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At least 1,099 records · Page 61

A vision architecture for the extravehicular activity retriever

The Extravehicular Activity Retriever (EVAR) is a robotic device currently being developed by the Automation and Robotics Division at the NASA Johnson Space Center to support activities in the neighborhood of the Space Shuttle or Space Station Freedom. As the name implies, the Retriever's primary function will be to provide the capability to retrieve tools, equipment or other objects which have become detached from the spacecraft, but it will also be able to rescue a crew member who may have become inadvertently de-tethered. Later goals will include cooperative operations between a crew member and the Retriever such as fetching a tool that is required for servicing or maintenance operations. This report documents a preliminary design for a Vision System Planner (VSP) for the EVAR that is capable of achieving visual objectives provided to it by a high level task planner. Typical commands which the task planner might issue to the VSP relate to object recognition, object location determination, and obstacle detection. Upon receiving a command from the task planner, the VSP then plans a sequence of actions to achieve the specified objective using a model-based reasoning approach. This sequence may involve choosing an appropriate sensor, selecting an algorithm to process the data, reorienting the sensor, adjusting the effective resolution of the image using lens zooming capability, and/or requesting the task planner to reposition the EVAR to obtain a different view of the object. An initial version of the Vision System Planner which realizes the above capabilities using simulated images has been implemented and tested. The remaining sections describe the architecture and capabilities of the VSP and its relationship to the high level task planner. In addition, typical plans that are generated to achieve visual goals for various scenarios will be discussed. Specific topics to be addressed will include object search strategies, repositioning of the EVAR to improve the quality of information obtained from the sensors, complementary usage of the sensors and redundant capabilities.

Magee, Michael↗

A vision system planner for increasing the autonomy of the Extravehicular Activity Helper/Retriever

The Extravehicular Activity Retriever (EVAR) is a robotic device currently being developed by the Automation and Robotics Division at the NASA Johnson Space Center to support activities in the neighborhood of the Space Shuttle or Space Station Freedom. As the name implies, the Retriever's primary function will be to provide the capability to retrieve tools and equipment or other objects which have become detached from the spacecraft, but it will also be able to rescue a crew member who may have become inadvertently de-tethered. Later goals will include cooperative operations between a crew member and the Retriever such as fetching a tool that is required for servicing or maintenance operations. This paper documents a preliminary design for a Vision System Planner (VSP) for the EVAR that is capable of achieving visual objectives provided to it by a high level task planner. Typical commands which the task planner might issue to the VSP relate to object recognition, object location determination, and obstacle detection. Upon receiving a command from the task planner, the VSP then plans a sequence of actions to achieve the specified objective using a model-based reasoning approach. This sequence may involve choosing an appropriate sensor, selecting an algorithm to process the data, reorienting the sensor, adjusting the effective resolution of the image using lens zooming capability, and/or requesting the task planner to reposition the EVAR to obtain a different view of the object. An initial version of the Vision System Planner which realizes the above capabilities using simulated images has been implemented and tested. The remaining sections describe the architecture and capabilities of the VSP and its relationship to the high level task planner. In addition, typical plans that are generated to achieve visual goals for various scenarios are discussed. Specific topics to be addressed will include object search strategies, repositioning of the EVAR to improve the quality of information obtained from the sensors, and complementary usage of the sensors and redundant capabilities.

Magee, Michael↗

Airglow studies using an all-reflection interferometer for extreme ultraviolet spectroscopy (ARIES)

Ultrahigh resolution line studies can deepen insight into the excitation processes and structures of the upper atmosphere; attention is presently given to the possibility of a study of terrestrial atomic oxygen in the thermosphere through measurements of the O I 1304 A solar and terrestrial airglow emissions from a sounding rocket. These line profile studies of the airglow yield a relative contribution of the two main excitation mechanisms (photoelectron impact and solar-resonance scattering), as well as a verification of cross section and branching ratios.

