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Design and implementation of HuREX analysis supporting interface - 171

Human error is recognized as one of the main causes to affect to the socio-technical system including nuclear power plant. Therefore, reducing human error through human reliability analysis (HRA) is a critical issue. Moreover, sufficient and reliable human performance data collection is a prerequisite for ensuring the safety of nuclear power plants. Korea Atomic Energy Research Institute developed the HuREX (Human Reliability data Extraction) framework to collect and analyze the responses of human operators from simulator training records of nuclear power plant. Thus, the development and computer software interfaces of the database are essential to efficiently support human reliability analysis. In this study, OPERA database was developed in accordance with the following process. First, the essential data required for the HRA analysis (e.g., plant data, procedures, system and equipment info, operating crews, results of simulator experiments, and so forth) was stored in the database. In addition, standardized procedures and related items were stored in the database to support HRA quantification. A data structure was developed to store crew responses conducted by operators to cope with an emergency situation during simulator experiments. In addition, various interfaces that escalate efficiency of the HuREX applications were developed. The HuREX analysis support interface was developed with HuREX Video Analyzer for observation of simulator collection data (e.g., audio-visual records, plant parameters, operator's action logs) and HuREX Data Analyzer for analysis of operator's conducted task. By using the OPERA database and HuREX analysis support interface developed through this research, maximizing the efficiency of human reliability analysis based on simulator training data. (authors)

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

NASA Tech Briefs, October 2005

Topics covered include: Insect-Inspired Optical-Flow Navigation Sensors; Chemical Sensors Based on Optical Ring Resonators; A Broad-Band Phase-Contrast Wave-Front Sensor; Progress in Insect-Inspired Optical Navigation Sensors; Portable Airborne Laser System Measures Forest-Canopy Height; Deployable Wide-Aperture Array Antennas; Faster Evolution of More Multifunctional Logic Circuits; Video-Camera-Based Position-Measuring System; N-Type delta Doping of High-Purity Silicon Imaging Arrays; Avionics System Architecture Tool; Updated Chemical Kinetics and Sensitivity Analysis Code; Predicting Flutter and Forced Response in Turbomachinery; Upgrades of Two Computer Codes for Analysis of Turbomachinery; Program Facilitates CMMI Appraisals; Grid Visualization Tool; Program Computes Sound Pressures at Rocket Launches; Solar-System Ephemeris Toolbox; Data-Acquisition Software for PSP/TSP Wind-Tunnel Cameras; Corrosion-Prevention Capabilities of a Water-Borne, Silicone-Based, Primerless Coating; Sol-Gel Process for Making Pt-Ru Fuel-Cell Catalysts; Making Activated Carbon for Storing Gas; System Regulates the Water Contents of Fuel-Cell Streams; Five-Axis, Three-Magnetic-Bearing Dynamic Spin Rig; Modifications of Fabrication of Vibratory Microgyroscopes; Chamber for Growing and Observing Fungi; Electroporation System for Sterilizing Water; Thermoelectric Air/Soil Energy-Harvesting Device; Flexible Metal-Fabric Radiators; Actuated Hybrid Mirror Telescope; Optical Design of an Optical Communications Terminal; Algorithm for Identifying Erroneous Rain-Gauge Readings; Condition Assessment and End-of-Life Prediction System for Electric Machines and Their Loads; Lightweight Thermal Insulation for a Liquid-Oxygen Tank; Stellar Gyroscope for Determining Attitude of a Spacecraft; and Lifting Mechanism for the Mars Explorer Rover.

Source record↗

Non-invasive (non-contact) measurements of human thermal physiology signals and thermal comfort/discomfort poses -A review

