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NASA NTRS2007

Processing Satellite Imagery To Detect Waste Tire Piles

A methodology for processing commercially available satellite spectral imagery has been developed to enable identification and mapping of waste tire piles in California. The California Integrated Waste Management Board initiated the project and provided funding for the method s development. The methodology includes the use of a combination of previously commercially available image-processing and georeferencing software used to develop a model that specifically distinguishes between tire piles and other objects. The methodology reduces the time that must be spent to initially survey a region for tire sites, thereby increasing inspectors and managers time available for remediation of the sites. Remediation is needed because millions of used tires are discarded every year, waste tire piles pose fire hazards, and mosquitoes often breed in water trapped in tires. It should be possible to adapt the methodology to regions outside California by modifying some of the algorithms implemented in the software to account for geographic differences in spectral characteristics associated with terrain and climate. The task of identifying tire piles in satellite imagery is uniquely challenging because of their low reflectance levels: Tires tend to be spectrally confused with shadows and deep water, both of which reflect little light to satellite-borne imaging systems. In this methodology, the challenge is met, in part, by use of software that implements the Tire Identification from Reflectance (TIRe) model. The development of the TIRe model included incorporation of lessons learned in previous research on the detection and mapping of tire piles by use of manual/ visual and/or computational analysis of aerial and satellite imagery. The TIRe model is a computational model for identifying tire piles and discriminating between tire piles and other objects. The input to the TIRe model is the georeferenced but otherwise raw satellite spectral images of a geographic region to be surveyed. The TIRe model identifies the darkest objects in the images and, on the basis of spatial and spectral image characteristics, discriminates against other dark objects, which can include vegetation, some bodies of water, and dark soils. The TIRe model can identify piles of as few as 100 tires. The output of the TIRe model is a binary mask showing areas containing suspected tire piles and spectrally similar features. This mask is overlaid on the original satellite imagery and examined by a trained image analyst, who strives to further discriminate against non-tire objects that the TIRe model tentatively identified as tire piles. After the analyst has made adjustments, the mask is used to create a synoptic, geographically accurate tire-pile survey map, which can be overlaid with a road map and/or any other map or set of georeferenced data, according to a customer s preferences.

Skiles, Joseph↗

NASA NTRS2012

Airport Traffic Conflict Detection and Resolution Algorithm Evaluation

A conflict detection and resolution (CD&R) concept for the terminal maneuvering area (TMA) was evaluated in a fast-time batch simulation study at the National Aeronautics and Space Administration (NASA) Langley Research Center. The CD&R concept is being designed to enhance surface situation awareness and provide cockpit alerts of potential conflicts during runway, taxi, and low altitude air-to-air operations. The purpose of the study was to evaluate the performance of aircraft-based CD&R algorithms in the TMA, as a function of surveillance accuracy. This paper gives an overview of the CD&R concept, simulation study, and results. The Next Generation Air Transportation System (NextGen) concept for the year 2025 and beyond envisions the movement of large numbers of people and goods in a safe, efficient, and reliable manner [1]. NextGen will remove many of the constraints in the current air transportation system, support a wider range of operations, and provide an overall system capacity up to three times that of current operating levels. Emerging NextGen operational concepts [2], such as four-dimensional trajectory based airborne and surface operations, equivalent visual operations, and super density arrival and departure operations, require a different approach to air traffic management and as a result, a dramatic shift in the tasks, roles, and responsibilities for the flight deck and air traffic control (ATC) to ensure a safe, sustainable air transportation system.

Jones, Denise R.↗

NASA NTRS1989

History of visual systems in the Systems Engineering Simulator

The Systems Engineering Simulator (SES) houses a variety of real-time computer generated visual systems. The earliest machine dates from the mid-1960's and is one of the first real-time graphics systems in the world. The latest acquisition is the state-of-the-art Evans and Sutherland CT6. Between the span of time from the mid-1960's to the late 1980's, tremendous strides have been made in the real-time graphics world. These strides include advances in both software and hardware engineering. The purpose is to explore the history of the development of these real-time computer generated image systems from the first machine to the present. Hardware advances as well as software algorithm changes are presented. This history is not only quite interesting but also provides us with a perspective with which we can look backward and forward.

