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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 775 records · Page 43
All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

Characterization of a Pressure-Fed LOX/LCH4 Reaction Control System Under Simulated Altitude and Thermal Vacuum Conditions

A liquid oxygen, liquid methane (LOX/LCH4) reaction control system (RCS) was tested at NASA Glenn Research Center's Plum Brook Station in the Spacecraft Propulsion Research Facility (B-2) under simulated altitude and thermal vacuum conditions. The RCS is a subsystem of the Integrated Cryogenic Propulsion Test Article (ICPTA) and was initially developed under Project Morpheus. Composed of two 28 lbf-thrust and two 7 lbf-thrust engines, the RCS is fed in parallel with the ICPTA main engine from four propellant tanks. 40 tests consisting of 1,010 individual thruster pulses were performed across 6 different test days. Major test objectives were focused on system dynamics, and included characterization of fluid transients, manifold priming, manifold thermal conditioning, thermodynamic vent system (TVS) performance, and main engine/RCS interaction. Peak surge pressures from valve opening and closing events were examined. It was determined that these events were impacted significantly by vapor cavity formation and collapse. In most cases the valve opening transient was more severe than the valve closing. Under thermal vacuum conditions it was shown that TVS operation is unnecessary to maintain liquid conditions at the thruster inlets. However, under higher heat leak environments the RCS can still be operated in a self-conditioning mode without overboard TVS venting, contingent upon the engines managing a range of potentially severe thermal transients. Lastly, during testing under cold thermal conditions the engines experienced significant ignition problems. Only after warming the thruster bodies with a gaseous nitrogen purge to an intermediate temperature was successful ignition demonstrated.

Atwell, Matthew J.↗
DOE OSTI2024

FLARE: field line analysis and reconstruction for 3D boundary plasma modeling

The FLARE code is a magnetic mesh generator that is integrated within a suite of tools for the analysis of the magnetic geometry in toroidal fusion devices. A magnetic mesh is constructed from field line segments and permits fast reconstruction of field lines in 3D boundary plasma codes such as EMC3-EIRENE. Both intrinsically non-axisymmetric configurations (stellarators) and those with symmetry breaking perturbations of an axisymmetric equilibrium (tokamaks) are supported. The code itself is written in Modern Fortran with MPI support for parallel computing, and it incorporates object-oriented programming for the definition of the magnetic field and the material surface geometry. Extended derived types for a number of different magnetohydrodynamic equilibrium and plasma response models are implemented. The core element of FLARE is a field line tracer with adaptive step-size control, and this is integrated into tools for the construction of Poincaré maps and invariant manifolds of X-points. A collection of high-level procedures that generate output files for visualization is build on top of that. The analysis modules are build with Python frontends that facilitate customization of tasks and/or scripting of parameter scans.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2024

System and method for parallel two-photon lithography using a metalens array

A metalens array is disclosed for controllably modifying a phase of a wavefront of an optical beam. The metalens array may have a substrate having at least first and second metalens unit cells, and forming a single integrated structure with no stitching being required of the first and second metalens unit cells. The first metalens unit cell has a first plurality of nanoscale features and is configured to modify a phase of a first portion of a wavefront of an optical signal incident thereon in accordance with a first predetermined phase pattern to create at least one first focal voxel within an image plane. The second metalens unit cell has a second plurality of nanoscale features configured to modify the phase of a second portion of the wavefront of the optical signal incident thereon, in accordance with a second predetermined phase pattern, to simultaneously create at least one second focal voxel within the image plane. Each metalens unit cell also has an overall diameter of no more than about 200 microns.

