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NASA NTRS1993

Parallel algorithm for dominant points correspondences in robot binocular stereo vision

This paper presents an algorithm to find the correspondences of points representing dominant feature in robot stereo vision. The algorithm consists of two main steps: dominant point extraction and dominant point matching. In the feature extraction phase, the algorithm utilizes the widely used Moravec Interest Operator and two other operators: the Prewitt Operator and a new operator called Gradient Angle Variance Operator. The Interest Operator in the Moravec algorithm was used to exclude featureless areas and simple edges which are oriented in the vertical, horizontal, and two diagonals. It was incorrectly detecting points on edges which are not on the four main directions (vertical, horizontal, and two diagonals). The new algorithm uses the Prewitt operator to exclude featureless areas, so that the Interest Operator is applied only on the edges to exclude simple edges and to leave interesting points. This modification speeds-up the extraction process by approximately 5 times. The Gradient Angle Variance (GAV), an operator which calculates the variance of the gradient angle in a window around the point under concern, is then applied on the interesting points to exclude the redundant ones and leave the actual dominant ones. The matching phase is performed after the extraction of the dominant points in both stereo images. The matching starts with dominant points in the left image and does a local search, looking for corresponding dominant points in the right image. The search is geometrically constrained the epipolar line of the parallel-axes stereo geometry and the maximum disparity of the application environment. If one dominant point in the right image lies in the search areas, then it is the corresponding point of the reference dominant point in the left image. A parameter provided by the GAV is thresholded and used as a rough similarity measure to select the corresponding dominant point if there is more than one point the search area. The correlation is used as a final decision tool when there is still more than one point in the search area. If there is no dominant point in the search area of if the points in the search area are below a correlation threshold, then the dominant point in the reference image is occluded and can not be corresponded. The algorithm has been modeled, implemented and shown to be fast, robust and parallel. The parallelism is created from three main features: locality of the operators; a memory optimization scheme; and the ability to fully parallelize the extraction phase which is the most computational intensive task in the algorithm. The last feature is achieved by performing the extraction phase on the two images simultaneously.

Al-Tammami, A.↗

NASA NTRSDate not supplied

Improving Geolocation Accuracy of the Advanced Meteorological Imager on the GEO-KOMPSAT-2A

GeoNEX is a collaborative project led by scientists from NASA and many other international institutes to generate Earth monitoring products using data streams from the latest geostationary (GEO) sensors. Its consistent processing and common gridding systems can produce research-quality data products from GEO sensors and leverage GEO-GEO or GEO-LEO (low earth orbit) synergistic uses. Currently, GeoNEX has produced and disseminated L1G (geometrically corrected Level 1 products) from GOES 16/17 ABIs and Himawari-8 AHI, but a new Korean geostationary sensor (Advanced Meteorological Imager, AMI) onboard Geo-KOMPSAT-2A covering a large proportion of Asia and all of Oceania is in development. Our recent efforts on assessing geolocation accuracy in ABI and AHI suggest a nontrivial residual exists in both level 1B data with varying spatiotemporal patterns. The findings urge us to prioritize identifying and correcting geolocation residuals of AMI to generate accurate and consistent GeoNEX top-of-atmosphere (TOA) reflectance products and following processing chains. Here we implement a phase correlation correction approach to a visible band (0.64 μm, 500 m) using landmarks prepared from finer scale digital terrain models. We characterize spatiotemporal patterns (e.g., diurnal & daily) of geolocation residuals of AMI before and after correction. We then assess stability of datasets and quantify impact of unexpected geolocation errors on terrestrial monitoring. The geolocation corrected AMI data are further compared with GeoNEX AHI L1G products which are able to create unique stereo-type observations with AMI through leveraging the similarities of spectral bands and the sun-target-sensor geometry. Further, we discuss challenges in utilizing the GEO-GEO (e.g., AMI & AHI) satellite data for potential applications.