Christianson, David C.↗

NASA NTRS2000

EOS Aqua AMSR-E Sea Ice Validation Program: Meltpond2000 Flight Report

This flight report describes the field component of Meltpond2000, the first in a series of Arctic and Antarctic aircraft campaigns planned as part of NASA's Earth Observing System Aqua sea ice validation program for the Advanced Microwave Scanning Radiometer (AMSR-E). This prelaunch Arctic field campaign was carried out between June 25 and July 6, 2000 from Thule, Greenland, with the objective of quantifying the errors incurred by the AMSR-E sea ice algorithms resulting from the presence of melt ponds. A secondary objective of the mission was to develop a microwave capability to discriminate between melt ponds and seawater using low-frequency microwave radiometers. Meltpond2000 was a multiagency effort involving personnel from the Navy, NOAA, and NASA. The field component of the mission consisted of making five 8-hour flights from Thule Air Base with a Naval Air Warfare Center P-3 aircraft over portions of Baffin Bay and the Canadian Arctic. The aircraft sensors were provided and operated by the Microwave Radiometry Group of NOAA's Environmental TechnologyLaboratory. A Navy ice observer from the National Ice Center provided visual documentation of surface ice conditions during each of the flights. Two of the five flights were coordinated with Canadian scientists making surface measurements of melt ponds at an ice camp located near Resolute Bay, Canada. Coordination with the Canadians will provide additional information on surface characteristics and will be of great value in the interpretation of the aircraft and high-resolution satellite data sets.

Cavalieri, Donald J.↗

NASA NTRS2006

Vision-guided self-alignment and manipulation in a walking robot

This paper describes the vision algorithms used in several tasks, as well as the vision-guided manipulation algorithms developed to mitigate mismatches between the vision system and the limbs used for manipulation. Two system-level tasks will be described, one involving a two meter walk culminating in a bolt-fastening task and one involving a vision-guided alignment ending with the robot mating with a docking station.

Lemur↗

NASA NTRS2017

Development of Multi-Sensor Global Cloud and Radiance Composites for DSCOVR EPIC Imager with Subpixel Definition

The Deep Space Climate Observatory (DSCOVR) enables analysis of the daytime Earth radiation budget via the onboard Earth Polychromatic Imaging Camera (EPIC) and National Institute of Standards and Technology Advanced Radiometer (NISTAR). EPIC delivers adequate spatial resolution imagery but only in shortwave bands (317-780 nm), while NISTAR measures the top-of-atmosphere (TOA) whole-disk radiance in shortwave and longwave broadband windows. Accurate calculation of albedo and outgoing longwave flux requires a high-resolution scene identification such as the radiance observations and cloud properties retrievals from low earth orbit (LEO, including NASA Terra and Aqua MODIS, Suomi-NPP VIIRS, and NOAA AVHRR) and geosynchronous (GEO, including GOES east and west, METEOSAT, INSAT-3D, MTSAT-2, and Himawari-8) satellite imagers. The cloud properties are derived using the Clouds and the Earth's Radiant Energy System (CERES) mission Cloud Subsystem group algorithms. These properties have to be co-located with EPIC pixels to provide the scene identification and to select anisotropic directional models (ADMs), which are then used to adjust the NISTAR-measured radiance and subsequently obtain the global daytime shortwave and longwave fluxes. This work presents an algorithm for optimal merging of selected radiance and cloud property parameters derived from multiple satellite imagers to obtain seamless global hourly composites at 5-km resolution. Selection of satellite data for each 5-km pixel is based on an aggregated rating that incorporates five parameters: nominal satellite resolution, pixel time relative to the EPIC time, viewing zenith angle, distance from day/night terminator, and probability of sun glint. To provide a smoother transition in the merged output, in regions where candidate pixel data from two satellite sources have comparable aggregated rating, the selection decision is defined by the cumulative function of the normal distribution so that abrupt changes in the visual appearance of the composite data are avoided. Higher spatial accuracy in the composite product is achieved by using the inverse mapping with gradient search during reprojection and bicubic interpolation for pixel resampling.