Xia, Xiaoxing↗
NASA NTRSDate not supplied

New Features of the NEQAIR Radiation Code

The longest-lived code for predicting shock layer radiation, NEQAIR, is now in its 5th decade of service. Substantial changes to the code have been made over the previous decade, the most recent report of which was at the 5th Workshop on Radiation in High Temperature Gases in 2014, for the version referred to as NEQAIR14. This paper will review some of the improvements made to the NEQAIR code since then, which is now at v15.2. Some of these features are discussed briefly below. NEQAIR15 and subsequent versions have enabled parallel evaluation of multiple lines of sight. This is accomplished by utilizing the HDF5 file format and placing multiple lines into a single file, LOS.h5, which is used for both input and output. This approach enables straightforward parallel execution both over the number of lines of sight and the number of points per line. For large problems, runtime reduces linearly with the number of nodes deployed since each line is processed independently by a subset of MPI ranks. Three applications of the multi-line solver are discussed. The first has to do with performing loosely coupled radiation-flowfield solutions. In this case the computed absorption and emission coefficients are used to evaluate the total energy absorbed or emitted at each point, allowing evaluation of the volumetric source term in the flowfield. The second computation is for obtaining heat flux from nonuniform flows, which require integration over spherical co-ordinates. These are of particular interest for evaluating radiation on the vehicle backshell. This 3D option improves the angular integration scheme and allows adaptive line selection that together reduce the number of lines required by about an order of magnitude. The final application is for remote observation, which is essentially the 3D integration problem over a small solid angle. For all three of these computations, data can be stored in the HDF5 file which allows a NEQAIR run to be restarted when it times out, or to add atmospheric absorption or instrument scan functions. An additional level of parallelism is enabled in NEQAIR15.2 using GPU routines. The GPU parallelism has realized up to 8x speed-up when running on a single core but diminishes as CPU parallelism is increased. For running multi-line simulations, it may be easier to reserve a large number of CPU nodes than to obtain the number of GPU nodes required for similar performance. A GUI, known as NEQTPY, allows for reading and creating input files, running NEQAIR, and displaying results. A significant feature of NEQTPY is the ability to perform spectral fits to data. The fits can operate on a single line spectrum (radiance vs. wavelength) or a 3D input file with multiple columns of data. Other new features include improved constants, additional species, more detailed non-Boltzmann modelling, advanced user controls, the ability to read and calculate spectra from HITRAN datafiles, photodissociation and photoionization cross-sections. A “fast” automatic grid option may reduce the size and time of spectral calculations while still maintaining good accuracy for total heat flux.

Brett A Cruden↗
NASA NTRS1985

A New Integrated Slot Element Feed Array for Multi-beam Systems

A feed array consisting of constant width slot antennas (CWSA's), fed from a block containing fin-line transitions, has been developed. The array has a two-dimensional configuration, with five elements each on five parallel substrates. Beam-widths are compatible with use in f/D-1.0 multi-beam systems, with optimum taper. Array element spacings are close to a factor of two smaller than for other typical arrays, and spill-over efficiency is about 65%.

Yngvesson, K. S.↗
NASA NTRS1995

Supersonic Transport Analysis on the IBM Parallel System SP2

Several studies of supersonic transport (SST) configurations have been undertaken by members of the High Speed Aerodynamics branch at NASA Ames. These computational investigations involved the analysis of shapes to study the sonic boom signatures, aerodynamic performance characteristics, as well as studies of nacelle/airframe integration. A variety of different computer codes were employed including both structured and unstructured codes. The AIRPLANE code has been used extensively in these investigations. This computer code solves the Euler equations for inviscid flow by exploiting an explicit finite volume method on a mesh of tetrahedral cells. AIRPLANE is capable of handling complete aircraft configurations including nacelles and diverters. An example of a generic SST configuration is shown and a comparison of computed and experimental force coefficients is presented. Most of the computations in support of the SST investigations have been run on the YMP and C-90 computers currently installed at NASA Ames. Additional information is contained in the original extended abstract.

Jameson, Antony↗
DOE OSTI2025

Improvements to MOOSE user workflow through polyhedral elements, automation, and concise physics syntax

The MOOSE framework is a foundational capability used by the NEAMS program to create over 15 different simulation tools for advanced nuclear reactors. Due to MOOSE's broad use, improvements to the framework in support of modeling and simulation goals are critical to the program. Such improvements can take many forms, including optimization, improved user experience, streamlined application programming interfaces (APIs), parallelism, and new capabilities. The work described in this report was conducted in direct support of NEAMS tools and includes: addition of support for polyhedral elements, incorporation of mesh smoothers for mesh repair, integration of the Physics and ActionComponents systems, expansion of the Convergence system, and exploration of automated input file generation. These five areas of development are fundamental capabilities that will be leveraged by many NEAMS applications.

97 - MATHEMATICS AND COMPUTING↗
NASA NTRS1993

Rectangular Array Of Digital Processors For Planning Paths

Prototype 24 x 25 rectangular array of asynchronous parallel digital processors rapidly finds best path across two-dimensional field, which could be patch of terrain traversed by robotic or military vehicle. Implemented as single-chip very-large-scale integrated circuit. Excepting processors on edges, each processor communicates with four nearest neighbors along paths representing travel to north, south, east, and west. Each processor contains delay generator in form of 8-bit ripple counter, preset to 1 of 256 possible values. Operation begins with choice of processor representing starting point. Transmits signals to nearest neighbor processors, which retransmits to other neighboring processors, and process repeats until signals propagated across entire field.

