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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 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS1979

Navigation and attitude reference for autonomous satellite launch and orbital operations

The navigation and attitude reference performance of a strapdown system are investigated for applications to autonomous satellite launch and orbital operations. It is assumed that satellite payloads are integrated into existing missile systems and that the boost, orbit insertion, and in-orbit operation of the satellite are performed autonomously without relying on external support facilities. Autonomous and long term accurate navigation and attitude reference are provided by a strapdown inertial navigation system aided by a star sensor and earth landmark sensor. Sensor measurement geometry and navigation and attitude update mechanizations are discussed. Performance analysis data are presented for following functional elements: (1) prelaunch alignment; (2) boost navigation and attitude reference; (3) post boost stellar attitude and navigation updates; (4) orbital navigation update using sensor landmark measurements; and (5) in-orbit stellar attitude update and gyro calibration. The system performances are shown to satisfy the requirements of a large class of satellite payload applications.

Kau, S. P.↗
NASA NTRS1987

Large scale topography of Io

To investigate the large scale topography of the Jovian satellite Io, both limb observations and stereographic techniques applied to landmarks are used. The raw data for this study consists of Voyager 1 images of Io, 800x800 arrays of picture elements each of which can take on 256 possible brightness values. In analyzing this data it was necessary to identify and locate landmarks and limb points on the raw images, remove the image distortions caused by the camera electronics and translate the corrected locations into positions relative to a reference geoid. Minimizing the uncertainty in the corrected locations is crucial to the success of this project. In the highest resolution frames, an error of a tenth of a pixel in image space location can lead to a 300 m error in true location. In the lowest resolution frames, the same error can lead to an uncertainty of several km.

Gaskell, R. W.↗
NASA NTRS1992

Martian surface simulations

Current scenarios for a Mars landing involve the extensive analysis of the surface near the landing site. Pinpoint landing, for example, requires a detailed mapping of the area from orbit for landmark identification and landing site selection, and the use by the lander of its own imaging data to recognize these landmarks and to guide itself safely to the surface. Hazard avoidance requires sufficient orbital imaging to ensure that safe landing sites exist, with the lander using its sensory data to find one of them. Once on the surface, a rover must be able to avoid or surmount obstacles, travel across surfaces with varying compositions and slopes, and navigate to a desired destination. Computer simulated Martian surfaces are being constructed to aid in the development of these exploration technologies. These surface simulations attempt to mimic the specific geologic episodes that built the surface, such as cratering, lava flows, and aeolian activity. Each episode takes a preexisting surface as a starting point, alters it in some way, and stores the new surface for further processing. This modular construction makes it possible for new processes to be included without altering existing software.

Gaskell, R. W.↗
NASA NTRS1992

A feasibility study of hand kinematics for EVA analysis using magnetic resonance imaging

A new method of analyzing the kinematics of joint motion is developed. Magnetic Resonance Imaging (MRI) offers several distinct advantages. Past methods of studying anatomic joint motion have usually centered on four approaches. These methods are x-ray projection, goniometric linkage analysis, sonic digitization, and landmark measurement of photogrammetry. Of these four, only x-ray is applicable for in vivo studies. The remaining three methods utilize other types of projections of inter-joint measurements, which can cause various types of error. MRI offers accuracy in measurement due to its tomographic nature (as opposed to projection) without the problems associated with x-ray dosage. Once the data acquisition of MR images was complete, the images were processed using a 3D volume rendering workstation. The metacarpalphalangeal (MCP) joint of the left index finger was selected and reconstructed into a three-dimensional graphic display. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones were obtained and processed by analyzing the screw motion of the MCP joint. Landmark positions were chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily two dimensional planar motion of this joint was then studied using a method of constructing coordinate systems using three (or more) points. A transformation matrix based on a world coordinate system described the location and orientation of a local target coordinate system. Future research involving volume rendering of MRI data focusing on the internal kinematics of the hand's individual ligaments, cartilage, tendons, etc. will follow. Its findings will show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove (power assisted) design for extravehicular activity (EVA).

