Visual satellite observations conducted by stade tracking station
Tabulated brightness, tumbling half-period, and time data of satellites visually observed by tracking station
SATELLITE TRACKING↗
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Immersive Digital Twin Laboratory for Engineering Education (CRADA Final Report)
This project aimed to create an immersive digital twin laboratory that incorporates advanced tracking and visualization capabilities. In collaboration with Fort Lewis College, NREL designed a state-of-the-art physical visualization laboratory, developed a software platform to enable interaction with tracked physical objects in the laboratory, and provided proof-of-concept curricula that included manipulating these tracked objects. The project was initiated to address the growing need for innovative educational tools in engineering education. As renewable energy systems, particularly solar installations, become more complex, there is a pressing need to bridge the gap between theoretical knowledge and practical application. Traditional methods of teaching solar engineering concepts often fall short of providing students with a comprehensive, hands-on understanding. This immersive digital twin laboratory was conceived to fill that gap by creating a safe, non-energized setting where students can interact with augmented solar installation objects, gaining valuable insights into system performance, design, and maintenance. The project utilized extended reality (XR) technologies, including head-mounted displays (HMDs) and a whole-room optical motion tracking system, to connect physical objects with their digital twins in real time. The laboratory was equipped with MagicLeap 2 HMDs, supported by a Vicon Vero 2.2 Optical Tracking System, which provided precise 6-degrees-of-freedom (6-DOF) tracking. We developed a software platform to manage the interaction between the tracked physical objects and their virtual counterparts, enabling real-time data synchronization, object recognition, and virtual overlays. We designed the system to be flexible and extendable, allowing for future integration of additional objects and curriculum. This research advances the field of engineering education by demonstrating the potential of immersive digital twin environments. The laboratory provides a dynamic learning space where students can experiment, collaborate, and learn without the risks associated with live experimentation. The ability to simulate and manipulate solar installation objects under various conditions has broad implications for workforce development, particularly in renewable energy. The project also highlights the economic feasibility of using XR technologies in educational settings, offering a cost-effective solution for institutions looking to enhance their curriculum. By fostering a deeper understanding of solar energy systems, this work contributes to the broader goal of supporting the global energy transition and preparing the next generation of engineers and technicians.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Fixed-base simulator study of the effect of time delays in visual cues on pilot tracking performance
Factors were examined which determine the amount of time delay acceptable in the visual feedback loop in flight simulators. Acceptable time delays are defined as delays which significantly affect neither the results nor the manner in which the subject 'flies' the simulator. The subject tracked a target aircraft as it oscillated sinusoidally in a vertical plane only. The pursuing aircraft was permitted five degrees of freedom. Time delays of from 0.047 to 0.297 second were inserted in the visual feedback loop. A side task was employed to maintain the workload constant and to insure that the pilot was fully occupied during the experiment. Tracking results were obtained for 17 aircraft configurations having different longitudinal short-period characteristics. Results show a positive correlation between improved handling qualities and a longer acceptable time delay.
Queijo, M. J.↗
Creating Data-Driven Vector Visualizations of Satellite Orbit Tracks Using NASA GIBS and Worldview
NASA Earth Observing System (EOS) currently operates dozens of remote sensing satellites, many of which can be viewed directly in NASA’s open-source Worldview application. Much of this satellite imagery can be viewed in near-real time as it is processed and served by NASA’s Global Imagery Browse Service (GIBS). To better educate users on the time and location of imagery, GIBS serves orbit track specific layers for each satellite. Worldview has historically served these layers as raster images but recent updates have enabled the application to now serve these layers using vector tiles. With the release of Worldview v3.0, orbit track layers can be displayed using mapbox vector tiles (MVT). This visualization format allows users to not only view and change the color of orbit track layers, as they could do previously with rasters, but also inspect individual vector points and filter layers by specific parameters such as time. The data contained within a MVT is further enhanced in Worldview with the combination of a JSON description file served from GIBS used to describe the MVT data. This presentation will provide an overview of the process of consuming orbit track vector tiles and data files from GIBS using a pipeline to configure, build and ultimately display the orbit tracks in Worldview. Furthermore, the presentation aims to describe how others can leverage our open-source code to display and enhance vector layers in their own applications.