Kemeny, Sabrina E.↗
NASA NTRS1999

Performance and Applications of ENSAERO-MPI on Scalable Components

The latest improvements and results generated by ENSAERO-MPI are presented in this paper. ENSAERO-MPI is a parallelized, high-fidelity, multi-block code with fluids, structures and controls capabilities developed at NASA Ames Research Center under the support of HPCC. It is capable of multidisciplinary simulations by simultaneously integrating the Navier-Stokes equations, the finite element structural equations as well as control dynamics equations using aeroelastically adaptive, patched grids. Improvements have been made to the code's robustness, moving grid capabilities and performance.

Farhangnia, Mehrdad↗
NASA NTRS2004

Three-Dimensional High-Order Spectral Volume Method for Solving Maxwell's Equations on Unstructured Grids

A three-dimensional, high-order, conservative, and efficient discontinuous spectral volume (SV) method for the solutions of Maxwell's equations on unstructured grids is presented. The concept of discontinuous 2nd high-order loca1 representations to achieve conservation and high accuracy is utilized in a manner similar to the Discontinuous Galerkin (DG) method, but instead of using a Galerkin finite-element formulation, the SV method is based on a finite-volume approach to attain a simpler formulation. Conventional unstructured finite-volume methods require data reconstruction based on the least-squares formulation using neighboring cell data. Since each unknown employs a different stencil, one must repeat the least-squares inversion for every cell at each time step, or to store the inversion coefficients. In a high-order, three-dimensional computation, the former would involve impractically large CPU time, while for the latter the memory requirement becomes prohibitive. In the SV method, one starts with a relatively coarse grid of triangles or tetrahedra, called spectral volumes (SVs), and partition each SV into a number of structured subcells, called control volumes (CVs), that support a polynomial expansion of a desired degree of precision. The unknowns are cell averages over CVs. If all the SVs are partitioned in a geometrically similar manner, the reconstruction becomes universal as a weighted sum of unknowns, and only a few universal coefficients need to be stored for the surface integrals over CV faces. Since the solution is discontinuous across the SV boundaries, a Riemann solver is thus necessary to maintain conservation. In the paper, multi-parameter and symmetric SV partitions, up to quartic for triangle and cubic for tetrahedron, are first presented. The corresponding weight coefficients for CV face integrals in terms of CV cell averages for each partition are analytically determined. These discretization formulas are then applied to the integral form of the Maxwell equations. All numerical procedures for outer boundary, material interface, zonal interface, and interior SV face are unified with a single characteristic formulation. The load balancing in a massive parallel computing environment is therefore easier to achieve. A parameter is introduced in the Riemann solver to control the strength of the smoothing term. Important aspects of the data structure and its effects to communication and the optimum use of cache memory are discussed. Results will be presented for plane TE and TM waves incident on a perfectly conducting cylinder for up to fifth order of accuracy, and a plane wave incident on a perfectly conducting sphere for up to fourth order of accuracy. Comparisons are made with exact solutions for these cases.

Liu, Yen↗
NASA NTRS1949

A Class of De Laval Nozzles

A study is made herein of the irrotational adiabatic motion of a gas in the transition from subsonic to supersonic velocities. A shape of the de Laval nozzle is given, which transforms a homogeneous plane-parallel flow at large subsonic velocity into a supersonic flow without any shockwaves beyond the transition line from the subsonic to the supersonic regions of flow. The method of solution is based on integration near the transition line of the gas equations of motion in the form investigated by S. A. Christianovich.

