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At least 613 records · Page 34

Franklin expedition lead exposure: New insights from high resolution confocal x-ray fluorescence imaging of skeletal microstructure

In the summer of 1845, under the command of Sir John Franklin, 128 officers and men aboard Royal Navy ships HMS Erebus and HMS Terror sailed into Lancaster Sound and entered the waters of Arctic North America. The goal of this expedition was to complete the discovery of a northwest passage by navigating the uncharted area between Barrow Strait and Simpson Strait. Franklin and his crew spent the first winter at Beechey Island, where three crewmen died and were buried. In September 1846, the ships became stranded in ice off the northwest coast of King William Island, where they remained until April 1848. At that time, the crew, reduced to 105, deserted the ships and retreated south along the island’s western and southern shores in a desperate attempt to reach the mainland and via the Back River, to obtain aid at a Hudson’s Bay Company Post. Sadly, not one individual survived. Previous analyses of bone, hair, and soft tissue samples from expedition remains found that crewmembers’ tissues contained elevated lead (Pb) levels, suggesting that Pb poisoning may have contributed to their demise; however, questions remain regarding the timing and degree of exposure and, ultimately, the extent to which the crewmembers may have been impacted. To address this historical question, we investigated three hypotheses. First, if elevated Pb exposure was experienced by the crew during the expedition, we hypothesized that those sailors who survived longer (King William Island vs. Beechey Island) would exhibit more extensive uptake of Pb in their bones and vice versa. Second, we hypothesized that Pb would be elevated in bone microstructural features forming at or near the time of death compared with older tissue. Finally, if Pb exposure played a significant role in the failure of the expedition we hypothesized that bone samples would exhibit evidence of higher and more sustained uptake of Pb than that of a contemporary comparator naval population from the 19 th century. To test these hypotheses, we analyzed bone and dental remains of crew members and compared them against samples derived from the Royal Navy cemetery in Antigua. Synchrotron-based high resolution confocal X-ray fluorescence imaging was employed to visualize Pb distribution within bone and tooth microstructures at the micro scale. The data did not support our first hypothesis as Pb distribution within the samples from the two different sites was similar. Evidence of Pb within skeletal microstructural features formed near the time of death lent support to our second hypothesis but consistent evidence of a marked elevation in Pb levels was lacking. Finally, the comparative analysis with the Antigua samples did not support the hypothesis that the Franklin sailors were exposed to an unusually high level of Pb for the time period. Taken all together our skeletal microstructural results do not support the conclusion that Pb played a pivotal role in the loss of Franklin and his crew.

59 BASIC BIOLOGICAL SCIENCES↗

Orbital maneuvering vehicle teleoperation and video data compression

The Orbital Maneuvering Vehicle (OMV) and concepts of teleoperation and video data compression as applied to OMV design and operation are described. The OMV provides spacecraft delivery, retrieval, reboost, deboost and viewing services, with ground-control or Space Station operation, through autonomous navigation and pilot controlled maneuvers. Communications systems are comprised of S-band RF command, telemetry, and compressed video data links through the TDRSS and GSTDN networks. The control console video monitors display a monochrome image at an update rate of five frames per second. Depending upon the mode of operation selected by the pilot, the video resolution is either 255 x 244 pixels, or 510 x 244 pixels. Since practically all video image redundancy is removed by the compression process, the video reconstruction is particularly sensitive to data transmission bit errors. Concatenated Reed-Solomon and convolution coding are used with helical data interleaving for error detection and correction, and an error-containment process minimizes the propagation of error effects throughout the video image. Video sub-frame replacement is used, in the case of a non-correctable error or error burst, to minimize the visual impact to the pilot.

Jones, Steve↗

A tesselated probabilistic representation for spatial robot perception and navigation

The ability to recover robust spatial descriptions from sensory information and to efficiently utilize these descriptions in appropriate planning and problem-solving activities are crucial requirements for the development of more powerful robotic systems. Traditional approaches to sensor interpretation, with their emphasis on geometric models, are of limited use for autonomous mobile robots operating in and exploring unknown and unstructured environments. Here, researchers present a new approach to robot perception that addresses such scenarios using a probabilistic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a multi-dimensional random field that maintains stochastic estimates of the occupancy state of each cell in the grid. The cell estimates are obtained by interpreting incoming range readings using probabilistic models that capture the uncertainty in the spatial information provided by the sensor. A Bayesian estimation procedure allows the incremental updating of the map using readings taken from several sensors over multiple points of view. An overview of the Occupancy Grid framework is given, and its application to a number of problems in mobile robot mapping and navigation are illustrated. It is argued that a number of robotic problem-solving activities can be performed directly on the Occupancy Grid representation. Some parallels are drawn between operations on Occupancy Grids and related image processing operations.

