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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Flight data acquisition methodology for validation of passive ranging algorithms for obstacle avoidance

The automation of low-altitude rotorcraft flight depends on the ability to detect, locate, and navigate around obstacles lying in the rotorcraft's intended flightpath. Computer vision techniques provide a passive method of obstacle detection and range estimation, for obstacle avoidance. Several algorithms based on computer vision methods have been developed for this purpose using laboratory data; however, further development and validation of candidate algorithms require data collected from rotorcraft flight. A data base containing low-altitude imagery augmented with the rotorcraft and sensor parameters required for passive range estimation is not readily available. Here, the emphasis is on the methodology used to develop such a data base from flight-test data consisting of imagery, rotorcraft and sensor parameters, and ground-truth range measurements. As part of the data preparation, a technique for obtaining the sensor calibration parameters is described. The data base will enable the further development of algorithms for computer vision-based obstacle detection and passive range estimation, as well as provide a benchmark for verification of range estimates against ground-truth measurements.

Smith, Phillip N.↗
NASA NTRS1975

A study of payload specialist station monitor size constraints

Constraints on the CRT display size for the shuttle orbiter cabin are studied. The viewing requirements placed on these monitors were assumed to involve display of imaged scenes providing visual feedback during payload operations and display of alphanumeric characters. Data on target recognition/resolution, target recognition, and range rate detection by human observers were utilized to determine viewing requirements for imaged scenes. Field-of-view and acuity requirements for a variety of payload operations were obtained along with the necessary detection capability in terms of range-to-target size ratios. The monitor size necessary to meet the acuity requirements was established. An empirical test was conducted to determine required recognition sizes for displayed alphanumeric characters. The results of the test were used to determine the number of characters which could be simultaneously displayed based on the recognition size requirements using the proposed monitor size. A CRT display of 20 x 20 cm is recommended. A portion of the display area is used for displaying imaged scenes and the remaining display area is used for alphanumeric characters pertaining to the displayed scene. The entire display is used for the character alone mode.

Kirkpatrick, M., III↗
NASA NTRS1988

Computer vision techniques for rotorcraft low-altitude flight

A description is given of research that applies techniques from computer vision to automation of rotorcraft navigation. The effort emphasizes the development of a methodology for detecting the ranges to obstacles in the region of interest based on the maximum utilization of passive sensors. The range map derived from the obstacle detection approach can be used as obstacle data for the obstacle avoidance in an automataic guidance system and as advisory display to the pilot. The lack of suitable flight imagery data, however, presents a problem in the verification of concepts for obstacle detection. This problem is being addressed by the development of an adequate flight database and by preprocessing of currently available flight imagery. Some comments are made on future work and how research in this area relates to the guidance of other autonomous vehicles.

Sridhar, Banavar↗
NASA NTRS1991

LADAR vision technology for automated rendezvous and capture

LADAR Vision Technology at Autonomous Technologies Corporation consists of two sensor/processing technology elements: high performance long range multifunction coherent Doppler laser radar (LADAR) technology; and short range integrated CCD camera with direct detection laser ranging sensors. Algorithms and specific signal processing implementations have been simulated for both sensor/processing approaches to position and attitude tracking applicable to AR&C. Experimental data supporting certain sensor measurement accuracies have been generated.

Frey, Randy W.↗
NASA NTRS1972

Requirements for laser radar detection of a barium ion cloud at five earth radii.

The requirements for a tuned laser radar capable of detecting and ranging a high altitude barium ion cloud release are discussed. A high energy pulsed dye laser tuned to the 455.4 nm Ba II resonance line is considered as the transmitter. Photon counting detection is employed and the resultant signal is integrated over a number of successive laser firings. The solar induced radiance of the cloud is the major background noise source. Detection and ranging may be achieved with signal-to-noise ratios of the order of unity using currently available equipment. This technique has the potential of improved resolution as compared to photographic measurements previously made.

