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NASA NTRS1991

Perceiving the coherent movements of spatially-separated features

When a partially-occluded object is represented in an image, it is defined by a set of spatially-separated features that may be registered at different spatial scales. To understand the image, human vision must organize these fragmented optical features into common and distinct object surfaces. Although the common fate of moving features often is considered a primary source of reliable information for image segmentation, little is known of the visual system's capacity to discriminate the coherent relative movements of spatially-separated features. In a series of experiments, observers viewed elements whose movements were correlated (direction and magnitude) or were uncorrelated. Our results indicate that observers can discriminate the two types of movement about as well as they can detect any movement at all. Moreover, the ability to perceive coherent movements is maintained under a variety of conditions including differences in the elements' spatial frequency content, spatial position and contrast, and temporal phase shifts between the spatially-correlated displacements. These results suggest that coherent relative motion may be a fundamental source of information exploited by vision, despite considerable variability in the spatial and temporal characteristics of the individual features.

Mowafy, Lyn↗

NASA NTRS1989

Direct electron-pair production by high energy heavy charged particles

Direct electron pain production via virtual photons by moving charged particles is a unique electro-magnetic process having a substantial dependence on energy. Most electro-magnetic processes, including transition radiation, cease to be sensitive to the incident energy above 10 TeV/AMU. Thus, it is expected, that upon establishment of cross section and detection efficiency of this process, it may provide a new energy measuring technique above 10 TeV/AMU. Three accelerator exposures of emulsion chambers designed for measurements of direct electron-pains were performed. The objectives of the investigation were to provide the fundamental cross-section data in emulsion stacks to find the best-fit theoretical model, and to provide a calibration of measurements of direct electron-pairs in emulsion chamber configurations. This paper reports the design of the emulsion chambers, accelerator experiments, microscope measurements, and related considerations for future improvements of the measurements, and for possible applications to high energy cosmic ray experiments. Also discussed are the results from scanning 56m of emulsion tracks at 1200x magnification so that scanning efficiency is optimized. Measurements of the delta-ray range spectrum were also performed for much shorter track lengths, but with sufficiently large statistics in the number of measured delta-rays.

Takahashi, Y.↗

NASA NTRS1972

Laser system of extended range

A pulsed laser system was developed for range measurements from the earth to retroreflecting satellites at distances up to that of the moon. The system has a transportable transmitter unit that can be moved from one location to another. This unit consists of a 0.2 m coude refractor and a high radiance, neodymium-glass, frequency doubled laser that operates in a single transverse mode. It can be used for lunar or distant satellite ranging at any observatory that has a telescope with an aperture diameter of about 1.5 m for the detection of the laser return pulses. This telescope is utilized in the same manner customarily employed for the observation of celestial objects. A special photometric package and the associated electronics are provided for laser ranging.

Lehr, C. G.↗

NASA NTRS1992

Integration of task level planning and diagnosis for an intelligent robot

A satellite floating space is diagnosed with a telerobot attached performing maintenance or replacement tasks. This research included three objectives. The first objective was to generate intelligent path planning for a robot to move around a satellite. The second objective was to diagnose possible faulty scenarios in the satellite. The third objective included two tasks. The first task was to combine intelligent path planning with diagnosis. The second task was to build an interface between the combined intelligent system with Robosim. The ability of a robot to deal with unexpected scenarios is particularly important in space since the situation could be different from time to time so that the telerobot must be capable of detecting that the situation has changed and the necessity may exist to alter its behavior based on the new situation. The feature of allowing human-in-the-loop is also very important in space. In some extreme cases, the situation is beyond the capability of a robot so our research project allows the human to override the decision of a robot.

Chan, Amy W.↗

NASA NTRS2013

Discontinuity Detection for Analysis of Telerobot Trajectories

To identify spatial and temporal discontinuities in telerobot movement in order to describe the shift in operators control and error correction strategies from continuous control to move-and-wait strategies. This shift was studied under conditions of simulated increasingly time-delayed teleoperation. The ultimate goal is to determine if the time delay associated with the shift is invariant with independently imposed control difficulty. We expect this shift to manifest itself as changes in the number of discontinuity of movement path. We proposed an approach to spatial and temporal discontinuity detection algorithm for analysis of teleoperated trajectory in three dimensional space. The algorithm provides a simple and potentially objective method for detecting the discontinuity during telerobot operation and evaluating the difficulty of rotational coordinate condition in teleoperation.