Cotton, D. M.↗

NASA's Geostationary Earth Observatory and its optical instruments

The baseline mission concept of the Geostationary Earth Observatory (GEO) calls for five Earth Science Geostationary Platforms (three by NASA, one by Europe, and one by Japan) to be deployed around the earth. This paper discusses the science goals of the GEO, the GEO platform concept, the instrument complement proposed for the GEO mission, and the various optical technology issues involved in the instrument operation. The instruments proposed include the Geostationary Microwave Precipitation Radiometer, the Geostationary Atmospheric Profiler, the Geostationary Earth Processes Spectrometer, the Advanced Lightning Mapper, and the High Resolution Earth Processses Imager. The instruments' design diagrams are included.

Koczor, Ronald J.↗

Integration of AIRSAR and AVIRIS data for Trail Canyon alluvial fan, Death Valley, California

Combining quantitative geophysical information extracted from the optical and microwave wavelengths provides complementary information about both the surface mineralogy and morphology. This study combines inversion results from two remote sensing instruments, a polarimetric synthetic aperture radar, AIRSAR, and an imaging spectrometer, AVIRIS, for Trail Canyon alluvial fan in Death Valley, California. The NASA/JPL Airborne Synthetic Aperture Radar (AIRSAR) is a quad-polarization, three frequency instrument. AIRSAR collects data at C-band = 5.66 cm, L-band = 23.98 cm, and P-band = 68.13 cm. The data are processed to four-looks and have a spatial resolution of 10 m and a swath width of 12 km. The AIRSAR data used in this study were collected as part of the Geologic Remote Sensing Field Experiment (GRSFE) over Death Valley on 9/14/89. The Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) is a NASA/JPL instrument that flies in an ER-2 aircraft at an altitude of 20 km. AVIRIS uses four spectrometers to collect data in 224 spectral channels from 0.4 micrometer to 2.45 micrometer. The width of each spectral band is approximately 10 nm. AVIRIS collects data with a swath width of 11 km and a pixel size of 20 m. The AVIRIS data used in this study were collected over Death Valley on 5/31/92.

Kierein-Young, Kathryn S.↗

A numerical analysis of shipboard and coastal zone color scanner time series of new production within Gulf Stream cyclonic eddies in the South Atlantic Bight

Eddy-induced upwelling occurs along the western edge of the Gulf Stream between Cape Canaveral, Florida, and Cape Hatteras, North Carolina, in the South Atlantic Bight (SAB). Coastal zone color scanner images of 1-km resolution spanning the period April 13-21, 1979, were processed to examine these eddy features in relation to concurrent shipboard and current/temperature measurements at moored arrays. A quasi-one-dimensional (z), time dependent biological model, using only nitrate as a nutrient source, has been combined with a three-dimensional physical model in an attempt to replicate the observed phytoplankton field at the northward edge of an eddy. The model is applicable only to the SAB south of the Charleston Bump, at approximately 31.5 deg N, since no feature analogous to the bump exists in the model bathymetry. The modeled chlorophyll, nitrate, and primary production fields of the euphotic zone are very similar to those obtained from the satellite and shipboard data at the leading edges of the observed eddies south of the Charleston Bump. The horizontal and vertical simulated fluxes of nitrate and chlorophyll show that only approximately 10% of the upwelled nitrate is utilized by the phytoplankton of the modeled grid box on the northern edge of the cyclone, while approximately 75% is lost horizontally, with the remainder still in the euphotic zone after the 10-day period of the model. Loss of chlorophyll due to sinking is very small in this strong upwelling region of the cyclone. The model is relatively insensitive to variations in the sinking parameterization and the external nitrate and chlorophyll fields but is very sensitive to a reduction of the maximum potential growth rate to half that measured. Given the success of this model in simulating the new production of the selcted upwelling region, other upwelling regions for which measurements or successful models of physical and biological quantities and rates exist could be modeled similarly.

