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NASA NTRS1988

Measurement of the Landsat Thematic Mapper modulation transfer function using an array of point sources

This paper presents a method for measuring the Thematic Mapper (TM) imaging system point spread function (PSF) using TM imagery or a specially constructed target consisting of a two-dimensional array of approximate point sources of known dimensions and radiometric qualities. The target allows 16 separate point sources to be imaged simultaneously by the TM. The point sources were carefully placed on the ground so that their relative positions were known. Owing to sample-scene phasing, each imaged point source exhibits a different amount of blur in the digital image. The target pixels may then be recombined according to their known relative positions to form a single, sampled, nonaliased imaging system PSF. The modulation transfer function is then obtained as the modulus of the discrete Fourier transform of the PSF.

Rauchmiller, Robert F., Jr.↗

NASA NTRS2002

Sensorimotor aspects of high-speed artificial gravity: II. The effect of head position on illusory self motion

The effects of cross-coupled stimuli on the semicircular canals are shown to be influenced by the position of the subject's head with respect to gravity and the axis of rotation, but not by the subject's head position relative to the trunk. Seventeen healthy subjects made head yaw movements out of the horizontal plane while lying on a horizontal platform (MIT short radius centrifuge) rotating at 23 rpm about an earth-vertical axis. The subjects reported the magnitude and duration of the illusory pitch or roll sensations elicited by the cross-coupled rotational stimuli acting on the semicircular canals. The results suggest an influence of head position relative to gravity. The magnitude estimation is higher and the sensation decays more slowly when the head's final position is toward nose-up (gravity in the subject's head x-z-plane) compared to when the head is turned toward the side (gravity in the subject's head y-z-plane). The results are discussed with respect to artificial gravity in space and the possible role of pre-adaptation to cross-coupled angular accelerations on earth.

Non-NASA Center↗

NASA NTRS2011

Stage Cylindrical Immersive Display

Panoramic images with a wide field of view intend to provide a better understanding of an environment by placing objects of the environment on one seamless image. However, understanding the sizes and relative positions of the objects in a panorama is not intuitive and prone to errors because the field of view is unnatural to human perception. Scientists are often faced with the difficult task of interpreting the sizes and relative positions of objects in an environment when viewing an image of the environment on computer monitors or prints. A panorama can display an object that appears to be to the right of the viewer when it is, in fact, behind the viewer. This misinterpretation can be very costly, especially when the environment is remote and/or only accessible by unmanned vehicles. A 270 cylindrical display has been developed that surrounds the viewer with carefully calibrated panoramic imagery that correctly engages their natural kinesthetic senses and provides a more accurate awareness of the environment. The cylindrical immersive display offers a more natural window to the environment than a standard cubic CAVE (Cave Automatic Virtual Environment), and the geometry allows multiple collocated users to simultaneously view data and share important decision-making tasks. A CAVE is an immersive virtual reality environment that allows one or more users to absorb themselves in a virtual environment. A common CAVE setup is a room-sized cube where the cube sides act as projection planes. By nature, all cubic CAVEs face a problem with edge matching at edges and corners of the display. Modern immersive displays have found ways to minimize seams by creating very tight edges, and rely on the user to ignore the seam. One significant deficiency of flat-walled CAVEs is that the sense of orientation and perspective within the scene is broken across adjacent walls. On any single wall, parallel lines properly converge at their vanishing point as they should, and the sense of perspective within the scene contained on only one wall has integrity. Unfortunately, parallel lines that lie on adjacent walls do not necessarily remain parallel. This results in inaccuracies in the scene that can distract the viewer and subtract from the immersive experience of the CAVE.

Abramyan, Lucy↗

NASA NTRS1994

Astrometry with Hubble Space Telescope Fine Guidance Sensor number 3: Position-mode stability and precision

We report results from a test exploring the long- and short-term astrometric stability of Hubble Space Telescope Fine Guidance Sensor (FGS) #3. A test field was observed 40 times over 522 days to determine the precision and accuracy of FGS astrometry and to measure the character and magnitude of possible secular scale changes. We examine the astrometric data and the associated guide-star data to determine random errors. These data are also explored to find sources of systematic error. After correcting for some systematic effects we obtain a precision of 0.002 arcsec (2 mas) per observation (RSS of x and y). This is relative astrometry within a central 2.5 arcmin FGS field of view for any orientation. We find that the scale varies over time and confirm the sense of the trend with independent data. From the 40 observation sets we produce a catalog of an astrometry test field containing eight stars whose relative positions are known to an average 0.7 and 0.9 mas in x and y. One reference star has a relative parallax of 3.1 plus or minus 0.5 mas. Finally, we report that eleven observation sets acquired over 387 days produce parallaxes and relative positions with 1-mas precision.

