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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 739 records · Page 41

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DOE OSTI2020

Machine Vision-based Robot Manipulators for Nuclear Applications - 20370

Decommissioning and dismantling of nuclear facilities are major challenges facing the nuclear industry. Robot manipulators with capabilities of restoring nuclear structures and significantly prolonging nuclear power generation in addition to their applications in decommissioning and dismantling (D and D) would immensely ease the above-mentioned challenge. Ability to remotely sense/monitor and analyze dangerous and hazardous environments such as nuclear reactors as well as performing reparatory tasks in such environments using robot manipulators require additional information from vision sensors. Structural sample collection and inspection as well as restoration require object and position information. Computer vision is used to obtain precise 3D position information. The current work uses the Sawyer robot with the integrated Cognex camera. The research presents an approach to facilitate and improve operations in a nuclear reactor using robotic vision control. The vision control system is modeled with Augmented Image Space-based visual servoing approach. Results showing accurate robot control. Object recognition is used to recognize the image and calculate it poses. To transform coordinates of the object's pose from the camera frame to the robotic frame transformation matrices are employed. Future work will employ a 3D camera (with depth information) using Denso robot. (authors)

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NASA NTRS1997

Image processing for improved eye-tracking accuracy

Video cameras provide a simple, noninvasive method for monitoring a subject's eye movements. An important concept is that of the resolution of the system, which is the smallest eye movement that can be reliably detected. While hardware systems are available that estimate direction of gaze in real-time from a video image of the pupil, such systems must limit image processing to attain real-time performance and are limited to a resolution of about 10 arc minutes. Two ways to improve resolution are discussed. The first is to improve the image processing algorithms that are used to derive an estimate. Off-line analysis of the data can improve resolution by at least one order of magnitude for images of the pupil. A second avenue by which to improve resolution is to increase the optical gain of the imaging setup (i.e., the amount of image motion produced by a given eye rotation). Ophthalmoscopic imaging of retinal blood vessels provides increased optical gain and improved immunity to small head movements but requires a highly sensitive camera. The large number of images involved in a typical experiment imposes great demands on the storage, handling, and processing of data. A major bottleneck had been the real-time digitization and storage of large amounts of video imagery, but recent developments in video compression hardware have made this problem tractable at a reasonable cost. Images of both the retina and the pupil can be analyzed successfully using a basic toolbox of image-processing routines (filtering, correlation, thresholding, etc.), which are, for the most part, well suited to implementation on vectorizing supercomputers.

NASA Discipline Space Human Factors↗

NASA NTRS1993

Palomar Prime-Focus Infrared Camera (PFIRCAM)

In a joint effort between engineers and scientists at the Jet Propulsion Laboratory and the California Institute of Technology, a near-infrared direct imaging system has been developed and integrated into the Caltech Palomar Observatory detector series.

Palamar↗

DOE OSTI2019

Creating 3D Models With The Faro Scanner

The Faro Focus X 330 is a 3D scanner that combines numerous technologies in order to create a precise and life like 3D model. The technologies used by the scanner include: Time of flight (The scanner spins horizontally and vertically while emitting a class 1 laser; The laser beam then bounces off of an object and is captured by a sensor; An extremely precise chronometer tracks the beams flight time; The data is inputted into the simple formula: d=c*t/2). Point cloud system: The exact position of up to 976,000 points per second are registered and combined to form a complete model with up to ±1 mm at 330 m. Camera: Photos are taken of the surroundings that are combined to make a 165 megapixel image. The image is paired with the point cloud system. Scans have been taken of buildings 730-A and 781-A. These scans will be put into different virtual reality programs and used for tours and training. The scans also serve as a proof of concept for the Faro Focus X 330 as well as SRNL's ability to produce accurate scans with numerous useful applications. Work Scope Planning: Scanning will result in higher productivity and reduce the risk by identifying hazards; Blueprints and designs; 3D scans allow greater collaboration between engineers, construction crews, etc. by enabling them to compare blueprints to real time progress and make adjustments. Training and walk-downs: Scans can be made of places where access is not readily available, this could be due to its remote location or hazards such as radioactivity.

