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NASA NTRS2010

Optical Navigation Plan and Strategy for the Lunar Lander Altair

This paper reviews the currently planned Altair Optical Navigation (OpNav) system. The discussion includes description of the OpNav camera manifest. The Altair OpNav plan envisions one, OpNav camera assembly, with perhaps a functional backup that includes a wide angle-imager (of 40 deg to 60 deg field of view - FOV), and a narrow angle imager (of 1 to 3 deg FOV) co-mounted on a 2-degree-of-freedom gimbal. Both imagers are assumed to be relatively wide aperture and large dynamic range to provide excellent short-exposure images at mid-latitudes, and adequate images of longer-exposure near the poles. Landmark modeling and tracking methodology is discussed, including the stereophotoclinometry method assumed to be used to obtain high-accuracy terrain maps at lunar landing sites of 1 - 2 m, and 50 - 100 m elsewhere, using the images expected to be obtained from the Lunar Reconnaissance Orbiter (LRO). Characteristics of the OpNav navigation system are discussed and architecture and results from landing simulations presented, showing expected landing accuracies of better than 10m.

TAG↗

NASA NTRS1990

Aerodynamics support of research instrument development

A new velocimetry system is currently being developed at NASA LaRC. The device, known as a Doppler global velocimeter (DGV), can record three velocity components within a plane simultaneously and in near real time. To make measurements the DGV, like many other velocimetry systems, relies on the scattering of light from numerous small particles in a flow field. The particles or seeds are illuminated by a sheet of laser light and viewed by two CCD cameras. The scattered light from the particles will have a frequency which is a function of the source laser light frequency, the viewing angle, and most importantly the seed velocities. By determining the scattered light intensity the velocity can be measured at all points within the light sheet simultaneously. Upon completion of DGV component construction and initial check out a series of tests in the Basic Aerodynamic Research (wind) Tunnel (BART) are scheduled to verify instrument operation and accuracy. If the results are satisfactory, application of the DGV to flight measurements on the F-18 High Alpha Research Vehicle (HARV) are planned. The DGV verification test in the BART facility will utilize a 75 degree swept delta wing model. A major task undertaken this summer included evaluation of previous results for this model. A specific series of tests matching exactly the previous tests and exploring new DGV capabilities were developed and suggested. Another task undertaken was to study DGV system installation possibilities in the F-18 HARV aircraft. In addition, a simple seeding system modification was developed and utilized to make Particle Imaging Velocimetry (PIV) measurements in the BART facility.

Miller, L. Scott↗

NASA NTRS1974

Reflective Schmidt corrector

A technique based on the use of an off-axis corrector in two orthogonal planes is presented for optimizing the reflective corrector that is to replace the refractive corrector plate of a Schmidt camera in high resolution space astronomy applications. The technique can easily be applied to any off-axis angle depending on configuration, field of view, and focal ratio of the instrument. It is pointed out, however, that the general performance degrades and the field of view shrinks with increasing off-axis angles.

Korsch, D.↗

NASA NTRS1983

Reflecting Schmidt imaging spectrometers

A new wide-angle imaging spectrometer configuration is proposed where an all-reflecting Schmidt camera is used with a prism spectrometer to give a field of view up to 60 deg or more. Four different designs using this approach are presented. These are the Imaging Spectrometer Free Flyer, the Shuttle Imaging Spectrometer A, the Shuttle Imaging Spectrometer B, and the Wide-Field System. These systems are capable of broadband spectral coverage from 0.4 to 2.5 microns, with footprints 20 m on a side or less, and with swath widths hundreds of kilometers; they are capable of spectral resolving powers of 200 or more.