Pribble, J. Raymond↗

An overview of the SABER experiment for the TIMED mission

The Sounding of the Atmosphere Using Broadband Emission Radiometry (SABER) experiment has been selected for flight on the Thermosphere-Ionosphere-Mesosphere Energetics and Dynamics (TIMED) mission expected to fly in the latter part of this decade. The primary science goal of SABER is to achieve fundamental and important advances in understanding of the energetics, chemistry, and dynamics, in the atmospheric region extending from 60 km to 180 km altitude, which has not been comprehensively observed on a global basis. This will be accomplished using the space flight proven experiment approach of broad spectral band limb emission radiometry. SABER will scan the horizon in 12 selected bands ranging from 1.27 microns to 17 microns wavelength. The observed vertical horizon emission profiles will be mathematically inverted in ground data processing to provide vertical profiles with 2 km vertical resolution, of temperature, O3, H2O, NO, NO2, CO, and CO2. SABER will also observe key emissions needed for energetics studies at 1.27 microns (O2((sup 1)delta)), 2 microns (OH(v = 7,8,9)) 1.6 microns (OH(v = 3,4,5)), 4.3 microns (CO2(v(sub 3))) 5.3 microns (NO) 9.6 microns (O3), and 15 microns (CO2(v(sub 2))). These measurements will be used to infer atomic hydrogen and atomic oxygen, the latter inferred three different ways using only SABER observations. Measurements will be made both night and day over the latitude range from the southern to northern polar regions.

Mlynczak, Martin G.↗

Application of 50 MHz doppler radar wind profiler to launch operations at Kennedy Space Center and Cape Canaveral Air Station

This paper presents a case study where a significant wind shift, not detected by jimspheres, was detected by the 50 MHz DRWP (Doppler Radar Wind Profiler) and evaluated to be acceptable prior to the launch of a Shuttle. This case study illustrates the importance of frequent upper air wind measurements for detecting significant rapidly changing features as well as for providing confidence that the features really exist and are not due to instrumentation error. Had the release of the jimsphere been timed such that it would have detected the entire wind shift, there would not have been sufficient time to release another jimsphere to confirm the existence of the feature prior to the scheduled launch. We found that using a temporal median filter on the one minute spectral estimates coupled with a constraining window about a first guess velocity effectively removes nearly all spurious signals from the velocity profile generated by NASA's 50 MHz DRWP while boosting the temporal resolution to as high as one profile every 3 minutes. The higher temporal resolution of the 50 MHz DRWP using the signal processing algorithm described in this paper ensures the detection of rapidly changing features as well as provides the confidence that the features are genuine. Further benefit is gained when the profiles generated by the DRWP are examined in relation to the profiles measured by jimspheres and/or rawinsondes. The redundancy offered by using two independent measurements can dispel or confirm any suspicion regarding instrumentation error or malfunction and wind profiles can be examined in light of their respective instruments' strengths and weaknesses.

Schumann, Robin S.↗

A Real Time Investigation of Morphological Evolution During Solidification of Different Alloy Systems

Solidification phenomenon which occur at the solid/liquid (s/I) interface play a major role in the determination of structure and hence the technologically important properties of a casting. However, metals being opaque, conclusions related to several important phenomenon such as boundary layer thickness, morphological evolution, and eutectic and cell spacing are deduced from quenching experiments and subsequent post solidification metallographic analysis. Consequently, limited information is obtained about the dynamics of the process. This paper will discuss the recent efforts at the Space Science Laboratory, NASA Marshall Space Flight Center, to view and quantify in-situ and in real time the dynamics of the solidification process and to measure interfacial undercooling. First, a high resolution x-ray transmission microscope (XTM) has been developed to monitor fundamental interfacial phenomena during directional solidification of metals and alloys. The XTM operates in the range of 10-100 KeV and through projection is capable of achieving magnification of up to 16OX. Secondly, an innovative collapsible furnace has been designed to quantify interfacial undercooling by measuring the temperature of a moving s/I interface in reference to a fixed s/l interface. This measurement technique is non-intrusive in nature and is based on the Seebeck principle. In this paper real time results obtained to characterize the dynamics of irregular eutectic spacing will be presented. As an example fiber to lamella or plate transition in the Al-Al2Au eutectic system will be discussed. Further, a resolution limit of 25 micron has permitted viewing in real time morphological instability and cellular growth in Al-Au and Al-Ag systems. Simultaneously, a systematic investigation has been carried out to measure interfacial undercooling for Pb-1 wt.% Sn at and near the marginal stability regime. In conjunction with the XTM observations this study attempts to validate existing relationships between undercooling and growth velocity during plane front growth, marginal stability regime, and stable cellular growth.