42 ENGINEERING↗

DOE OSTI2021

Tightly-coupled camera/LiDAR integration for point cloud generation from GNSS/INS-assisted UAV mapping systems

Unmanned aerial vehicles (UAVs) equipped with integrated global navigation satellite systems/inertial navigation systems (GNSS/INS) together with cameras and/or LiDAR sensors are being widely used for topographic mapping in a variety of applications such as precision agriculture, coastal monitoring, and archaeological documentation. Integration of image-based and LiDAR point clouds can provide a comprehensive 3D model of the area of interest. For such integration, ensuring a good alignment between data from the different sources is critical. Although many works have been conducted on this topic, there is still a need for a rigorous integration approach that minimizes the discrepancy between camera and LiDAR data caused by inaccurate system calibration parameters and/or trajectory artifacts. This study proposes an automated tightly-coupled camera/LiDAR integration workflow for GNSS/INS-assisted UAV systems. The proposed strategy is conducted in three main steps. First, an image-based point cloud is generated using a LiDAR/GNSS/INS-assisted structure from motion (SfM) strategy. Then, feature correspondences between image-based and LiDAR point clouds are automatically identified. Finally, an integrated-bundle adjustment procedure including image points, LiDAR raw measurements, and GNSS/INS information is conducted to minimize the discrepancy between point clouds from different sensors while estimating system calibration parameters and refining the trajectory information. The proposed SfM strategy and integration framework are evaluated using five datasets. The SfM results show that using LiDAR data can facilitate feature matching and further increase the number of reconstructed 3D points. The experimental results also illustrate that the developed automated camera/LiDAR integration strategy is capable of accurately estimating system calibration parameters to achieve good alignment among camera/LiDAR data from single/multiple systems. Finally, an absolute accuracy in the range of 3–5 cm is achieved for the image/LiDAR point clouds after the integration process.

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NASA NTRS1993

Imaging of the gravitational lens system PG 1115+080 with the Hubble Space Telescope

This paper is the first of a series presenting observations of gravitational lenses and lens candidates, taken with the Wide Field/Planetary Camera of the HST. We have resolved the gravitational lens system PG 1115+080 into four point sources and a red, extended object that is presumably the lens galaxy; we present accurate relative intensities, colors, and positions of the four images, and lower accuracy intensity and position of the lens galaxy, all at the epoch 1991.2. Comparison with earlier data shows no compelling evidence for relative intensity variations between the QSO components having so far been observed. The new data agree with earlier conclusions that the system is rather simple, and can be produced by the single observed galaxy. The absence of asymmetry in the HST images implies that the emitting region of the quasar itself has an angular radius smaller than about 10 milliarcsec (100 pc for H0 = 50, q0 = 0.5).

Kristian, Jerome↗

NASA NTRS1986

Welding torch with arc light reflector

A welding torch arc light reflector is disclosed for welding torches having optical viewing systems. A schematic of a welding torch having an internal coaxial viewing system consisting of a lens which focuses the field of view of the weld scene of the workpiece onto the end of the fiberoptic bundle is provided. The transmitted image of the fiberoptic bundle is provided to a camera lens which focuses it onto a TV sensor array for transmission. To improve the parity of the image of the monitoring system, an arc light reflector is shown fitted to the end of the torch housing or gas cup. The arc light reflector has an internal conical section portion which is polished to serve as a mirror which reflects the bright arc light back onto the darker areas of the weld area and thereby provides a more detailed image for the monitoring system. The novelty of the invention lies in the use of an arc light reflector on welding torches having optical viewing systems.

Gordon, Stephen S.↗

NASA NTRS2017

A Tool for the Automated Collection of Space Utilization Data: Three Dimensional Space Utilization Monitor

