shepherding or metamorphic plane are in their dual role as local relays and image data collection/storage nodes. Appropriate placement of the landing site for the scout lander with respect to the main mission lander can allow coverage of extremely large ranges and enable exhaustive survey of the area of interest. In particular, this mission could help with the path planning and risk mitigation in the traverse of the long-distance surface explorer/rover. The basic requirements of design and operation of BEES to implement the scenarios are discussed. Terrestrial applications of such concepts include distributed aerial/surface measurements of meteorological events, i.e., storm watch, seismic monitoring, reconnaissance, biological chemical sensing, search and rescue, surveillance, autonomous security/ protection agents, and/or delivery and lateral distribution of agents (sensors, surface/subsurface crawlers, clean-up agents). Figure 2 illustrates an Earth demonstration that is in development, and its implementation will illustrate the value of these biomorphic mission concepts.
Thakoor, Sarita↗
Memory-Aware External Facelist Calculation: A Data-Parallel Atomic Hash Counting Approach
Unstructured volumetric meshes serve as fundamental data representations in various scientific simulations and analyses. They play a crucial role in representing complex computational domains and are essential for important numerical techniques, such as finite element analysis. Whenever such a mesh is read from a file, streamed in-situ, or generated by algorithms, scientific visualization libraries rely on calculating the external surface of a geometry, named “external facelist”, to produce a polygonal mesh for rendering. Consequently, external facelist calculation has become one of the most widely used algorithms in the scientific visualization domain, necessitating optimal performance. In this paper, we explore relevant work on external facelist calculation algorithms in two common visualization libraries, VTK and Viskores, assess their performance and memory constraints, and introduce a novel memory-aware external facelist calculation algorithm employing an atomic hash counting approach. This algorithm fully leverages Viskores' data-parallel primitive operations, facilitating its execution across diverse many-core architectures. Our algorithm features the lowest memory footprint on the GPU and the second-lowest on the CPU among all evaluated methods, and it also delivers the fastest performance on both CPU and GPU. It has been made available under an open-source license in the VTK and Viskores visualization systems.
Tsalikis, Spiros [Kitware] (ORCID:0000000151137195↗
MODIS algorithm development and data visualization using ACTS
The study of the Earth as a system will require the merger of scientific and data resources on a much larger scale than has been done in the past. New methods of scientific research, particularly in the development of geographically dispersed, interdisciplinary teams, are necessary if we are to understand the complexity of the Earth system. Even the planned satellite missions themselves, such as the Earth Observing System, will require much more interaction between researchers and engineers if they are to produce scientifically useful data products. A key component in these activities is the development of flexible, high bandwidth data networks that can be used to move large amounts of data as well as allow researchers to communicate in new ways, such as through video. The capabilities of the Advanced Communications Technology Satellite (ACTS) will allow the development of such networks. The Pathfinder global AVHRR data set and the upcoming SeaWiFS Earthprobe mission would serve as a testbed in which to develop the tools to share data and information among geographically distributed researchers. Our goal is to develop a 'Distributed Research Environment' that can be used as a model for scientific collaboration in the EOS era. The challenge is to unite the advances in telecommunications with the parallel advances in computing and networking.
Abbott, Mark R.↗
Comparison of Visual and LiDAR SLAM Algorithms using NASA Flight Test Data
Simultaneous Localization and Mapping (SLAM) is a promising technique that provides localization information and precise mapping of the physical environment without having much prior knowledge of the surroundings. SLAM may have a vital role in aeronautics and aerospace, where vehicles and aircraft must operate in complex environments with traditional localization services that may be degraded or unavailable. This paper compares several pre-canned 3D SLAM algorithms based on vision and LiDAR, namely ORB-SLAM, ORB-SLAM2, LOAM, A-LOAM, and F-LOAM on NASA UAS (Unmanned Aircraft System) flight test data. The NASA ARC UAS flight test demonstrates preliminary SLAM algorithm results, which serve as a stepping stone to simulated AAM (Advanced Air Mobility) concepts. Conducting AFRC UAS flight test for simulated AAM approach and landing with SLAM algorithms provides an Alternative Precision Navigation and Timing solution based on distributed landmarks and fiducials in the landing zone. These algorithms use the telemetry data as ground truth for a baseline comparison. The criteria of the performance comparison include robustness, accuracy, re-localization, response to environmental changes, and real-time effectiveness, which are currently qualitative but to be quantitative in the future.