Dickenson, Rueben D.↗
NASA NTRS1994

ARK: Autonomous mobile robot in an industrial environment

This paper describes research on the ARK (Autonomous Mobile Robot in a Known Environment) project. The technical objective of the project is to build a robot that can navigate in a complex industrial environment using maps with permanent structures. The environment is not altered in any way by adding easily identifiable beacons and the robot relies on naturally occurring objects to use as visual landmarks for navigation. The robot is equipped with various sensors that can detect unmapped obstacles, landmarks and objects. In this paper we describe the robot's industrial environment, it's architecture, a novel combined range and vision sensor and our recent results in controlling the robot in the real-time detection of objects using their color and in the processing of the robot's range and vision sensor data for navigation.

Nickerson, S. B.↗
NASA NTRS1994

Microrover research at JPL

Planetary exploration with microrovers can be extended beyond the baseline short-range capability proposed for the Mars Environmental Survey (MESUR) microrover mission. The useful range of the microrover can be increased by using local landmarks to accurately reach desired science sites with a minimal number of Earth commands. Furthermore, onboard processing can give indications of excessive sinkage or slippage, which comprise hazards which may not be detectable from imaging, as well as to improve dead reckoning performance. Lastly, it is important to estimate the mean and variance of mission parameters such as time-to-reach-goal, energy-to-reach-goal, and likelihood-of-finding landmark. The author of the paper discusses research focused on accomplishing these objectives.

Wilcox, Brian↗
NASA NTRS1994

Perception for mobile robot navigation: A survey of the state of the art

In order for mobile robots to navigate safely in unmapped and dynamic environments they must perceive their environment and decide on actions based on those perceptions. There are many different sensing modalities that can be used for mobile robot perception; the two most popular are ultrasonic sonar sensors and vision sensors. This paper examines the state-of-the-art in sensory-based mobile robot navigation. The first issue in mobile robot navigation is safety. This paper summarizes several competing sonar-based obstacle avoidance techniques and compares them. Another issue in mobile robot navigation is determining the robot's position and orientation (sometimes called the robot's pose) in the environment. This paper examines several different classes of vision-based approaches to pose determination. One class of approaches uses detailed, a prior models of the robot's environment. Another class of approaches triangulates using fixed, artificial landmarks. A third class of approaches builds maps using natural landmarks. Example implementations from each of these three classes are described and compared. Finally, the paper presents a completely implemented mobile robot system that integrates sonar-based obstacle avoidance with vision-based pose determination to perform a simple task.

Kortenkamp, David↗
NASA NTRS1997

Comparison of registration techniques for GOES visible imagery data

This paper briefly describes and then compares the effectiveness of five image registration approaches for GOES visible band imagery. The techniques compared are (1) NOAA "point" manual landmarking, (2) manual landmarking on extant feature (whole island, lake, etc.), (3) automatic phase correlation, (4) automatic spatial correlation on edge features, and (5) automatic spatial correlation of region boundaries derived from image segmentation.

Tilton, James C.↗
NASA NTRS1994

Emergency Lighting System

When power outages occurred at Landmark Plastic Corporation, it took seven to twelve minutes for the primary mercury lamps to cool down enough to relight and two to seven minutes for the ELS incandescent lamps to relight. Production could not resume for as much as seven minutes. An article in NASA Tech Briefs describing the capabilities of photosensing devices led Landmark employee, Steve Keller to design a system now activated by any voltage loss in the main lamp circuit and coupled with photosensing devices used to keep them on until the primary mercury lamps reach full brightness.

Source record↗
NASA NTRS2003

The 1953 Stanley L. Miller Experiment: Fifty Years of Prebiotic Organic Chemistry

The field of prebiotic chemistry effectively began with a publication in Science 50 years ago by Stanley L. Miller on the spark discharge synthesis of amino acids and other compounds using a mixture of reduced gases that were thought to represent the components of the atmosphere on the primitive Earth. On the anniversary of this landmark publication, we provide here an accounting of the events leading to the publication of the paper. We also discuss the historical aspects that lead up to the landmark Miller experiment.