Sen, S.↗

Dynamics of the Molten Contact Line

The purpose of this program is to develop a basic understanding of how a molten material front spreads over a solid that is below its melting point, arrests, and freezes. Our hope is that the work will contribute toward a scientific knowledge base for certain new applications involving molten droplet deposition, including the "printing" of arbitrary three-dimensional objects by precise deposition of individual molten microdrops that solidify after impact. Little information is available at this time on the capillarity-driven motion and arrest of molten contact line regions. Schiaffino and Sonin investigated the arrest of the contact line of a molten microcrystalline wax spreading over a subcooled solid "target" of the same material. They found that contact line arrest takes place at an apparent liquid contact angle that depends primarily on the Stefan number S=c(T(sub f) -T(sub t)/L based on the temperature difference between the fusion point and the target temperature, and proposed that contact line arrest occurs when the liquid's dynamic contact angle approaches the angle of attack of the solidification front just behind the contact line. They also showed, however, that the conventional continuum equations and boundary conditions have no meaningful solution for this angle. The solidification front angle is determined by the heat flux just behind the contact line, and the heat flux is singular at that point. By comparing experiments with numerical computations, Schiaffino and Sonin estimated that the conventional solidification model must break down within a distance of order 0.1 - 1 microns of the contact line. The physical mechanism for this breakdown is as yet undetermined, and no first-principles theory exists for the contact angle at arrest. Schiaffino and Sonin also presented a framework for understanding how to moderate Weber number molten droplet deposition in terms of similarity laws and experimentation. The study is based on experiments with three molten materials- molten wax on solid wax, water on ice, and mercury on frozen mercury- which between them span a considerable range of the deposition/solidification similarity parameters. Correlations are obtained for the spreading velocity, spreading time scales, the spreading factor (i.e. ratio of deposited drop's final footprint radius and the drop's initial radius), post-spreading liquid oscillation amplitudes and time scales, and bulk solidification time scales. Duthaler carried out an experimental and theoretical investigation of the relationship between the liquid's apparent contact angle and the Capillary number Ca=mu U/sigma based on contact line speed, for molten materials spreading over subcooled solids. This relationship is required for modeling of melt spreading. We have adapted Voinov's methodology to the molten contact line and formulated a theoretical model for the Ca vs. contact angle relationship, based Schiaffino and Sonin#s (1997a,b) wedge-like solidification front model. With the solidification front angle taken from Schiaffino and Sonin, the model is in good agreement with the experimental results for Ca vs. contact angle. Duthaler also extended the experimental investigation of droplet deposition and contact line freezing to more materials, including solder on glass, solder on solder, water on ice, and molten microcrystalline wax on wax. The latter also included tests on inclined targets. Deposition tests have also been done with molten octacosane (C28H58) on various targets. An important objective of our program has been the development of micron-scale sensors for measuring the transient temperature at a point on the substrate surface as a molten contact line moves over it. The expectation is that this temperature history will yield a better understanding of the thermal process in the contact line region. The sensors are of the thermistor type, either 2.5 microns or 1.5 microns square, microfabricated with silicon-based technology on either pure silicon or amorphous silicon dioxide chips. Each chip has 32 sensors distributed on its surface in arrays. The time response is better than 10 ms. At the time of writing, sensor calibration is in progress. Results on thermal transients during contact line passage will be discussed at the conference. While we expect that the data will provide information on the near-contact-line heat transfer process, we also foresee possible problems. First, the spatial resolution of the sensors may be insufficient to resolve the near-contact-line region. Second, the sensors protrude about 0.5 microns above the substrate surface, and may affect the contact line motion. Third, a sensor's temperature history depends on both the heat flux distribution into it from the fusion front and the thermal properties of the substrate below it and the solidified melt between it and the fusion front. The heat flux distribution in the contact line region must therefore be unfolded from computations of the overall system's transient thermal response.

