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NASA NTRS2010

Speech Acquisition and Automatic Speech Recognition for Integrated Spacesuit Audio Systems

A voice-command human-machine interface system has been developed for spacesuit extravehicular activity (EVA) missions. A multichannel acoustic signal processing method has been created for distant speech acquisition in noisy and reverberant environments. This technology reduces noise by exploiting differences in the statistical nature of signal (i.e., speech) and noise that exists in the spatial and temporal domains. As a result, the automatic speech recognition (ASR) accuracy can be improved to the level at which crewmembers would find the speech interface useful. The developed speech human/machine interface will enable both crewmember usability and operational efficiency. It can enjoy a fast rate of data/text entry, small overall size, and can be lightweight. In addition, this design will free the hands and eyes of a suited crewmember. The system components and steps include beam forming/multi-channel noise reduction, single-channel noise reduction, speech feature extraction, feature transformation and normalization, feature compression, model adaption, ASR HMM (Hidden Markov Model) training, and ASR decoding. A state-of-the-art phoneme recognizer can obtain an accuracy rate of 65 percent when the training and testing data are free of noise. When it is used in spacesuits, the rate drops to about 33 percent. With the developed microphone array speech-processing technologies, the performance is improved and the phoneme recognition accuracy rate rises to 44 percent. The recognizer can be further improved by combining the microphone array and HMM model adaptation techniques and using speech samples collected from inside spacesuits. In addition, arithmetic complexity models for the major HMMbased ASR components were developed. They can help real-time ASR system designers select proper tasks when in the face of constraints in computational resources.

Huang, Yiteng↗

NASA NTRS2015

Automatic Speech Acquisition and Recognition for Spacesuit Audio Systems

NASA has a widely recognized but unmet need for novel human-machine interface technologies that can facilitate communication during astronaut extravehicular activities (EVAs), when loud noises and strong reverberations inside spacesuits make communication challenging. WeVoice, Inc., has developed a multichannel signal-processing method for speech acquisition in noisy and reverberant environments that enables automatic speech recognition (ASR) technology inside spacesuits. The technology reduces noise by exploiting differences between the statistical nature of signals (i.e., speech) and noise that exists in the spatial and temporal domains. As a result, ASR accuracy can be improved to the level at which crewmembers will find the speech interface useful. System components and features include beam forming/multichannel noise reduction, single-channel noise reduction, speech feature extraction, feature transformation and normalization, feature compression, and ASR decoding. Arithmetic complexity models were developed and will help designers of real-time ASR systems select proper tasks when confronted with constraints in computational resources. In Phase I of the project, WeVoice validated the technology. The company further refined the technology in Phase II and developed a prototype for testing and use by suited astronauts.

Ye, Sherry↗

NASA NTRS2009

Automatic Extraction of Planetary Image Features

With the launch of several Lunar missions such as the Lunar Reconnaissance Orbiter (LRO) and Chandrayaan-1, a large amount of Lunar images will be acquired and will need to be analyzed. Although many automatic feature extraction methods have been proposed and utilized for Earth remote sensing images, these methods are not always applicable to Lunar data that often present low contrast and uneven illumination characteristics. In this paper, we propose a new method for the extraction of Lunar features (that can be generalized to other planetary images), based on the combination of several image processing techniques, a watershed segmentation and the generalized Hough Transform. This feature extraction has many applications, among which image registration.

Troglio, G.↗

NASA NTRS2012

Composite Wavelet Filters for Enhanced Automated Target Recognition

Automated Target Recognition (ATR) systems aim to automate target detection, recognition, and tracking. The current project applies a JPL ATR system to low-resolution sonar and camera videos taken from unmanned vehicles. These sonar images are inherently noisy and difficult to interpret, and pictures taken underwater are unreliable due to murkiness and inconsistent lighting. The ATR system breaks target recognition into three stages: 1) Videos of both sonar and camera footage are broken into frames and preprocessed to enhance images and detect Regions of Interest (ROIs). 2) Features are extracted from these ROIs in preparation for classification. 3) ROIs are classified as true or false positives using a standard Neural Network based on the extracted features. Several preprocessing, feature extraction, and training methods are tested and discussed in this paper.

automated target recognition↗

NASA NTRS2011

Testing of a Composite Wavelet Filter to Enhance Automated Target Recognition in SONAR

Automated Target Recognition (ATR) systems aim to automate target detection, recognition, and tracking. The current project applies a JPL ATR system to low resolution SONAR and camera videos taken from Unmanned Underwater Vehicles (UUVs). These SONAR images are inherently noisy and difficult to interpret, and pictures taken underwater are unreliable due to murkiness and inconsistent lighting. The ATR system breaks target recognition into three stages: 1) Videos of both SONAR and camera footage are broken into frames and preprocessed to enhance images and detect Regions of Interest (ROIs). 2) Features are extracted from these ROIs in preparation for classification. 3) ROIs are classified as true or false positives using a standard Neural Network based on the extracted features. Several preprocessing, feature extraction, and training methods are tested and discussed in this report.