Space Human Factors and Habitability (SHFH) Element within the Human Research Program (HRP) and the Behavioral Health and Performance (BHP) Element are conducting research regarding Net Habitable Volume (NHV), the internal volume within a spacecraft or habitat that is available to crew for required activities, as well as layout and accommodations within the volume. NASA needs methods to unobtrusively collect NHV data without impacting crew time. Data required includes metrics such as location and orientation of crew, volume used to complete tasks, internal translation paths, flow of work, and task completion times. In less constrained environments methods exist yet many are obtrusive and require significant post-processing. Examplesused in terrestrial settings include infrared (IR) retro-reflective marker based motion capture, GPS sensor tracking, inertial tracking, and multi-camera methods Due to constraints of space operations many such methods are infeasible. Inertial tracking systems typically rely upon a gravity vector to normalize sensor readings,and traditional IR systems are large and require extensive calibration. However, multiple technologies have not been applied to space operations for these purposes. Two of these include: 3D Radio Frequency Identification Real-Time Localization Systems (3D RFID-RTLS) Depth imaging systems which allow for 3D motion capture and volumetric scanning (such as those using IR-depth cameras like the Microsoft Kinect or Light Detection and Ranging / Light-Radar systems, referred to as LIDAR)

Vos, Gordon A.↗

NASA NTRS1998

Development of High Speed Interferometry Imaging and Analysis Techniques for Compressible Dynamic Stall

The development of a high-speed, phase-locked, realtime, point diffraction interferometry system for quantitative imaging unsteady separated flows is described. The system enables recording of up to 224 interferograms of the dynamic stall flow over an oscillating airfoil using a drum camera at rates of up to 40 KHz controlled by custom designed electronic interlocking circuitry. Several thousand interferograms of the flow have been obtained using this system. A comprehensive image analysis package has been developed for automatic processing of this large number of images. The software has been specifically tuned to address the special characteristics of airfoil flow interferograms. Examples of images obtained using the standard and the high-speed interferometry techniques are presented along with a demonstration of the image processing routine's ability to resolve the fine details present in these images.

Chandrasekhara, M. S.↗

NASA NTRS1976

Multispectral and stereo imaging on Mars

Relevant aspects of the design and function of the two-window Viking Landing Camera system are described, with particular reference to some results of its operation on Mars during the Viking mission. A major feature of the system is that the optical tunnel between the lens and the photosensor array contains a multiaperture baffle designed to reduce veiling glare and to attenuate radio frequency interference from the lander antennas. The principle of operation of the contour mode is described. The accuracy is limited by the stereo base, resolution of camera picture elements, and geometric calibration. To help determine the desirability as well as the safety of possible sample sites, use is made of both radiometric and photogrammetric information for each picture element to combine high-resolution pictures with low-resolution color pictures of the same area. Explanatory photographs supplement the text.

Levinthal, E. C.↗

DOE OSTI2019

Compressed video camera with a moving patterned disk

A high-speed video system is disclosed that includes a moving image absorbing disk at an image plane. The disk has a pattern that passes and blocks image data. The disk is located between an event and an image sensor, or reflects an image to the image sensor. The disk is rotated at a speed that matches the desired reconstructed image frame rate. The image sensor frame data is processed using image reconstruction techniques, such as the D-AMP or TWIST algorithm, to recover a time sequence of reconstructed images. Additional images can be reconstructed for each image sensor frame if some spatial resolution is sacrificed. For continuous video, the disk speed is adjusted to the sensor frame rate. For burst mode, a single sensor image is acquired and a short image sequence is reconstructed. This image capture system works with a variety of radiations, including infrared, light, UV and X-rays.

42 ENGINEERING↗

NASA NTRS2010

Real-Time On-Board Processing Validation of MSPI Ground Camera Images

The Earth Sciences Decadal Survey identifies a multiangle, multispectral, high-accuracy polarization imager as one requirement for the Aerosol-Cloud-Ecosystem (ACE) mission. JPL has been developing a Multiangle SpectroPolarimetric Imager (MSPI) as a candidate to fill this need. A key technology development needed for MSPI is on-board signal processing to calculate polarimetry data as imaged by each of the 9 cameras forming the instrument. With funding from NASA's Advanced Information Systems Technology (AIST) Program, JPL is solving the real-time data processing requirements to demonstrate, for the first time, how signal data at 95 Mbytes/sec over 16-channels for each of the 9 multiangle cameras in the spaceborne instrument can be reduced on-board to 0.45 Mbytes/sec. This will produce the intensity and polarization data needed to characterize aerosol and cloud microphysical properties. Using the Xilinx Virtex-5 FPGA including PowerPC440 processors we have implemented a least squares fitting algorithm that extracts intensity and polarimetric parameters in real-time, thereby substantially reducing the image data volume for spacecraft downlink without loss of science information.

