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This paper develops a procedure for an autonomous Martian rover to classify objects into obstacles and non-obstacles. These so called 'objects' are actually models generated by the Terrain Modeling and Edge Detection schemes. The classification process is performed using a set of object parameters which distinguish unobstructive objects from obstacles.
The objectives, techniques, and results of a special test program to validate a helium mass spectrometer leak detector (MLSD) for use in the National Space Transportation System (NSTS) program are examined. The discussion includes the background history and the specific program requirements established for helium leak detection, including a description of routine helium leak detector operations during orbiter ground turnaround. In addition to helium mass spectrometry, several other leak detection methods used in the NSTS program are described.
Quantum sensing promises to revolutionize sensing applications by employing quantum states of light or matter as sensing probes. Photons are the clear choice as quantum probes for remote sensing because they can travel to and interact with a distant target. Existing schemes are mainly based on the quantum illumination framework, which requires quantum memory to store a single photon of an initially entangled pair until its twin reflects off a target and returns for final correlation measurements. Existing demonstrations are limited to tabletop experiments, and expanding the sensing range faces various roadblocks, including long-time quantum storage and photon loss and noise when transmitting quantum signals over long distances. We propose a novel quantum sensing framework that addresses these challenges using quantum frequency combs with path identity for remote sensing of signatures (“qCOMBPASS”). The combination of one key quantum phenomenon and two quantum resources—namely, quantum-induced coherence by path identity, quantum frequency combs, and two-mode squeezed light—allows for quantum remote sensing without requiring quantum memory. The proposed scheme is akin to a quantum radar based on entangled frequency-comb pairs that uses path identity to detect, range, or sense a remote target of interest by measuring pulses of one comb in the pair that never traveled to the target but that contains target information “teleported” by quantum-induced coherence by path identity from the other comb in the pair that traveled to the target but is not detected. We develop the basic qCOMBPASS theory, analyze the properties of the qCOMBPASS transceiver, and introduce the qCOMBPASS equation—a quantum analog of the well-known LIDAR equation in classical remote sensing. We also describe an experimental scheme to demonstrate the concept using two-mode squeezed quantum combs. qCOMBPASS can strongly impact various applications in remote quantum sensing, imaging, metrology, and communications. These applications include detection and ranging of low-reflectivity objects, measurement of small displacements of a remote target with precision beyond the standard quantum limit (SQL), standoff hyperspectral quantum imaging, discreet surveillance from space with low detection probability (detect without being detected), very-long-baseline interferometry, quantum Doppler sensing, quantum clock synchronization, and networks of distributed quantum sensors. Published by the American Physical Society 2024
The possibility that comets containing up to 100 tons of ice encounter the earth's atmosphere at a rate of one every 20 min is discussed. Cometary 'hail storms' were proposed to explain observed regular transient decreases in the atmospheric UV dayglow intensity. The decreases take the form of dark 'holes' up to 50 km across. The probability that clouds of objects assumed to be as dark as the nucleus of Comet Halley between the earth and moon would be detectable by ground-based electrooptical deep space telescopes is considered. Conflicting projections of the number of objects which would be detected per hour are examined. High correlations are noted between cometary passages (Comets Encke, Tuttle, Tempel) and intervals of meteor showers (Taurids, Leonids, Geminis, etc.). The holes, however, are not correlated or coincident with the showers. It is suggested that dedicated searches for the unclassified dark objects be carried out in November, when cometary fluxes are high.
We describe an approach for the remote detection and characterization of life in planetary soil samples. A mass spectrometer is used as the central sensor to monitor changes in the gas phase in eleven test cells filled with soil. Many biological assays, ranging from general 'in situ' assays to specific metabolic processes (such as photosynthesis, respiration, denitrification, etc.) can be performed by appropriate additions to the test cell via attached preloaded injector capsules. The system is also compatible with a number of chemical assays such as the analysis of atmospheric composition (both chemical and isotopic), the status of soil water, and the determination of compounds of carbon, nitrogen and sulfur in the soil.
The objective of this study is to evaluate competing lidars for use in an airborne forward-looking system to enable aircraft to avoid the hazards of low altitude wind shear. Information is presented in vugraph form on lidar general requirements, tentative technical requirements, comparison of velocity errors and signal to noise ratios in clear weather for 2.1 and 10.6 micron lidars, a wind shear display, and preliminary results.