Benedict, G. F.↗

NASA NTRS1997

Pilot Non-Conformance to Alerting System Commands

This research project examined the effects of consonance between cockpit displays and alerting system as a technique to encourage pilots to conform to alerting system commands. An experiment used the task of collision avoidance during closely spaced parallel approaches as a case study, building upon previous experiments which identified instances of non-conformance and conflicts between the alerting criteria preferred by pilots, compared to that used by alerting systems. Using a workstation based, part-task simulator, each of 45 subjects completed 45 experiment runs. In each run, the subjects were told they were flying an approach. Their primary task was to keep their wings level despite turbulence through the use of a sidestick. The sidestick commands did not affect the path of the aircraft, however, so that consistent approach paths were be followed. Their secondary task was to indicate when an aircraft on a parallel approach is blundering towards them, as evidenced by the traffic display. Subjects were asked to press different buttons indicating whether they feel an avoidance maneuver is required by the traffic situation or not. At the completion of each run, subjects were asked to rate their confidence in their decision and, if appropriate, to rate the timeliness of automatic alerts when had been given. Three different automatic alert conditions were tested. The "No Automatic Alerts Given" condition is self-explanatory. In the "Automatic Alerts Based on NTZ Criteria" condition, an automatic alert was given when the NTZ criteria was triggered; this criteria is consistent with subject reactions in other studies, in which subjects were found to react, on average, when the other aircraft was 1350 min to the side of the own aircraft. In the "Automatic Alerts Based on MIT Criteria" condition, an automatic alert was given when the MIT criteria was triggered; this criteria was developed by Carpenter and Kuchar for parallel approaches to have better performance, at the cost of increased complexity and higher sensitivity to pilot non-conformance. Three displays were tested. The "Baseline Display" is based on a moving map display, with a top-down view, track-up orientation, iconic presentation of the other aircraft's positions and a text presentation of the other aircraft's altitude. The "NTZ Alert Criteria Shown" display added to the Baseline Display an explicit presentation on the display of the boundary delineating the NTZ criteria, allowing for quick comparison of the other aircraft's position relative to this alert criteria. Likewise, the "MIT Alert Criteria Shown" display added to the Baseline Display an explicit presentation on the display of the boundary delineating the MIT criteria, allowing for quick comparison of the other aircraft's position relative to this alert criteria The test matrix for this experiment was three dimensional, varying displays, alerts and traffic conflict scenarios.

Pritchett, Amy↗

NASA NTRS1987

Optimal time free nodal transfers between elliptical orbits

The paper presents the necessary conditions for the minimum fuel, time-free transfer between two noncoplanar elliptical orbits. It is shown that the solution is obtained by solving a system of three nonlinear equations for three unknowns. The case where the impulses are applied along the line of nodes is discussed. In general, this nodal transfer is nonoptimal, but the characteristic velocity for the best nodal transfer, called the minimizing nodal transfer, is reasonably close to the one for the optimal transfer for it to be useful as a substitute for a practical transfer. Furthermore, when the relative position of the two terminal orbits is varied, the two characteristic velocities, for the minimizing nodal transfer and the optimal transfer, exhibit the same trend in the sense that they pass through their maxima and minima at nearly the same relative position. This makes the set of explicit formulas for computing the minimizing nodal transfer, as presented in this paper, a useful tool for designing a minimum fuel transfer between several orbits.

Vinh, Nguyen X.↗

NASA NTRS1986

Virtual space and 2-dimensional effects in perspective displays

When interpreting three dimensional spatial relationships presented on a two dimensional display surface, the viewer is required to mentally reconstruct the original information. This reconstruction is influenced by both the perspective geometry of the displayed image and the viewer's eye position relative to the display. In a study which manipulated these variables, subjects judged the azimuth direction of a target object relative to a reference object fixed in the center of a perspective display. The results support a previously developed model which predicted that the azimuth judgement error would be a sinusoidal function of stimulus azimuth. The amplitude of this function was correctly predicted to be systematically modulated by both the perspective geometry of the image and the viewer's eye position relative to the screen. Interaction of the two components of the model, the virtual space effect and the 3D-to-2D projection effect, predicted the relative amplitudes of the sinusoidal azimuth error functions for the various conditions of the experiment. Mean azimuth judgements in some directions differed by as much as 25 degrees as a result of different combinations of eye position and image geometry. The results illustrate the need to consider the effects of perspective geometry when designing spatial information instruments, and show the model to be a reliable predictor of average performance.