Breckinridge, J. B.↗

NASA NTRSDate not supplied

Virtual Diagnostics Interface (ViDI) for Planning Laser-Based Wind Tunnel Experiments

Virtual Diagnostics Interface (ViDI), originally introduced by Richard Schwartz in 2004 and described again by Alderfer, et. al., in 2007, is an interactive 3D software tool developed at NASA Langley Research Center to serve three main purposes: assist in pre-test planning, enhance post-test image analysis and visualization, and serve as a central location for data storage and distribution.1,2 ViDI is composed of custom-developed software and Autodesk® 3ds Max® as it incorporates Computer Aided Design (CAD) models with the results obtained from optical diagnostics.3 This software tool has proven useful in the field of optical diagnostics where pre-test planning of beam paths, optical elements, and test articles must be carried out to avoid interference, ensure spatial resolution is sufficient, and the camera Field of View (FoV) is adequate for the field of interest. Typically, practical considerations such as the distance a camera is from the region of interest, the angles at which the camera is oriented and issues such as the size of the camera and its sensor and size and focal length lens as well as the path of the laser need to be taken into account to predict a successful measurement. An example application of ViDI is shown in Fig.1 where an experiment to investigate flow separation over the wing of the High Lift Common Research Model (HL-CRM) is currently being planned in the National Transonic Facility (NTF) at NASA Langley Research Center.

virtual diagnostics interface↗

NASA NTRS2006

Range-Measuring Video Sensors

Optoelectronic sensors of a proposed type would perform the functions of both electronic cameras and triangulation- type laser range finders. That is to say, these sensors would both (1) generate ordinary video or snapshot digital images and (2) measure the distances to selected spots in the images. These sensors would be well suited to use on robots that are required to measure distances to targets in their work spaces. In addition, these sensors could be used for all the purposes for which electronic cameras have been used heretofore. The simplest sensor of this type, illustrated schematically in the upper part of the figure, would include a laser, an electronic camera (either video or snapshot), a frame-grabber/image-capturing circuit, an image-data-storage memory circuit, and an image-data processor. There would be no moving parts. The laser would be positioned at a lateral distance d to one side of the camera and would be aimed parallel to the optical axis of the camera. When the range of a target in the field of view of the camera was required, the laser would be turned on and an image of the target would be stored and preprocessed to locate the angle (a) between the optical axis and the line of sight to the centroid of the laser spot.

Howard, Richard T.↗

NASA NTRS1984

Interstellar-gas experiment (A0038)

The objectives of this experiment are to collect and isotopically analyze interstellar gas atoms around the orbit of the Earth for the purpose of obtaining new data relevant to understanding nucleosynthesis, and to study the dynamics of the interstellar wind inside the heliosphere and the isotopic composition of the interstellar medium outside the heliosphere. The experiment hardware will act as a set of simple cameras with high-purity copper-beryllium collecting foils serving as the film. The experiment housing will mount and thermally control the foils, establish the viewing angles and viewing direction, provide baffling to reject ambient neutral particles, provide a voltage grid to reject ionospheric charged particles, sequence collecting foils, control exposure times, and protect the foils from contamination during the deployment and retrieval of the LDEF. After being returned to Earth, the entrapped atoms can be analyzed by mass spectroscopy to determine the relative abundance of the different isotopes of helium and neon. An attempt will also be made to detect argon.

Lind, D. L.↗

NASA NTRS2016

The ASTRO-H SXT Performance to the Large Off-Set Angles

The X-ray astronomy satellite ASTRO-H, which is the 6th Japanese X-ray astronomy satellite and is renamed Hitomi after launch, is designed to observe celestial X-ray objects in a wide energy band from a few hundred eV to 600 keV. The Soft X-ray Telescopes (SXTs) onboard ASTRO-H play a role of collecting and imaging X-rays up to approximately 12 keV. Although the field of view of the SXT is approximately 15' (FWHM), due to the thin-foil-nested Wolter-I type optics adopted in the SXTs, X-rays out of the field of view can reach the focal plane without experiencing a normal double reflection. This component is referred to as 'stray light'. Owing to investigation of the stray light so far, 'secondary reflection' is now identified as the main component of the stray light, which is composed of X-rays reflected only by secondary reflectors. In order to cut the secondary reflections, a 'pre-collimator' is equipped on top of the SXTs. However, we cannot cut all the stray lights with the pre-collimator in some off-axis angle domain. In this study, we measure the brightness of the stray light of the SXTs at some representative off-axis angles by using the ISAS X-ray beam line. ASTRO-H is equipped with two modules of the SXT; one is for the Soft X-ray Spectrometer (SXS), an X-ray calorimeter, and the other is for the Soft X-ray Imager (SXI), an X-ray CCD camera. These SXT modules are called SXT-S and SXT-I, respectively. Of the two detector systems, the SXI has a large field of view, a square with 38' on a side. To cope with this, we have made a mosaic mapping of the stray light at a representative off-axis angle of 30' in the X-ray beam line at the Institute of Space and Astronautical Science. The effective area of the brightest secondary reflection is found of order approximately 0.1% of the on-axis effective area at the energy of 1.49 keV. The other components are not so bright (less than 5 x 10(exp -4) times smaller than the on-axis effective area). On the other hand, we have found that the effective area of the stray light in the SXS field of view (approximately 3' x 3') at large off-axis angles (greater than 15') are approximately 1(exp -4) times smaller than the on-axis effective area (approximately 590 sq cm at 1.49 keV).