Mumola, P. B.↗
NASA NTRS1999

A Diagnostic Analysis of the Kennedy Space Center LDAR Network: Data Characteristics - 1

An analytical framework is developed in which to analyze climatological VHF (66 MHz) radiation measurements taken by the Kennedy Space Center Lightning Detection and Ranging (LDAR) network. A 19-month noise-filtered sample of LDAR observations is examined using this framework. It is found that the climatological VHF source density as observed by LDAR falls off approximately 10 dB every 71 km of ground range away from the network centroid (a 31 km e-folding scale). From this framework it is inferred that the underlying source distribution is likely inverse exponential in amplitude, with a log-slope of 126-147 mW(sup -1/2). The underlying vertical distribution of VHF sources is approximately normally distributed with a mean altitude of 9 km and a standard deviation of 2.7 km; this implies that the loss of below-horizon sources has a negligible effect on column-integrated source densities within 200 km ground range. At medium to far ranges, location errors are primarily radial and have a slightly asymmetric distribution whose first moment increases as range squared. Error moments estimated from observed lightning are significantly higher than those from aircraft-based signal generator or analytic solution estimates, suggesting that timing errors arising from poor signal identification and discrimination may dominate over timing errors arising from nominal sensor resolution. The VHF source properties of individual LDAR-observed flashes are computed and an analytic expression for flash detection efficiency vs. range is derived. This reveals nearly constant flash detection efficiency to 80-94 km range from the network centroid.

Boccippio, D. J.↗
NASA NTRS2011

Hazard Detection Software for Lunar Landing

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project is developing a system for safe and precise manned lunar landing that involves novel sensors, but also specific algorithms. ALHAT has selected imaging LIDAR (light detection and ranging) as the sensing modality for onboard hazard detection because imaging LIDARs can rapidly generate direct measurements of the lunar surface elevation from high altitude. Then, starting with the LIDAR-based Hazard Detection and Avoidance (HDA) algorithm developed for Mars Landing, JPL has developed a mature set of HDA software for the manned lunar landing problem. Landing hazards exist everywhere on the Moon, and many of the more desirable landing sites are near the most hazardous terrain, so HDA is needed to autonomously and safely land payloads over much of the lunar surface. The HDA requirements used in the ALHAT project are to detect hazards that are 0.3 m tall or higher and slopes that are 5 or greater. Steep slopes, rocks, cliffs, and gullies are all hazards for landing and, by computing the local slope and roughness in an elevation map, all of these hazards can be detected. The algorithm in this innovation is used to measure slope and roughness hazards. In addition to detecting these hazards, the HDA capability also is able to find a safe landing site free of these hazards for a lunar lander with diameter .15 m over most of the lunar surface. This software includes an implementation of the HDA algorithm, software for generating simulated lunar terrain maps for testing, hazard detection performance analysis tools, and associated documentation. The HDA software has been deployed to Langley Research Center and integrated into the POST II Monte Carlo simulation environment. The high-fidelity Monte Carlo simulations determine the required ground spacing between LIDAR samples (ground sample distances) and the noise on the LIDAR range measurement. This simulation has also been used to determine the effect of viewing on hazard detection performance. The software has also been deployed to Johnson Space Center and integrated into the ALHAT real-time Hardware-in-the-Loop testbed.

Huertas, Andres↗
NASA NTRS1990

Computer vision techniques for rotorcraft low altitude flight

Rotorcraft operating in high-threat environments fly close to the earth's surface to utilize surrounding terrain, vegetation, or manmade objects to minimize the risk of being detected by an enemy. Increasing levels of concealment are achieved by adopting different tactics during low-altitude flight. Rotorcraft employ three tactics during low-altitude flight: low-level, contour, and nap-of-the-earth (NOE). The key feature distinguishing the NOE mode from the other two modes is that the whole rotorcraft, including the main rotor, is below tree-top whenever possible. This leads to the use of lateral maneuvers for avoiding obstacles, which in fact constitutes the means for concealment. The piloting of the rotorcraft is at best a very demanding task and the pilot will need help from onboard automation tools in order to devote more time to mission-related activities. The development of an automation tool which has the potential to detect obstacles in the rotorcraft flight path, warn the crew, and interact with the guidance system to avoid detected obstacles, presents challenging problems. Research is described which applies techniques from computer vision to automation of rotorcraft navigtion. The effort emphasizes the development of a methodology for detecting the ranges to obstacles in the region of interest based on the maximum utilization of passive sensors. The range map derived from the obstacle-detection approach can be used as obstacle data for the obstacle avoidance in an automatic guidance system and as advisory display to the pilot. The lack of suitable flight imagery data presents a problem in the verification of concepts for obstacle detection. This problem is being addressed by the development of an adequate flight database and by preprocessing of currently available flight imagery. The presentation concludes with some comments on future work and how research in this area relates to the guidance of other autonomous vehicles.