Heating, ventilation and air-conditioning (HVAC) systems have been adopted to create comfortable, healthy and safe indoor environments. In the control loop, the technical feature of the human demand-oriented supply can help operate HVAC effectively. Among many technical options, real time monitoring based on feedback signals from end users has been frequently reported as a critical technology to confirm optimizing building performance. Recent studies have incorporated human thermal physiology signals and thermal comfort/discomfort status as real-time feedback signals. A series of human subject experiments used to be conducted by primarily adopting subjective questionnaire surveys in a lab-setting study, which is limited in the application for reality. With the help of advanced technologies, physiological signals have been detected, measured and processed by using multiple technical formats, such as wearable sensors. Nevertheless, they mostly require physical contacts with the skin surface in spite of the small physical dimension and compatibility with other wearable accessories, such as goggles, and intelligent bracelets. Most recently, a low cost small infrared camera has been adopted for monitoring human facial images, which could detect the facial skin temperature and blood perfusion in a contactless way. Also, according to latest pilot studies, a conventional digital camera can generate infrared images with the help of new methods, such as the Euler video magnification technology. Human thermal comfort/discomfort poses can also be detected by video methods without contacting human bodies and be analyzed by the skeleton keypoints model. Here, new sensing technologies were summarized, their cons and pros were discussed, and extended applications for the demand-oriented ventilation were also reviewed as potential development and applications.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Anomalous Retrograde Drifts in Obstructed Magnetron Microdischarges: a Consequence of a Field Reversal in the Anode Sheath?

The goal of this project was to carry out experiments at the Plasma Collaborative Research Facility (Princeton Plasma Physics Laboratory) aimed at confirming or refuting the hypothesis that an electric field reversal occurs in the near-anode region of a strongly obstructed planar magnetron microdischarges. Magnetron discharges are magnetized plasmas with E x B field topologies, and variants of such discharges are widely used in materials processing. The topologies are also similar to that of Hall thrusters used in space propulsion. Understanding the structure of these discharges will aid in developing reliable simulations that are intended to facilitate the further development of such technologies, as the field reversals, presumed to be due to strong axial-driven electron transport, provides further insight into transport properties. The possible existence of such a field reversal is hinted at because of the retrograde-propagating (i.e., negative E x B) spokes or gradient-driven drift instabilities seen in the high speed videos and segmented anode probing of the plasma. The presence of this field reversal should be reflected in the ion dynamics, particularly, in an ion drift towards the anode. The proposed experiments to be conducted at the PCRF are to characterize this anode-directed ion drift using state-of-the-art laser-induced fluorescence velocimetry. In particular, we seek to see if the near-anode ion velocity reverses direction when the external circuit is varied to alter the electron current demand imposed at the anode. Such an ion velocity reversal would confirm the mechanism, which is that the highly obstructed (small gapped) discharge produces strong axial gradients in plasma density, driving more electrons towards the anode then that demanded by the external circuit.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Mars Pathfinder and Mars Global Surveyor Outreach Compilation

This videotape is a compilation of the best NASA JPL (Jet Propulsion Laboratory) videos of the Mars Pathfinder and Mars Global Surveyor missions. The mission is described using animation and narration as well as some actual footage of the entire sequence of mission events. Included within these animations are the spacecraft orbit insertion; descent to the Mars surface; deployment of the airbags and instruments; and exploration by Sojourner, the Mars rover. JPL activities at spacecraft control during significant mission events are also included at the end. The spacecraft cameras pan the surrounding Mars terrain and film Sojourner traversing the surface and inspecting rocks. A single, brief, processed image of the Cydonia region (Mars face) at an oblique angle from the Mars Global Surveyor is presented. A description of the Mars Pathfinder mission, instruments, landing and deployment process, Mars approach, spacecraft orbit insertion, rover operation are all described using computer animation. Actual color footage of Sojourner as well as a 360 deg pan of the Mars terrain surrounding the spacecraft is provided. Lower quality black and white photography depicting Sojourner traversing the Mars surface and inspecting Martian rocks also is included.