Mcgreevy, M. W.↗

NASA NTRS2003

A Nonlinear, Six-Degree of Freedom Precision Formation Control Algorithm, Based on Restricted Three Body Dynamics

Precision Formation Flying is an enabling technology for a variety of proposed space-based observatories, including the Micro-Arcsecond X-ray Imaging Mission (MAXIM), the associated MAXIM pathfinder mission, and the Stellar Imager. An essential element of the technology is the control algorithm. This paper discusses the development of a nonlinear, six-degree of freedom (6DOF) control algorithm for maintaining the relative position and attitude of a spacecraft within a formation. The translation dynamics are based on the equations of motion for the restricted three body problem. The control law guarantees the tracking error convergences to zero, based on a Lyapunov analysis. The simulation, modelled after the MAXIM Pathfinder mission, maintains the relative position and attitude of a Follower spacecraft with respect to a Leader spacecraft, stationed near the L2 libration point in the Sun-Earth system.

Bauer, Frank↗

NASA NTRS2008

Alignment-Insensitive Lower-Cost Telescope Architecture

This architecture features an active wavefront sensing and control scheme along with methods for measuring the relative positions of the primary to aft optics, such as the secondary mirror, and should enable larger and cheaper telescope architectures needed for future applications. A wavefront source/sensor is placed at the center of curvature of the primary mirror. The system provides continuous light onto a primary mirror that is retro-reflected onto itself. This allows the wavefront controller to constantly update the positions of the primary mirror segments (or deformable mirror actuators). Another function of this innovation involves using a concave mirror on the back of the secondary mirror (or other aft optic) that has the same center-of-curvature location (in defocus) as the primary mirror. The two return beams can be aligned next to each other on a detector, or radially on top of each other. This provides a means with which to measure the relative position of the primary to the secondary (or other aft optics), thus allowing for the removal of misalignment of the center-of-curvature source/sensor (meaning it doesn't need precision placement) and also provides a means with which to monitor the relative alignment over time. This innovation does not require extremely good thermal stability on the primary mirror and can thus be used in any thermal environment and with cheaper materials. In addition to this, the architecture lets one phase (or align) the primary mirror independent of whether a star or scene is in the field. The segmented, spherical primary allows for cost-effective three-meter class (e.g. Midex and Discovery) missions as well as enabling 30-meter telescope solutions that can be manufactured in a reasonable amount of time. The continuous wavefront sensing and control architecture enables missions for low-Earth-orbit.

Feinberg, Lee↗

NASA NTRS1990

Measuring precise sea level from a buoy using the Global Positioning System

The feasibility of using the Global Positioning System (GPS) for accurate sea surface positioning was examined. An experiment was conducted on the Scripps pier at La Jolla, California from December 13-15, 1989. A GPS-equipped buoy was deployed about 100 m off the pier. Two fixed reference GPS receivers, located on the pier and about 80 km away on Monument Peak, were used to estimate the relative position of the floater. Kinematic GPS processing software, developed at the National Geodetic Survey, and the Jet Propulsion Laboratory's GPS Infrared Processing System software were used to determine the floater position relative to land-fixing receivers. Calculations were made of sea level and ocean wave spectra from GPS measurements. It is found that the GPS sea level for the short 100 m baseline agrees with the PPT sea level at the 1 cm level and has an rms variation of 5 mm over a period of 4 hours.

Rocken, Christian↗

NASA NTRS2017

Modeling Microgravity Induced Fluid Redistribution Autoregulatory and Hydrostatic Enhancements