Lazcano, Antonio↗
NASA NTRS2003

Hippocampal place cell instability after lesions of the head direction cell network

The occurrence of cells that encode spatial location (place cells) or head direction (HD cells) in the rat limbic system suggests that these cell types are important for spatial navigation. We sought to determine whether place fields of hippocampal CA1 place cells would be altered in animals receiving lesions of brain areas containing HD cells. Rats received bilateral lesions of anterodorsal thalamic nuclei (ADN), postsubiculum (PoS), or sham lesions, before place cell recording. Although place cells from lesioned animals did not differ from controls on many place-field characteristics, such as place-field size and infield firing rate, the signal was significantly degraded with respect to measures of outfield firing rate, spatial coherence, and information content. Surprisingly, place cells from lesioned animals were more likely modulated by the directional heading of the animal. Rotation of the landmark cue showed that place fields from PoS-lesioned animals were not controlled by the cue and shifted unpredictably between sessions. Although fields from ADN-lesioned animals tended to have less landmark control than fields from control animals, this impairment was mild compared with cells recorded from PoS-lesioned animals. Removal of the prominent visual cue also led to instability of place-field representations in PoS-lesioned, but not ADN-lesioned, animals. Together, these findings suggest that an intact HD system is not necessary for the maintenance of place fields, but lesions of brain areas that convey the HD signal can degrade this signal, and lesions of the PoS might lead to perceptual or mnemonic deficits, leading to place-field instability between sessions.

NASA Program Biomedical Research and Countermeasur↗
NASA NTRS2001

Mapping visual cortex in monkeys and humans using surface-based atlases

We have used surface-based atlases of the cerebral cortex to analyze the functional organization of visual cortex in humans and macaque monkeys. The macaque atlas contains multiple partitioning schemes for visual cortex, including a probabilistic atlas of visual areas derived from a recent architectonic study, plus summary schemes that reflect a combination of physiological and anatomical evidence. The human atlas includes a probabilistic map of eight topographically organized visual areas recently mapped using functional MRI. To facilitate comparisons between species, we used surface-based warping to bring functional and geographic landmarks on the macaque map into register with corresponding landmarks on the human map. The results suggest that extrastriate visual cortex outside the known topographically organized areas is dramatically expanded in human compared to macaque cortex, particularly in the parietal lobe.

Non-NASA Center↗
NASA NTRS2003

The 1953 Stanley L. Miller Experiment: Fifty Years of Prebiotic Organic Chemistry

The field of prebiotic chemistry effectively began with a publication in Science 50 years ago by Stanley L. Miller on the spark discharge synthesis of amino acids and other compounds using a mixture of reduced gases that were thought to represent the components of the atmosphere on the primitive Earth. On the anniversary of this landmark publication, we provide here an accounting of the events leading to the publication of the paper. We also discuss the historical aspects that lead up to the landmark Miller experiment.

Lazcano, Antonio↗
NASA NTRS2005

Automated Image Registration Using Morphological Region of Interest Feature Extraction

With the recent explosion in the amount of remotely sensed imagery and the corresponding interest in temporal change detection and modeling, image registration has become increasingly important as a necessary first step in the integration of multi-temporal and multi-sensor data for applications such as the analysis of seasonal and annual global climate changes, as well as land use/cover changes. The task of image registration can be divided into two major components: (1) the extraction of control points or features from images; and (2) the search among the extracted features for the matching pairs that represent the same feature in the images to be matched. Manual control feature extraction can be subjective and extremely time consuming, and often results in few usable points. Automated feature extraction is a solution to this problem, where desired target features are invariant, and represent evenly distributed landmarks such as edges, corners and line intersections. In this paper, we develop a novel automated registration approach based on the following steps. First, a mathematical morphology (MM)-based method is used to obtain a scale-orientation morphological profile at each image pixel. Next, a spectral dissimilarity metric such as the spectral information divergence is applied for automated extraction of landmark chips, followed by an initial approximate matching. This initial condition is then refined using a hierarchical robust feature matching (RFM) procedure. Experimental results reveal that the proposed registration technique offers a robust solution in the presence of seasonal changes and other interfering factors. Keywords-Automated image registration, multi-temporal imagery, mathematical morphology, robust feature matching.