Source record↗

Passive IFF: Autonomous Nonintrusive Rapid Identification of Friendly Assets

A proposed optoelectronic instrument would identify targets rapidly, without need to radiate an interrogating signal, apply identifying marks to the targets, or equip the targets with transponders. The instrument was conceived as an identification, friend or foe (IFF) system in a battlefield setting, where it would be part of a targeting system for weapons, by providing rapid identification for aimed weapons to help in deciding whether and when to trigger them. The instrument could also be adapted to law-enforcement and industrial applications in which it is necessary to rapidly identify objects in view. The instrument would comprise mainly an optical correlator and a neural processor (see figure). The inherent parallel-processing speed and capability of the optical correlator would be exploited to obtain rapid identification of a set of probable targets within a scene of interest and to define regions within the scene for the neural processor to analyze. The neural processor would then concentrate on each region selected by the optical correlator in an effort to identify the target. Depending on whether or not a target was recognized by comparison of its image data with data in an internal database on which the neural processor was trained, the processor would generate an identifying signal (typically, friend or foe ). The time taken for this identification process would be less than the time needed by a human or robotic gunner to acquire a view of, and aim at, a target. An optical correlator that has been under development for several years and that has been demonstrated to be capable of tracking a cruise missile might be considered a prototype of the optical correlator in the proposed IFF instrument. This optical correlator features a 512-by-512-pixel input image frame and operates at an input frame rate of 60 Hz. It includes a spatial light modulator (SLM) for video-to-optical image conversion, a pair of precise lenses to effect Fourier transforms, a filter SLM for digital-to-optical correlation-filter data conversion, and a charge-coupled device (CCD) for detection of correlation peaks. In operation, the input scene grabbed by a video sensor is streamed into the input SLM. Precomputed correlation-filter data files representative of known targets are then downloaded and sequenced into the filter SLM at a rate of 1,000 Hz. When there occurs a match between the input target data and one of the known-target data files, the CCD detects a correlation peak at the location of the target. Distortion- invariant correlation filters from a bank of such filters are then sequenced through the optical correlator for each input frame. The net result is the rapid preliminary recognition of one or a few targets.

Moynihan, Philip↗

The NASA Open Science Data Repository: Biomedical Fair Data, Analysis Tools, User Communities, Publications, and Discoveries for Deep Space Missions

Increased biomedical risks and challenges associated with deep space missions require new knowledge discovery, new health countermeasures, and development of novel ecosystems, life support, crop production, and biomedical support capabilities. To meet NASA’s Moon to Mars strategic program goals for Human and Biological Sciences, findable, accessible, interoperable, reusable (FAIR), and maximally open-access data is going to be required to enable humanity to thrive in deep space. Indeed, this cornerstone perspective on FAIR and maximally open access data was also recommended in the recent 2023-2032 Decadal Survey from the National Academies of Sciences, Engineering, and Medicine. The NASA Open Science Data Repository (OSDR) is a maximally open access and FAIR database, and meets various scientific, technical, and operational spaceflight needs. It offers public users and submitters the ability to upload, download, search, share, analyze, and visualize data across ‘omics, physiological, phenotypic, behavioral, bioimaging, video, and environmental monitoring telemetry datasets. OSDR includes NASA GeneLab, NASA Ames Life Sciences Data Archive, and the NASA Biological Institutional Scientific Collection. OSDR has >455 studies with datasets from model organisms and non-NASA human astronauts. There are ~12 datasets from the Inspiration 4 (I4) mission, spanning metagenomics, comprehensive metabolic panels, clonal hematopoiesis, spatial transcriptomics, proteomics, and cytokine panels. In the interest of data privacy, two I4 datasets have raw FASTQ and FASTA files relating to the epitranscriptome, and a new request feature is live in OSDR (with a backend review process established) which was developed based on industry norms. OSDR also recently began a collaboration with the European Space Agency (ESA) to scientifically curate and make available >200 terabytes of human and model organism space-relevant data. The OSDR submission portal is designed to ingest and curate ~25 ‘omics assay data types, and ~50 physiological-phenotypic-imaging assay data types, spanning ultrasonography, micro-computed tomography, histology, morphometric photography, rebound tonometry, gait analysis, optical coherence tomography, novel object recognition, flow cytometry, and immunohistochemistry. A suite of analysis tools are available for OSDR users including: 1) an Environmental Data Application to compare radiation, CO2, relative humidity, temperature, and other telemetry across missions and subjects, 2) the RadLab database, a collaboration between NASA, ESA, the German and Italian Space Agencies, and the Bulgarian Academy of Sciences, which compiles radiation measurements relevant to human spaceflight and provides tools for accessing and manipulating the data, and 3) a Multi-study visualization tool which enables users to look across and combine GeneLab’s omics datasets across different experiments and missions. There are ~600 volunteer OSDR Analysis Working Group (AWG) members who: 1) provide feedback on scientific standards for reuse (subject and assay metadata; processing pipelines; dataset formats and uniformed structures for machine-readability), and 2) collaborate to mine-reuse OSDR data conducting scientific analysis. OSDR has enabled 60 publications as of September 2023, many directly from AWG collaborations most notably the Cell Press package in 2020. Lastly, there are at least 15 articles which mine OSDR data part of a package of ~50 articles across Nature Portfolio with research stemming from I4, the Japan Aerospace Exploration Agency, NASA Space Biology, and the NASA Human Research Program.