X-rays↗

NASA NTRS2011

Teleoperated Marsupial Mobile Sensor Platform Pair for Telepresence Insertion Into Challenging Structures

A platform has been developed for two or more vehicles with one or more residing within the other (a marsupial pair). This configuration consists of a large, versatile robot that is carrying a smaller, more specialized autonomous operating robot(s) and/or mobile repeaters for extended transmission. The larger vehicle, which is equipped with a ramp and/or a robotic arm, is used to operate over a more challenging topography than the smaller one(s) that may have a more limited inspection area to traverse. The intended use of this concept is to facilitate the insertion of a small video camera and sensor platform into a difficult entry area. In a terrestrial application, this may be a bus or a subway car with narrow aisles or steep stairs. The first field-tested configuration is a tracked vehicle bearing a rigid ramp of fixed length and width. A smaller six-wheeled vehicle approximately 10 in. (25 cm) wide by 12 in. (30 cm) long resides at the end of the ramp within the larger vehicle. The ramp extends from the larger vehicle and is tipped up into the air. Using video feedback from a camera atop the larger robot, the operator at a remote location can steer the larger vehicle to the bus door. Once positioned at the door, the operator can switch video feedback to a camera at the end of the ramp to facilitate the mating of the end of the ramp to the top landing at the upper terminus of the steps. The ramp can be lowered by remote control until its end is in contact with the top landing. At the same time, the end of the ramp bearing the smaller vehicle is raised to minimize the angle of the slope the smaller vehicle has to climb, and further gives the operator a better view of the entry to the bus from the smaller vehicle. Control is passed over to the smaller vehicle and, using video feedback from the camera, it is driven up the ramp, turned oblique into the bus, and then sent down the aisle for surveillance. The demonstrated vehicle was used to scale the steps leading to the interior of a bus whose landing is 44 in. (.1.1 m) from the road surface. This vehicle can position the end of its ramp to a surface over 50 in. (.1.3 m) above ground level and can drive over rail heights exceeding 6 in. (.15 cm). Thus configured, this vehicle can conceivably deliver the smaller robot to the end platform of New York City subway cars from between the rails. This innovation is scalable to other formulations for size, mobility, and surveillance functions. Conceivably the larger vehicle can be configured to traverse unstable rubble and debris to transport a smaller search and rescue vehicle as close as possible to the scene of a disaster such as a collapsed building. The smaller vehicle, tethered or otherwise, and capable of penetrating and traversing within the confined spaces in the collapsed structure, can transport imaging and other sensors to look for victims or other targets.

Krasowski, Michael J.↗

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 NTRS1993

Robot-Control Station Would Adapt To Operator

Proposed control station for remote robot adapts control system to personal characteristics and preferences of operator. Automatically adjusts positions and angles of video cameras and monitors, adjusts characteristics of hand controller, process images, and provides graphical displays serving operator best. System of one or more video cameras, controlled by computer, views workspace of robot, as shown in article, "Movable Cameras and Monitors For Viewing Telemanipulator" (NPO-17837). Control station includes several video monitors, hand controller, image-processing system providing graphical displays, voice-input command system, keyboards, and mouse.