A prototype system for interactive object modeling has been developed and tested. The goal of this effort has been to create a system which would demonstrate the feasibility of high interactive operator-coached machine vision in a realistic task environment, and to provide a testbed for experimentation with various modes of operator interaction. The purpose for such a system is to use human perception where machine vision is difficult, i.e., to segment the scene into objects and to designate their features, and to use machine vision to overcome limitations of human perception, i.e., for accurate measurement of object geometry. The system captures and displays video images from a number of cameras, allows the operator to designate a polyhedral object one edge at a time by moving a 3-D cursor within these images, performs a least-squares fit of the designated edges to edge data detected with a modified Sobel operator, and combines the edges thus detected to form a wire-frame object model that matches the Sobel data.
Objectives of this research include:determine if orthogonal lead sets can; determine if orthogonal lead sets can correct artifactual ECG changes caused by correct artifactual ECG changes caused by microgravity- induced alterations in cardiac position; determine if markers of susceptibility to SCD (TWA and QT restitution) can be reliably measured during space flight; determine the effects of continuous microgravity on markers of susceptibility to SCD.
Consideration is given to millarcsecond-resolution total-intensity and linear polarization maps at 5 GHz presented for 11 BL Lacertae objects. In every BL Lacertae object in which polarization structure was detected, the polarization position angle of the knots is nearly parallel to the VLBI structural axis. The direction of the polarization in the cores of these sources appears to be random. The preferred polarization direction in the jets is explained by the fact that plane perpendicular shock waves are common in these sources; the origin of the absence of the preferred polarization direction in the core components is unclear. These results support an early conclusion that it cannot be the case that a significant number of BL Lacertae objects are gravitationally microlensed images of more distant quasars, since the characteristic VLBI polarization structures observed in these two types of objects are very different.
Fires associated with tropical deforestation, land conversion, and land use greatly contribute to emissions as well as the depletion of carbon and nutrient pools. The objective of this research was to compare change detection techniques for identifying deforestation and cattle pasture formation during a period of early colonization and agricultural expansion in the vicinity of Jamari, Rond6nia. Multi-date Landsat Thematic Mapper (TM) data between 1984 and 1992 was examined in a 94 370-ha area of active deforestation to map land cover change. The Tasseled Cap (TC) transformation was used to enhance the contrast between forest, cleared areas, and regrowth. TC images were stacked into a composite multi-date TC and used in a principal components (PC) transformation to identify change components. In addition, consecutive TC image pairs were differenced and stacked into a composite multi-date differenced image. A maximum likelihood classification of each image composite was compared for identification of land cover change. The multi-date TC composite classification had the best accuracy of 78.1% (kappa). By 1984, only 5% of the study area had been cleared, but by 1992, 11% of the area had been deforested, primarily for pasture and 7% lost due to hydroelectric dam flooding. Finally, discrimination of pasture versus cultivation was improved due to the ability to detect land under sustained clearing opened to land exhibiting regrowth with infrequent clearing.
Collision Detection for Spacecraft Proximity Operations This thesis describes the development of a new collision detection algorithm to be used when two spacecraft are operating in the same vicinity. The two spacecraft are modelled as unions of convex polyhedra, where the polyhedron resulting from the union may be either convex or nonconvex. The relative motion of the two spacecraft is assumed to be such that one vehicle is moving with constant linear and angular velocity with respect to the other. The algorithm determines if a collision is possible and, if so, predicts the time when the collision will take place. The theoretical basis for the new collision detection algorithm is the C-function formulation of the configuration space approach recently introduced by researchers in robotics. Three different types of C-functions are defined that model the contacts between the vertices, edges, and faces of the polyhedra representing the two spacecraft. These C-functions are used to formulate three "collision" conditions. The first of these conditions limits the points representing potential collisions to the zeros of the C-functions. The new algorithm is fundamentally a search for the smallest zero of any C-function that satisfies the second and third collision conditions. The C-functions are shown to be transcendental functions of time for the assumed trajectory of the moving spacecraft. The zeros of these functions cannot be expressed in dosed form. Therefore, numerical search procedures are developed to find aLl of the zeros of a C-function in specified bounded intervals of time. These bounded intervals of time are found by examining the second and third collision conditions. The capabilities of the new algorithm are demonstrated for several example cases. These include examples of collisions determined by zeros of each of the three different types of C-functions. In addition to predicting the time of first contact of the polyhedra, the algorithm identifies the features of the two polyhedra that are touching at this time. The new collision detection algorithm is the first such algorithm that is capable of solving the collision detection problem exactly for the case where the moving object has constant linear and angular velocities. This is a significant improvement on previous collision detection algorithms described in the literature. In particular, the ability to handle constant angular velocity represents a more realistic type of rotational motion than those which have been used in other algorithms.
A method is provided for controlling two objects relatively moveable with respect to each other. A plurality of receivers are provided for detecting a distinctive microwave signal from each of the objects and measuring the phase thereof with respect to a reference signal. The measured phase signal is used to determine a distance between each of the objects and each of the plurality of receivers. Control signals produced in response to the relative distances are used to control the position of the two objects.