computer vision↗
Comparison of Visual and LiDAR SLAM Algorithms using NASA Flight Test Data
Simultaneous Localization and Mapping (SLAM) is a promising technique that provides localization information and precise mapping of the physical environment without having much prior knowledge of the surroundings. SLAM may have a vital role in aeronautics and aerospace, where vehicles and aircraft must operate in complex environments with traditional localization services that may be degraded or unavailable. This paper compares several pre-canned 3D SLAM algorithms based on vision and LiDAR, namely ORB-SLAM, ORB-SLAM2, LOAM, A-LOAM, and F-LOAM on NASA UAS (Unmanned Aircraft System) flight test data. The NASA ARC UAS flight test demonstrates preliminary SLAM algorithm results, which serve as a stepping stone to simulated AAM (Advanced Air Mobility) concepts. Conducting AFRC UAS flight test for simulated AAM approach and landing with SLAM algorithms provides an Alternative Precision Navigation and Timing solution based on distributed landmarks and fiducials in the landing zone. These algorithms use the telemetry data as ground truth for a baseline comparison. The criteria of the performance comparison include robustness, accuracy, re-localization, response to environmental changes, and real-time effectiveness, which are currently qualitative but to be quantitative in the future.
computer vision↗
ATDM/ECP Milestone Memo WBS 2.3.4.04 / SNL ATDM Data and Visualization Projects STDV04-20 - [MS4/YR2] Document/Tune performance of VTK-m algorithms on ATS-1
Running visualization and analysis algorithms on ATS-1 platforms is a critical step for supporting ATDM apps at the exascale level. We are leveraging VTK-m to port our algorithms to the ATS-specific hardware and ensuring that it runs well.
97 MATHEMATICS AND COMPUTING↗
Numerical Simulation of the Instability of an Inviscid Liquid Jet in a Coflowing Compressible Airstream
The nonlinear interfacial instability of a liquid jet in a coflowing compressible airstream is studied numerically. A high-resolution scheme which has second-order accuracy in space and time is coupled with a Lagrangian marker particle algorithm to visualize the large-scale motion of the interfaces in compressible flow. A numerical algorithm based on an approximate equation of state of a compressible liquid is developed to allow this two-fluid system to be governed by the nonlinear unsteady Euler equations in conservative form. The initial growth of small disturbances given by the simulations agrees well with linear theory. The process of jet disruption in compressible flow is demonstrated to consist of the formation of liquid spikes, interweaving of the gas and liquid and stretching and detachment of the liquid main center core.
Li, H. -S.↗
Solving the Bernstein-Vazirani problem using Majorana-based topological quantum algorithms
Executing quantum algorithms using Majorana zero modes—a major milestone for the field of topological quantum computing—requires a platform that can be scaled to large quantum registers, can be controlled in real time and space, and a braiding protocol that uses the unique properties of these exotic particles. Here, we demonstrate the first successful simulation of a Majorana-based, fault-tolerant quantum algorithm to solve the Bernstein-Vazirani problem in two-dimensional magnet-superconductor hybrid structures from initialization to read-out of the final many-body state. Utilizing the Majorana zero modes’ topological properties, we introduce an optimized braiding protocol for the algorithm and a scalable architecture for its implementation with an arbitrary number of qubits. We visualize the algorithm protocol in real time and space by computing the non-equilibrium density of states, which is proportional to the time-dependent differential conductance, and the non-equilibrium charge density, which assigns a unique signature to each final state of the algorithm.
75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
Parallel Visualization of Large-Scale Aerodynamics Calculations: A Case Study on the Cray T3E
This paper reports the performance of a parallel volume rendering algorithm for visualizing a large-scale, unstructured-grid dataset produced by a three-dimensional aerodynamics simulation. This dataset, containing over 18 million tetrahedra, allows us to extend our performance results to a problem which is more than 30 times larger than the one we examined previously. This high resolution dataset also allows us to see fine, three-dimensional features in the flow field. All our tests were performed on the Silicon Graphics Inc. (SGI)/Cray T3E operated by NASA's Goddard Space Flight Center. Using 511 processors, a rendering rate of almost 9 million tetrahedra/second was achieved with a parallel overhead of 26%.
Ma, Kwan-Liu↗
A comparison of neural network and fuzzy clustering techniques in segmenting magnetic resonance images of the brain
Magnetic resonance (MR) brain section images are segmented and then synthetically colored to give visual representations of the original data with three approaches: the literal and approximate fuzzy c-means unsupervised clustering algorithms and a supervised computational neural network, a dynamic multilayered perception trained with the cascade correlation learning algorithm. Initial clinical results are presented on both normal volunteers and selected patients with brain tumors surrounded by edema. Supervised and unsupervised segmentation techniques provide broadly similar results. Unsupervised fuzzy algorithms were visually observed to show better segmentation when compared with raw image data for volunteer studies. However, for a more complex segmentation problem with tumor/edema or cerebrospinal fluid boundary, where the tissues have similar MR relaxation behavior, inconsistency in rating among experts was observed.
