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NASA NTRS2011

Feature and Pose Constrained Visual Aided Inertial Navigation for Computationally Constrained Aerial Vehicles

A Feature and Pose Constrained Extended Kalman Filter (FPC-EKF) is developed for highly dynamic computationally constrained micro aerial vehicles. Vehicle localization is achieved using only a low performance inertial measurement unit and a single camera. The FPC-EKF framework augments the vehicle's state with both previous vehicle poses and critical environmental features, including vertical edges. This filter framework efficiently incorporates measurements from hundreds of opportunistic visual features to constrain the motion estimate, while allowing navigating and sustained tracking with respect to a few persistent features. In addition, vertical features in the environment are opportunistically used to provide global attitude references. Accurate pose estimation is demonstrated on a sequence including fast traversing, where visual features enter and exit the field-of-view quickly, as well as hover and ingress maneuvers where drift free navigation is achieved with respect to the environment.

autonomous operation↗

NASA NTRS1995

Evidence for chemical processing of precometary icy grains in circumstellar environments of pre-main-sequence stars

We report the detection of a broad absorption feature near 2166/cm in the spectrum of the Taurus cloud cource Elias 18. This pre-main-sequence source is the second in Taurus, the third in our survey, and the fifth known in the sky to show the broad 2166/cm absorption feature. Of equal importance, this feature is not seen toward several other embedded sources in our survey, nor is it seen toward the source Elias 16, located behind the Taurus cloud. Laboratory experiments with interstellar ice analogs show that such a feature is associated with a complex C triple bonded to N containing compound (called X(C triple bonded to N)) that results from high-energy processing (ultraviolet irradiation or ion bombardment) of simple ice components into more complex, organic components. We find a nonlinear anticorrelation between the abundance of X(C triple bonded to N) and frozen CO components in nonpolar lattices. We find no correlation between the abundance of X(C triple bonded to N) and frozen CO in polar lattices. Because the abundances of frozen CO and H2O are strongly correlated with each other and with visual extinction toward sources embedded in and located behind the Taurus molecular cloud, these ice components usually are associated with intracloud material. Our results indicate that X(C triple bonded to N) molecules result from chemical processing of dust grains dominated by nonpolar icy mantles in the local environments of pre-main-sequence stars. Such processing of icy grains in the early solar system may be an important source of organic compounds observed in minor solar system bodies. The delivery of these organic compounds to the surface of the primitive Earth through comet impacts may have provided the raw materials for prebiotic chemistry.

Tegler, Stephen C.↗

NASA NTRS1995

Evidence for Chemical Processing of Precometary Icy Grains In Circumstellar Environments of Pre-Main-Sequence Stars

We report the detection of a broad absorption feature near 2166 cm-1 in the spectrum of the Taurus cloud source Elias 18. This pre-main-sequence source is the second in Taurus, the third in our survey, and the fifth known in the sky to show the broad 2166 cm-1 absorption feature. Of equal importance, this feature is not seen toward several other embedded sources in our survey, nor is it seen toward the source Elias 16, located behind the Taurus cloud. Laboratory experiments with interstellar ice analogs show that such a feature is associated with a complex C=-N containing compound [called X(C=-N)] that results from high-energy processing (ultraviolet irradiation or ion bombardment) of simple ice components into more complex, organic components, We find a nonlinear anticorrelation between the abundance of X(C=-N) and frozen CO in non- polar lattices. We find no correlation between the abundance of X(C=-N) and frozen CO in polar lattices. Because the abundances of frozen CO and H20 are strongly correlated with each other and with visual extinction toward sources embedded in and located behind the Taurus molecular cloud, these ice components usually are associated with intracloud material. Our results indicate that X(C=-N) molecules result from chemical processing of dust grains dominated by nonpolar icy mantles in the local environments of pre-main- sequence stars. Such processing of icy grains in the early solar system may be an important source of organic compounds observed in minor solar system bodies. The delivery of these organic compounds to the surface of the primitive Earth through comet impacts may have provided the raw materials for prebiotic chemistry.