Rice, Zachary↗
360-Degree Visual Detection and Target Tracking on an Autonomous Surface Vehicle
This paper describes perception and planning systems of an autonomous sea surface vehicle (ASV) whose goal is to detect and track other vessels at medium to long ranges and execute responses to determine whether the vessel is adversarial. The Jet Propulsion Laboratory (JPL) has developed a tightly integrated system called CARACaS (Control Architecture for Robotic Agent Command and Sensing) that blends the sensing, planning, and behavior autonomy necessary for such missions. Two patrol scenarios are addressed here: one in which the ASV patrols a large harbor region and checks for vessels near a fixed asset on each pass and one in which the ASV circles a fixed asset and intercepts approaching vessels. This paper focuses on the ASV's central perception and situation awareness system, dubbed Surface Autonomous Visual Analysis and Tracking (SAVAnT), which receives images from an omnidirectional camera head, identifies objects of interest in these images, and probabilistically tracks the objects' presence over time, even as they may exist outside of the vehicle's sensor range. The integrated CARACaS/SAVAnT system has been implemented on U.S. Navy experimental ASVs and tested in on-water field demonstrations.
ASV (AUTONOMOUS SEA SURFACE VEHICLE)↗
Robot tracking system improvements and visual calibration of orbiter position for radiator inspection
The following separate topics are addressed: (1) improving a robotic tracking system; and (2) providing insights into orbiter position calibration for radiator inspection. The objective of the tracking system project was to provide the capability to track moving targets more accurately by adjusting parameters in the control system and implementing a predictive algorithm. A computer model was developed to emulate the tracking system. Using this model as a test bed, a self-tuning algorithm was developed to tune the system gains. The model yielded important findings concerning factors that affect the gains. The self-tuning algorithms will provide the concepts to write a program to automatically tune the gains in the real system. The section concerning orbiter position calibration provides a comparison to previous work that had been performed for plant growth. It provided the conceptualized routines required to visually determine the orbiter position and orientation. Furthermore, it identified the types of information which are required to flow between the robot controller and the vision system.
Tonkay, Gregory↗
A comparison of visual and kinesthetic-tactual displays for compensatory tracking
Recent research on manual tracking with a kinesthetic-tactual (KT) display suggests that under certain conditions it can be an effective alternative or supplement to visual displays. In order to understand better how KT tracking compares with visual tracking, both a critical tracking and stationary single-axis tracking tasks were conducted with and without velocity quickening. In the critical tracking task, the visual displays were superior, however, the quickened KT display was approximately equal to the unquickened visual display. In stationary tracking tasks, subjects adopted lag equalization with the quickened KT and visual displays, and mean-squared error scores were approximately equal. With the unquickened displays, subjects adopted lag-lead equalization, and the visual displays were superior. This superiority was partly due to the servomotor lag in the implementation of the KT display and partly due to modality differences.
Jagacinski, R. J.↗
Visual object recognition and tracking
This invention describes a method for identifying and tracking an object from two-dimensional data pictorially representing said object by an object-tracking system through processing said two-dimensional data using at least one tracker-identifier belonging to the object-tracking system for providing an output signal containing: a) a type of the object, and/or b) a position or an orientation of the object in three-dimensions, and/or c) an articulation or a shape change of said object in said three dimensions.
Chang, Chu-Yin↗
Visual Object Recognition and Tracking of Tools
A method has been created to automatically build an algorithm off-line, using computer-aided design (CAD) models, and to apply this at runtime. The object type is discriminated, and the position and orientation are identified. This system can work with a single image and can provide improved performance using multiple images provided from videos. The spatial processing unit uses three stages: (1) segmentation; (2) initial type, pose, and geometry (ITPG) estimation; and (3) refined type, pose, and geometry (RTPG) calculation. The image segmentation module files all the tools in an image and isolates them from the background. For this, the system uses edge-detection and thresholding to find the pixels that are part of a tool. After the pixels are identified, nearby pixels are grouped into blobs. These blobs represent the potential tools in the image and are the product of the segmentation algorithm. The second module uses matched filtering (or template matching). This approach is used for condensing synthetic images using an image subspace that captures key information. Three degrees of orientation, three degrees of position, and any number of degrees of freedom in geometry change are included. To do this, a template-matching framework is applied. This framework uses an off-line system for calculating template images, measurement images, and the measurements of the template images. These results are used online to match segmented tools against the templates. The final module is the RTPG processor. Its role is to find the exact states of the tools given initial conditions provided by the ITPG module. The requirement that the initial conditions exist allows this module to make use of a local search (whereas the ITPG module had global scope). To perform the local search, 3D model matching is used, where a synthetic image of the object is created and compared to the sensed data. The availability of low-cost PC graphics hardware allows rapid creation of synthetic images. In this approach, a function of orientation, distance, and articulation is defined as a metric on the difference between the captured image and a synthetic image with an object in the given orientation, distance, and articulation. The synthetic image is created using a model that is looked up in an object-model database. A composable software architecture is used for implementation. Video is first preprocessed to remove sensor anomalies (like dead pixels), and then is processed sequentially by a prioritized list of tracker-identifiers.