Delaunay-based derivative-free optimization, ∆DOGS, is an efficient and provably-convergent global optimization method for the problems which has computationally expensive objection function and the analytical expression for the objective function is not available. ∆-DOGS is a novel optimization scheme in the family of response surface methods (RSMs); however, it suffers from the curse of dimensionality since the computational cost increases dramatically as the number of design parameters increases. As a result, the number of design parameters in ∆-DOGS algorithm is relatively low (n.10). To avoid such problems, this paper proposes a combination of derivative-free optimization, seeking the global minimizer of an expensive and nonconvex objective function f(x) and active subspace method, detecting the directions of the most variability using evaluations of the gradient. The contribution of other directions to the objective function is bounded by a sufficiently small constant. This new algorithm iteratively applied Delaunay-based derivative-free optimization to seek the minimizer on the d-dimensional active subspace that has most function variation. Inverse mapping is needed to project data from active subspace to full-model for evaluating function values. This task is overcome by solving an inequality constrained problem that curves the response surface of the objective function. The test results show that this strategy is effective on a handful of optimization problems.
Emission features in the optical spectrum of the highly variable BL Lac object AO 0235 + 164 have been detected which are identified as Mg II, forbidden Ne V, and forbidden O II at a redshift of 0.9399, consistent with a cosmological interpretation of the two absorption systems at z = 0.524 and z = 0.851. The spectrum also shows emission features associated with the z = 0.524 system at a projected separation of 20 kpc from the apparent central concentration of the material producing that absorption. This implies a highly extended and very luminous line-emitting region for the material at z = 0.524. A comparison of the new data with previous spectroscopic observations of the BL Lac object when it was faint suggests that the Mg II emission may be variable on a time scale of approximately 2 yr.
B2 1023+25 is an extremely radio-loud quasar at zeta = 5.3 that was first identified as a likely high-redshift blazar candidate in the SDSS+FIRST quasar catalog. Here, we use the Nuclear Spectroscopic Telescope Array (NuSTAR) to investigate its non-thermal jet emission, whose high-energy component we detected in the hard X-ray energy band. The X-ray flux is approximately 5.5 × 10 (exp −14) erg cm(exp −2) s(exp −1) (5-10 keV) and the photon spectral index is Gamma(x) approx. =1.3-1.6. Modeling the full spectral energy distribution, we find that the jet is oriented close to the line of sight, with a viewing angle of approximately 3deg, and has significant Doppler boosting, with a large bulk Lorentz factor approximately 13, which confirms the identification of B2 1023+25 as a blazar. B2 1023+25 is the first object at redshift larger than 5 detected by NuSTAR, demonstrating the ability of NuSTAR to investigate the early X-ray universe and to study extremely active supermassive black holes located at very high redshift.
The objective of the research supported by this grant was the development of a new instrument to both further the technology of small, lightweight instruments for robotic aircraft and to achieve the ability to detect ClONO2, NO2, ClO and BrO from the NASA ER-2 aircraft. All of these objectives were accomplished.
We present time-dependent models of the chemistry and temperature of interstellar molecular gas clumps that are exposed to the radiation from propagating stellar-jet shocks. The X-ray, EUV, and FUV radiation from the shock initiates ion chemistry and also heats the gas in the clumps. Using representative parameters, we show that, on the shock transit time between the clumps, the abundances of the ionized molecular species that are produced in the clumps can exceed the values determined from steady state models by several orders of magnitude. Collisional excitation by the heated gas can lead to measurable line emission from several ionized species; as in previous investigations of X-ray-irradiated molecular gas, we find that electron impacts contribute significantly to this process. We apply these results to the interpretation of the HCO(+) line emission that has already been detected in several Herbig-Haro objects. We demonstrate that this picture provides a natural explanation of the fact that the line intensity typically peaks ahead of the associated shock, as well as of the reported low line-center velocities and narrow line widths. We tabulate several diagnostic line intensities of HCO(+) and other molecular species that may be used to infer the physical conditions in the emitting gas.
Hughes Aircraft Corporation's Probeye Model 3300 Thermal Video System consists of tripod mounted infrared scanner that detects the degree of heat emitted by an object and a TV monitor on which results are displayed. Latest addition to Hughes line of infrared medical applications can detect temperature variations as fine as one-tenth of a degree centigrade. Thermography, proving to be a valuable screening tool in diagnosis, can produce information to preclude necessity of performing more invasive tests that may be painful and hazardous. Also useful in verifying a patient's progress through therapy and rehabilitation.