space biology↗

NASA Open Science Data Repository: Biomedical FAIR Data, Analysis Tools, User Communities, and Discoveries for Deep Space Missions

Increased biomedical risks and challenges associated with deep space missions require new knowledge discovery, new health countermeasures, and development of novel ecosystems, life support, crop production, and biomedical support capabilities. To meet NASA’s Moon to Mars strategic program goals for Human and Biological Sciences, findable, accessible, interoperable, reusable (FAIR), and maximally open-access data is going to be required to enable humanity to thrive in deep space. Indeed, this cornerstone perspective on FAIR and maximally open access data was also recommended in the recent 2023-2032 Decadal Survey from the National Academies of Sciences, Engineering, and Medicine. The NASA Open Science Data Repository (OSDR) is a maximally open access and FAIR database, and meets various scientific, technical, and operational spaceflight needs. It offers public users and submitters the ability to upload, download, search, share, analyze, and visualize data across ‘omics, physiological, phenotypic, behavioral, bioimaging, video, and environmental monitoring telemetry datasets. OSDR includes NASA GeneLab, NASA Ames Life Sciences Data Archive, and the NASA Biological Institutional Scientific Collection. OSDR has >455 studies with datasets from model organisms and non-NASA human astronauts. There are ~12 datasets from the Inspiration 4 (I4) mission, spanning metagenomics, comprehensive metabolic panels, clonal hematopoiesis, spatial transcriptomics, proteomics, and cytokine panels. In the interest of data privacy, two I4 datasets have raw FASTQ and FASTA files relating to the epitranscriptome, and a new request feature is live in OSDR (with a backend review process established) which was developed based on industry norms. OSDR also recently began a collaboration with the European Space Agency (ESA) to scientifically curate and make available >200 terabytes of human and model organism space-relevant data. The OSDR submission portal is designed to ingest and curate ~25 ‘omics assay data types, and ~50 physiological-phenotypic-imaging assay data types, spanning ultrasonography, micro-computed tomography, histology, morphometric photography, rebound tonometry, gait analysis, optical coherence tomography, novel object recognition, flow cytometry, and immunohistochemistry. A suite of analysis tools are available for OSDR users including: 1) an Environmental Data Application to compare radiation, CO2, relative humidity, temperature, and other telemetry across missions and subjects, 2) the RadLab database, a collaboration between NASA, ESA, the German and Italian Space Agencies, and the Bulgarian Academy of Sciences, which compiles radiation measurements relevant to human spaceflight and provides tools for accessing and manipulating the data, and 3) a Multi-study visualization tool which enables users to look across and combine GeneLab’s omics datasets across different experiments and missions. There are ~600 volunteer OSDR Analysis Working Group (AWG) members who: 1) provide feedback on scientific standards for reuse (subject and assay metadata; processing pipelines; dataset formats and uniformed structures for machine-readability), and 2) collaborate to mine-reuse OSDR data conducting scientific analysis. OSDR has enabled 60 publications as of September 2023, many directly from AWG collaborations most notably the Cell Press package in 2020. Lastly, there are at least 15 articles which mine OSDR data part of a package of ~50 articles across Nature Portfolio with research stemming from I4, the Japan Aerospace Exploration Agency, NASA Space Biology, and the NASA Human Research Program.

open access↗

Effect of substrate roughness, slope, and body size on climbing behavior and performance of juvenile American eels ( Anguilla rostrata )