Geostationary Satellites↗

DOE OSTI2021

Meta-uncertainty for particle image velocimetry

Uncertainty quantification for Particle Image Velocimetry (PIV) is critical for comparing experimentally measured flow fields with Computational Fluid Dynamics (CFD) results, and model design and validation. However, PIV features a complex measurement chain with coupled, non-linear error sources, and quantifying the uncertainty is challenging. Multiple assessments show that none of the current methods can reliably measure the actual uncertainty across a wide range of experiments, and estimates can vary. Because the current methods differ in assumptions regarding the measurement process and calculation procedures, it is not clear which method is best to use for an experiment where the error distribution is unknown. To address this issue, we propose a method to estimate an uncertainty method's sensitivity and reliability, termed the Meta-Uncertainty. The novel approach is automated, local, and instantaneous, and based on perturbation of the recorded particle images. We developed an image perturbation scheme based on adding random unmatched particles to the interrogation window pair considering the signal-to-noise (SNR) of the correlation plane. Each uncertainty scheme's response to several trials of random particle addition is used to estimate a reliability metric, defined as the rate of change of the inter-quartile range (IQR) of the uncertainties with increasing levels of particle addition. We also propose applying the meta-uncertainty as a weighting metric to combine uncertainty estimates from individual schemes, based on ideas from the consensus forecasting literature. We use planar and stereo PIV measurements across a range of canonical flows to assess the performance of the uncertainty schemes. Further, a novel method is introduced to assess an uncertainty scheme's performance based on a quantile comparison of the error and uncertainty distributions, generalizing the current method of comparing the RMS of the two distributions. Here, the results show that the combined uncertainty method outperforms the individual methods, and this work establishes the meta-uncertainty as a useful reliability assessment tool for PIV uncertainty quantification.

47 OTHER INSTRUMENTATION↗

DOE OSTI2020

Validation of finite-element models using full-field experimental data: Levelling finite-element analysis data through a digital image correlation engine

Full-field data from digital image correlation (DIC) provide rich information for finite-element analysis (FEA) validation. However, there are several inherent inconsistencies between FEA and DIC data that must be rectified before meaningful, quantitative comparisons can be made, including strain formulations, coordinate systems, data locations, strain calculation algorithms, spatial resolutions and data filtering. As such, in this paper, we investigate two full-field validation approaches: (1) the direct interpolation approach, which addresses the first three inconsistencies by interpolating the quantity of interest from one mesh to the other, and (2) the proposed DIC-levelling approach, which addresses all six inconsistencies simultaneously by processing the FEA data through a stereo-DIC simulator to ‘level’ the FEA data to the DIC data in a regularisation sense. Synthetic ‘experimental’ DIC data were generated based on a reference FEA of an exemplar test specimen. The direct interpolation approach was applied, and significant strain errorswere computed, even though therewas no model form error, because the filtering effect of theDIC enginewas neglected. In contrast, the levelling approach provided accurate validation results, with no strain error when no model form error was present. Next, model form error was purposefully introduced via a mismatch of boundary conditions. With the direct interpolation approach, the mismatch in boundary conditions was completely obfuscated, while with the levelling approach, it was clearly observed. Finally, the ‘experimental’ DIC datawere purposefully misaligned slightly fromthe FEA data. Both validation techniques suffered from the misalignment, thus motivating continued efforts to develop a robust alignment process. In conclusion, direct interpolation is insufficient, and the proposed levelling approach is required to ensure that the FEA and the DIC data have the same spatial resolution and data filtering. Only after the FEA data have been ‘levelled’ to the DIC data can meaningful, quantitative error maps be computed.

42 ENGINEERING↗

NASA NTRS1987

Stereocorrelation of Landsat TM images

A digital elevation model (DEM) developed from Landsat TM images of a rugged terrain area in north Georgia by automated stereocorrelation techniques yielded an rms error (z), RMSE(z), value of + or - 42 m. Based on the B/H ratio of 0.18 for the Landsat data, this Z-error corresponds to a planimetric correlation accuracy of about + or - 0.3 pixels, confirming that precise correlation can be achieved with operational satellite data. Contours at a 100-m interval interpolated from the DEM show a deviation of + or - 33 m from reference contours obtained from existing 1:24,000-scale maps. The 28.5-m pixel resolution and the weak B/H ratio impose limitations on the accuracy that can be achieved with Landsat TM data. However, it is anticipated that RMSE(z) values of + or - 10 m or less can be achieved with SPOT-1 panchromatic stereo images of 10-m resolution recorded at B/H ratios of 0.5 to 1.0. DEMs generated by stereocorrelation techniques can be used to create orthoimages, perspective views, and topographic map products.