Teglier, Stephen C.↗

NASA NTRS2003

Buried and Visible Impact Basin Distribution on Mars: Comparison with Magnetization, Gravity and Crustal Thickness Models

The large population of buried impact basins found in MOLA elevation data on Mars provides compelling evidence for a pre-Noachian crust below the oldest visible Early Noachian surface units, and lowland crust below the younger plains that is Early Noachian in age, older than much of the visible highlands, but not as old as the buried pre-Noachian highlands. The large (D greater than 200 km) buried basins are suggested by Quasi-Circular Depressions (QCDs) that are not apparent in image data, and include features up to 3000 lun diameter in both the lowlands (Utopia) and highlands (a newly found "Ares Basin"). There are about a dozen QCDs larger than 1000 km diameter. We have placed these large features in a relative age sequence based on superimposed smaller QCD. Only the youngest and most obvious of these (Hellas, Argyre, Isidis) lack magnetic anomalies within their main rings. These all have an N(200) cumulative crater density of less than 2.5. Somewhat older lowland-making basins (Utopia, Chryse, Acidalia) with an N(200) age of approximately 3.0, have weak magnetic anomalies, and the oldest, most subdued basins (including Ares) with N(200) greater than 3.5 have many strong magnetic anomalies within their main ring. These older basins likely formed before the main magnetic field died. We have compared our inventory of large QCDs with the distribution of gravity anomalies and with a crustal thickness model which shows many roughly circular areas of thinner crust completely or partly surrounded by narrow regions of thicker crust. These have the structure expected for impact basins, and many of them do correspond to the visible or buried QCDs we previously identified. But there are cases where the crustal thickness feature is offset from the QCD found in topography alone, and there are also several, sometimes large examples of such features which do not coincide with QCDs previously identified. For example, we find several likely buried basins revealed in the crustal thickness data in the Arcadia and Amazonis regions which we did not previously identify, including several features in the 600-1200 km diameter range.

Frey, Herbert↗

NASA NTRS1977

Image data-processing system for solar astronomy

The paper describes an image data processing system (IDAPS), its hardware/software configuration, and interactive and batch modes of operation for the analysis of the Skylab/Apollo Telescope Mount S056 X-Ray Telescope experiment data. Interactive IDAPS is primarily designed to provide on-line interactive user control of image processing operations for image familiarization, sequence and parameter optimization, and selective feature extraction and analysis. Batch IDAPS follows the normal conventions of card control and data input and output, and is best suited where the desired parameters and sequence of operations are known and when long image-processing times are required. Particular attention is given to the way in which this system has been used in solar astronomy and other investigations. Some recent results obtained by means of IDAPS are presented.

Wilson, R. M.↗

NASA NTRS1970

Apollo 12 photography 70 mm, 16 mm, and 35 mm frame index

For each 70-mm frame, the index presents information on: (1) the focal length of the camera, (2) the photo scale at the principal point of the frame, (3) the selenographic coordinates at the principal point of the frame, (4) the percentage of forward overlap of the frame, (5) the sun angle (medium, low, high), (6) the quality of the photography, (7) the approximate tilt (minimum and maximum) of the camera, and (8) the direction of tilt. A brief description of each frame is also included. The index to the 16-mm sequence photography includes information concerning the approximate surface coverage of the photographic sequence and a brief description of the principal features shown. A column of remarks is included to indicate: (1) if the sequence is plotted on the photographic index map and (2) the quality of the photography. The pictures taken using the lunar surface closeup stereoscopic camera (35 mm) are also described in this same index format.

Source record↗

NASA NTRS1974

Stratigraphy of the Descartes region /Apollo 16/ - Implications for the origin of samples

Analysis of terrain in the Apollo 16 Descartes landing region shows a series of features that form a stratigraphic sequence which dominates the history and petrogenesis at the site. An ancient 150-km diam crater centered on the Apollo 16 site is one of the earliest recognizable major structures. Nectaris ejecta was concentrated in a regional low at the base of the back slope of the Nectaris basin to form the Descartes Mountains. Subsequently, a 60-km diam crater formed in the Descartes Mountains centered about 25 km to the west of the site. This crater dominates the geology and petrogenetic history of the site. Stone and Smoky Mountains represent the degraded terraced crater walls, and the dark matrix breccias and metaclastic rocks derived from North and South Ray craters represent floor fallback breccias from this cratering event. The interpretation is developed that the stratigraphy of the Cayley and Descartes, and thus the historical record of the Apollo 16 region, documents the complex interaction of deposits and morphology of local and regional impact cratering events. Large local 60- to 150-km diam craters have had a dramatic and previously unrecognized effect on the history and petrology of the Apollo 16 site.