Falkovich, S. V.↗
NASA NTRS2010

NASA Puffin Electric Tailsitter VTOL Concept

Electric propulsion offers dramatic new vehicle mission capabilities, not possible with turbine or reciprocating engines; including high reliability and efficiency, low engine weight and maintenance, low cooling drag and volume required, very low noise and vibration, and zero emissions. The only penalizing characteristic of electric propulsion is the current energy storage technology level, which is set to triple over the next 5-10 years through huge new investments in this field. Most importantly, electric propulsion offers incredible new degrees of freedom in aircraft system integration to achieve unprecedented levels of aerodynamic, propulsive, control, and structural synergistic coupling. A unique characteristic of electric propulsion is that the technology is nearly scale-free, permitting small motors to be parallelized for fail-safe redundancy, or distributed across the airframe for tightly coupled interdisciplinary functionality without significant impacts in motor-controller efficiency or specific weight. Maximizing the potential benefit of electric propulsion is dependent on applying this technology to synergistic mission concepts. The vehicle missions with the most benefit include those which constrain environmental impact (or limit noise, exhaust, or emission signatures) are short range, or where large differences exist in the propulsion system sizing between takeoff and cruise conditions. Electric propulsion offers the following unique capabilities that other propulsion systems can t provide for short range Vertical Takeoff and Landing (VTOL) aircraft; elimination of engine noise and emissions, drastic reduction in engine cooling and radiated heat, drastic reduction in vehicle vibration levels, drastic improvement in reliability and operating costs, variable speed output at full power, for improved cruise efficiency at low tip-speed, elimination of high/hot sizing penalty, and reduction of engine-out penalties.

Moore, Mark D.↗
NASA NTRS2003

Compact Interconnection Networks Based on Quantum Dots

Architectures that would exploit the distinct characteristics of quantum-dot cellular automata (QCA) have been proposed for digital communication networks that connect advanced digital computing circuits. In comparison with networks of wires in conventional very-large-scale integrated (VLSI) circuitry, the networks according to the proposed architectures would be more compact. The proposed architectures would make it possible to implement complex interconnection schemes that are required for some advanced parallel-computing algorithms and that are difficult (and in many cases impractical) to implement in VLSI circuitry. The difficulty of implementation in VLSI and the major potential advantage afforded by QCA were described previously in Implementing Permutation Matrices by Use of Quantum Dots (NPO-20801), NASA Tech Briefs, Vol. 25, No. 10 (October 2001), page 42. To recapitulate: Wherever two wires in a conventional VLSI circuit cross each other and are required not to be in electrical contact with each other, there must be a layer of electrical insulation between them. This, in turn, makes it necessary to resort to a noncoplanar and possibly a multilayer design, which can be complex, expensive, and even impractical. As a result, much of the cost of designing VLSI circuits is associated with minimization of data routing and assignment of layers to minimize crossing of wires. Heretofore, these considerations have impeded the development of VLSI circuitry to implement complex, advanced interconnection schemes. On the other hand, with suitable design and under suitable operating conditions, QCA-based signal paths can be allowed to cross each other in the same plane without adverse effect. In principle, this characteristic could be exploited to design compact, coplanar, simple (relative to VLSI) QCA-based networks to implement complex, advanced interconnection schemes. The proposed architectures require two advances in QCA-based circuitry beyond basic QCA-based binary-signal wires described in the cited prior article. One of these advances would be the development of QCA-based wires capable of bidirectional transmission of signals. The other advance would be the development of QCA circuits capable of high-impedance state outputs. The high-impedance states would be utilized along with the 0- and 1-state outputs of QCA.

Fijany, Amir↗
NASA NTRS2003

Preparation of Regular Specimens for Atom Probes

A method of preparation of specimens of non-electropolishable materials for analysis by atom probes is being developed as a superior alternative to a prior method. In comparison with the prior method, the present method involves less processing time. Also, whereas the prior method yields irregularly shaped and sized specimens, the present developmental method offers the potential to prepare specimens of regular shape and size. The prior method is called the method of sharp shards because it involves crushing the material of interest and selecting microscopic sharp shards of the material for use as specimens. Each selected shard is oriented with its sharp tip facing away from the tip of a stainless-steel pin and is glued to the tip of the pin by use of silver epoxy. Then the shard is milled by use of a focused ion beam (FIB) to make the shard very thin (relative to its length) and to make its tip sharp enough for atom-probe analysis. The method of sharp shards is extremely time-consuming because the selection of shards must be performed with the help of a microscope, the shards must be positioned on the pins by use of micromanipulators, and the irregularity of size and shape necessitates many hours of FIB milling to sharpen each shard. In the present method, a flat slab of the material of interest (e.g., a polished sample of rock or a coated semiconductor wafer) is mounted in the sample holder of a dicing saw of the type conventionally used to cut individual integrated circuits out of the wafers on which they are fabricated in batches. A saw blade appropriate to the material of interest is selected. The depth of cut and the distance between successive parallel cuts is made such that what is left after the cuts is a series of thin, parallel ridges on a solid base. Then the workpiece is rotated 90 and the pattern of cuts is repeated, leaving behind a square array of square posts on the solid base. The posts can be made regular, long, and thin, as required for samples for atom-probe analysis. Because of their small volume and regularity, the amount of FIB-milling time can be much less than that of the method of sharp shards. Individual posts can be broken off for mounting in a manner similar to that of the method of sharp shards. Alternatively, the posts can be left intact on the base and the base can be cut to a small square (e.g., 3 by 3 mm) suitable for mounting in an atom probe of a type capable of accepting multiple-tip specimens. The advantage of multiple-tip specimens is the possibility of analyzing many tips without the time-consuming interchange of specimens.