Earth Sciences Decadal Survey↗

DOE OSTI2019

Gamma Imaging and Mapping Advancements

The SRNL developed GrayQb{sup TM} gamma mapping system has been successfully deployed in field situations. Currently, to get the image from the GrayQb{sup TM} the internal Phosphor Storage Plate (PSP) used to capture radiation images must be recovered and scanned by a ScanX Scanner. Upgrades are being implemented which will enable the GrayQB{sup TM} to read the PSP using a camera and red LEDs then transmit results to a remote location. This will greatly reduce personnel interaction, increasing safety as well as eliminating the need for the ScanX. Upgrades have been based off of the MiniMax, a Los Alamos National Laboratory developed PSP reading device constructed with a Nikon DSLR and a red LED flash to obtain the images from the PSP. The electronics in the upgraded GrayQb{sup TM} need to be both functional and environmentally rugged. A PC/104 was chosen for its wider operational temperature range and its physical durability. The Sony α7 ii and the Mightex are the candidate cameras for the upgrades based on test results. PSPs were exposed to gamma radiation sources at SRS's Health Physics Instrumentation Calibration Laboratory (HPICL). PSPs were tested with both Am-241 and Cs-137. Linear intensity increased with dose verifying UV image simulations. Data collected enabled the PSP intensity to be referenced to a total dose. Further work includes design and implementation of a 3D printed housing for the new camera system. The housing will include the camera, light flash, PSP holders, tungsten dual pinhole, PC/104, dosimeter, and a battery or tethering option. Once the housing is finalized further testing at the HPICL facility is planned for early August. During this testing, the final housing design will capture both Am-241 and Cs-137 images.

3D PRINTING↗

NASA NTRS1987

Intelligent robotic tracker

An intelligent tracker capable of robotic applications requiring guidance and control of platforms, robotic arms, and end effectors has been developed. This packaged system capable of supervised autonomous robotic functions is partitioned into a multiple processor/parallel processing configuration. The system currently interfaces to cameras but has the capability to also use three-dimensional inputs from scanning laser rangers. The inputs are fed into an image processing and tracking section where the camera inputs are conditioned for the multiple tracker algorithms. An executive section monitors the image processing and tracker outputs and performs all the control and decision processes. The present architecture of the system is presented with discussion of its evolutionary growth for space applications. An autonomous rendezvous demonstration of this system was performed last year. More realistic demonstrations in planning are discussed.

Otaguro, W. S.↗

NASA NTRS2008

Cell-Detection Technique for Automated Patch Clamping

A unique and customizable machinevision and image-data-processing technique has been developed for use in automated identification of cells that are optimal for patch clamping. [Patch clamping (in which patch electrodes are pressed against cell membranes) is an electrophysiological technique widely applied for the study of ion channels, and of membrane proteins that regulate the flow of ions across the membranes. Patch clamping is used in many biological research fields such as neurobiology, pharmacology, and molecular biology.] While there exist several hardware techniques for automated patch clamping of cells, very few of those techniques incorporate machine vision for locating cells that are ideal subjects for patch clamping. In contrast, the present technique is embodied in a machine-vision algorithm that, in practical application, enables the user to identify good and bad cells for patch clamping in an image captured by a charge-coupled-device (CCD) camera attached to a microscope, within a processing time of one second. Hence, the present technique can save time, thereby increasing efficiency and reducing cost. The present technique involves the utilization of cell-feature metrics to accurately make decisions on the degree to which individual cells are "good" or "bad" candidates for patch clamping. These metrics include position coordinates (x,y) in the image plane, major-axis length, minor-axis length, area, elongation, roundness, smoothness, angle of orientation, and degree of inclusion in the field of view. The present technique does not require any special hardware beyond commercially available, off-the-shelf patch-clamping hardware: A standard patchclamping microscope system with an attached CCD camera, a personal computer with an imagedata- processing board, and some experience in utilizing imagedata- processing software are all that are needed. A cell image is first captured by the microscope CCD camera and image-data-processing board, then the image data are analyzed by software that implements the present machine-vision technique. This analysis results in the identification of cells that are "good" candidates for patch clamping (see figure). Once a "good" cell is identified, a patch clamp can be effected by an automated patchclamping apparatus or by a human operator. This technique has been shown to enable reliable identification of "good" and "bad" candidate cells for patch clamping. The ultimate goal in further development of this technique is to combine artificial-intelligence processing with instrumentation and controls in order to produce a complete "turnkey" automated patch-clamping system capable of accurately and reliably patch clamping cells with a minimum intervention by a human operator. Moreover, this technique can be adapted to virtually any cellular-analysis procedure that includes repetitive operation of microscope hardware by a human.