Diner, Daniel B.↗

NASA NTRS1994

Automatic commanding of the Mars Observer Camera

Mars Observer, launched in September 1992, was intended to be a 'survey-type' mission that acquired global coverage of Mars from a low, circular, near-polar orbit during an entire Martian year. As such, most of its instruments had fixed data rates, wide fields of view, and relatively low resolution, with fairly limited requirements for commanding. An exception is the Mars Observer Camera, or MOC. The MOC consists of a two-color Wide Angle (WA) system that can acquire both global images at low resolution (7.5 km/pixel) and regional images at commandable resolutions up to 250 m/pixel. Complementing the WA is the Narrow Angle (NA) system, that can acquire images at 8 resolutions from 12 m/pixel to 1.5 m/pixel, with a maximum crosstrack dimension of 3 km. The MOC also provides various forms of data compression (both lossless and lossy), and is designed to work at data rates from 700 bits per second (bps) to over 80k bps. Because of this flexibility, developing MOC command sequences is much more difficult than the routine mode-changing that characterizes other instrument operations. Although the MOC cannot be pointed (the spacecraft is fixed nadir-pointing and has no scan platform), the timing, downlink stream allocation, compression type and parameters, and image dimensions of each image must be commanded from the ground, subject to the constraints inherent in the MOC and the spacecraft. To minimize the need for a large operations staff, the entire command generation process has been automated within the MOC Ground Data System. Following the loss of the Mars Observer spacecraft in August 1993, NASA intends to launch a new spacecraft, Mars Global Surveyor (MGS), in late 1996. This spacecraft will carry the MOC flight spare (MOC 2). The MOC 2 operations plan will be largely identical to that developed for MOC, and all of the algorithms described here are applicable to it.

Caplinger, Michael↗

NASA NTRS2012

JWST's Cryogenic Position Metrology System

The James Webb Space Telescope will undergo a full system test in the cryogenic vacuum chamber A at the Johnson Spaceflight Center in order to verify the overall performance of the combined telescope and instrument suite. This will be the largest and most extensive cryogenic test ever undertaken. Early in the test system development, it was determined that precise position measurements of the overall hardware would enhance the test results. Various concepts were considered before selecting photogrammetry for this metrology. Photogrammetry has been used in space systems for decades, however cryogenic use combined with the size and the optical/thermal sensitivity of JWST creates a unique set of implementation challenges. This paper provides an overview of the JWST photogrammetric system and mitigation strategies for three key engineering design challenges: 1) the thermal design of the viewing windows to prevent excessive heat leak and stray light to the test article 2) cost effective motors and mechanisms to provide the angle diversity required, and 3) camera-flash life and reliability sufficient for inaccessible use during the number and duration of the cryogenic tests.

Whitman, Tony L.↗

NASA NTRSDate not supplied

Progress on Quantitative Infrared Thermography at the NASA Langley Aerothermodynamic Laboratory

A quantitative infrared thermography technique is being developed for accurate and high-resolution measurements of surface temperature and heat flux in the hypersonic wind tunnels at NASA Langley Research Center. A hemisphere test campaign was carried out in the Langley Aerothermodynamic Laboratory 20-Inch Mach 6 Air Tunnel to assess the current performance of the technique and to identify remaining challenges. Measurements were obtained for three different model materials over a range of freestream Reynolds numbers. The raw infrared images were converted to temperature via a radiometric calibration of the camera sensor. Corrections were made for losses due to test article emissivity and window transmissivity. A preliminary uncertainty analysis yielded an estimated accuracy within 4 K at moderate viewing angles, similar to that of a standard thermocouple. Surface heat flux was obtained from the measured surface temperatures via a finite-difference solution of the one-dimensional heat equation that modeled thermal variation of the material properties. Comparisons of the measured heating to both computational and theoretical predictions demonstrated agreement within the expected uncertainty of the technique. The heat transfer measurement near the stagnation point was found to be highly sensitive to the test article emissivity, which establishes the need for improved characterization of the wind tunnel model materials for high temperature applications.