image processing↗

NASA NTRS2005

Automated Extraction of Secondary Flow Features

The use of Computational Fluid Dynamics (CFD) has become standard practice in the design and development of the major components used for air and space propulsion. To aid in the post-processing and analysis phase of CFD many researchers now use automated feature extraction utilities. These tools can be used to detect the existence of such features as shocks, vortex cores and separation and re-attachment lines. The existence of secondary flow is another feature of significant importance to CFD engineers. Although the concept of secondary flow is relatively understood there is no commonly accepted mathematical definition for secondary flow. This paper will present a definition for secondary flow and one approach for automatically detecting and visualizing secondary flow.

Dorney, Suzanne M.↗

NASA NTRS2004

An X-Band Radar Terrain Feature Detection Method for Low-Altitude SVS Operations and Calibration Using LiDAR

To enable safe use of Synthetic Vision Systems at low altitudes, real-time range-to-terrain measurements may be required to ensure the integrity of terrain models stored in the system. This paper reviews and extends previous work describing the application of x-band radar to terrain model integrity monitoring. A method of terrain feature extraction and a transformation of the features to a common reference domain are proposed. Expected error distributions for the extracted features are required to establish appropriate thresholds whereby a consistency-checking function can trigger an alert. A calibration-based approach is presented that can be used to obtain these distributions. To verify the approach, NASA's DC-8 airborne science platform was used to collect data from two mapping sensors. An Airborne Laser Terrain Mapping (ALTM) sensor was installed in the cargo bay of the DC-8. After processing, the ALTM produced a reference terrain model with a vertical accuracy of less than one meter. Also installed was a commercial-off-the-shelf x-band radar in the nose radome of the DC-8. Although primarily designed to measure precipitation, the radar also provides estimates of terrain reflectivity at low altitudes. Using the ALTM data as the reference, errors in features extracted from the radar are estimated. A method to estimate errors in features extracted from the terrain model is also presented.

Young, Steve↗

NASA NTRS1975

Earth resources data analysis program, phase 3

Tasks were performed in two areas: (1) systems analysis and (2) algorithmic development. The major effort in the systems analysis task was the development of a recommended approach to the monitoring of resource utilization data for the Large Area Crop Inventory Experiment (LACIE). Other efforts included participation in various studies concerning the LACIE Project Plan, the utility of the GE Image 100, and the specifications for a special purpose processor to be used in the LACIE. In the second task, the major effort was the development of improved algorithms for estimating proportions of unclassified remotely sensed data. Also, work was performed on optimal feature extraction and optimal feature extraction for proportion estimation.

Source record↗

NASA NTRS1991

Recognition of fiducial marks applied to robotic systems

The objective was to devise a method to determine the position and orientation of the links of a PUMA 560 using fiducial marks. As a result, it is necessary to design fiducial marks and a corresponding feature extraction algorithm. The marks used are composites of three basic shapes, a circle, an equilateral triangle and a square. Once a mark is imaged, it is thresholded and the borders of each shape are extracted. These borders are subsequently used in a feature extraction algorithm. Two feature extraction algorithms are used to determine which one produces the most reliable results. The first algorithm is based on moment invariants and the second is based on the discrete version of the psi-s curve of the boundary. The latter algorithm is clearly superior for this application.

Georges, Wayne D.↗

NASA NTRS2000

Interactive Computer Graphics

Aerospace data analysis tools that significantly reduce the time and effort needed to analyze large-scale computational fluid dynamics simulations have emerged this year. The current approach for most postprocessing and visualization work is to explore the 3D flow simulations with one of a dozen or so interactive tools. While effective for analyzing small data sets, this approach becomes extremely time consuming when working with data sets larger than one gigabyte. An active area of research this year has been the development of data mining tools that automatically search through gigabyte data sets and extract the salient features with little or no human intervention. With these so-called feature extraction tools, engineers are spared the tedious task of manually exploring huge amounts of data to find the important flow phenomena. The software tools identify features such as vortex cores, shocks, separation and attachment lines, recirculation bubbles, and boundary layers. Some of these features can be extracted in a few seconds; others take minutes to hours on extremely large data sets. The analysis can be performed off-line in a batch process, either during or following the supercomputer simulations. These computations have to be performed only once, because the feature extraction programs search the entire data set and find every occurrence of the phenomena being sought. Because the important questions about the data are being answered automatically, interactivity is less critical than it is with traditional approaches.