Ehlers, Manfred↗

NASA NTRS2022

Lunar Rover Localization Using Craters as Landmarks

Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a “ground-in-the-loop” (GITL) interaction is used to get a position update from human operators in a more global reference frame, such as a map frame defined by orbital reconnaissance imaging of a large region around the rover’s current position. For Mars rovers, this typically has involved downlinking imagery from the rover mast cameras and using interactive visualization tools on Earth to register such images to the orbital reconnaissance images. For safety purposes, rover mission operations typically specify “keep out zones”, which human operators recognize as being unsafe in the orbital images. Autonomous rover drives are limited in distance so that accumulated relative navigation error does not risk the possibility of the rover driving into a keep out zone. The allowable autonomous drive distance in this mode of operation depends on the distribution of keep out zones and the accuracy of relative navigation; in practice, drive limits of a few hundred meters between GITL cycles are to be expected. Several rover mission concepts have recently been studied that require much longer drives between GITL cycles, particularly for the Moon. This includes lunar rover mission concepts that involve (1) driving mostly in sunlight at low latitudes, (2) driving in permanently shadowed regions near the south pole, and (3) a mixture of day and night driving in mid-latitudes. These concepts include total traverse distance requirements of up to 1,800 km in 4 Earth years, with individual drives of several kilometers between stops for downlink. These concepts require greater autonomy to minimize GITL cycles to enable such large range; onboard global localization is a key element of such autonomy. Multiple techniques have been studied in the past for onboard rover global localization, including radio navigation aiding from an orbiter, recognizing horizon landmarks that are known in a regional elevation map, and correlating a local elevation map created onboard the rover with a regional elevation map. These techniques all have drawbacks, including requiring an expensive extra mission element (navigation orbiter), unavailability of sufficient regional elevation map data, or limited accuracy in resulting position estimates (e.g. a few hundred meters with horizon landmarks). For the Moon, the ubiquitous craters offer another possibility, which involves mapping craters from orbit, then recognizing crater landmarks with cameras and/or a lidar onboard the rover. This approach is applicable everywhere on the Moon, does not require high resolution stereo imaging from orbit as some other approaches do, and has potential to enable position knowledge with order of 10 m accuracy at all times. This paper will provide more detail on our technical approach to crater-based lunar rover localization and will present initial results on crater detection using 3-D point cloud data from onboard lidar or stereo cameras and using shading cues in monocular onboard imagery.

Ono, M.↗

DOE OSTI2026

Cavitand-Mediated Photodimerization of Chalcones: The Effect of Supramolecular Influences and Temperature on Reaction Selectivity

The photocycloaddition (PCA) of chalcones represents an important reaction pathway for accessing substituted cyclobutanes, which is a molecular framework with utility in synthetic chemistry, materials science, and medicine. In the past, our group has demonstrated the utility of the large cavity of γ-CD as a container for encapsulating two photo reactants for directing the PCA of several classes of aryl alkenes with high stereo- and regioselectivity: the cavitand-mediated photodimerization (CMP) approach. The CMP of chalcones reported in this work further demonstrates the effectiveness of this approach as high yields of dimers were observed in the photoreactions, while they were non-reactive in the solid state and yielded only the isomerization product in homogeneous media. The γ-CD CMP of chalcones yielded predominantly dimerized products in very good to high yields (>70%), composed of a mixture of three dimers in different proportions with syn HH as the major product. Computational analysis of the ground state complex structures revealed a strong correlation between the stability of the complex and predominance of the stereoisomer in the mixture. Further insights were deduced from temperature-dependence studies, which showed a shift in dimer selectivity tending towards a single stereoisomer.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

NASA NTRS2013

Characterization of ASTER GDEM Elevation Data over Vegetated Area Compared with Lidar Data

Current researches based on areal or spaceborne stereo images with very high resolutions (less than 1 meter) have demonstrated that it is possible to derive vegetation height from stereo images. The second version of the Advanced Spaceborne Thermal Emission and Reflection Radiometer Global Digital Elevation Model (ASTER GDEM) is a state-of-the-art global elevation data-set developed by stereo images. However, the resolution of ASTER stereo images (15 meters) is much coarser than areal stereo images, and the ASTER GDEM is compiled products from stereo images acquired over 10 years. The forest disturbances as well as forest growth are inevitable in 10 years time span. In this study, the features of ASTER GDEM over vegetated areas under both flat and mountainous conditions were investigated by comparisons with lidar data. The factors possibly affecting the extraction of vegetation canopy height considered include (1) co-registration of DEMs; (2) spatial resolution of digital elevation models (DEMs); (3) spatial vegetation structure; and (4) terrain slope. The results show that accurate co-registration between ASTER GDEM and the National Elevation Dataset (NED) is necessary over mountainous areas. The correlation between ASTER GDEM minus NED and vegetation canopy height is improved from 0.328 to 0.43 by degrading resolutions from 1 arc-second to 5 arc-seconds and further improved to 0.6 if only homogenous vegetated areas were considered.