Kuhlman, Kim↗
NASA NTRS2013

Unique Challenges Testing SDRs for Space

This paper describes the approach used by the Space Communication and Navigation (SCaN) Testbed team to qualify three Software Defined Radios (SDR) for operation in space and the characterization of the platform to enable upgrades on-orbit. The three SDRs represent a significant portion of the new technologies being studied on board the SCAN Testbed, which is operating on an external truss on the International Space Station (ISS). The SCaN Testbed provides experimenters an opportunity to develop and demonstrate experimental waveforms and applications for communication, networking, and navigation concepts and advance the understanding of developing and operating SDRs in space. Qualifying a Software Defined Radio for the space environment requires additional consideration versus a hardware radio. Tests that incorporate characterization of the platform to provide information necessary for future waveforms, which might exercise extended capabilities of the hardware, are needed. The development life cycle for the radio follows the software development life cycle, where changes can be incorporated at various stages of development and test. It also enables flexibility to be added with minor additional effort. Although this provides tremendous advantages, managing the complexity inherent in a software implementation requires a testing beyond the traditional hardware radio test plan. Due to schedule and resource limitations and parallel development activities, the subsystem testing of the SDRs at the vendor sites was primarily limited to typical fixed transceiver type of testing. NASA s Glenn Research Center (GRC) was responsible for the integration and testing of the SDRs into the SCaN Testbed system and conducting the investigation of the SDR to advance the technology to be accepted by missions. This paper will describe the unique tests that were conducted at both the subsystem and system level, including environmental testing, and present results. For example, test waveforms were developed to measure the gain of the transmit system across the tunable frequency band. These were used during thermal vacuum testing to enable characterization of the integrated system in the wide operational temperature range of space. Receive power indicators were used for Electromagnetic Interference tests (EMI) to understand the platform s susceptibility to external interferers independent of the waveform. Additional approaches and lessons learned during the SCaN Testbed subsystem and system level testing will be discussed that may help future SDR integrators

Chelmins, David↗
NASA NTRS2013

Unique Challenges Testing SDRs for Space

This paper describes the approach used by the Space Communication and Navigation (SCaN) Testbed team to qualify three Software Defined Radios (SDR) for operation in space and the characterization of the platform to enable upgrades on-orbit. The three SDRs represent a significant portion of the new technologies being studied on board the SCAN Testbed, which is operating on an external truss on the International Space Station (ISS). The SCaN Testbed provides experimenters an opportunity to develop and demonstrate experimental waveforms and applications for communication, networking, and navigation concepts and advance the understanding of developing and operating SDRs in space. Qualifying a Software Defined Radio for the space environment requires additional consideration versus a hardware radio. Tests that incorporate characterization of the platform to provide information necessary for future waveforms, which might exercise extended capabilities of the hardware, are needed. The development life cycle for the radio follows the software development life cycle, where changes can be incorporated at various stages of development and test. It also enables flexibility to be added with minor additional effort. Although this provides tremendous advantages, managing the complexity inherent in a software implementation requires a testing beyond the traditional hardware radio test plan. Due to schedule and resource limitations and parallel development activities, the subsystem testing of the SDRs at the vendor sites was primarily limited to typical fixed transceiver type of testing. NASA's Glenn Research Center (GRC) was responsible for the integration and testing of the SDRs into the SCaN Testbed system and conducting the investigation of the SDR to advance the technology to be accepted by missions. This paper will describe the unique tests that were conducted at both the subsystem and system level, including environmental testing, and present results. For example, test waveforms were developed to measure the gain of the transmit system across the tunable frequency band. These were used during thermal vacuum testing to enable characterization of the integrated system in the wide operational temperature range of space. Receive power indicators were used for Electromagnetic Interference tests (EMI) to understand the platform's susceptibility to external interferers independent of the waveform. Additional approaches and lessons learned during the SCaN Testbed subsystem and system level testing will be discussed that may help future SDR integrators.