Khlopenkov, Konstantin V.↗

NASA NTRS2018

Introduction to NASA Goddard Workshop on Artificial Intelligence

Artificial Intelligence (AI) is a collection of advanced technologies that allows machines to think and act, both humanly and rationally, through sensing, comprehending, acting and learning. AI's foundations lie at the intersection of several traditional fields Philosophy, Mathematics, Economics, Neuroscience, Psychology and Computer Science. Although the inception of AI started in the 1950's, it has recently made a strong comeback in all aspects of society and all over the world; this is mainly due to the timely combination of increased data volumes, advanced and mature algorithms, and improvements in computing power and storage. Current AI applications include big data analytics, robotics, intelligent sensing, assisted decision making, and speech recognition just to name a few.This workshop will be investigating how AI technologies can be adapted or developed to address the following challenges: Discover events of interest and correlations in large amounts of science data; improve the outcomes of science modeling and data assimilation using improved data processing, integration, and analysis. Design advisors for mission planning and operations, including anomaly detection and spacecraft health monitoring. Develop tools for engineering support, including advanced manufacturing, orbit determination, new component design and system engineering. Customize intelligent user interfaces, including visual analytics and natural language processing.

Le Moigne, Jacqueline↗

NASA NTRSDate not supplied

Data Cube Application Algorithms For The United Nations Sustainable Development Goals (UN-SDGS)

In 2015, all United Nations (UN) Member States adopted the 2030 Agenda for Sustainable Development. The Agenda provides a shared blueprint for peace and prosperity for people and for the planet, considering our current situation and helping to create a plan. The core of this agenda is a set of seventeen Sustainable Development Goals (SDGs), which represent an urgent call for action by all countries -both developed and developing - in a global partnership. The Committee on Earth Observation Satellites (CEOS) Systems Engineering Office (SEO) team has recently developed and released a set of innovative notebooks addressing UN SDGs 6.6.1 (spatial extents of water-related ecosystems), 11.3.1 (ratio of land consumption rate to population growth rate), and 15.3.1 (proportion of land that is degraded over total land area). These notebooks empower users by providing features that will assist with streamlining analysis ready data retrieval, processing, and visualization. The main contributions in this paper are: (1) briefly describing the framework of the UN SDG notebooks, (2) enumerating the notebooks’ salient features, and (3) discussing current limitations and proposing approaches to overcome these limitations.

Open Data Cube↗

NASA NTRS2003

Algorithms for Haptic Rendering of 3D Objects

Algorithms have been developed to provide haptic rendering of three-dimensional (3D) objects in virtual (that is, computationally simulated) environments. The goal of haptic rendering is to generate tactual displays of the shapes, hardnesses, surface textures, and frictional properties of 3D objects in real time. Haptic rendering is a major element of the emerging field of computer haptics, which invites comparison with computer graphics. We have already seen various applications of computer haptics in the areas of medicine (surgical simulation, telemedicine, haptic user interfaces for blind people, and rehabilitation of patients with neurological disorders), entertainment (3D painting, character animation, morphing, and sculpting), mechanical design (path planning and assembly sequencing), and scientific visualization (geophysical data analysis and molecular manipulation).

Basdogan, Cagatay↗

NASA NTRSDate not supplied

Simulated Vision-based Approach and Landing System for Advanced Air Mobility

Advanced Air Mobility (AAM) aircraft require precision approach and landing systems (PALS) in several environments, such as urban, suburban, and rural. It is challenging to implement current state-of-the-art methods approved for automated approach and landing for AAM operations with challenges such as GPS degradation in urban environments and visual navigation aids like the glideslope and localizer being narrow and not allowing alternative incoming landing angles at vertiports. However, existing technology and systems, i.e., the instrument landing system (ILS) with glideslope and localizer indicators that use vision, IR, radar, or GPS methods, provide baseline perception and sensing requirements for AAM aircraft approach and landing. This paper focuses on vision-based PAL and computer vision feature correspondence methods to demonstrate a baseline navigation system while adhering to the Federal Aviation Administration requirements and regulations about heliport design (FAA AC 150/5390-2C), which is one of the closest references for vertiport requirements and regulations. The coplanar pose from orthography and scaling with iterations (COPOSIT) algorithm determines pose estimation, which feeds into an Extended Kalman filter that combines IMU with vision to create a vision-based approach and landing (VAL) sensor fusion navigation solution for GPS-denied environments. The VAL navigation solution provides promising simulation results for AAM PALS with Hough circle detection and feature correspondence, which demonstrate robustness to false positives. This paper incorporates moderately high- fidelity simulations with computer graphics rendering to show a distributed sensor network to track an AAM aircraft during approach and landing to compare with the aircraft’s onboard vision-based navigation solution.