Hall, Lawrence O.↗
Preprocessing Prediction of Advanced Algorithms for Medical Imaging
Advanced medical imaging algorithms (such as bone removal, vessel segmentation, or a lung nodule detection) can provide extremely valuable information to the radiologists, but they might sometimes be very time consuming. Being able to run the algorithms in advance can be a possible solution. However, we do not know which algorithm to run on a given dataset before it is actually used. It is possible to manually insert matching rules for preprocessing algorithms, but it requires high maintenance and does not work well in practice. This paper presents a dynamic machine learning solution for predicting which advanced visualization (AV) algorithm needs to be applied on a given series. The system gets a handful of free text DICOM tags as an input and builds a model in the clinical setting. It incorporates a Bag of Words (BOW) feature extractor and a Random Forest classifier. The approach was tested on two datasets from clinical sites which use different languages and varying scanner models. We show that even without feature extraction, sensitivity of above 90% can be reached on both of them. By using BOW feature extractor, precision and sensitivity can usually be further improved. Even on a noisy and highly unbalanced dataset, only around 100 samples were needed to reach sensitivity of above 80% and specificity of above 97%. We show how the solution can be part of a Smart Preprocessing mechanism in a viewing software. Using such a system will ultimately minimize the time to launch studies and improve radiologists reading time efficiency.
62 RADIOLOGY AND NUCLEAR MEDICINE↗
Portable data parallel visualiza0on algorithms with VTK-m
No abstract provided
97 MATHEMATICS AND COMPUTING↗
Surface Triangulation for CSG in Mercury
Visualization routines for rendering complicated geometries are very useful for engineers and scientists who are trying to build 3D prototypes of their designs. A common way to rapidly add interesting features to a 3D model is through the use of a concept called Constructive Solid Geometry. CSG uses compositions of the boolean set operations to manipulate basic geometric primitives to form more complicated objects. The most common boolean operations employed are union, intersection, and subtraction. Most computer-aided design software packages contain some sort of ability visualize CSG. The typical workflow for the user is as follows: The user specifies the individual primitive components, the user arbitrarily combines each of these primitives with boolean operations, the software generates a CSG tree structure which normally stores these solids implicitly with their defining equation, the tree is traversed and a general algorithm is applied to render the appropriate geometry onto the screen. Algorithms for visualizing CSG have been extensively developed for over a decade. Points sampled from the implicit solids are typically used as input by variations of algorithms like marching cubes and point-cloud surface reconstruction. Here, we explain a surface triangulation method from the graphics community that is being used for surface visualization in the framework of a Monte-Carlo neutron transport code called Mercury.
97 MATHEMATICS AND COMPUTING↗
minilosurface
The miniIsosurface package provides a collection of reference implementations for finding a representation for a contour of a scalar field in a volume. Contouring is a well-studied algorithm in scientific visualization and there are many algorithm variations to solve it. The miniIsosurface package provides a convenient collection of the most popular variations of the contour algorithm and some variations to run in different parallel environments.
Borgeois, Daniel↗
Accelerating Demand Paging for Local and Remote Out-of-Core Visualization
This paper describes a new algorithm that improves the performance of application-controlled demand paging for the out-of-core visualization of data sets that are on either local disks or disks on remote servers. The performance improvements come from better overlapping the computation with the page reading process, and by performing multiple page reads in parallel. The new algorithm can be applied to many different visualization algorithms since application-controlled demand paging is not specific to any visualization algorithm. The paper includes measurements that show that the new multi-threaded paging algorithm decreases the time needed to compute visualizations by one third when using one processor and reading data from local disk. The time needed when using one processor and reading data from remote disk decreased by up to 60%. Visualization runs using data from remote disk ran about as fast as ones using data from local disk because the remote runs were able to make use of the remote server's high performance disk array.
Ellsworth, David↗
DragonView: Toward Understanding Network Interference in Dragonfly-based Supercomputers
Acquiring and maintaining high performance computing systems represents a substantial, long term investment. Therefore, it is paramount to optimize their utilization in order to maximize the return on investment and the impact on science and engineering. In this context, network congestion and inter-job interference are a major challenge as they can lead to significant systemwide performance degregation. This is especially pertinent in shared interconnects such as the dragonfly network, in which resources are shared by multiple jobs. Since many large-scale applications are communication-bound, a few communication heavy applications can have a large impact on the performance of all jobs and decrease the overall system throughput. In this paper, we describe a web-based visual analytics environment to study congestion and inter-job interference on dragonfly networks. The system enables network architects, system administrators and application developers to explore the potential impact of machine configuration, job placement policies and routing algorithms by visualizing and comparing ensembles of simulated workloads and real world data. We focus on the design of the system and describe the challenges, design decisions and the final implementation. Finally, we present two detailed case studies of prototypical analysis sessions by our stakeholders aimed at exploring the implications of different workloads and machine configurations using ensembles of network simulations.
97 MATHEMATICS AND COMPUTING↗