Space flight induces a marked cephalad (headward) redistribution of blood and interstitial fluid potentially resulting in a loss of venous tone and reduction in heart muscle efficiency upon introduction into the microgravity environment. Using various types of computational models, we are investigating how this fluid redistribution may induce intracranial pressure changes, relevant to reported reductions in astronaut visual acuity, part of the Visual Impairment and Intracranial Pressure (VIIP) syndrome. Methods: We utilize a lumped parameter cardiovascular system (CVS) model, augmented by compartments comprising the cerebral spinal fluid (CSF) space, as the primary tool to describe how microgravity, and the associated lack of hydrostatic gradient, impacts fluid redistribution. Models of ocular fluid pressures and biomechanics then accept the output of the above model as boundary condition input to allow more detailed, local analysis (see IWS Abstract by Ethier et al.). Recently, we enhanced the capabilities our previously reported CVS model through the implementation of robust autoregulatory mechanisms and a more fundamental approach to the implementation of hydrostatic mechanisms. Modifying the approach of Blanco et al., we implemented auto-regulation in a quasi-static manner, as an averaged effect across the span of one heartbeat. This approach reduced the higher frequency perturbations from the regulatory mechanism and was intended to allow longer simulation times (days) than models that implement within-beat regulatory mechanisms (minutes). A more fundamental approach to hydrostatics was implemented by a quasi-1D approach, in which compartment descriptions include compartment length, orientation and relative position, allowed for modeling of body orientation, relative body positioning and, in the future, alternative gravity environments. At this time the inclusion of hydrostatic mechanisms supplies additional capabilities to train and validate the CVS model with terrestrial data. Results and Conclusions: With the implementation of auto-regulation and hydrostatic modeling capabilities, the model performs as expected in the maintaining the CA (Central Artery) compartment pressure when simulating orientations ranging from supine to standing. The model appears to generally overpredict heart rate and thus cardiac output, possibly indicating sensitivity to the nominal heart rate, which is used as an initial set point of the regulation mechanisms. Despite this sensitivity, the model performs consistently for many hours of simulation time, indicating the success of our quasi-static implementation approach.

biomechanics↗

NASA NTRS2002

Otolith-Canal Convergence In Vestibular Nuclei Neurons

The current final report covers the period from June 1, 1999 to May 31, 2002. The primary objective of the investigation was to determine how information regarding head movements and head position relative to gravity is received and processed by central vestibular nuclei neurons in the brainstem. Specialized receptors in the vestibular labyrinths of the inner ear function to detect angular and linear accelerations of the head, with receptors located in the semicircular canals transducing rotational head movements and receptors located in the otolith organs transducing changes in head position relative to gravity or linear accelerations of the head. The information from these different receptors is then transmitted to central vestibular nuclei neurons which process the input signals, then project the appropriate output information to the eye, head, and body musculature motor neurons to control compensatory reflexes. Although a number of studies have reported on the responsiveness of vestibular nuclei neurons, it has not yet been possible to determine precisely how these cells combine the information from the different angular and linear acceleration receptors into a correct neural output signal. In the present project, rotational and linear motion stimuli were separately delivered while recording responses from vestibular nuclei neurons that were characterized according to direct input from the labyrinth and eye movement sensitivity. Responses from neurons receiving convergent input from the semicircular canals and otolith organs were quantified and compared to non-convergent neurons.

Dickman, J. David↗

NASA NTRS2004

Advanced Video Guidance Sensor Development Testing

Howard, Richard T.↗

NASA NTRS2004

Advanced Video Guidance Sensor (AVGS) Development Testing

NASA's Marshall Space Flight Center was the driving force behind the development of the Advanced Video Guidance Sensor, an active sensor system that provides near-range sensor data as part of an automatic rendezvous and docking system. The sensor determines the relative positions and attitudes between the active sensor and the passive target at ranges up to 300 meters. The AVGS uses laser diodes to illuminate retro-reflectors in the target, a solid-state camera to detect the return from the target, and image capture electronics and a digital signal processor to convert the video information into the relative positions and attitudes. The AVGS will fly as part of the Demonstration of Autonomous Rendezvous Technologies (DART) in October, 2004. This development effort has required a great deal of testing of various sorts at every phase of development. Some of the test efforts included optical characterization of performance with the intended target, thermal vacuum testing, performance tests in long range vacuum facilities, EMI/EMC tests, and performance testing in dynamic situations. The sensor has been shown to track a target at ranges of up to 300 meters, both in vacuum and ambient conditions, to survive and operate during the thermal vacuum cycling specific to the DART mission, to handle EM1 well, and to perform well in dynamic situations.