Sridhar, Banavar↗
NASA NTRS2014

A Framework for Land Cover Classification Using Discrete Return LiDAR Data: Adopting Pseudo-Waveform and Hierarchical Segmentation

Acquiring current, accurate land-use information is critical for monitoring and understanding the impact of anthropogenic activities on natural environments.Remote sensing technologies are of increasing importance because of their capability to acquire information for large areas in a timely manner, enabling decision makers to be more effective in complex environments. Although optical imagery has demonstrated to be successful for land cover classification, active sensors, such as light detection and ranging (LiDAR), have distinct capabilities that can be exploited to improve classification results. However, utilization of LiDAR data for land cover classification has not been fully exploited. Moreover, spatial-spectral classification has recently gained significant attention since classification accuracy can be improved by extracting additional information from the neighboring pixels. Although spatial information has been widely used for spectral data, less attention has been given to LiDARdata. In this work, a new framework for land cover classification using discrete return LiDAR data is proposed. Pseudo-waveforms are generated from the LiDAR data and processed by hierarchical segmentation. Spatial featuresare extracted in a region-based way using a new unsupervised strategy for multiple pruning of the segmentation hierarchy. The proposed framework is validated experimentally on a real dataset acquired in an urban area. Better classification results are exhibited by the proposed framework compared to the cases in which basic LiDAR products such as digital surface model and intensity image are used. Moreover, the proposed region-based feature extraction strategy results in improved classification accuracies in comparison with a more traditional window-based approach.

Light Detection & Ranging (LIDAR)↗
NASA NTRS2021

Spectral attenuation coefficients from measurements of light transmission in bare ice on the Greenland Ice Sheet

Light transmission into bare glacial ice affects surface energy balance, biophotochemistry, and light detection and ranging (lidar) laser elevation measurements but has not previously been reported for the Greenland Ice Sheet. We present measurements of spectral transmittance at 350–900 nm in bare glacial ice collected at a field site in the western Greenland ablation zone (67.15∘ N, 50.02∘ W). Empirical irradiance attenuation coefficients at 350–750 nm are ∼ 0.9–8.0 m−1 for ice at 12–124 cm depth. The absorption minimum is at ∼ 390–397 nm, in agreement with snow transmission measurements in Antarctica and optical mapping of deep ice at the South Pole. From 350–530 nm, our empirical attenuation coefficients are nearly 1 order of magnitude larger than theoretical values for optically pure ice. The estimated absorption coefficient at 400 nm suggests the ice volume contained a light-absorbing particle concentration equivalent to ∼ 1–2 parts per billion (ppb) of black carbon, which is similar to pre-industrial values found in remote polar snow. The equivalent mineral dust concentration is ∼ 300–600 ppb, which is similar to values for Northern Hemisphere warm periods with low aeolian activity inferred from ice cores. For a layer of quasi-granular white ice (weathering crust) extending from the surface to ∼ 10 cm depth, attenuation coefficients are 1.5 to 4 times larger than for deeper bubbly ice. Owing to higher attenuation in this layer of near-surface granular ice, optical penetration depth at 532 nm is 14 cm (20 %) lower than asymptotic attenuation lengths for optically pure bubbly ice. In addition to the traditional concept of light scattering on air bubbles, our results imply that the granular near-surface ice microstructure of weathering crust is an important control on radiative transfer in bare ice on the Greenland Ice Sheet ablation zone, and we provide new values of flux attenuation, absorption, and scattering coefficients to support model development and validation.