infrared thermography↗

NASA NTRS2010

Digital Astronaut Photography: A Discovery Dataset for Archaeology

Astronaut photography acquired from the International Space Station (ISS) using commercial off-the-shelf cameras offers a freely-accessible source for high to very high resolution (4-20 m/pixel) visible-wavelength digital data of Earth. Since ISS Expedition 1 in 2000, over 373,000 images of the Earth-Moon system (including land surface, ocean, atmospheric, and lunar images) have been added to the Gateway to Astronaut Photography of Earth online database (http://eol.jsc.nasa.gov ). Handheld astronaut photographs vary in look angle, time of acquisition, solar illumination, and spatial resolution. These attributes of digital astronaut photography result from a unique combination of ISS orbital dynamics, mission operations, camera systems, and the individual skills of the astronaut. The variable nature of astronaut photography makes the dataset uniquely useful for archaeological applications in comparison with more traditional nadir-viewing multispectral datasets acquired from unmanned orbital platforms. For example, surface features such as trenches, walls, ruins, urban patterns, and vegetation clearing and regrowth patterns may be accentuated by low sun angles and oblique viewing conditions (Fig. 1). High spatial resolution digital astronaut photographs can also be used with sophisticated land cover classification and spatial analysis approaches like Object Based Image Analysis, increasing the potential for use in archaeological characterization of landscapes and specific sites.

Stefanov, William L.↗

NASA NTRS1989

MISR - A multiangle imaging spectroradiometer for geophysical and climatological research from EOS

The scientific objectives, instrument concept, and data plan for the multiangle imaging spectroradiometer (MISR), an experiment proposed for the EOS (Earth Observing System) mission, are described. MISR is a pushbroom imaging system designed to obtain continuous imagery of the sunlit Earth at four different view angles (25.8, 45.6, 60.0, and 72.5 deg relative to the vertical at the earth's surface), in both the forward and aftward directions relative to nadir, using eight separate cameras. Observations will be acquired in four spectral bands, centered at 440, 550, 670, and 860 nm. Data analysis algorithms will be applied to MISR imagery to retrieve the optical, geometric, and radiative properties of complex, three-dimensional scenes, such as aerosol-laden atmospheres above a heterogeneously reflecting surface, nonstratified cloud systems, and vegetation canopies. The MISR investigation will address a number of scientific questions concerning the climatic and ecological consequences of many natural and anthropogenic processes, and will furnish aerosol information necessary for atmospheric corrections of surface images.

Diner, David J.↗

NASA NTRS2018

Directional Reflectance Studies in Support of the Radiometric Calibration Test Site (RadCaTS) at Railroad Valley

The Radiometric Calibration Test Site (RadCaTS) is a suite of commercial and custom instruments used to make measurements of the surface reflectance and atmosphere throughout the day at Railroad Valley, Nevada. It was developed in response to the need for daily radiometric calibration data for the vast array of Earth-observing sensors on orbit, which is continuously increasing as more nations and private companies launch individual environmental satellites as well as large constellations. The current suite of instruments at RadCaTS includes five ground-viewing radiometers (GVRs), four of which view the surface in a nadir-viewing configuration. Many sensors such as those on Landsat-7 and Landsat-8 view Railroad Valley within 3° of nadir, while others such as those on Sentinel-2A and -2B, RapidEye, Aqua, Suomi NPP, and Terra can view Railroad Valley at off-nadir angles. Past efforts have shown that the surface bidirectional reflectance distribution function (BRDF) has minimal impact on vicarious calibration uncertainties for views <10°, but the desire to use larger view angles has prompted the effort to develop a BRDF correction for data from RadCaTS. The current work investigates the application of Railroad Valley BRDF data derived from a BRF camera developed at the University of Arizona in the 1990s (but is no longer in use) to the current RadCaTS surface reflectance measurements. Also investigated are early results from directional reflectance studies using a mobile spectro-goniometer system during a round-robin field campaign in 2018. This work describes the preliminary results, the effects on current measurements, and the approach for future measurements.

RadCalNet↗

NASA NTRS2004

Flow visualization and characterization of evaporating liquid drops

An optical system, consisting of drop-reflection image, reflection-refracted shadowgraphy and top-view photography, is used to measure the spreading and instant dynamic contact angle of a volatile-liquid drop on a non-transparent substrate. The drop-reflection image and the shadowgraphy is shown by projecting the images of a collimated laser beam partially reflected by the drop and partially passing through the drop onto a screen while the top view photograph is separately viewed by use of a camera video recorder and monitor. For a transparent liquid on a reflective solid surface, thermocapillary convection in the drop, induced by evaporation, can be viewed nonintrusively, and the drop real-time profile data are synchronously recorded by video recording systems. Experimental results obtained from this technique clearly reveal that evaporation and thermocapillary convection greatly affect the spreading process and the characteristics of dynamic contact angle of the drop.

Chao, David F.↗