Yeom, Kiwon↗

NASA NTRS1997

NASA/University Joint Venture in Space Science (JOVE)

This system has an immense complex of optical knots that extend several galactic diameters to the north and south of the main optical object. These are star forming regions, some of which are the size of small irregular galaxies. It has a nearby companion called the 'seashell' owing to its disturbed appearance. The data had been reduced and images formed; a figure is attached. The high resolution observations show that the atomic hydrogen (HI) encompasses not only the N-S complex of optical knots but it forms an incomplete ring or tail that extends approximately 3 arcmins to the west. The seashell was not detected, and the HI associated with NGC 5291 itself shows a very large velocity range. The formation mechanism for this disturbed and distorted complex is unclear. X-ray emission suggesting ram sweeping is also observed. This author favors an explanation involving an interaction between the two components, NGC 5291 and the seashell. We are witnessing the formation of tidal tails and bridges between the galaxies and the associated ejecta. Ram sweeping occurs as the system moves bodily through the medium of the cluster of galaxies, Abell 3574, to which NGC 5291 et al. belong. There are numerous concentrations of HI, mostly along the N-S star forming complexes which generally coincide with the optical knots; the larger features contain several x109 solar mass, again the magnitude of a small irregular galaxy. Each knot was compared to a set of criteria designed to test if the feature was stable against its own internal kinetic energy, and stable against the tidal forces of the host galaxy. At least one of the objects (Knot B) appears to be a bound system suggesting that it is a genuinely young dwarf irregular galaxy that has evolved from the material associated with his interacting complex. We conclude that we are witnessing the early evolution of young galaxies and that NGC 5291 and the seashell are a nursery.

Gottesman, Stephen T.↗

NASA NTRS1989

Robot acting on moving bodies (RAMBO): Preliminary results

A robot system called RAMBO is being developed. It is equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a moving object. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations nearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enchancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows the use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using parametric cubic splines between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗

NASA NTRS2018

Solar System Science with the Wide-Field Infrared Survey Telescope

We present a community-led assessment of the solar system investigations achievable with NASA's next-generation space telescope, the Wide Field Infrared Survey Telescope (WFIRST). WFIRST will provide imaging, spectroscopic, and coronagraphic capabilities from 0.43 to 2.0 m and will be a potential contemporary and eventual successor to the James Webb Space Telescope (JWST). Surveys of irregular satellites and minor bodies are where WFIRST will excel with its 0.28 deg2 field-of-view Wide Field Instrument. Potential ground- breaking discoveries from WFIRST could include detection of the first minor bodies orbiting in the inner Oort Cloud, identification of additional Earth Trojan asteroids, and the discovery and characterization of asteroid binary systems similar to Ida/Dactyl. Additional investigations into asteroids, giant planet satellites, Trojan asteroids, Centaurs, Kuiper belt objects, and comets are presented. Previous use of astrophysics assets for solar system science and synergies between WFIRST, Large Synoptic Survey Telescope, JWST, and the proposed Near-Earth Object Camera mission is discussed. We also present the case for implementation of moving target tracking, a feature that will benefit from the heritage of JWST and enable a broader range of solar system observations.

Holler, Bryan J.↗

NASA NTRS1983

The Rapidly Moving Telescope: an Instrument for the Precise Study of Optical Transients

The development of a small telescope with a very rapid pointing capability is described whose purpose is to search for and study fast optical transients that may be associated with gamma-ray bursts and other phenomena. The primary motivation for this search is the discovery of the existence of a transient optical event from the known location of a gamma-ray bursts. The telescope has the capability of rapidly acquiring any target in the night sky within 0.7 second and locating the object's position with + or - 1 arcsec accuracy. The initial detection of the event is accomplished by the MIT explosive transient camera or ETC. This provides rough pointing coordinates to the RMT on the average within approximately 1 second after the detection of the event.