vegetation canopy↗

NASA NTRS2018

Microphysical Properties of Tropical Tropopause Layer Cirrus

Pervasive cirrus clouds in the tropical tropopause layer (TTL) play an important role in determining the composition of stratospheric air through dehydration of tropospheric air entering the stratosphere. This dehydration affects Earth's energy budget and climate, yet uncertainties remain regarding the microphysical processes that govern TTL cirrus. TTL cirrus were sampled with the NASA Global Hawk UAV for over 30 hr in the Western Pacific in 2014 during the Airborne Tropical TRopopause EXperiment. In situ measurements by a Fast Cloud Droplet Probe and Hawkeye probe (combination Fast Cloud Droplet Probe, Two‐Dimensional Stereo optical array probe, and Cloud Particle Imager) provided particle concentrations and sizing between 1‐ and 1,280‐μm diameter and high resolution images for habit identification. We present the variability in ice concentrations, size distributions, and habits as functions of temperature, altitude, and time since convective influence. Observed ice particles were predominantly small and quasi‐spheroidal in shape, with the percentage of quasi‐spheroids increasing with decreasing temperature. In comparison to the large fraction of the population consisting of quasi‐spheroids, faceted habits (columns, plates, rosettes, and budding rosettes) constituted a smaller percentage of the overall population and exhibited the opposite correlation with temperature. The trend of higher percentages of faceted crystals occurring at warmer temperatures may be due to diffusional growth or aggregation as particles descend through cloud, and/or the more rapid diffusional growth rate at warmer temperatures. Sampling was typically well away from deep convection, however, and very few aggregates were observed, so the trend of higher percentages of faceted habits is likely attributable to diffusional growth.

Woods, Sarah↗

NASA NTRS2011

Imaging Asteroid 4 Vesta Using the Framing Camera

The Framing Camera (FC) onboard the Dawn spacecraft serves a dual purpose. Next to its central role as a prime science instrument it is also used for the complex navigation of the ion drive spacecraft. The CCD detector with 1024 by 1024 pixels provides the stability for a multiyear mission and its high requirements of photometric accuracy over the wavelength band from 400 to 1000 nm covered by 7 band-pass filters. Vesta will be observed from 3 orbit stages with image scales of 227, 63, and 17 m/px, respectively. The mapping of Vesta s surface with medium resolution will be only completed during the exit phase when the north pole will be illuminated. A detailed pointing strategy will cover the surface at least twice at similar phase angles to provide stereo views for reconstruction of the topography. During approach the phase function of Vesta was determined over a range of angles not accessible from earth. This is the first step in deriving the photometric function of the surface. Combining the topography based on stereo tie points with the photometry in an iterative procedure will disclose details of the surface morphology at considerably smaller scales than the pixel scale. The 7 color filters are well positioned to provide information on the spectral slope in the visible, the depth of the strong pyroxene absorption band, and their variability over the surface. Cross calibration with the VIR spectrometer that extends into the near IR will provide detailed maps of Vesta s surface mineralogy and physical properties. Georeferencing all these observation will result in a coherent and unique data set. During Dawn s approach and capture FC has already demonstrated its performance. The strong variation observed by the Hubble Space Telescope can now be correlated with surface units and features. We will report on results obtained from images taken during survey mode covering the whole illuminated surface. Vesta is a planet-like differentiated body, but its surface gravity and escape velocity are comparable to those of other asteroids and hence much smaller than those of the inner planets or

Keller, H. Uwe↗

NASA NTRS2023

Hybrid CFD Engineering Model of Plume Induced Erosion and Crater Formation During Descent of Lunar Landers