IceSat-2↗
NASA NTRS2009

Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors

Robust and reliable autonomous navigation in unstructured, off-road terrain is a critical element in making unmanned ground vehicles a reality. Existing approaches tend to rely on evaluating the traversability of terrain based on fixed parameters obtained via testing in specific environments. This results in a system that handles the terrain well that it trained in, but is unable to process terrain outside its test parameters. An adaptive system does not take the place of training, but supplements it. Whereas training imprints certain environments, an adaptive system would imprint terrain elements and the interactions amongst them, and allow the vehicle to build a map of local elements using proprioceptive sensors. Such sensors can include velocity, wheel slippage, bumper hits, and accelerometers. Data obtained by the sensors can be compared to observations from ranging sensors such as cameras and LADAR (laser detection and ranging) in order to adapt to any kind of terrain. In this way, it could sample its surroundings not only to create a map of clear space, but also of what kind of space it is and its composition. By having a set of building blocks consisting of terrain features, a vehicle can adapt to terrain that it has never seen before, and thus be robust to a changing environment. New observations could be added to its library, enabling it to infer terrain types that it wasn't trained on. This would be very useful in alien environments, where many of the physical features are known, but some are not. For example, a seemingly flat, hard plain could actually be soft sand, and the vehicle would sense the sand and avoid it automatically.

Bajracharya, Max↗
NASA NTRS1988

Performance of laser Doppler velocimeter with polydisperse seed particles in high speed flows

The flowfield behind an oblique shock wave, where the LDV measured velocities are seed particle size dependent, was used to investigate the effects of LDV system parameters on the range of detectable polydisperse seed particles. The parameters included frequency shifting, laser power, scattered signal amplification level, and number of required fringe crossings. The results showed that with polydisperse seed particles ranging from 0.1 to 4.0 microns available in the flow, the average diameter of the detected particles could change from 0.2 to 3.0 microns by changing different LDV system parameters. The effects of this shift in the range of detectable particles on the frequency response of LDV was discussed.

Samimy, M.↗
NASA NTRS1989

Performance of laser Doppler velocimeter with polydisperse seed particles in high-speed flows

The flowfield behind an oblique shock wave, where the LDV measured velocities are seed-particle-size dependent, was used to investigate the effects of LDV system parameters on the range of detectable polydisperse seed particles. The parameters included frequency shifting, laser power, scattered signal amplification level, and number of required fringe crossings. The results showed that with polydisperse seed particles ranging from 0.1 to 4.0 microns available in the flow, the average diameter of the detected particles could change from 0.2 to 3.0 microns by changing different LDV system parameters. The effects of this shift in the range of detectable particles on the frequency response of LDV are discussed.

Samimy, M.↗
NASA NTRS2013

Airborne Measurements of CO2 Column Concentration and Range Using a Pulsed Direct-Detection IPDA Lidar

We have previously demonstrated a pulsed direct detection IPDA lidar to measure range and the column concentration of atmospheric CO2. The lidar measures the atmospheric backscatter profiles and samples the shape of the 1,572.33 nm CO2 absorption line. We participated in the ASCENDS science flights on the NASA DC-8 aircraft during August 2011 and report here lidar measurements made on four flights over a variety of surface and cloud conditions near the US. These included over a stratus cloud deck over the Pacific Ocean, to a dry lake bed surrounded by mountains in Nevada, to a desert area with a coal-fired power plant, and from the Rocky Mountains to Iowa, with segments with both cumulus and cirrus clouds. Most flights were to altitudes >12 km and had 5-6 altitude steps. Analyses show the retrievals of lidar range, CO2 column absorption, and CO2 mixing ratio worked well when measuring over topography with rapidly changing height and reflectivity, through thin clouds, between cumulus clouds, and to stratus cloud tops. The retrievals shows the decrease in column CO2 due to growing vegetation when flying over Iowa cropland as well as a sudden increase in CO2 concentration near a coal-fired power plant. For regions where the CO2 concentration was relatively constant, the measured CO2 absorption lineshape (averaged for 50 s) matched the predicted shapes to better than 1% RMS error. For 10 s averaging, the scatter in the retrievals was typically 2-3 ppm and was limited by the received signal photon count. Retrievals were made using atmospheric parameters from both an atmospheric model and from in situ temperature and pressure from the aircraft. The retrievals had no free parameters and did not use empirical adjustments, and >70% of the measurements passed screening and were used in analysis. The differences between the lidar-measured retrievals and in situ measured average CO2 column concentrations were <1.4 ppm for flight measurement altitudes >6 km.