distributed sensing↗

NASA NTRS2000

EOS Aqua AMSR-E Sea Ice Validation Program: Meltpond 2000 Flight Report

This flight report describes the field component of Meltpond2000, the first in a series of Arctic and Antarctic aircraft campaigns planned as part of NASA's Earth Observing System Aqua sea ice validation program for the Advanced Microwave Scanning Radiometer (AMSR-E). This prelaunch Arctic field campaign was carried out between June 25 and July 6, 2000 from Thule, Greenland, with the objective of quantifying the errors incurred by the AMSR-E sea ice algorithms resulting from the presence of melt ponds. A secondary objective of the mission was to develop a microwave capability to discriminate between melt ponds and seawater using low-frequency microwave radiometers. Meltpond2000 was a multiagency effort involving personnel from the Navy, National Oceanic and Atmospheric Administration (NOAA), and NASA. The field component of the mission consisted of making five eight-hour flights from Thule Air Base with a Naval Air Warfare Center P-3 aircraft over portions of Baffin Bay and the Canadian Arctic. The aircraft sensors were provided and operated by the Microwave Radiometry Group of NOAA's Environmental Technology Laboratory. A Navy ice observer from the National Ice Center provided visual documentation of surface ice conditions during each of the flights. Two of the five flights were coordinated with Canadian scientists making surface measurements of melt ponds at an ice camp located near Resolute Bay, Canada. Coordination with the Canadians will provide additional information on surface characteristics and will be of great value in the interpretation of the aircraft and high-resolution satellite data sets.

Cavalieri, Donald J.↗

NASA NTRS2007

Towards Autonomous Inspection of Space Systems Using Mobile Robotic Sensor Platforms

The space transportation systems required to support NASA's Exploration Initiative will demand a high degree of reliability to ensure mission success. This reliability can be realized through autonomous fault/damage detection and repair capabilities. It is crucial that such capabilities are incorporated into these systems since it will be impractical to rely upon Extra-Vehicular Activity (EVA), visual inspection or tele-operation due to the costly, labor-intensive and time-consuming nature of these methods. One approach to achieving this capability is through the use of an autonomous inspection system comprised of miniature mobile sensor platforms that will cooperatively perform high confidence inspection of space vehicles and habitats. This paper will discuss the efforts to develop a small scale demonstration test-bed to investigate the feasibility of using autonomous mobile sensor platforms to perform inspection operations. Progress will be discussed in technology areas including: the hardware implementation and demonstration of robotic sensor platforms, the implementation of a hardware test-bed facility, and the investigation of collaborative control algorithms.

Wong, Edmond↗

NASA NTRS2008

NASA Tech Briefs, August 2008

Customizable Digital Receivers for Radar Two-Camera Acquisition and Tracking of a Flying Target Visual Data Analysis for Satellites A Data Type for Efficient Representation of Other Data Types Hand-Held Ultrasonic Instrument for Reading Matrix Symbols Broadband Microstrip-to-Coplanar Strip Double-Y Balun A Topographical Lidar System for Terrain-Relative Navigation Programmable Low-Voltage Circuit Breaker and Tester Electronic Switch Arrays for Managing Microbattery Arrays Topics covered include: Lower-Dark-Current, Higher-Blue-Response CMOS Imagers; Fabricating Large-Area Sheets of Single-Layer Graphene by CVD; Support for Diagnosis of Custom Computer Hardware; Providing Goal-Based Autonomy for Commanding a Spacecraft; Dynamic Method for Identifying Collected Sample Mass; Optimal Planning and Problem-Solving; Attitude-Control Algorithm for Minimizing Maneuver Execution Errors; Grants Document-Generation System; Heat-Storage Modules Containing LiNO3 3H2O and Graphite Foam; Precipitation-Strengthened, High-Temperature, High-Force Shape Memory Alloys; Improved Relief Valve Would Be Less Susceptible to Failure; Safety Modification of Cam-and-Groove Hose Coupling; Using Composite Materials in a Cryogenic Pump; Using Electronic Noses to Detect Tumors During Neurosurgery; Producing Newborn Synchronous Mammalian Cells; Smaller, Lower-Power Fast-Neutron Scintillation Detectors; Rotationally Vibrating Electric-Field Mill; Estimating Hardness from the USDC Tool-Bit Temperature Rise; Particle-Charge Spectrometer; Automated Production of Movies on a Cluster of Computers; FIDO-Class Development Rover; and Tone-Based Command of Deep Space Probes Using Ground Antennas.