transmitters receivers↗
NASA NTRSDate not supplied

Rapid Spacecraft Payload Development: In-Orbit Demonstration of Flight Software Reuse, Scalability, and Dependability

As space mission design trends towards shared, multi-mission platforms and high-performance onboard computing architectures, the number of spacecraft launched into operation is also steadily rising. Through ridesharing, spacecraft miniaturization, and other cost-reduction measures, the barriers to space are lowering, resulting in compounded growth in the amount of flight software being deployed. To meet the needs of both the growing quantity and evolving nature of spacecraft, flight software design must accordingly adapt to support more efficient development, solutions to computational resource-sharing, and software reusability. This paper focuses on a software payload demonstrating several core technologies that improve the state-of-the-art in these identified areas. Launched into low-earth orbit in January 2022, our software payload was conceived, designed, and delivered in a span of merely two months. It was developed on top of the NASA core Flight System (cFS) framework and the Distributed Spacecraft Autonomy (DSA) Comm cFS application, which translates cFS software bus messages across a Data Distribution Service (DDS) network. The flight software, packaged in Linux container images, was deployed as one of 18 flight applications managed through the Unibap SpaceCloud Framework. The applications were run on a Unibap iX5-102 radiation-tolerant payload computer, hosted on the D-Orbit SCV-004 spacecraft as part of an ESA-sponsored in-orbit technology test. Our payload, referred to as the DSA D-Orbit software, demonstrates the reusability of the DSA Comm app in a substantially different context and purpose as its original mission. Comm’s original design goal was to reliably distribute messages between spacecraft swarms of arbitrary size and dynamic network topology. However, we leverage this same functionality to introduce redundancy and opportunistic parallel data processing in the context of a representative onboard image processing workload. This adaptive mission architecture was enabled in part by the SpaceCloud Framework’s use of container virtualization as the payload integration interface. By using a base container image with common high-level language runtimes and libraries, we were able to rapidly design, develop, and validate our image processing application without many of the technological barriers common to flight software development. We present details the goals, approach, results, and lessons learned through this technology demonstration experiment and contextualize those observations against present and future challenges in spacecraft software development.

computer programming↗
NASA NTRS2005

Video Mosaicking for Inspection of Gas Pipelines

A vision system that includes a specially designed video camera and an image-data-processing computer is under development as a prototype of robotic systems for visual inspection of the interior surfaces of pipes and especially of gas pipelines. The system is capable of providing both forward views and mosaicked radial views that can be displayed in real time or after inspection. To avoid the complexities associated with moving parts and to provide simultaneous forward and radial views, the video camera is equipped with a wide-angle (>165 ) fish-eye lens aimed along the axis of a pipe to be inspected. Nine white-light-emitting diodes (LEDs) placed just outside the field of view of the lens (see Figure 1) provide ample diffuse illumination for a high-contrast image of the interior pipe wall. The video camera contains a 2/3-in. (1.7-cm) charge-coupled-device (CCD) photodetector array and functions according to the National Television Standards Committee (NTSC) standard. The video output of the camera is sent to an off-the-shelf video capture board (frame grabber) by use of a peripheral component interconnect (PCI) interface in the computer, which is of the 400-MHz, Pentium II (or equivalent) class. Prior video-mosaicking techniques are applicable to narrow-field-of-view (low-distortion) images of evenly illuminated, relatively flat surfaces viewed along approximately perpendicular lines by cameras that do not rotate and that move approximately parallel to the viewed surfaces. One such technique for real-time creation of mosaic images of the ocean floor involves the use of visual correspondences based on area correlation, during both the acquisition of separate images of adjacent areas and the consolidation (equivalently, integration) of the separate images into a mosaic image, in order to insure that there are no gaps in the mosaic image. The data-processing technique used for mosaicking in the present system also involves area correlation, but with several notable differences: Because the wide-angle lens introduces considerable distortion, the image data must be processed to effectively unwarp the images (see Figure 2). The computer executes special software that includes an unwarping algorithm that takes explicit account of the cylindrical pipe geometry. To reduce the processing time needed for unwarping, parameters of the geometric mapping between the circular view of a fisheye lens and pipe wall are determined in advance from calibration images and compiled into an electronic lookup table. The software incorporates the assumption that the optical axis of the camera is parallel (rather than perpendicular) to the direction of motion of the camera. The software also compensates for the decrease in illumination with distance from the ring of LEDs.

Magruder, Darby↗