Head, J. W.↗

NASA NTRS1975

The peculiar object HD 44179 /'The red rectangle'/

A strong infrared source detected in the AFCRL sky survey is confirmed, and is identified with the binary star HD 44179, embedded in a peculiar nebula. UBVRI and broad-band photometry between 2.2 and 27 microns are combined with blue, red, and near-infrared spectra, polarimetry and spectrophotometry of the star, and a range of direct and image-tube photographs of the nebula, to suggest a composite model of the system. In this model, the infrared radiation derives from thermal emission by dust grains contained in a disklike geometry about the central object, which appears to be of spectral type B9-A0 III and which may be in pre-main-sequence evolution. Two infrared emission features are found, peaking at 8.7 and 11.3 microns, the latter corresponding to the feature seen in the spectrum of the planetary nebula NGC 7027. The complex nebular structure is discussed on the basis of photographs through narrow-band continuum and emission-line filters. The polarization data support the suggestion of a disk containing some large particles. No radio continuum emission is detected.

Cohen, M.↗

NASA NTRS1988

A multivariate variational objective analysis-assimilation method. Part 1: Development of the basic model

The variational method of undetermined multipliers is used to derive a multivariate model for objective analysis. The model is intended for the assimilation of 3-D fields of rawinsonde height, temperature and wind, and mean level temperature observed by satellite into a dynamically consistent data set. Relative measurement errors are taken into account. The dynamic equations are the two nonlinear horizontal momentum equations, the hydrostatic equation, and an integrated continuity equation. The model Euler-Lagrange equations are eleven linear and/or nonlinear partial differential and/or algebraic equations. A cyclical solution sequence is described. Other model features include a nonlinear terrain-following vertical coordinate that eliminates truncation error in the pressure gradient terms of the horizontal momentum equations and easily accommodates satellite observed mean layer temperatures in the middle and upper troposphere. A projection of the pressure gradient onto equivalent pressure surfaces removes most of the adverse impacts of the lower coordinate surface on the variational adjustment.

Achtemeier, Gary L.↗

NASA NTRS1990

Radial spreading of viscous-gravity currents with solidifying crust

In the present investigation of solidifying-crust effects on the dynamics and surface morphology of radial viscous-gravity currents, polyethylene glycol inflows into the base of a tank holding a cold sucrose solution are used as analogs. As the radial current advanced away from the inlet, its surface solidified and deformed through a combination of folding anf fracturing. When cooling was sufficiently rapid, solid crust formed and caused the spreading rate to increase; progressively colder experiments revealed a sequence of surface morphologies resembling features of cooling lava flows and lava lakes, including multiarmed rift structures with shear offsets and bulbous lobate forms resembling pillow lavas on the ocean floor.

Fink, Jonathan H.↗

NASA NTRS1990

The substorm event of 28 January 1983 - A detailed global study

A comprehensive timeline of the growth, expansion, and recovery phases of a small isolated substorm with an expansion phase onset at 07:39 U.T. on January 28, 1983 is provided. The data sets examined include those from the electron-plasma, magnetometer, and energetic-particle instruments onboard ISEE-3. In addition to these data sets, a number of other spacecraft and ground-based data is utilized, including the magnetospheric energy-input rates evaluated in the upstream solar wind and imaging sequences used for examining auroral features during growth and expansion phases. Substorm energy-input and -output relationships are estimated quantitatively, and the timing and physical dimensions of the distant tail disturbance implied by global observations available are evaluated.

Baker, D. N.↗

NASA NTRS2004

Internal Structure of the Southern Polar Cap of Mars and Formation Implications

The surfaces of the Martian polar caps have been studied in detail but little is known about their internal structure. Exposures of the cap interior can be seen in the many troughs and scarps which incise them. The layered sequences visible in these topographic features have been known to exist for many years, however first order questions concerning the internal stratigraphy remain. We have identified a prominent bench forming layer near the top of the southern layered deposits. We have mapped its exposure in high-resolution MOC images on the eastern and western scarps. These images have been carefully registered to a MOLA derived DEM so topographic measurements along this bench can be extracted along with the location of each trace. What results are a set of measurements of the top of the bench forming layer in three dimensions. The top of this layer represents a distinct stratigraphic horizon. The prominent bench outcrops on both the eastern and western scarps which bound the highest portion of the southern layered deposits. Confirmation that these are two benches are indeed the same stratigraphic surface comes from the similarity of surrounding (nonbench forming) layers.