Elfes, Alberto↗

Building Capacity for Policy-makers in a Virtual Setting: Providing Tools to Analyze Wildfire Smoke Plumes and Their Impacts

The NASA DEVELOP Program conducted 10-week long feasibility projects in a remote work setting, including partnering with The Nature Conservancy’s Washington Chapter and the Puget Sound Clean Air Agency to investigate wildfire smoke from 2000 - 2020 in the Pacific Northwest using satellite-derived data. The team engaged with platforms for collaboration both internally with NASA affiliates and externally with community organizations. Working from multiple states, the team members used a variety of software including Google Meet, Microsoft Teams, and Google Earth Engine to foster communication and work with data in a shared virtual environment. Throughout the project, the team learned that executing the project in a distanced work setting made it easier to reach out to scientists across the country for expertise and guidance. To study changes in air quality resulting from wildfire smoke, the team utilized data from NASA’s Fire Information from Resource Management System (FIRMS) and the ESA’s Sentinel-5 TROPOspheric Monitoring Instrument (TROPOMI). The team created a Google Earth Engine web-based tool, “Plume Hazards and Observations of Emissions by Navigating an Interactive eXplorer” (PHOENIX), to visualize changes in pollutants and aerosol optical depth after fire events. The potential relationship between plume height and fire radiative power was evaluated by using NASA’s Moderate Resolution Imaging Spectroradiometer (MODIS) aboard Aqua and Terra satellites and NASA’s Multi-angle Imaging SpectroRadiometer (MISR) aboard Terra with the MISR INteractive eXplorer (MINX). The PHOENIX smoke assessment tool and science communication infographics will be shared electronically with the partner organizations. Furthermore, the team introduced the partners to MINX and will provide a tailored tutorial that included a recorded video and a written component with a live virtual workshop. These resources build capacity for further research and education on wildfire smoke and air quality within communities.

NASA DEVELOP↗

[Real time 3D echocardiography]

Three-dimensional representation of the heart is an old concern. Usually, 3D reconstruction of the cardiac mass is made by successive acquisition of 2D sections, the spatial localisation and orientation of which require complex guiding systems. More recently, the concept of volumetric acquisition has been introduced. A matricial emitter-receiver probe complex with parallel data processing provides instantaneous of a pyramidal 64 degrees x 64 degrees volume. The image is restituted in real time and is composed of 3 planes (planes B and C) which can be displaced in all spatial directions at any time during acquisition. The flexibility of this system of acquisition allows volume and mass measurement with greater accuracy and reproducibility, limiting inter-observer variability. Free navigation of the planes of investigation allows reconstruction for qualitative and quantitative analysis of valvular heart disease and other pathologies. Although real time 3D echocardiography is ready for clinical usage, some improvements are still necessary to improve its conviviality. Then real time 3D echocardiography could be the essential tool for understanding, diagnosis and management of patients.

Review↗

Performance Characterization of Obstacle Detection Algorithms for Aircraft Navigation

The research reported here is a part of NASA's Synthetic Vision System (SVS) project for the development of a High Speed Civil Transport Aircraft (HSCT). One of the components of the SVS is a module for detection of potential obstacles in the aircraft's flight path by analyzing the images captured by an on-board camera in real-time. Design of such a module includes the selection and characterization of robust, reliable, and fast techniques and their implementation for execution in real-time. This report describes the results of our research in realizing such a design.

Kasturi, Rangachar↗

Obstacle Detection Algorithms for Aircraft Navigation: Performance Characterization of Obstacle Detection Algorithms for Aircraft Navigation

The research reported here is a part of NASA's Synthetic Vision System (SVS) project for the development of a High Speed Civil Transport Aircraft (HSCT). One of the components of the SVS is a module for detection of potential obstacles in the aircraft's flight path by analyzing the images captured by an on-board camera in real-time. Design of such a module includes the selection and characterization of robust, reliable, and fast techniques and their implementation for execution in real-time. This report describes the results of our research in realizing such a design. It is organized into three parts. Part I. Data modeling and camera characterization; Part II. Algorithms for detecting airborne obstacles; and Part III. Real time implementation of obstacle detection algorithms on the Datacube MaxPCI architecture. A list of publications resulting from this grant as well as a list of relevant publications resulting from prior NASA grants on this topic are presented.

Kasturi, Rangachar↗

Autonomous navigation and control of a Mars rover

A Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.