English, James↗
An Intelligent Vision-only Operator Interface for Dexterous Robots
This paper describes the development of a vision-only intelligent interface for dexterous robots capable of tracking operator motions, analyzing trajectory feasibility, and providing visual feedback to the operator.
robots↗
Effects of visual flight display dynamics on altitude tracking performance in a flight simulator
The effects were studied of visual display dynamics on pilot tracking performance in a simulator. The tracking task consisted of maintaining the piloted aircraft at the same altitude as two aircraft positioned three-hundred feet ahead; as would be required in level formation flying. The two leading aircraft were represented symbolically along with the horizon on a CRT display. Vertical position of these aircraft with respect to the horizon indicated the altitude of the subject's aircraft, which was disturbed by atmospheric turbulence. Various bandwidths of second-order dynamics were interposed between the true aircraft altitude and the displayed altitude, whereas no dynamics were interposed in the attitude display. Experiments were run using two experienced pilots and two substantially different longitudinal dynamics for the piloted aircraft. Preliminary results indicate a significant decrease in altitude tracking performance for display dynamics with natural frequencies below ten radians per second.
Weener, E. F.↗
Automatic Feature Tracking on Small Bodies for Autonomous Approach
Abstract—The autonomous approach of a spacecraft to an asteroid or comet (a small body) relies heavily on visual feature tracking to aid in estimating relative trajectories and the properties of the small body. Feature tracking for small bodies brings several challenges, including changing lighting, poor visual texture, and a concentration of features in a small part of an image. Six existing, open-source algorithms for feature tracking were tested on a simulated dataset and compared to the ground truth in the path of features. The main finding is that none of the algorithms provide all of the desired characteristics of long feature tracks with low errors and few outliers. Instead, there is a trade-off between long feature tracks and low error. The feature-matching algorithms SIFT, and BRISK provide good error characteristics, but short feature tracks, whereas the optical flow algorithm KLT provides long feature tracks, but with many features of large error. Given the challenges in feature tracking, it is recommended to focus development on each component of a feature tracking system: detection, description, and outlier rejection.
Morrell, Benjamin J↗
Comparing Virtual Reality to Conventional Simulator Visuals: Effects of Peripheral Visual Cues in Roll-Axis Tracking Tasks
This paper compares the effects of peripheral visual cues on manual control between a conventional fixed-base simulator and virtual reality. The results were also compared with those from a previous experiment conducted in a motion-base simulator. Fifteen participants controlled a system with second-order dynamics in a disturbance-rejection task. Tracking performance, control activity, simulator sickness questionnaire answers, and biometrics were collected. Manual control behavior was modeled for the first time in a virtual reality environment. Virtual reality did not degrade participants’ manual control performance or alter their control behavior. However, peripheral cues were significantly more effective in virtual reality. Control activity decreased for all conditions with peripheral cues. The trends introduced by the peripheral visual cues from the previous experiment were replicated. Finally, VR was not more nauseogenic than the conventional simulator. These results suggest that virtual reality might be a good alternative to conventional fixed-base simulators for training manual control skills.