Source record↗

NASA NTRS2005

NASA Tech Briefs, October 2005

Topics covered include: Insect-Inspired Optical-Flow Navigation Sensors; Chemical Sensors Based on Optical Ring Resonators; A Broad-Band Phase-Contrast Wave-Front Sensor; Progress in Insect-Inspired Optical Navigation Sensors; Portable Airborne Laser System Measures Forest-Canopy Height; Deployable Wide-Aperture Array Antennas; Faster Evolution of More Multifunctional Logic Circuits; Video-Camera-Based Position-Measuring System; N-Type delta Doping of High-Purity Silicon Imaging Arrays; Avionics System Architecture Tool; Updated Chemical Kinetics and Sensitivity Analysis Code; Predicting Flutter and Forced Response in Turbomachinery; Upgrades of Two Computer Codes for Analysis of Turbomachinery; Program Facilitates CMMI Appraisals; Grid Visualization Tool; Program Computes Sound Pressures at Rocket Launches; Solar-System Ephemeris Toolbox; Data-Acquisition Software for PSP/TSP Wind-Tunnel Cameras; Corrosion-Prevention Capabilities of a Water-Borne, Silicone-Based, Primerless Coating; Sol-Gel Process for Making Pt-Ru Fuel-Cell Catalysts; Making Activated Carbon for Storing Gas; System Regulates the Water Contents of Fuel-Cell Streams; Five-Axis, Three-Magnetic-Bearing Dynamic Spin Rig; Modifications of Fabrication of Vibratory Microgyroscopes; Chamber for Growing and Observing Fungi; Electroporation System for Sterilizing Water; Thermoelectric Air/Soil Energy-Harvesting Device; Flexible Metal-Fabric Radiators; Actuated Hybrid Mirror Telescope; Optical Design of an Optical Communications Terminal; Algorithm for Identifying Erroneous Rain-Gauge Readings; Condition Assessment and End-of-Life Prediction System for Electric Machines and Their Loads; Lightweight Thermal Insulation for a Liquid-Oxygen Tank; Stellar Gyroscope for Determining Attitude of a Spacecraft; and Lifting Mechanism for the Mars Explorer Rover.

Source record↗

NASA NTRS2017

Generating Real-Time Robotics Control Software from SysML

In this paper, we outline an approach for autogenerating real-time robotics control code from hierarchical state machines and hardware configurations encoded in Systems Modeling Language (SysML). We propose a software architecture that provides an abstract SysML layer with access to device state information and a set of primitive device commands, such as move actuator and release brake, allowing a user to build up a complete functional state machine directly in SysML. The SysML diagram is then exported to a standard SCXML file format and subsequently used to auto-generate hardware control code. Once this architecture is in place, the only explicit code elements that need to be written are the primitive device commands, which can be easily unit tested and reused across different systems. The motivation for this work was the need for a test bed that enables the rapid prototyping of mechanisms and control algorithms for a spacecraft that could ultimately be used for preparing Martian rock samples for their return to Earth. To this end, our software system was also designed to allow for the run-time specification of the hardware layout in SysML, with the hardware-level control functions kept agnostic to the specific parameters or communication bus of any particular device. Further, we outline a system for specifying both the state machine and hardware configuration in the MagicDraw IDE in such a way that the system can be simulated before any code is generated. The resultant software system is easy to debug, understand, and allows users to choose how much information is encoded as a visual or text-based representation.