Teegarden, B. J.↗

NASA NTRS2010

Plasma IMS Composition Measurements for Europa and the Other Galilean Moons

NASA and ESA are planning the joint Europa Jupiter System Mission (EJSM) to the Jupiter system with specific emphasis to Europa and Ganymede, respectively. The Japanese Space Agency is also planning an orbiter mission to explore Jupiter's magnetosphere and the Galilean satellites. For NASA's Jupiter Europa Orbiter (JEO) we are developing the 3D Ion Mass Spectrometer (IMS) with two main goals which can also be applied to the other Galilean moons, 1) measure the plasma interaction between Europa and Jupiter's magnetosphere and 2) infer the 4 pi surface composition to trace elemental and significant isotopic levels. The first goal supports the magnetometer (MAG) measurements, primarily directed at detection of Europa's sub-surface ocean, while the second gives information about transfer of material between the Galilean moons, and between the moon surfaces and subsurface layers putatively including oceans. The measurement of the interactions for all the Galilean moons can be used to trace the in situ ion measurements of pickup ions back to either Europa's or Ganymede's surface from the respectively orbiting spacecraft. The IMS instrument, being developed under NASA's Astrobiology Instrument Development Program, would maximally achieve plasma measurement requirements for JEO and EJSM while moving forward our knowledge of Jupiter system composition and source processes to far higher levels than previously envisaged. The composition of the global surfaces of Europa and Ganymede can be inferred from the measurement of ejected neutrals and pick-up ions using at minimum an in situ payload including MAG and IMS also fully capable of meeting Level 1 mission requirements for ocean detection and survey. Elemental and isotopic analysis of potentially extruded oceanic materials at the moon surfaces would further support the ocean objectives. These measurements should be made from a polar orbiting spacecraft about Europa or Ganymede at height 100 km. The ejecta produced by sputtering of the surfaces of Europa and Ganymede has been shown to be representative of the surface composition. Level 2 science on surface geology and composition can then be further enhanced by addition of the following: 3D Ion Neutral Mass Spectrometer (INNS), 3D plasma electron spectrometer (ELS), and hot plasma energetic particle instrument. The measurement approach is to alternate between times measuring pickup ions and times measuring plasma and magnetic field parameters along the spacecraft trajectory. By measuring the pickup ion energy, arrival direction and mass-per-charge, the ion can be traced back along the ejection trajectory to the approximate area of origin if the 3-D electric field and magnetic field are known. In situ observations of plasma flow velocities and vector magnetic fields can be used to determine the local convective electric field (E = -VXB) along the spacecraft trajectory. By combining this information with models of the magnetospheric interaction with Europa, one can generate 3D maps of the electric and magnetic field and compute the trajectories of the pickup ions back to the surface or exospheric points of origin. In the case of Ganymede there is the additional complexity of its own internal dipole magnetic field, while Io's volcanic activity introduces the complexity of a highly structured denser atmosphere. Callisto with its less globally extended exosphere will have a simpler interaction than for Europa (i.e., more like our moon). We will discuss these differences in light of the above proposed technique. Finally, the INNS observations and neutral exosphere models are needed to estimate production rates of pickup ions. The hot plasma measurements are needed to correct for sputtering rates which can be time dependent and electron plasma observations for electron impact ionization rates. Instrument characteristics, field-of-view requirements, modes of operation and effects of radiation on instrument functionality will be discussed.

Sittler, Edward↗

NASA NTRS1987

Real-time model-based vision system for object acquisition and tracking

A machine vision system is described which is designed to acquire and track polyhedral objects moving and rotating in space by means of two or more cameras, programmable image-processing hardware, and a general-purpose computer for high-level functions. The image-processing hardware is capable of performing a large variety of operations on images and on image-like arrays of data. Acquisition utilizes image locations and velocities of the features extracted by the image-processing hardware to determine the three-dimensional position, orientation, velocity, and angular velocity of the object. Tracking correlates edges detected in the current image with edge locations predicted from an internal model of the object and its motion, continually updating velocity information to predict where edges should appear in future frames. With some 10 frames processed per second, real-time tracking is possible.

Wilcox, Brian↗

NASA NTRS1986

Adaptive computational methods for SSME internal flow analysis

Adaptive finite element methods for the analysis of classes of problems in compressible and incompressible flow of interest in SSME (space shuttle main engine) analysis and design are described. The general objective of the adaptive methods is to improve and to quantify the quality of numerical solutions to the governing partial differential equations of fluid dynamics in two-dimensional cases. There are several different families of adaptive schemes that can be used to improve the quality of solutions in complex flow simulations. Among these are: (1) r-methods (node-redistribution or moving mesh methods) in which a fixed number of nodal points is allowed to migrate to points in the mesh where high error is detected; (2) h-methods, in which the mesh size h is automatically refined to reduce local error; and (3) p-methods, in which the local degree p of the finite element approximation is increased to reduce local error. Two of the three basic techniques have been studied in this project: an r-method for steady Euler equations in two dimensions and a p-method for transient, laminar, viscous incompressible flow. Numerical results are presented. A brief introduction to residual methods of a-posterior error estimation is also given and some pertinent conclusions of the study are listed.