Terenzi, Lorenzo↗
Developing Methods for Exercise System Kinematics Tracking
BACKGROUND How to quantify the load and forces produced by exercise equipment and their Vibration Isolation and Stabilization (VIS) platforms in-flight is an active area of investigation. Kinematic tracking paired with system modeling can provide insights as well as verification and validation of simulations used for system design and development. Traditional motion capture methods can require significant cost in equipment procurement and crew-time, but newer lessons learned can be leveraged [1]. The VIS systems of current and future exercise hardware on the International Space Station (ISS) such as the Cycle Ergometer with Vibration Isolation System (CEVIS) and the European Enhanced Exploration Exercise Device (E4D) are not currently outfitted with IMUs or similar measurement devices. Video-based methods would enable use of multi-purpose, crew-familiar flight equipment. An initial exploration of video-based solutions was performed utilizing 2-camera video from crew cycling on Teal-CEVIS on the ISS. METHODS AND RESULTS Our group has scoped a variety of video-based object tracking methods. To date, we have primarily investigated computer vision toolkits such as openCV. Techniques explored include key-point detection, background subtraction, region-of interest tracking, color-based tracking, tag masking and tracking, and corner detection. Although object-tracking and 6D pose estimation is a rich field, space applications are a unique problem that are challenging for existing software and toolkits. The majority of the existing object-tracking applications involve vehicles/pedestrians and household objects with simple backgrounds. We have identified the following features which pose particular challenges for on-station exercise equipment tracking: Busy and visually cluttered background Low-textured tracking object with relatively small motions Occlusions and motion by human subject and loose, floating objects Limited number of video cameras with no fixed global references Limited ability to add tags, markers, or visual references to the tracking object Lack of training data for Machine Learning (ML) algorithms CONCLUSION We will summarize the efficacy of techniques tested for a ground mock-trial and the on-station exercise trial. It is likely that human-in-loop feedback or a conglomerate of methods is required. ML-based methods, like those implemented for human body tracking [2], may still be a viable option, but more training data and validation is needed.
L B Nilsson↗
Topography and pigeon orientation
Two types of homing experiments with pigeons to determine the influence of topographical features on the orientation behavior of the birds are discussed. The releases and following were conducted by ground experiments in which the birds are tracked by visual observation at points of topographical interest and the helicopter method by which the birds are tracked throughout the entire flight. The ground experiments showed a strong influence of topographical features on initial orientation. The helicopter experiments showed that the ground experiments do not provide adequate information on the manner in which homing occurs.
Wagner, G.↗
Progress in Navier-Stokes Simulation of Delta Wing Maneuver Aerodynamics
This paper will summarize recent progress in the numerical simulation of high incidence vortical flow about a generic 65 degree sweep delta wing using the three dimensional, time-dependent, Reynolds averaged, Navier-Stokes (RANS) equations. Computations have been carried out at 15 and 30 degrees angle of attack under subsonic turbulent flow conditions, and compared with experimental data provided by Hanff, Jenkins, and their colleagues. This work has already been published elsewhere and widely disseminated. Computations carried out at 15 degrees angle of attack included static roll angles ranging up to 65 degrees, and a large-amplitude (40 degree), high rate (7 Hz), forced roll motion. There was very good agreement between computed and experimental forces and moments, and static surface pressures. There was a significant hysteresis of the dynamic rolling moment due to the high rate of roll motion. At this angle of attack, no vortex breakdown was observed in the computations or experiment. Computations were also carried out at 30 degrees angle of attack, where vortex breakdown was present in both the computations and experiment. There was overall good agreement in the computed and experimental forces and moments. The static rolling moment varied with roll angle in a highly nonlinear manner, and exhibited three stable trim points and two unstable trim points. This behavior was attributed to the presence of vortex breakdown. Two large-amplitude (30 degrees), high-rate (10 Hz) forced roll motions were computed. The dynamics of the vortex breakdown motion was dramatically visualized by tracking the time-dependent motion of particles released near the delta wing apex. This numerical visualization is analogous to experimental smoke flow techniques. In one of the dynamic cases the breakdown was found to move off the wing, convected downwind of the trailing edge, and later reformed near the trailing edge through an instability of the vortex core. A damped free-to-roll motion was also computed by releasing the wing from rest at 40 degrees of roll. The wing went to the same trim point as in the experiment.
Chaderjian, Neal M.↗
Human tracking performance under transverse accelerations
Human tracking performance & tolerance to acceleration
VISUAL TRACKING↗
Real-time tracking using stereo and motion: Visual perception for space robotics
The state-of-the-art in computing technology is rapidly attaining the performance necessary to implement many early vision algorithms at real-time rates. This new capability is helping to accelerate progress in vision research by improving our ability to evaluate the performance of algorithms in dynamic environments. In particular, we are becoming much more aware of the relative stability of various visual measurements in the presence of camera motion and system noise. This new processing speed is also allowing us to raise our sights toward accomplishing much higher-level processing tasks, such as figure-ground separation and active object tracking, in real-time. This paper describes a methodology for using early visual measurements to accomplish higher-level tasks; it then presents an overview of the high-speed accelerators developed at Teleos to support early visual measurements. The final section describes the successful deployment of a real-time vision system to provide visual perception for the Extravehicular Activity Helper/Retriever robotic system in tests aboard NASA's KC135 reduced gravity aircraft.
Nishihara, H. Keith↗