Kenwright, David↗

NASA NTRS2007

Automated Recognition of 3D Features in GPIR Images

A method of automated recognition of three-dimensional (3D) features in images generated by ground-penetrating imaging radar (GPIR) is undergoing development. GPIR 3D images can be analyzed to detect and identify such subsurface features as pipes and other utility conduits. Until now, much of the analysis of GPIR images has been performed manually by expert operators who must visually identify and track each feature. The present method is intended to satisfy a need for more efficient and accurate analysis by means of algorithms that can automatically identify and track subsurface features, with minimal supervision by human operators. In this method, data from multiple sources (for example, data on different features extracted by different algorithms) are fused together for identifying subsurface objects. The algorithms of this method can be classified in several different ways. In one classification, the algorithms fall into three classes: (1) image-processing algorithms, (2) feature- extraction algorithms, and (3) a multiaxis data-fusion/pattern-recognition algorithm that includes a combination of machine-learning, pattern-recognition, and object-linking algorithms. The image-processing class includes preprocessing algorithms for reducing noise and enhancing target features for pattern recognition. The feature-extraction algorithms operate on preprocessed data to extract such specific features in images as two-dimensional (2D) slices of a pipe. Then the multiaxis data-fusion/ pattern-recognition algorithm identifies, classifies, and reconstructs 3D objects from the extracted features. In this process, multiple 2D features extracted by use of different algorithms and representing views along different directions are used to identify and reconstruct 3D objects. In object linking, which is an essential part of this process, features identified in successive 2D slices and located within a threshold radius of identical features in adjacent slices are linked in a directed-graph data structure. Relative to past approaches, this multiaxis approach offers the advantages of more reliable detections, better discrimination of objects, and provision of redundant information, which can be helpful in filling gaps in feature recognition by one of the component algorithms. The image-processing class also includes postprocessing algorithms that enhance identified features to prepare them for further scrutiny by human analysts (see figure). Enhancement of images as a postprocessing step is a significant departure from traditional practice, in which enhancement of images is a preprocessing step.

Park, Han↗

NASA NTRS1990

Neural net diagnostics for VLSI test

This paper discusses the application of neural network pattern analysis algorithms to the IC fault diagnosis problem. A fault diagnostic is a decision rule combining what is known about an ideal circuit test response with information about how it is distorted by fabrication variations and measurement noise. The rule is used to detect fault existence in fabricated circuits using real test equipment. Traditional statistical techniques may be used to achieve this goal, but they can employ unrealistic a priori assumptions about measurement data. Our approach to this problem employs an adaptive pattern analysis technique based on feedforward neural networks. During training, a feedforward network automatically captures unknown sample distributions. This is important because distributions arising from the nonlinear effects of process variation can be more complex than is typically assumed. A feedforward network is also able to extract measurement features which contribute significantly to making a correct decision. Traditional feature extraction techniques employ matrix manipulations which can be particularly costly for large measurement vectors. In this paper we discuss a software system which we are developing that uses this approach. We also provide a simple example illustrating the use of the technique for fault detection in an operational amplifier.

Lin, T.↗

NASA NTRS2015

Reinforcement Learning with Autonomous Small Unmanned Aerial Vehicles in Cluttered Environments

We present ongoing work in the Autonomy Incubator at NASA Langley Research Center (LaRC) exploring the efficacy of a data set aggregation approach to reinforcement learning for small unmanned aerial vehicle (sUAV) flight in dense and cluttered environments with reactive obstacle avoidance. The goal is to learn an autonomous flight model using training experiences from a human piloting a sUAV around static obstacles. The training approach uses video data from a forward-facing camera that records the human pilot's flight. Various computer vision based features are extracted from the video relating to edge and gradient information. The recorded human-controlled inputs are used to train an autonomous control model that correlates the extracted feature vector to a yaw command. As part of the reinforcement learning approach, the autonomous control model is iteratively updated with feedback from a human agent who corrects undesired model output. This data driven approach to autonomous obstacle avoidance is explored for simulated forest environments furthering autonomous flight under the tree canopy research. This enables flight in previously inaccessible environments which are of interest to NASA researchers in Earth and Atmospheric sciences.

Tran, Loc↗

NASA NTRS2012

Engagement Assessment Using EEG Signals

In this paper, we present methods to analyze and improve an EEG-based engagement assessment approach, consisting of data preprocessing, feature extraction and engagement state classification. During data preprocessing, spikes, baseline drift and saturation caused by recording devices in EEG signals are identified and eliminated, and a wavelet based method is utilized to remove ocular and muscular artifacts in the EEG recordings. In feature extraction, power spectrum densities with 1 Hz bin are calculated as features, and these features are analyzed using the Fisher score and the one way ANOVA method. In the classification step, a committee classifier is trained based on the extracted features to assess engagement status. Finally, experiment results showed that there exist significant differences in the extracted features among different subjects, and we have implemented a feature normalization procedure to mitigate the differences and significantly improved the engagement assessment performance.