The effect of ramp slope and substrate grain size on the passage of juvenile American Eel ( Anguilla rostrata ) over indoor ramps was tested from May – August 2016. Two size classes of fish (300 glass eels 50 – 70 mm and 300 elvers 90-114 mm), five substrates varying in coarseness (Substrate 1: 0.18-0.25 mm grain size, Substrate 2: 0.25-0.60 mm grain size, Substrate 3; 0.60-1.00 mm grain size, Substrate 4: 1.00 – 2.00 mm grain size, Substrate 5: 2.00- 4.00 mm grain size), and three ramp slopes (25, 35 and 45 degrees) were explored. Individual fish were placed at the bottom of a ramp and given 30 minutes to ascend 0.5 m. Movements over the substrate were recorded with video footage and digitized. Fish length, fish weight, water temperature, and days the fish were held in captivity before being tested were also recorded and analyzed. Results indicated that substrate had a highly significant effect on glass and elver climbing performance, and slope had an effect on elver performance but not glass eel performance. The roughest substrate yielded the highest proportion of eels ascending the entire length of the ramp and the highest climbing speed in each parameter category. Further testing with more grain sizes and longer ramp lengths are required, and mass manufacturing processes for this substrate need to be explored.

13 HYDRO ENERGY↗

L-PBF High-Throughput Data Pipeline Approach for Multi-modal Integration

Abstract Metal-based additive manufacturing requires active monitoring solutions for assessing part quality. Multiple sensors and data streams, however, generate large heterogeneous data sets that are impractical for manual assessment and characterization. In this work, an automated pipeline is developed that enables feature extraction from high-speed camera video and multi-modal data analysis. The framework removes the need for manual assessment through the utilization of deep learning techniques and training models in a weakly supervised paradigm. We demonstrate this pipeline’s capability over 700,000 high-speed camera frames. The pipeline successfully extracts melt pool and spatter geometries and links them to corresponding pyrometry, radiography, and processparameter information. 715 individual prints are examined to reveal melt pool areas that exceeds 0.07 mm 2 and pyrometry signal over a threshold (375 pyrometry units) were more likely to have defects. These automated processes enable massive throughput of characterization techniques.

36 MATERIALS SCIENCE↗

Impacts of Instrument Limitations on Estimated Raindrop Size Distribution, Radar Parameters, and Model Microphysics during Mei-Yu Season in East China

Instrumentation limitations on measured raindrop size distributions (DSDs) and their derived relations and physical parameters are studied through a comparison of the DSD measurements during mei-yu season in east China by four collocated instruments, that is, a two-dimensional video disdrometer (2DVD), a vertically pointing Micro Rain Radar (MRR), and two laser-optical OTT Particle Size Velocity (PARSIVEL) disdrometers (first generation: OTT-1; second generation: OTT-2). Among the four instruments, the 2DVD provides the most accurate DSD and drop velocity measurements, so its measured rainfall amount has the best agreement with the reference rain gauge. Other instruments tend to miss more small drops ( D < 1 mm), leading to inaccurate DSDs and a lower rainfall amount. The low rainfall estimation becomes significant during heavy rainfall. The impacts of instrument limitations on the microphysical processes (e.g., evaporation and accretion rates) and convective storm morphology are evaluated. This is important especially for mei-yu precipitation, which is dominated by a high concentration of small drops. Furthermore, the instrument limitations need to be taken into account in both QPE and microphysics parameterization.

47 OTHER INSTRUMENTATION↗

STS-99 / Endeavour SRTM Science Briefing and Applications from JSC

The primary objective of the STS-99 mission was to complete high resolution mapping of large sections of the Earth's surface using the Shuttle Radar Topography Mission (SRTM), a specially modified radar system. This radar system produced unrivaled 3-D images of the Earth's Surface. This videotape shows a science press briefing. The panel members are Michael Kobrick, the SRTM Project Scientist at JPL; Thomas Henning, SRTM Program Manager at the National Imagery and Mapping Agency; Diane Evans, the Director of the Earth Sciences Program at NASA; and Marian Werner, XSAR Project Manager for the DLR, Deutschen Zentrum fur Luft- und Raumfahrt, Germany's National Aerospace Research Center. Michael Kobrick explained the mechanics of interferometric measurements of the Earth. He explained and demonstrated with a scale model the deployable mast's use. He also explained the importance of the attitude and orbit determination avionics. A brief animated video showing how four beams would give a 225 km wide swath of the Earth topography was viewed. Thomas Henning discussed some of the usage of the digital terrain elevation data for flood relief planning, cell phone station placement, military planning for command and control centers, and flight simulation. He explained that public access to the most precise data would be limited. Diane Evans described data usage in flood prediction, earthquake fault identification and archeology. Marian Werner described the German and Italian input to the project. The questions from the press concerned the time to process this data, and the reasons for the limited access to the more precise data.