Byrne, S.↗

NASA NTRS2002

Distant Cluster Hunting: A Comparison of X-Ray and Optical Cluster Detection Techniques and Catalogs from the ROSAT Optical X-Ray Survey - II

We present and analyze the optical and X-ray catalogs of moderate-redshift cluster candidates from the ROSA TOptical X-Ray Survey, or ROXS. The survey covers the sky area contained in the fields of view of 23 deep archival ROSA T PSPC pointings, 4.8 square degrees. The cross-correlated cluster catalogs were con- structed by comparing two independent catalogs extracted from the optical and X-ray bandpasses, using a matched-filter technique for the optical data and a wavelet technique for the X-ray data. We cross-identified cluster candidates in each catalog. As reported in Paper 1, the matched-filter technique found optical counter- parts for at least 60% (26 out of 43) of the X-ray cluster candidates; the estimated redshifts from the matched filter algorithm agree with at least 7 of 1 1 spectroscopic confirmations (Az 5 0.10). The matched filter technique. with an imaging sensitivity of ml N 23, identified approximately 3 times the number of candidates (155 candidates, 142 with a detection confidence >3 u) found in the X-ray survey of nearly the same area. There are 57 X-ray candidates, 43 of which are unobscured by scattered light or bright stars in the optical images. Twenty-six of these have fairly secure optical counterparts. We find that the matched filter algorithm, when applied to images with galaxy flux sensitivities of mI N 23, is fairly well-matched to discovering z 5 1 clusters detected by wavelets in ROSAT PSPC exposures of 8000-60,000 s. The difference in the spurious fractions between the optical and X-ray (30%) and IO%, respectively) cannot account for the difference in source number. In Paper I, we compared the optical and X-ray cluster luminosity functions and we found that the luminosity functions are consistent if the relationship between X-ray and optical luminosities is steep (Lx o( L&f). Here, in Paper 11, we present the cluster catalogs and a numerical simulation of the ROXS. We also present color-magnitude plots for several of the cluster candidates, and examine the prominence of the red sequence in each. We find that the X-ray clusters in our survey do not all have a prominent red sequence. We conclude that while the red sequence may be a distinct feature in the color-magnitude plots for virialized massive clusters, it may be less distinct in lower mass clusters of galaxies at even moderate redshifts. Multiple, complementary methods of selecting and defining clusters may be essential, particularly at high redshift where all methods start to run into completeness limits, incomplete understanding of physical evolution, and projection effects.

Donahue, Megan↗

NASA NTRS2021

Dual Quaternion Visual Servo Control

This paper focuses on a dual quaternion-based estimation and control approach for position-based visual servoing (PBVS). The pose estimation of the camera is achieved using a dual quaternion-based Extended Kalman Filter (EKF), which estimates the position and orientation of the camera based on feature points acquired through a sequence of camera images. Based on the estimation, a dual quaternion control law is developed to regulate the camera to the desired pose. Leveraging the local exponential stability of the EKF and the global exponential stability of the designed controller, a nonlinear separation principle is used to prove the stability of the joint estimation and control for PBVS. The method is distinguished from other PBVS methods in the sense that a compact representation of dual quaternion is used to represent the pose, and a joint stability of estimator and controller for PBVS in dual quaternion space is presented. The proposed dual quaternion PBVS method is validated using a simulation.

Quaternions↗

NASA NTRS1991

Parallel computation of manipulator inverse dynamics

In this article, parallel computation of manipulator inverse dynamics is investigated. A hierarchical graph-based mapping approach is devised to analyze the inherent parallelism in the Newton-Euler formulation at several computational levels, and to derive the features of an abstract architecture for exploitation of parallelism. At each level, a parallel algorithm represents the application of a parallel model of computation that transforms the computation into a graph whose structure defines the features of an abstract architecture, i.e., number of processors, communication structure, etc. Data-flow analysis is employed to derive the time lower bound in the computation as well as the sequencing of the abstract architecture. The features of the target architecture are defined by optimization of the abstract architecture to exploit maximum parallelism while minimizing architectural complexity. An architecture is designed and implemented that is capable of efficient exploitation of parallelism at several computational levels. The computation time of the Newton-Euler formulation for a 6-degree-of-freedom (dof) general manipulator is measured as 187 microsec. The increase in computation time for each additional dof is 23 microsec, which leads to a computation time of less than 500 microsec, even for a 12-dof redundant arm.