Li, Feng↗

NASA NTRS2003

Supporting the Growing Needs of the GIS Industry

Visual Learning Systems, Inc. (VLS), of Missoula, Montana, has developed a commercial software application called Feature Analyst. Feature Analyst was conceived under a Small Business Innovation Research (SBIR) contract with NASA's Stennis Space Center, and through the Montana State University TechLink Center, an organization funded by NASA and the U.S. Department of Defense to link regional companies with Federal laboratories for joint research and technology transfer. The software provides a paradigm shift to automated feature extraction, as it utilizes spectral, spatial, temporal, and ancillary information to model the feature extraction process; presents the ability to remove clutter; incorporates advanced machine learning techniques to supply unparalleled levels of accuracy; and includes an exceedingly simple interface for feature extraction.

Source record↗

NASA NTRS2011

Image Segmentation, Registration, Compression, and Matching

A novel computational framework was developed of a 2D affine invariant matching exploiting a parameter space. Named as affine invariant parameter space (AIPS), the technique can be applied to many image-processing and computer-vision problems, including image registration, template matching, and object tracking from image sequence. The AIPS is formed by the parameters in an affine combination of a set of feature points in the image plane. In cases where the entire image can be assumed to have undergone a single affine transformation, the new AIPS match metric and matching framework becomes very effective (compared with the state-of-the-art methods at the time of this reporting). No knowledge about scaling or any other transformation parameters need to be known a priori to apply the AIPS framework. An automated suite of software tools has been created to provide accurate image segmentation (for data cleaning) and high-quality 2D image and 3D surface registration (for fusing multi-resolution terrain, image, and map data). These tools are capable of supporting existing GIS toolkits already in the marketplace, and will also be usable in a stand-alone fashion. The toolkit applies novel algorithmic approaches for image segmentation, feature extraction, and registration of 2D imagery and 3D surface data, which supports first-pass, batched, fully automatic feature extraction (for segmentation), and registration. A hierarchical and adaptive approach is taken for achieving automatic feature extraction, segmentation, and registration. Surface registration is the process of aligning two (or more) data sets to a common coordinate system, during which the transformation between their different coordinate systems is determined. Also developed here are a novel, volumetric surface modeling and compression technique that provide both quality-guaranteed mesh surface approximations and compaction of the model sizes by efficiently coding the geometry and connectivity/topology components of the generated models. The highly efficient triangular mesh compression compacts the connectivity information at the rate of 1.5-4 bits per vertex (on average for triangle meshes), while reducing the 3D geometry by 40-50 percent. Finally, taking into consideration the characteristics of 3D terrain data, and using the innovative, regularized binary decomposition mesh modeling, a multistage, pattern-drive modeling, and compression technique has been developed to provide an effective framework for compressing digital elevation model (DEM) surfaces, high-resolution aerial imagery, and other types of NASA data.

Yadegar, Jacob↗

NASA NTRS2010

Multi-Stage System for Automatic Target Recognition

A multi-stage automated target recognition (ATR) system has been designed to perform computer vision tasks with adequate proficiency in mimicking human vision. The system is able to detect, identify, and track targets of interest. Potential regions of interest (ROIs) are first identified by the detection stage using an Optimum Trade-off Maximum Average Correlation Height (OT-MACH) filter combined with a wavelet transform. False positives are then eliminated by the verification stage using feature extraction methods in conjunction with neural networks. Feature extraction transforms the ROIs using filtering and binning algorithms to create feature vectors. A feedforward back-propagation neural network (NN) is then trained to classify each feature vector and to remove false positives. The system parameter optimizations process has been developed to adapt to various targets and datasets. The objective was to design an efficient computer vision system that can learn to detect multiple targets in large images with unknown backgrounds. Because the target size is small relative to the image size in this problem, there are many regions of the image that could potentially contain the target. A cursory analysis of every region can be computationally efficient, but may yield too many false positives. On the other hand, a detailed analysis of every region can yield better results, but may be computationally inefficient. The multi-stage ATR system was designed to achieve an optimal balance between accuracy and computational efficiency by incorporating both models. The detection stage first identifies potential ROIs where the target may be present by performing a fast Fourier domain OT-MACH filter-based correlation. Because threshold for this stage is chosen with the goal of detecting all true positives, a number of false positives are also detected as ROIs. The verification stage then transforms the regions of interest into feature space, and eliminates false positives using an artificial neural network classifier. The multi-stage system allows tuning the detection sensitivity and the identification specificity individually in each stage. It is easier to achieve optimized ATR operation based on its specific goal. The test results show that the system was successful in substantially reducing the false positive rate when tested on a sonar and video image datasets.

Chao, Tien-Hsin↗

NASA NTRS2009

Neural Network Target Identification System for False Alarm Reduction

ATR↗