Source record↗

Delta/Wind Launch with Isolated Cameras from Continuous Recording

The Wind spacecraft represents one of NASA's contributions to the International Solar Terrestrial Program (ISTP), an international effort to quantify the effects of solar energy on the Earth's magnetic field. Wind will provide continuous measurement of the solar wind, particularly charged particles and magnetic field data. The specific objectives of Wind are to: (1) provide complete plasma, energetic particle, and magnetic field input for magnetospheric and ionospheric studies; (2) determine the magnetospheric output to interplanetary space in the upstream region; (3) investigate basic plasma processes occurring in the near-Earth solar wind; and (4) provide baseline ecliptic plane observations to be used in heliospheric studies. This videotape shows the pre-dawn launch of the Wind spacecraft aboard a Delta 7925 on November 1, 1994. After the countdown and launch, the tape shows the activity in the Telemetry Room at Kennedy Space Center, where people are following the progress of the spacecraft. Following the activity in the telemetry room, there are four different replays of the launch from different locations. After showing the replays of the launch, the video returns to the Telemetry Room when an important stage in the launch and flight is achieved.

Source record↗

Concurrent-scene/alternate-pattern analysis for robust video-based docking systems

A typical docking target employs a three-point design of retroreflective tape, one at each endpoint of the center-line, and one on the tip of the central post. Scenes, sensed via laser diode illumination, produce pictures with spots corresponding to desired reflection from the retroreflectors and other reflections. Control corrections for each axis of the vehicle can then be properly applied if the desired spots are accurately tracked. However, initial acquisition of these three spots (detection and identification problem) are non-trivial under a severe noise environment. Signal-to-noise enhancement, accomplished by subtracting the non-illuminated scene from the target scene illuminated by laser diodes, can not eliminate every false spot. Hence, minimization of docking failures due to target mistracking would suggest needed inclusion of added processing features pertaining to target locations. In this paper, we present a concurrent processing scheme for a modified docking target scene which could lead to a perfect docking system. Since the non-illuminated target scene is already available, adding another feature to the three-point design by marking two non-reflective lines, one between the two end-points and one from the tip of the central post to the center-line, would allow this line feature to be picked-up only when capturing the background scene (sensor data without laser illumination). Therefore, instead of performing the image subtraction to generate a picture with a high signal-to-noise ratio, a processed line-image based on the robust line detection technique (Hough transform) can be used to fuse with the actively sensed three-point target image to deduce the true locations of the docking target. This dual-channel confirmation scheme is necessary if a fail-safe system is to be realized from both the sensing and processing point-of-views. Detailed algorithms and preliminary results are presented.

Udomkesmalee, Suraphol↗

Autonomous support for microorganism research in space

A preliminary design for performing on-orbit, autonomous research on microorganisms and cultured cells/tissues is presented. An understanding of gravity and its effects on cells is crucial for space exploration as well as for terrestrial applications. The payload is designed to be compatible with the COMmercial Experiment Transported (COMET) launch vehicle, an orbiter middeck locker interface, and with Space Station Freedom. Uplink/downlink capabilities and sample return through controlled reentry are available for all carriers. Autonomous testing activities are preprogrammed with inflight reprogrammability. Sensors for monitoring temperature, pH, light, gravity levels, vibration, and radiation are provided for environmental regulation and experimental data collection. Additional experiment data acquisition includes optical density measurement, microscopy, video, and file photography. Onboard full data storage capabilities are provided. A fluid transfer mechanism is utilized for inoculation, sampling, and nutrient replenishment of experiment cultures. In addition to payload design, representative experiments were developed to ensure scientific objectives remained compatible with hardware capabilities. The project is defined to provide biological data pertinent to extended duration crewed space flight including crew health issues and development of a Controlled Ecological Life Support System (CELSS). In addition, opportunities are opened for investigations leading to commercial applications of space, such as pharmaceutical development, modeling of terrestrial diseases, and material processing.