With rapidly increased worldwide interest in landing on the moon, the issue of Plume Surface Interactions (PSI) is gaining attention. Hazards posed by lander plume induced dust and debris, as well as landing site deformation can be mitigated when better understood through predictive simulations. As simulation enabling computational power continues to increase, hybrid Computational Fluid Dynamics (CFD)/Engineering models provide the immediate ability to conduct parametric/trade studies driving design decisions for landers. Reduced order erosion engineering models apply correlations of the surface erosion rate to the plume induced surface forces with the correlations anchored to flight observations from Apollo LM landings. The MSFC propulsion fluid dynamics branch has developed such a hybrid model for predicting the plume induced viscous erosive regression of the Lunar surface beneath a landing vehicle. The (Descent Interpolated Gas Granular Erosion Model) DIGGEM was originally implemented as a post processing tool to calculate induced erosion rates through vehicle descent using CFD solutions of the vehicle plume at several fixed altitudes. This capability has since been advanced in the Loci/Chem-DIGGEM model to allow transient, moving vehicle, fully coupled viscous erosion modeling of vehicle descent PSI. This model has recently been used to make preflight predictions of the erosive regression of the ground beneath a Commercial Lunar Payload Services (CLPS) vehicle in support of measurements to be made by the Stereo Cameras for Lunar Plume Surface Studies (SCALPSS) instrument.

Plume Surface Interaction↗

NASA NTRS2023

Hybrid CFD Engineering Model of Plume Induced Erosion and Crater Formation During Descent of Lunar Landers

Plume Surface Interaction↗

NASA NTRS2006

Phased-Array Study of Dual-Flow Jet Noise: Effect of Nozzles and Mixers

A 16-microphone linear phased-array installed parallel to the jet axis and a 32-microphone azimuthal phased-array installed in the nozzle exit plane have been applied to identify the noise source distributions of nozzle exhaust systems with various internal mixers (lobed and axisymmetric) and nozzles (three different lengths). Measurements of velocity were also obtained using cross-stream stereo particle image velocimetry (PIV). Among the three nozzle lengths tested, the medium length nozzle was the quietest for all mixers at high frequency on the highest speed flow condition. Large differences in source strength distributions between nozzles and mixers occurred at or near the nozzle exit for this flow condition. The beamforming analyses from the azimuthal array for the 12-lobed mixer on the highest flow condition showed that the core flow and the lobe area were strong noise sources for the long and short nozzles. The 12 noisy spots associated with the lobe locations of the 12-lobed mixer with the long nozzle were very well detected for the frequencies 5 KHz and higher. Meanwhile, maps of the source strength of the axisymmetric splitter show that the outer shear layer was the most important noise source at most flow conditions. In general, there was a good correlation between the high turbulence regions from the PIV tests and the high noise source regions from the phased-array measurements.

Soo Lee, Sang↗

NASA NTRS2009

The Orbiting Wide-Angle Light Collectors (OWL) Mission for Charged-Particle Astronomy

The space-based OWL mission is designed to perform high-statistics measurements of ultra-high-energy cosmic rays (UHECR) using the Earth's atmosphere as a vast particle calorimeter, furthering the field of charged-particle astronomy. OWL has been developed in formal NASA instrument and mission studies and is comprised of two large telescopes separated by approx.600 km in 1000 km, near-equatorial orbits to stereoscopically image the near-UV air fluorescence emitted by UHECR-induced particle cascades. The High Resolution Fly's Eye (HiRes) Collaboration, and subsequently the Pierre Auger Observatory, recently reported confirmation of the expected Greisen-Zatsepin-Kuzmin (GZK) suppression of the UHECR flux above a few times 10(exp 19) eV. This observation is consistent with the majority of UHECR originating in astrophysical objects and reduces the need to invoke exotic physical processes. Particles observed above the GZK threshold energy must have come from sources within about 100 Mpc from the Earth. The small particle deflection angles expected at UHECR energies, with standard assumptions of extragalactic magnetic fields, are on the order of 1 degree. Thus by observing particles above the GZK threshold with sufficient exposure, there is the potential of identifying and characterizing individual UHECR sources. Auger has reported significant anisotropy in the arrival directions of UHECR at energies above about 6 10(exp 19) eV observed in the South, and a correlation to AGN in the 12th VCV catalog, suggesting that the sources of UHECR are traced by the distribution of luminous matter in the Universe. However, with similar statistics and the same event selection criteria, HiRes observations in the North are consistent with isotropy. Extended observations by Auger-South, by Telescope Array in the North, and possibly by the proposed Auger-North, will further these investigations. However, much greater exposures will be required to fully identify individual sources and measure their cosmic ray spectra. A five-year OWL mission would deliver approximately 10(exp 6)sq km/sr/yr of exposure with full aperture reached at approx. 10(exp 19) eV. The baseline 3 m optical aperture OWL telescopes with 45 degree full field-of-view are easily accomodated on a single conventional launch vehicle. On orbit, the simultaneous viewing of the same volume of atmosphere allows for precise stereo event reconstruction, which is nearly independent of the inclination of the particle track and tolerant of atmospheric conditions. The availability of monocular operation provides increased reliability or can be employed to increase the instantaneous aperture. In stereo mode, OWL is also capable of fully reconstructing horizontal or upward-moving showers and so has unmatched sensitivity to neutrino-induced events. The details of the OWL mission will he presented and its science capabilities will be discussed.