Sonin, Ain A.↗

BOREAS Level-4b AVHRR-LAC Ten-Day Composite Images: At-sensor Radiance

The BOReal Ecosystem-Atmosphere Study (BOREAS) Staff Science Satellite Data Acquisition Program focused on providing the research teams with the remotely sensed satellite data products they needed to compare and spatially extend point results. Manitoba Remote Sensing Center (MRSC) and BOREAS Information System (BORIS) personnel acquired, processed, and archived data from the Advanced Very High Resolution Radiometer (AVHRR) instruments on the National Oceanic and Atmospheric Administration (NOAA-11) and -14 satellites. The AVHRR data were acquired by CCRS and were provided to BORIS for use by BOREAS researchers. These AVHRR level-4b data are gridded, 10-day composites of at-sensor radiance values produced from sets of single-day images. Temporally, the 10- day compositing periods begin 11-Apr-1994 and end 10-Sep-1994. Spatially, the data cover the entire BOREAS region. The data are stored in binary image format files.

Cihlar, Josef↗

BOREAS Level-4c AVHRR-LAC Ten-Day Composite Images: Surface Parameters

The BOReal Ecosystem-Atmosphere Study (BOREAS) Staff Science Satellite Data Acquisition Program focused on providing the research teams with the remotely sensed satellite data products they needed to compare and spatially extend point results. Manitoba Remote Sensing Center (MRSC) and BOREAS Information System (BORIS) personnel acquired, processed, and archived data from the Advanced Very High Resolution Radiometer (AVHRR) instruments on the NOAA-11 and -14 satellites. The AVHRR data were acquired by CCRS and were provided to BORIS for use by BOREAS researchers. These AVHRR level-4c data are gridded, 10-day composites of surface parameters produced from sets of single-day images. Temporally, the 10-day compositing periods begin 11-Apr-1994 and end 10-Sep-1994. Spatially, the data cover the entire BOREAS region. The data are stored in binary image format files. Note: Some of the data files on the BOREAS CD-ROMs have been compressed using the Gzip program.

Cihlar, Josef↗

Eye-Movement Tracking Using Compressed Video Images

Infrared video cameras offer a simple noninvasive way to measure the position of the eyes using relatively inexpensive equipment. Several commercial systems are available which use special hardware to localize features in the image in real time, but the constraint of realtime performance limits the complexity of the applicable algorithms. In order to get better resolution and accuracy, we have used off-line processing to apply more sophisticated algorithms to the images. In this case, a major technical challenge is the real-time acquisition and storage of the video images. This has been solved using a strictly digital approach, exploiting the burgeoning field of hardware video compression. In this paper we describe the algorithms we have developed for tracking the movements of the eyes in video images, and present experimental results showing how the accuracy is affected by the degree of video compression.