Lidar↗
NASA NTRS2012

Relationships Between Long-Range Lightning Networks and TRMM/LIS Observations

Recent advances in long-range lightning detection technologies have improved our understanding of thunderstorm evolution in the data sparse oceanic regions. Although the expansion and improvement of long-range lightning datasets have increased their applicability, these applications (e.g., data assimilation, atmospheric chemistry, and aviation weather hazards) require knowledge of the network detection capabilities. The present study intercompares long-range lightning data with observations from the Lightning Imaging Sensor (LIS) aboard the Tropical Rainfall Measurement Mission (TRMM) satellite. The study examines network detection efficiency and location accuracy relative to LIS observations, describes spatial variability in these performance metrics, and documents the characteristics of LIS flashes that are detected by the long-range networks. Improved knowledge of relationships between these datasets will allow researchers, algorithm developers, and operational users to better prepare for the spatial and temporal coverage of the upcoming GOES-R Geostationary Lightning Mapper (GLM).

Rudlosky, Scott D.↗
NASA NTRS1999

The Unit of Lightning

For the past century, scientists have made quantitative measurements of lightning discharges. In the process, they refined the definition of a lightning unit, or basic quantum of lightning, in order to base it on observable parameters. Although many components of a lightning discharge have been identified, lightning usually occur in groups of discharges or pulses that, although complex, can be organized into units of flashes. This unit definition is based mainly on measurements of lightning from electric field, video, and ground flash lightning locating networks. More recent instrumentation with various combinations of high sensitivity, high temporal, or high spatial resolution often measure signals produced by lightning that do not cleanly divide into flashes. The data from these systems indicate the need or a more fundamental unit for lightning. Such a unit would be of benefit for both basic understanding of lightning and comparing lightning information between instruments. Without a common lightning unit definition, intercomparisons are difficult. For an example, the Lightning Detection And Ranging system (LDAR) at Kennedy Space Center (KSC) have detected ,flash' rates as high as 600 per minute while analysis based on the Advanced Ground Based Field Mill network (AGBFM) detect only 33 "flashes" per minute in the same area and time periods. The satellite based Optical Transient Detector (OTD) and Lightning Imaging Sensor (LIS) sometimes see single "flashes" that last longer than 10 seconds. Such long duration flashes are not found in electric field records or ground strike location system data sets. The unit of lightning should be based on the fundamental components of the lightning discharge. This should make the unit as generally applicable as possible. For example, studies of NO(x) production by lightning depend on parameters of the individual lightning channels and not the summary flash characteristics. For such studies, the best unit of lightning may be closer to the classical stroke in the electric field data sets, flash in the LDAR data sets, and group in the OTD/LIS data sets. For this type of study, however, more than just the stroke count information is needed. In this paper, we will outline the current definitions of the unit of lightning and propose new basic definitions for the unit of lightning. Since different instruments detect lightning in different ways and different studies may need almost mutually exclusive aspects of the lightning discharge, there may not be a single definition of the unit of lightning that can be applied to all systems and all studies. However, common components can be found since all instrumentation are detecting aspects of the same phenomenon.

Mach, Douglas M.↗
NASA NTRS2011

LIDAR-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing

In support of NASA s Autonomous Landing and Hazard Avoidance Technology (ALHAT) project, an extended Kalman filter routine has been developed for estimating the position, velocity, and attitude of a spacecraft during the landing phase of a planetary mission. The proposed filter combines measurements of acceleration and angular velocity from an inertial measurement unit (IMU) with range and Doppler velocity observations from an onboard light detection and ranging (LIDAR) system. These high-precision LIDAR measurements of distance to the ground and approach velocity will enable both robotic and manned vehicles to land safely and precisely at scientifically interesting sites. The filter has been extensively tested using a lunar landing simulation and shown to improve navigation over flat surfaces or rough terrain. Experimental results from a helicopter flight test performed at NASA Dryden in August 2008 demonstrate that LIDAR can be employed to significantly improve navigation based exclusively on IMU integration.

Busnardo, David M.↗