Oden, J. T.↗

NASA NTRS2007

Hierarchical Segmentation Enhances Diagnostic Imaging

Bartron Medical Imaging LLC (BMI), of New Haven, Connecticut, gained a nonexclusive license from Goddard Space Flight Center to use the RHSEG software in medical imaging. To manage image data, BMI then licensed two pattern-matching software programs from NASA's Jet Propulsion Laboratory that were used in image analysis and three data-mining and edge-detection programs from Kennedy Space Center. More recently, BMI made NASA history by being the first company to partner with the Space Agency through a Cooperative Research and Development Agreement to develop a 3-D version of RHSEG. With U.S. Food and Drug Administration clearance, BMI will sell its Med-Seg imaging system with the 2-D version of the RHSEG software to analyze medical imagery from CAT and PET scans, MRI, ultrasound, digitized X-rays, digitized mammographies, dental X-rays, soft tissue analyses, moving object analyses, and soft-tissue slides such as Pap smears for the diagnoses and management of diseases. Extending the software's capabilities to three dimensions will eventually enable production of pixel-level views of a tumor or lesion, early identification of plaque build-up in arteries, and identification of density levels of microcalcification in mammographies.

Source record↗

NASA NTRS1999

Thermocapillary Migration and Interactions of Bubbles and Drops

Experiments were performed aboard the LMS mission of the Space Shuttle in summer 1996 in the BDPU on isolated air bubbles and Fluorinert FC-75 drops as well as on interacting bubbles/drops migrating in a temperature gradient in a Dow-Corning DC-200 series silicone oil of nominal viscosity 10 centistokes. The data, recorded in the form of videotape images as well as cine images in selected runs, have been analyzed. The behavior of the isolated objects is consistent with earlier observations made aboard the IML-2 mission while the range of Reynolds and Marangoni numbers has been extended substantially over that in the IML-2 experiments. Large bubbles were found to be slightly deformed to an oblate shape while no deformation could be detected in the case of similarly large drops. Results on interacting drops and bubbles display interesting and unanticipated features. In some experiments, drops are found to follow a three-dimensional trajectory. In others, trailing drops and bubbles are found to move off the axis of the cell when migrating behind a leading drop or bubble which moves along the axis. In this type of run, if the trailing drop is sufficiently large, it is found to pass the leading drop. Finally, behavior similar to that observed in IML-2, namely that a small leading drop slows the movement of a larger trailing drop moving along the cell axis, was observed as well.

Subramaniam, R. Shankar↗

NASA NTRS1995

Safety analysis

We are engaged in a research program in safety-critical computing that is based on two case studies. We use these case studies to provide application-specific details of the various research issues, and as targets for evaluation of research ideas. The first case study is the Magnetic Stereotaxis System (MSS), an investigational device for performing human neurosurgery being developed in a joint effort between the Department of Physics at the University of Virginia and the Department of Neurosurgery at the University of Iowa. The system operates by manipulating a small permanent magnet (known as a 'seed') within the brain using an externally applied magnetic field. By varying the magnitude and gradient of the external magnetic field, the seed can be moved along a non-linear path and positioned at a site requiring therapy, e.g., a tumor. The magnetic field required for movement through brain tissue is extremely high, and is generated by a set of six superconducting magnets located in a housing surrounding the patient's head. The system uses two X-ray cameras positioned at right angles to detect in real time the locations of the seed and of X-ray opaque markers affixed to the patient's skull. the X-ray images are used to locate the objects of interest in a canonical frame of reference. the second case study is the University of Virginia Research Nuclear Reactor (UVAR). It is a 2 MW thermal, concrete-walled pool reactor. The system operates using 20 to 25 plate-type fuel assemblies placed on a rectangular grid plate. There are three scramable safety rods, and one non-scramable regulating rod that can be put in automatic mode. It was originally constructed in 1959 as a 1 MW system, and it was upgraded to 2 MW in 1973. Though only a research reactor rather than a power reactor, the issues raised are significant and can be related to the problems faced by full-scale reactor systems.