Mitchell, John↗

NASA NTRS2009

One-Hundred-km-Scale Basins on Enceladus: Evidence for an Active Ice Shell

Stereo-derived topographic mapping of 50% of Enceladus reveals at least 6 large-scale, ovoid depressions (basins) 90-175 km across and 800-to-1500 m deep and uncorrelated with geologic boundaries. Their shape and scale are inconsistent with impact, geoid deflection, or with dynamically supported topography. Isostatic thinning of Enceladus ice shell associated with upwellings (and tidally-driven ice melting) can plausibly account for the basins. Thinning implies upwarping of the base of the shell of 10-20 km beneath the depressions, depending on total shell thickness; loss of near-surface porosity due to enhanced heat flow may also contribute to basin lows. Alternatively, the basins may overly cold, inactive, and hence denser ice, but thermal isostasy alone requires thermal expansion more consistent with clathrate hydrate than water ice. In contrast to the basins, the south polar depression (SPD) is larger (~350 wide) and shallower (~0.4-to-0.8 km deep) and correlates with the area of tectonic deformation and active resurfacing. The SPD also differs in that the floor is relatively flat (i.e., conforms roughly to the global triaxial shape, or geoid) with broad, gently sloping flanks. The relative flatness across the SPD suggests that it is in or near isostatic equilibrium, and underlain by denser material, supporting the polar sea hypothesis of Collins and Goodman. Near flatness is also predicted by a crustal spreading origin for the "tiger stripes (McKinnon and Barr 2007, Barr 2008); the extraordinary, high CIRS heat flows imply half-spreading rates in excess of 10 cm/yr, a very young surface age (~250,000 yr), and a rather thin lithosphere (hence modest thermal topography). Topographic rises in places along the outer margin of the SPD correlate with parallel ridges and deformation along the edge of the resurfaced terrain, consistent with a compressional, imbricate thrust origin for these ridges, driven by the spreading.

Schenk, Paul M.↗

NASA NTRS2009

On the Importance of Small Ice Crystals in Tropical Anvil Cirrus

In situ measurements of ice crystal concentrations and sizes made with aircraft instrumentation over the past two decades have often indicated the presence of numerous relatively small (< 50 m diameter) crystals in cirrus clouds. Further, these measurements frequently indicate that small crystals account for a large fraction of the extinction in cirrus clouds. The fact that the instruments used to make these measurements, such as the Forward Scattering Spectrometer Probe (FSSP) and the Cloud Aerosol Spectrometer (CAS), ingest ice crystals into the sample volume through inlets has led to suspicion that the indications of numerous small ]crystals could be artifacts of large ]crystal shattering on the instrument inlets. We present new aircraft measurements in anvil cirrus sampled during the Tropical Composition, Cloud, and Climate Coupling (TC4) campaign with the 2 ] Dimensional Stereo (2D ]S) probe, which detects particles as small as 10 m. The 2D ]S has detector "arms" instead of an inlet tube. Since the 2D ]S probe surfaces are much further from the sample volume than is the case for the instruments with inlets, it is expected that 2D ]S will be less susceptible to shattering artifacts. In addition, particle inter ]arrival times are used to identify and remove shattering artifacts that occur even with the 2D ]S probe. The number of shattering artifacts identified by the 2D ]S interarrival time analysis ranges from a negligible contribution to an order of magnitude or more enhancement in apparent ice concentration over the natural ice concentration, depending on the abundance of large crystals and the natural small ]crystal concentration. The 2D ]S measurements in tropical anvil cirrus suggest that natural small ]crystal concentrations are typically one to two orders of magnitude lower than those inferred from CAS. The strong correlation between the CAS/2D ]S ratio of small ]crystal concentrations and large ]crystal concentration suggests that the discrepancy is likely caused by shattering of large crystals on the CAS inlet. We argue that past measurements with CAS in cirrus with large crystals present may contain errors due to crystal shattering, and past conclusions derived from these measurements may need to be revisited. Further, we present correlations between CAS spurious concentration and 2D ]S large ]crystal mass from spatially uniform anvil cirrus sampling periods as an approximate guide for estimating quantitative impact of large ]crystal shattering on CAS concentrations in previous datasets. We use radiative transfer calculations to demonstrate that in the maritime anvil cirrus sampled during TC4, small crystals indicated by 2D ]S contribute relatively little cloud extinction, radiative forcing, or radiative heating in the anvils, regardless of anvil age or vertical location in the clouds. While 2D ]S ice concentrations in fresh anvil cirrus may often exceed 1 cm.3, and are observed to exceed 10 cm.3 in turrets, they are typically ~0.1 cm.3 and rarely exceed 1 cm.3 (<1.4% of the time) in aged anvil cirrus. We hypothesize that isolated occurrences of higher ice concentrations in aged anvil cirrus may be caused by ice nucleation driven by either small ]scale convection or gravity waves. It appears that the numerous small crystals detrained from convective updrafts do not persist in the anvil cirrus sampled during TC ]4.