Mulligan, Jeffrey B.↗

Advances in Land Data Assimilation Systems

Assimilation of remotely sensed land surface observations into regional to global scale numerical models have the potential to significantly advance our ability, to assess, understand, and predict surface water, energy, and carbon cycles. This session seeks to assess the state-of-the-art in data assimilation methods for integrating land surface remote sensing and modeling, with a focus on practical applications and techniques. Assimilated land surface variables of interest include (but are not limited to, soil moisture, surface temperature, snowpack, streamflow, vegetation dynamics, and carbon storage. Contributions describing the development of practical land surface data assimilation methods, multivariate land surface data assimilation strategies, evaluation of the required accuracy and resolution of remote sensing observations, the effects of scale, process complexity, and uncertainty on data assimilation, and the optimal treatment of model and observation errors are encouraged.

Houser, Paul R.↗

Mascons, GRACE, and Time-variable Gravity

The GRACE mission has been in orbit now for three years and now regularly produces snapshots of the Earth s gravity field on a monthly basis. The convenient standard approach has been to perform global solutions in spherical harmonics. Alternative local representations of mass variations using mascons show great promise and offer advantages in terms of computational efficiency, minimization of problems due to aliasing, and increased temporal resolution. In this paper, we discuss the results of processing the GRACE KBRR data from March 2003 through August 2005 to produce solutions for GRACE mass variations over mid-latitude and equatorial regions, such as South America, India and the United States, and over the polar regions (Antarctica and Greenland), with a focus on the methodology. We describe in particular mascon solutions developed on regular 4 degree x 4 degree grids, and those tailored specifically to drainage basins over these regions.

Lemoine, F.↗

X-ray synchronization emitting Fe-rich ejecta in SNR RCW 86

Supernova remnants may exhibit both thermal and nonthermal X-ray emission. In a previous study with ASCA data, we found that the middle-aged supernova remnant RCW 86 showed evidence for both processes, and predicted that observations with much higher spatial resolution would distinguish harder X-rays, which we proposed were primarily synchrotron emission, from softer, thermal X-rays. Here we describe Chandra observations which amply confirm our predictions.

ISM individual (RCW86) supernova remnants↗

Soft Real-Time PID Control on a VME Computer

microPID (uPID) is a computer program for real-time proportional + integral + derivative (PID) control of a translation stage in a Fourier-transform ultraviolet spectrometer. microPID implements a PID control loop over a position profile at sampling rate of 8 kHz (sampling period 125microseconds). The software runs in a strippeddown Linux operating system on a VersaModule Eurocard (VME) computer operating in real-time priority queue using an embedded controller, a 16-bit digital-to-analog converter (D/A) board, and a laser-positioning board (LPB). microPID consists of three main parts: (1) VME device-driver routines, (2) software that administers a custom protocol for serial communication with a control computer, and (3) a loop section that obtains the current position from an LPB-driver routine, calculates the ideal position from the profile, and calculates a new voltage command by use of an embedded PID routine all within each sampling period. The voltage command is sent to the D/A board to control the stage. microPID uses special kernel headers to obtain microsecond timing resolution. Inasmuch as microPID implements a single-threaded process and all other processes are disabled, the Linux operating system acts as a soft real-time system.

Karayan, Vahag↗

From Radio with Love: An Overview of the Role of Radio Observations in Understanding High-Energy Emission from Active Galaxies

The gamma-ray satellite Fermi and the ground based TeV facilities MAGIC, VERITAS and HESS have ushered in a new era in the observation of high-energy emission from active galaxies. The energy budgets of these objects have a major contribution from gamma-rays and it is simply not possible to understand their physics without high-energy observations. Though the exact mechanisms for high-energy production in galaxies remains an open question, gamma-rays typically result from interactions between high-energy particles. Via different interactions these same particles can produce radio emission. Thus the non-thermal nature of gamma-ray emission practically guarantees that high-energy emitters are also radio loud. Aside from their obvious role as a component of multiwavelength analysis, radio observations provide two crucial elements essential to understanding the source structure and physical processes of high-energy emitters: very high timing resolution and very high spatial resolution. A brief overview of the unique role played by radio observations in unraveling the mysteries of the high energy Universe as presented here.

Ojha, Roopesh↗