McDowell, Mark↗

NASA NTRS2009

Astronaut Thermal Exposure: Re-Entry After Low Earth Orbit Rescue Mission

The STS-125 mission, launched May 11, 2009, is the final servicing mission to the Hubble Space Telescope. The repair mission's EVA tasks are described, including: installing a new wide field camera; installing the Cosmic Origins Spectrograph; repairing the Space Telescope Imaging Spectrograph; installing a new outer blanket layer; adding a Soft Capture and Rendezvous System for eventual controlled deorbit in about 2014; replacing the 'A' side Science Instrument Command and Data Handling module; repairing the Advanced Camera for surveys; and, replacing the rate sensor unit gyroscopes, fine guidance sensors and 3 batteries. Additionally, the Shuttle crew cabin thermal environment is described. A CFD model of per person CO2 demonstrates a discrepancy between crew breathing volume and general mid-deck levels of CO2. A follow-on CFD analysis of the mid-deck temperature distribution is provided. Procedural and engineering mitigation plans are presented to counteract thermal exposure upon reentry to the Earth atmosphere. Some of the procedures include: full cold soak the night prior to deorbit; modifying deck stowage to reduce interference with air flow; and early securing of avionics post-landing to reduce cabin thermal load prior to hatch opening. Engineering mitigation activities include modifying the location of the aft starboard ICUs, eliminating the X3 stack and eliminating ICU exhaust air directed onto astronauts; improved engineering data of ICU performance; and, verifying the adequacy of mid-deck temperature control using CFD models in addition to lumped parameter models. Post-mitigation CFD models of mid-deck temperature profiles and distribution are provided.

Gillis, David B.↗

NASA NTRS1994

The Circumstellar Imager: Direct detection of extra-solar planetary systems

The Astrometric Imaging Telescope (AIT) is designed to probe the circumstellar environment by both direct imaging and indirect astrometric measurements. The Circumstellar Imager (CI) is a coronagraphic camera and is the direct imaging component of the AIT. The CI is designed to obtain high-sensitivity images of the circumstellar region. It provides crucial non-inferential information relating to the frequency, origin, and evolution of planetary systems and all forms of circumstellar matter. Such imaging is usually limited by the scattered and diffracted light halos of the star itself, which are greatly suppressed in the CI by mating a novel high-efficiency coronagraph with a phase-compensated optical system. For faint point sources in the circumstellar region, the CI will have a sensitivity in excess of 5 magnitudes fainter than the as-designed Hubble Space Telescope (HST). Laboratory data are shown for the coronagraph, which, in a diffraction-limited environment, is capable of suppressing the stellar diffraction sidelobes by several orders of magnitude without significant sacrifice of field of view. In order to realize the high rejection levels inherent in the coronagraph design, it is necessary to limit scatter in the optical systems, imposing a mid-spatial frequency figure error requirement an order of magnitude smaller than that of the HST. Experimental data directed toward meeting this requirement are also shown.

Ftaclas, Christ↗

DOE OSTI2018

Localized Imaging and Mapping for Underwater Fuel Storage Basins - 18364

Current methods for inspection of spent nuclear fuel storage basins involve lowering a single camera for visual inspection of walls and other structures. We present a localized inspection solution where the images are automatically annotated by localization information and a 3D model of the inspected area is generated. The system consists of an underwater sensor pod containing a stereo pair of cameras, light source, inertial measurement unit, and a pressure sensor. The sensors are time synchronized to provide precise measurements. We describe both the sensor pod and the algorithms that keep the pod localized. Preliminary results from in-air testing of a prototype are presented. (authors)

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