Knight, John C.↗

NASA NTRS1994

Very fast motion planning for highly dexterous-articulated robots

Due to the inherent danger of space exploration, the need for greater use of teleoperated and autonomous robotic systems in space-based applications has long been apparent. Autonomous and semi-autonomous robotic devices have been proposed for carrying out routine functions associated with scientific experiments aboard the shuttle and space station. Finally, research into the use of such devices for planetary exploration continues. To accomplish their assigned tasks, all such autonomous and semi-autonomous devices will require the ability to move themselves through space without hitting themselves or the objects which surround them. In space it is important to execute the necessary motions correctly when they are first attempted because repositioning is expensive in terms of both time and resources (e.g., fuel). Finally, such devices will have to function in a variety of different environments. Given these constraints, a means for fast motion planning to insure the correct movement of robotic devices would be ideal. Unfortunately, motion planning algorithms are rarely used in practice because of their computational complexity. Fast methods have been developed for detecting imminent collisions, but the more general problem of motion planning remains computationally intractable. However, in this paper we show how the use of multicomputers and appropriate parallel algorithms can substantially reduce the time required to synthesize paths for dexterous articulated robots with a large number of joints. We have developed a parallel formulation of the Randomized Path Planner proposed by Barraquand and Latombe. We have shown that our parallel formulation is capable of formulating plans in a few seconds or less on various parallel architectures including: the nCUBE2 multicomputer with up to 1024 processors (nCUBE2 is a registered trademark of the nCUBE corporation), and a network of workstations.

Challou, Daniel J.↗

NASA NTRS2010

Cognitive Assessment During Long-Duration Space Flight

The Space Flight Cognitive Assessment Tool for Windows (WinSCAT) is a computer-based, self-administered battery of five cognitive assessment tests developed for medical operations at NASA's Johnson Space Center in Houston, Texas. WinSCAT is a medical requirement for U.S. long-duration astronauts and has been implemented with U.S. astronauts from one NASA/Mir mission (NASA-7 mission) and all expeditions to date on the International Space Station (ISS). Its purpose is to provide ISS crew surgeons with an objective clinical tool after an unexpected traumatic event, a medical condition, or the cumulative effects of space flight that could negatively affect an astronaut's cognitive status and threaten mission success. WinSCAT was recently updated to add network capability to support a 6-person crew on the station support computers. Additionally, WinSCAT Version 2.0.28 has increased difficulty of items in Mathematics, increased number of items in Match-to-Sample, incorporates a moving rather than a fixed baseline, and implements stricter interpretation rules. ISS performance data were assessed to compare initial to modified interpretation rules for detecting potential changes in cognitive functioning during space flight. WinSCAT tests are routinely taken monthly during an ISS mission. Performance data from these ISS missions do not indicate significant cognitive decrements due to microgravity/space flight alone but have shown decrements. Applying the newly derived rules to ISS data results in a number of off-nominal performances at various times during and after flight.. Correlation to actual events is needed, but possible explanations for off-nominal performances could include actual physical factors such as toxic exposure, medication effects, or fatigue; emotional factors including stress from the mission or life events; or failure to exert adequate effort on the tests.

Seaton, Kimberly↗

NASA NTRS1998

Workshop on New Views of the Moon: Integrated Remotely Sensed, Geophysical, and Sample Datasets

It has been more than 25 years since Apollo 17 returned the last of the Apollo lunar samples. Since then, a vast amount of data has been obtained from the study of rocks and soils from the Apollo and Luna sample collections and, more recently, on a set of about a dozen lunar meteorites collected on Earth. Based on direct studies of the samples, many constraints have been established for the age, early differentiation, crust and mantle structure, and subsequent impact modification of the Moon. In addition, geophysical experiments at the surface, as well as remote sensing from orbit and Earth-based telescopic studies, have provided additional datasets about the Moon that constrain the nature of its surface and internal structure. Some might be tempted to say that we know all there is to know about the Moon and that it is time to move on from this simple satellite to more complex objects. However, the ongoing Lunar Prospector mission and the highly successful Clementine mission have provided important clues to the real geological complexity of the Moon, and have shown us that we still do not yet adequately understand the geologic history of Earth's companion. These missions, like Galileo during its lunar flyby, are providing global information viewed through new kinds of windows, and providing a fresh context for models of lunar origin, evolution, and resources, and perhaps even some grist for new questions and new hypotheses. The probable detection and characterization of water ice at the poles, the extreme concentration of Th and other radioactive elements in the Procellarum-Imbrium-Frigon's resurfaced areas of the nearside of the Moon, and the high-resolution gravity modeling enabled by these missions are examples of the kinds of exciting new results that must be integrated with the extant body of knowledge based on sample studies, in situ experiments, and remote-sensing missions to bring about the best possible understanding of the Moon and its history.

Jolliff, Brad L.↗