Fijany, Amir↗

NASA NTRS2020

EDL Simulation Results for the Mars 2020 Landing Site Safety Assessment

The Mars 2020 rover is NASA’s next flagship mission, set to explore Mars in search of scientific evidence of past microbial life. Importantly, the rover will also, for the first time, have the ability to collect and cache rock and soil samples for retrieval and return to laboratories here on Earth. A key step in the development of the Mars 2020 mission is the selection of a suitable landing site with the largest likelihood of meeting scientific goals. This decision is a complex and critical one that requires close interaction between the scientific and engineering communities. The chosen landing site must be both scientifically interesting — providing the project with the greatest possible chance of gathering credible and defendable scientific evidence — and also safe enough to attempt a landing in the first place. Thus, arguably one of the most important undertakings of the Entry, Descent, and Landing (EDL) team, is to effectively enumerate, quantify, and communicate the landing risks to all of the stakeholders. The culmination of this effort is the Landing Site Safety Assessment, which is a review commissioned by the project, presided over by the EDL Standing Review Board, and attended by management and science stakeholders, in which the EDL team communicates their assessment of the associated landing risks and the statistical probability of a successful landing at each of the final candidate landing sites. This paper summarizes the results of high-fidelity computer simulations of the Mars 2020 EDL sequence used in this assessment. From an EDL performance perspective, all four candidates offer similar level of robustness, which is in-family with Mars Science Laboratory (MSL). However, two new features of the Mars 2020 EDL sequence – range trigger and Terrain-Relative Navigation (TRN) – dramatically enhance the capability of the EDL system to safely land at landing sites with much more rugged terrain than ever before considered. This has allowed the landing site selection for Mars 2020 to proceed in a manner that has been unprecedentedly weighted more heavily toward scientific interest and less heavily on engineering constraints. With TRN, the overall probability of success is predicted to be approximately 99% for all of the candidates.

David Way↗

NASA NTRS1992

Vision-based recursive estimation of rotorcraft obstacle locations

The authors address vision-based passive ranging during nap-of-the-earth (NOE) rotorcraft flight. They consider the problem of estimating the relative location of identifiable features on nearby obstacles, assuming a sequence of noisy camera images and imperfect measurements of the camera's translation and rotation. An iterated extended Kalman filter is used to provide recursive range estimation. The correspondence problem is simplified by predicting and tracking each feature's image within the Kalman filter framework. Simulation results are presented which show convergent estimates and generally successful feature point tracking. Estimation performance degrades for features near the optical axis and for accelerating motions. Image tracking is also sensitive to angular rate.

Leblanc, D. J.↗

NASA NTRS2018

Radio-hosted Flight / Ground Interface for Operations Standardization

The interface between a spacecraft and its ground operations segment includes the flow of commands, configuration, and sequencing elements to the spacecraft, and the flow of telemetry and data products from the spacecraft. Creating and implementing a complete definition of this interface simplifies and standardizes mission operations, allowing easy sharing of operations personnel across missions. Early spacecraft featured a simple flight / ground interface (FGI) using hardware command decoding in the radio, driven by technological limitations of the time. Modern spacecraft use command and data handling (CDH) avionics on which flight software executes, which in turn controls and configures the mission, executes subsystem and instrument instructions, and implements critical fault protection actions. Deep space missions feature advanced operations software for running sequenced activities over a period of weeks, which allows them to function with only infrequent ground contact. This approach comes at the cost of increased complexity in the FGI, requiring expensive modifications to heritage flight software and ground systems. By hosting the interface in the radio instead of the CDH avionics, modern missions can approximate the FGI design simplicity of early spacecraft, with significant advantages for vendor competition, lowered costs, standardization of operations, and reduction of implementation risk.

Lock, Patricia D.↗