Jensen, E. J.↗

NASA NTRS2013

Periodic Bursts of Jovian Non-Io Decametric Radio Emission

During the years 2000-2011 the radio instruments onboard Cassini, Wind and STEREO spacecraft have Recorded a large amount of the Jovian decametric radio emission (DAM). In this paper we report on the analysis of the new type of Jovian periodic radio bursts recently revealed in the decametric frequency range. These bursts, which are non-Io component of DAM, are characterized by a strong periodic reoccurrence over several Jovian days with a period approx. = 1:5% longer than the rotation rate of the planet's magnetosphere (System III). The bursts are typically observed between 4 and 12 MHz and their occurrence probability has been found to be significantly higher in the sector of Jovian Central Meridian Longitude between 300 deg. and 60 deg. (via 360 deg.). The stereoscopic multispacecraft observations have shown that the radio sources of the periodic bursts radiate in a non-axisymmetric hollow cone-like pattern and sub-corotate with Jupiter remaining active during several planet's rotations. The occurrence of the periodic non-Io DAM bursts is strongly correlated with pulses of the solar wind ram pressure at Jupiter. Moreover the periodic bursts exhibit a tendency to occur in groups every approx. 25 days. The polarization measurements have shown that the periodic bursts are right hand polarized radio emission associated with the Northern magnetic hemisphere of Jupiter. We suggest that periodic non-Io DAM bursts may be connected with the interchange instability in Io plasma torus triggered by the solar wind.

Jovian↗

NASA NTRS2006

2D/3D Visual Tracker for Rover Mast

A visual-tracker computer program controls an articulated mast on a Mars rover to keep a designated feature (a target) in view while the rover drives toward the target, avoiding obstacles. Several prior visual-tracker programs have been tested on rover platforms; most require very small and well-estimated motion between consecutive image frames a requirement that is not realistic for a rover on rough terrain. The present visual-tracker program is designed to handle large image motions that lead to significant changes in feature geometry and photometry between frames. When a point is selected in one of the images acquired from stereoscopic cameras on the mast, a stereo triangulation algorithm computes a three-dimensional (3D) location for the target. As the rover moves, its body-mounted cameras feed images to a visual-odometry algorithm, which tracks two-dimensional (2D) corner features and computes their old and new 3D locations. The algorithm rejects points, the 3D motions of which are inconsistent with a rigid-world constraint, and then computes the apparent change in the rover pose (i.e., translation and rotation). The mast pan and tilt angles needed to keep the target centered in the field-of-view of the cameras (thereby minimizing the area over which the 2D-tracking algorithm must operate) are computed from the estimated change in the rover pose, the 3D position of the target feature, and a model of kinematics of the mast. If the motion between the consecutive frames is still large (i.e., 3D tracking was unsuccessful), an adaptive view-based matching technique is applied to the new image. This technique uses correlation-based template matching, in which a feature template is scaled by the ratio between the depth in the original template and the depth of pixels in the new image. This is repeated over the entire search window and the best correlation results indicate the appropriate match. The program could be a core for building application programs for systems that require coordination of vision and robotic motion.

Bajracharya, Max↗