Miller, D. P.↗

A positional estimation technique for an autonomous land vehicle in an unstructured environment

This paper presents a solution to the positional estimation problem of an autonomous land vehicle navigating in an unstructured mountainous terrain. A Digital Elevation Map (DEM) of the area in which the robot is to navigate is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, and a device to measure the elevation of the robot above the ground surface. No recognizable landmarks are assumed to be present in the environment in which the robot is to navigate. The solution presented makes use of the DEM information, and structures the problem as a heuristic search in the DEM for the possible robot location. The shape and position of the horizon line in the image plane and the known camera geometry of the perspective projection are used as parameters to search the DEM. Various heuristics drawn from the geometric constraints are used to prune the search space significantly. The algorithm is made robust to errors in the imaging process by accounting for the worst care errors. The approach is tested using DEM data of areas in Colorado and Texas. The method is suitable for use in outdoor mobile robots and planetary rovers.

Talluri, Raj↗

Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

TIR cameras can be used for day/night Unmanned Ground Vehicle (UGV) autonomous navigation when stealth is required. The quality of uncooled TIR cameras has significantly improved over the last decade, making them a viable option at low speed Limiting factors for stereo ranging with uncooled LWIR cameras are image blur and low texture scenes TIR perception capabilities JPL has explored includes: (1) single and dual band TIR terrain classification (2) obstacle detection (pedestrian, vehicle, tree trunks, ditches, and water) (3) perception thru obscurants

calibration↗

Real-time Accurate Surface Reconstruction Pipeline for Vision Guided Planetary Exploration Using Unmanned Ground and Aerial Vehicles

This report discusses work completed over the summer at the Jet Propulsion Laboratory (JPL), California Institute of Technology. A system is presented to guide ground or aerial unmanned robots using computer vision. The system performs accurate camera calibration, camera pose refinement and surface extraction from images collected by a camera mounted on the vehicle. The application motivating the research is planetary exploration and the vehicles are typically rovers or unmanned aerial vehicles. The information extracted from imagery is used primarily for navigation, as robot location is the same as the camera location and the surfaces represent the terrain that rovers traverse. The processed information must be very accurate and acquired very fast in order to be useful in practice. The main challenge being addressed by this project is to achieve high estimation accuracy and high computation speed simultaneously, a difficult task due to many technical reasons.

computer vision↗

Detection of Water Hazards for Autonomous Robotic Vehicles

Four methods of detection of bodies of water are under development as means to enable autonomous robotic ground vehicles to avoid water hazards when traversing off-road terrain. The methods involve processing of digitized outputs of optoelectronic sensors aboard the vehicles. It is planned to implement these methods in hardware and software that would operate in conjunction with the hardware and software for navigation and for avoidance of solid terrain obstacles and hazards. The first method, intended for use during the day, is based on the observation that, under most off-road conditions, reflections of sky from water are easily discriminated from the adjacent terrain by their color and brightness, regardless of the weather and of the state of surface waves on the water. Accordingly, this method involves collection of color imagery by a video camera and processing of the image data by an algorithm that classifies each pixel as soil, water, or vegetation according to its color and brightness values (see figure). Among the issues that arise is the fact that in the presence of reflections of objects on the opposite shore, it is difficult to distinguish water by color and brightness alone. Another issue is that once a body of water has been identified by means of color and brightness, its boundary must be mapped for use in navigation. Techniques for addressing these issues are under investigation. The second method, which is not limited by time of day, is based on the observation that ladar returns from bodies of water are usually too weak to be detected. In this method, ladar scans of the terrain are analyzed for returns and the absence thereof. In appropriate regions, the presence of water can be inferred from the absence of returns. Under some conditions in which reflections from the bottom are detectable, ladar returns could, in principle, be used to determine depth. The third method involves the recognition of bodies of water as dark areas in short-wavelength infrared (SWIR) images. This method is based on the fact, well known among experts in remote sensing, that water bodies of any appreciable depth appear very dark in near-infrared, overhead imagery. Even under a thick layer of marine fog, SWIR illumination is present. Hence, this method may work even in the presence of clouds, though it is unlikely to work at night. Snow and ice also exhibit very strong absorption at wavelengths greater than about 1.4 m. Hence, the wavelength range of about 1.5 to 1.6 m might be useable in this method for recognizing water, snow, and ice. One notable drawback of this method is that useful look-ahead distance could be limited by surface reflections. The fourth method, intended for use at night, involves the contrast between water and terrain in thermal-infrared (medium-wavelength infrared) imagery. This method is based on the fact that at night, water is usually warmer than the adjacent terrain. Look-ahead distance could be limited in this method because, for reasons not yet fully understood, water appears to darken in the thermal infrared with increasing distance.