Howard, Richard T.↗

NASA NTRS2005

Simulation and ground testing with the Advanced Video Guidance Sensor

The Advanced Video Guidance Sensor (AVGS), an active sensor system that provides near-range 6-degree-of-freedom sensor data, has been developed as part of an automatic rendezvous and docking system for the Demonstration of Autonomous Rendezvous Technology (DART). The sensor determines the relative positions and attitudes between the active sensor and the passive target at ranges up to 300 meters. The AVGS uses laser diodes to illuminate retro-reflectors in the target, a solid-state imager to detect the light returned from the target, and image capture electronics and a digital signal processor to convert the video information into the relative positions and attitudes. The development of the sensor, through initial prototypes, final prototypes, and three flight units, has required a great deal of testing at every phase, and the different types of testing, their effectiveness, and their results, are presented in this paper, focusing on the testing of the flight units. Testing has improved the sensor's performance.

Howard, Richard T.↗

NASA NTRS1994

Geometry of the Hubble Space Telescope Wide Field/Planetary Camera field

We present a solution for the relative positions and orientations of the four charge coupled device (CCD) chips on the Hubble Space Telescope (HST) Planetary Camera (PC). An accurate solution is required when matching HST images with ground-based images or with one another. The solution is accurate to about 2/3 PC pixel or about .03 sec, a tenfold improvement over the best previous solution. The CCDs are rotated relative to one another by up to 1 deg. The solution is based on images taken between December 1990 and June 1992 and is stable over that entire period. We also present a solution for the relative positions and orientations of the four CCD chips on the HST Wide Field Camera (WFC). This solution is accurate to about 1/2 WFC pixel or about .05 sec.

Gould, Andrew↗

NASA NTRS2001

An Advanced Video Sensor for Automated Docking

This paper describes the current developments in video-based sensors at the Marshall Space Flight Center. The Advanced Video Guidance Sensor is the latest in a line of video-based sensors designed for use in automated docking systems. The X-33, X-34, X-38, and X-40 are all designed to be unpiloted vehicles; such vehicles will require a sensor system that will provide adequate data for the vehicle to accomplish its mission. One of the primary tasks planned for re-usable launch vehicles is to resupply the space station. In order to approach the space station in a self-guided manner, the vehicle must have a reliable and accurate sensor system to provide relative position and attitude information between the vehicle and the space station. The Advanced Video Guidance Sensor is being designed and built to meet this requirement, as well as requirements for other vehicles docking to a variety of target spacecraft. The Advanced Video Guidance Sensor is being designed to allow range and bearing information to be measured at ranges up to 2 km. The sensor will measure 6-degree-of-freedom information (relative positions and attitudes) from approximately 40 meters all the way in to final contact (approximately 1 meter range). The sensor will have a data output rate of 20 Hz during tracking mode, and will be able to acquire a target within one half of a second. The prototype of the sensor will be near completion at the time of the conference.

Howard, Richard T.↗

NASA NTRS1996

Flight control augmentation for AFT CG launch vehicles

The Space Shuttle was only the first step in achieving routine access to space. Recently, the NASA Marshall Space Flight Center (MSFC) has been studying a whole spectrum of new launch vehicles (L/V's) for space transportation. Some of these could transport components of the Space Station to orbit, and some could take us to Mars and beyond to boldly expand our frontiers of knowledge. In all our future launch vehicle (L/V) designs, decreasing the structural weight will always be of great concern. This is tantamount to increased payload capability, which in turn means reduced cost-per-pound to orbit. One very significant increase in payload capability has been defined. In a L/V recently studied at MSFC it has been shown that a sizable weight savings can be realized by a rearrangement of the internal propellant tanks. Studies have been conducted both at MSFC and at Martin Marietta Corporation, maker of the Space Shuttle External Tank (ET) which show that a very substantial weight can be saved by inverting the relative positions of the liquid hydrogen (LH2) and the liquid oxygen (LOX) propellant tanks in a particular L/V studied. As the vehicle sits on the launch pad, in the conventional configuration the heavier LOX tank is located on top of the lighter LH2. This requires a heavy structural member between the two tanks to prevent the lighter LH2 tank from being crushed. This configuration also requires large, long, and even drag producing LOX feed lines running the length of the vehicle on the exterior fuselage. If the relative position of the propellant tanks is inverted, both the heavy structural separation member and the long LOX feed lines could be deleted. While the structures community at MSFC was elated with this finding, the LOX tank aft configuration gave the vehicle an aft center-of-gravity (cg) location which surfaced controllability concerns. In the conventional configuration the L/V is controlled in the ascent trajectory by the gimballing of its rocket engines. Studies have been conducted at MSFC which showed that the resulting aft cg configured L/V would not be adequately controllable with the engine gimballing alone.

Barret, Chris↗