Luttges, M. W.↗

Vision Based Localization in Urban Environments

As part of DARPA's MARS2020 program, the Jet Propulsion Laboratory developed a vision-based system for localization in urban environments that requires neither GPS nor active sensors. System hardware consists of a pair of small FireWire cameras and a standard Pentium-based computer. The inputs to the software system consist of: 1) a crude grid-based map describing the positions of buildings, 2) an initial estimate of robot location and 3) the video streams produced by each camera. At each step during the traverse the system: captures new image data, finds image features hypothesized to lie on the outside of a building, computes the range to those features, determines an estimate of the robot's motion since the previous step and combines that data with the map to update a probabilistic representation of the robot's location. This probabilistic representation allows the system to simultaneously represent multiple possible locations, For our testing, we have derived the a priori map manually using non-orthorectified overhead imagery, although this process could be automated. The software system consists of two primary components. The first is the vision system which uses binocular stereo ranging together with a set of heuristics to identify features likely to be part of building exteriors and to compute an estimate of the robot's motion since the previous step. The resulting visual features and the associated range measurements are software component, a particle-filter based localization system. This system uses the map and the then fed to the second primary most recent results from the vision system to update the estimate of the robot's location. This report summarizes the design of both the hardware and software and will include the results of applying the system to the global localization of a robot over an approximately half-kilometer traverse across JPL'S Pasadena campus.

unmanned-ground vehicles↗

dCache - Joining the noWORM Storage Club

For over a decade, dCache.ORG has provided robust software, called dCache, that is used at more than 80 universities and research institutes around the world, allowing these sites to provide reliable storage services for the WLCG experiments and many other scientific communities. The flexible architecture of dCache allows running it in a wide variety of configurations and platforms - from all-in-one Raspberry-Pi up to hundreds of nodes in multi-petabyte infrastructures. The life cycle of scientific data is well defined - collected, processed, archived and finally deleted, when it’s not needed anymore. Moreover, during all those stages the data is never modified: either the original data is used, or new derived data is produced. With this knowledge, dCache was designed to handle immutable files as efficiently as possible. Data replication, HSM connectivity and data-server independent operations are only possible due to the immutable nature of stored data. Nowadays many commercial vendors provide such write-once-read-many or WORM storage systems, as they become more and more demanded with grown demand of audio, photo and video content in the web. On the other hand by providing standard NFSv4.1 interface dCache is often used as a general-purpose file-system, especially by new communities, like photon scientists or microbiologists. Although many users are aware of data immutability, some applications and use cases still require in-place updates of stored files. To satisfy new requirements some fundamental changes have to be applied to dCache’s core design. However, new developments must not compromise any aspect of existing functionality. In this presentation we will show new developments in dCache to turn it into a regular file system. We will discuss the challenges to build a distributed storage system, ‘life’ with POSIX compliance, handling of multiple replicas and backward compatibility by providing WORM and noWORM capabilities within the same storage system.

Mkrtchyan, Tigran↗

Three-Dimensional Imaging through Shock-Waves at Ultra-High Speed

Imaging diagnostics that utilize coherent light, such as digital in-line holography, are important for object sizing and tracking applications. However, in explosive, supersonic, or hypersonic environments, gas-phase shocks impart imaging distortions that obscure internal objects. To circumvent this problem, some research groups have conducted experiments in vacuum, which inherently alters the physical behavior. Other groups have utilized single-shot flash x-ray or high-speed synchrotron x-ray sources to image through shock-waves. In this work, we combine digital in-line holography with a phase conjugate mirror to reduce the phase distortions caused by shock-waves. The technique operates by first passing coherent light through the shock-wave phase-distortion and then a phase-conjugate mirror. The phase-conjugate mirror is generated by a four-wave mixing process to produce a return beam that has the exact opposite phase-delay as the forward beam. Therefore, by passing the return beam back through the phase-distortion, the phase delays picked up during the initial pass are canceled, thereby producing improved coherent imaging. In this work, we implement phase conjugate digital in-line holography (PCDIH) for the first time with a nanosecond pulse-burst laser and ultra-high-speed cameras. This technique enables accurate measurement of the three-dimensional position and velocity of objects through shock-wave distortions at video rates up to 5 MHz. This technology is applied to improve three-dimensional imaging in a variety of environments from imaging supersonic shock-waves through turbulence, sizing objects through laser-spark plasma-generated shock-waves, and tracking explosively generated hypersonic fragments. Theoretical foundations and additional capabilities of this technique are also discussed.

47 OTHER INSTRUMENTATION↗