Matthes, Larry↗

Optimization of yttrium-90 PET for simultaneous PET/MR imaging: A phantom study

Purpose: Positron emission tomography (PET) imaging of yttrium-90 in the liver post radioembolization has been shown useful for personalized dosimetry calculations and evaluation of extrahepatic deposition. The purpose of this study was to quantify the benefits of several MR-based data correction approaches offered by using a combined PET/MR system to improve Y-90 PET imaging. In particular, the feasibility of motion and partial volume corrections were investigated in a controlled phantom study. Methods: The ACR phantom was filled with an initial concentration of 8 GBq of Y-90 solution resulting in a contrast of 10:1 between the hot cylinders and the background. Y-90 PET motion correction through motion estimates from MR navigators was evaluated by using a custom-built motion stage that simulated realistic amplitudes of respiration-induced liver motion. Finally, the feasibility of an MR-based partial volume correction method was evaluated using a wavelet decomposition approach. Results: Motion resulted in a large (∼40%) loss of contrast recovery for the 8 mm cylinder in the phantom, but was corrected for after MR-based motion correction was applied. Partial volume correction improved contrast recovery by 13% for the 8 mm cylinder. Conclusions: MR-based data correction improves Y-90 PET imaging on simultaneous PET/MR systems. Assessment of these methods must be studied further in the clinical setting.

60 APPLIED LIFE SCIENCES↗

Active learning of polarizable nanoparticle phase diagrams for the guided design of triggerable self-assembling superlattices

Polarizable nanoparticles are of interest in materials science because of their rich and complex phase behavior that can be used to engineer nanostructured materials with long-range crystalline order. To understand and rationally navigate the design space of polarizable nanoparticles for self-assembling highly ordered superlattices, we developed a coarse-grained computational model to describe the nanoparticle-nanoparticle interactions in implicit solvent and employ the computationally efficient image method to model many-body polarization interactions. We conducted high-throughput virtual screening over a five-dimensional particle design space spanned by temperature, particle size, particle charge, particle dielectric, and solvent dielectric using enhanced sampling molecular dynamics calculations within an active learning framework to efficiently map out the regions of thermodynamic stability of the self-assembled aggregates. We validate our predictions in comparisons against small angle x-ray scattering measurements of gold nanoparticles surface functionalized with metal chalcogenide ligands. Lastly, we use our validated phase maps to computationally design switchable nanostructured materials capable of triggered assembly and disassembly as a function of temperature and solvent dielectric with potential applications as sensors, smart windows, optoelectronic devices, and in medical diagnostics.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Mariner 9 star photography.

Mariner 9 achieved successful photography of the stars, the purpose of the experiment being to measure camera parameters associated with point source photometry, and to examine the feasibility of using stars as invariant calibration sources and a reference for optical navigation. The Mariner 9 camera-B photography demonstrated photometric response consistency over a limited sample of data to better than 15%. Camera performance verified the ability to model vidicon response characteristics as well as demonstrated an imaging capability sufficient to permit the use of stars for photometric calibration.

Thorpe, T. E.↗

VHF downline communication system for SLAR data

A real time VHF downlink communication system is described for transmitting side-looking airborne radar (SLAR) data directly from an aircraft to a portable ground/shipboard receiving station. Use of this receiving station aboard the U.S. Coast Guard icebreaker Mackinaw for generating real-time photographic quality radar images is discussed. The system was developed and demonstrated in conjunction with the U.S Coast Guard and NOAA National Weather Service as part of the Project Icewarn all weather ice information system for the Great Lakes Winter Navigation Program.

Schertler, R. J.↗

Estimating Distances To Objects From Motion In Images

In developmental method of estimating distances between moving platform and nearby stationary objects, positions of objects relative to moving platform deduced from apparent motions of those objects in images generated by video camera affixed to platform. Estimates enhanced by use of extended Kalman filter. Developed for use in controlling military helicopters in low-altitude evasive maneuvers, also potentially applicable in robotics and in autonomous navigation of vehicles in general.

Sridhar, B.↗

Parallel-Processing Software for Correlating Stereo Images

A computer program implements parallel- processing algorithms for cor relating images of terrain acquired by stereoscopic pairs of digital stereo cameras on an exploratory robotic vehicle (e.g., a Mars rove r). Such correlations are used to create three-dimensional computatio nal models of the terrain for navigation. In this program, the scene viewed by the cameras is segmented into subimages. Each subimage is assigned to one of a number of central processing units (CPUs) opera ting simultaneously.

Klimeck, Gerhard↗