Godart, Peter↗

NASA NTRS2000

Primate translational vestibuloocular reflexes. II. Version and vergence responses to fore-aft motion

To maintain binocular fixation on near targets during fore-aft translational disturbances, largely disjunctive eye movements are elicited the amplitude and direction of which should be tuned to the horizontal and vertical eccentricities of the target. The eye movements generated during this task have been investigated here as trained rhesus monkeys fixated isovergence targets at different horizontal and vertical eccentricities during 10 Hz fore-aft oscillations. The elicited eye movements complied with the geometric requirements for binocular fixation, although not ideally. First, the corresponding vergence angle for which the movement of each eye would be compensatory was consistently less than that dictated by the actual fixation parameters. Second, the eye position with zero sensitivity to translation was not straight ahead, as geometrically required, but rather exhibited a systematic dependence on viewing distance and vergence angle. Third, responses were asymmetric, with gains being larger for abducting and downward compared with adducting and upward gaze directions, respectively. As frequency was varied between 4 and 12 Hz, responses exhibited high-pass filter properties with significant differences between abduction and adduction responses. As a result of these differences, vergence sensitivity increased as a function of frequency with a steeper slope than that of version. Despite largely undercompensatory version responses, vergence sensitivity was closer to ideal. Moreover, the observed dependence of vergence sensitivity on vergence angle, which was varied between 2.5 and 10 MA, was largely linear rather than quadratic (as geometrically predicted). We conclude that the spatial tuning of eye velocity sensitivity as a function of gaze and viewing distance follows the general geometric dependencies required for the maintenance of foveal visual acuity. However, systematic deviations from ideal behavior exist that might reflect asymmetric processing of abduction/adduction responses perhaps because of different functional dependencies of version and vergence eye movement components during translation.

NASA Program Biomedical Research and Countermeasur↗

NASA NTRS2011

Link Analysis in the Mission Planning Lab

The legacy communications link analysis software currently used at Wallops Flight Facility involves processes that are different for command destruct, radar, and telemetry. There is a clear advantage to developing an easy-to-use tool that combines all the processes in one application. Link Analysis in the Mission Planning Lab (MPL) uses custom software and algorithms integrated with Analytical Graphics Inc. Satellite Toolkit (AGI STK). The MPL link analysis tool uses pre/post-mission data to conduct a dynamic link analysis between ground assets and the launch vehicle. Just as the legacy methods do, the MPL link analysis tool calculates signal strength and signal- to-noise according to the accepted processes for command destruct, radar, and telemetry assets. Graphs and other custom data are generated rapidly in formats for reports and presentations. STK is used for analysis as well as to depict plume angles and antenna gain patterns in 3D. The MPL has developed two interfaces with the STK software (see figure). The first interface is an HTML utility, which was developed in Visual Basic to enhance analysis for plume modeling and to offer a more user friendly, flexible tool. A graphical user interface (GUI) written in MATLAB (see figure upper right-hand corner) is also used to quickly depict link budget information for multiple ground assets. This new method yields a dramatic decrease in the time it takes to provide launch managers with the required link budgets to make critical pre-mission decisions. The software code used for these two custom utilities is a product of NASA's MPL.

McCarthy, Jessica A.↗

NASA NTRS1999

Electric organ discharges and electric images during electrolocation

Weakly electric fish use active electrolocation - the generation and detection of electric currents - to explore their surroundings. Although electrosensory systems include some of the most extensively understood circuits in the vertebrate central nervous system, relatively little is known quantitatively about how fish electrolocate objects. We believe a prerequisite to understanding electrolocation and its underlying neural substrates is to quantify and visualize the peripheral electrosensory information measured by the electroreceptors. We have therefore focused on reconstructing both the electric organ discharges (EODs) and the electric images resulting from nearby objects and the fish's exploratory behaviors. Here, we review results from a combination of techniques, including field measurements, numerical and semi-analytical simulations, and video imaging of behaviors. EOD maps are presented and interpreted for six gymnotiform species. They reveal diverse electric field patterns that have significant implications for both the electrosensory and electromotor systems. Our simulations generated predictions of the electric images from nearby objects as well as sequences of electric images during exploratory behaviors. These methods are leading to the identification of image features and computational algorithms that could reliably encode electrosensory information and may help guide electrophysiological experiments exploring the neural basis of electrolocation.

Review, Tutorial↗