Plaza, Antonio↗
NASA NTRS2005

Cerebellum Augmented Rover Development

Bio-Inspired Technologies and Systems (BITS) are a very natural result of thinking about Nature's way of solving problems. Knowledge of animal behaviors an be used in developing robotic behaviors intended for planetary exploration. This is the expertise of the JFL BITS Group and has served as a philosophical model for NMSU RioRobolab. Navigation is a vital function for any autonomous system. Systems must have the ability to determine a safe path between their current location and some target location. The MER mission, as well as other JPL rover missions, uses a method known as dead-reckoning to determine position information. Dead-reckoning uses wheel encoders to sense the wheel's rotation. In a sandy environment such as Mars, this method is highly inaccurate because the wheels will slip in the sand. Improving positioning error will allow the speed of an autonomous navigating rover to be greatly increased. Therefore, local navigation based upon landmark tracking is desirable in planetary exploration. The BITS Group is developing navigation technology based upon landmark tracking. Integration of the current rover architecture with a cerebellar neural network tracking algorithm will demonstrate that this approach to navigation is feasible and should be implemented in future rover and spacecraft missions.

King, Matthew↗
NASA NTRS2006

Raised Relief Mars Globe Brings the Red Planet Closer

The Mars Globe 20x is the first digitally produced raised relief globe to be sold at retail establishments. The rises and dips of the Martian landscape have been multiplied by 20 to make the shapes more noticeable to human touch and sight. They make this globe, with its over 1 million elevation points, a visually stunning introduction to the planet. Spectrum 3D used the NASA digital land elevation data to aim lasers that then shaped and defined the master globe s surface. Subsequent copies were then made by creating a master globe mold. The molded copies are hand finished by workers who remove errant edges or lines that may appear on the raw globes and then paint the surfaces. The result is a globe that measures in at 18 inches in diameter, roughly 1:15,729,473 scale of the actual planet. The exaggerated raised relief is like having a 3-D digital microscope for planetary shapes. This makes the landmarks easier to learn and understand, as it provides easy visuals for orientation. People have a natural propensity for understanding 3-D shapes more easily than numbers or words. The 3-D globes appeal to both the kinetic and visual learning aspects of the brain, making it easy for people to readily memorize the landmarks and to make a mental model that they will remember for a long time.

Source record↗
NASA NTRS2007

Morphological Feature Extraction for Automatic Registration of Multispectral Images

The task of image registration can be divided into two major components, i.e., the extraction of control points or features from images, and the search among the extracted features for the matching pairs that represent the same feature in the images to be matched. Manual extraction of control features can be subjective and extremely time consuming, and often results in few usable points. On the other hand, automated feature extraction allows using invariant target features such as edges, corners, and line intersections as relevant landmarks for registration purposes. In this paper, we present an extension of a recently developed morphological approach for automatic extraction of landmark chips and corresponding windows in a fully unsupervised manner for the registration of multispectral images. Once a set of chip-window pairs is obtained, a (hierarchical) robust feature matching procedure, based on a multiresolution overcomplete wavelet decomposition scheme, is used for registration purposes. The proposed method is validated on a pair of remotely sensed scenes acquired by the Advanced Land Imager (ALI) multispectral instrument and the Hyperion hyperspectral instrument aboard NASA's Earth Observing-1 satellite.

Plaza, Antonio↗
NASA NTRS2007

Estimation of Cometary Rotation Parameters Based on Camera Images

The purpose of the Rosetta mission is the in situ analysis of a cometary nucleus using both remote sensing equipment and scientific instruments delivered to the comet surface by a lander and transmitting measurement data to the comet-orbiting probe. Following a tour of planets including one Mars swing-by and three Earth swing-bys, the Rosetta probe is scheduled to rendezvous with comet 67P/Churyumov-Gerasimenko in May 2014. The mission poses various flight dynamics challenges, both in terms of parameter estimation and maneuver planning. Along with spacecraft parameters, the comet's position, velocity, attitude, angular velocity, inertia tensor and gravitatonal field need to be estimated. The measurements on which the estimation process is based are ground-based measurements (range and Doppler) yielding information on the heliocentric spacecraft state and images taken by an on-board camera yielding informaton on the comet state relative to the spacecraft. The image-based navigation depends on te identification of cometary landmarks (whose body coordinates also need to be estimated in the process). The paper will describe the estimation process involved, focusing on the phase when, after orbit insertion, the task arises to estimate the cometary rotational motion from camera images on which individual landmarks begin to become identifiable.

Spindler, Karlheinz↗