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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

An account is given of the methodology used to develop a data base containing low altitude imagery, augmented with the rotorcraft and sensor parameters required for passive-range estimation. The bata base is predicated on flight test data encompassing imagery, rotorcraft and sensor parameters, and ground truth range measurements. Data preparation was conducted by means of a novel technique for obtaining the sensor-calibration parameters. The data-base thus obtained will facilitate further development of computer vision-based obstacle-detection and passive range-estimation algorithms, as well as furnish a benchmark for verification of range estimates against ground-truth estimates.

Smith, Phillip N.↗
NASA NTRS1991

Passive obstacle location for rotorcraft guidance

Nap-of-the-earth flight mode is extremely demanding on the rotorcraft pilots. This fact has motivated the research in automating various components of low altitude rotorcraft flight operations. Concurrent with the development of guidance laws, efforts are under way to develop systems for locating the terrain and the obstacles using inputs from passive electrooptical sensors such as TV cameras and infrared imagers. A passive obstable location algorithm that uses image sequences from cameras undergoing translational and rotational motion is developed. The algorithm is in a general form and can operate in multicamera imaging environments. Performance results using an image sequence from an airborne camera are given.

Menon, P. K. A.↗
NASA NTRS1991

Inertial navigation sensor integrated motion analysis for obstacle detection

The authors describe a maximally passive system for obstacle detection and avoidance designed for rotorcraft which benefits from the use of inertial data. The sensor options are briefly discussed, and sensor fusion needs are mentioned. Some critical system requirements and their effect on system implementation are discussed. In addition, high-level system implementation issues are presented.

Roberts, Barry↗
NASA NTRS1992

Concepts for pilot interaction with an automated NOE obstacle-avoidance system

The problem of providing an appropriate method by which a human pilot interacts with an automated nap-of-the-earth rotorcraft guidance and control system is addressed. This problem is closely related to the broader question of what level and degree of automation is effective at reducing pilot workload during low-altitude flight missions requiring obstacle avoidance. A systematic approach for establishing the possible combinations of manual vs automatic authority over relevant guidance and control functions is first presented. From these possibilities, three candidate concepts are selected based upon their potential for practical implementation and reduction in pilot workload. This paper describes the selection of these three pilot-interaction concepts and the mathematical models for their implementation.

Coppenbarger, R. A.↗
NASA NTRS1993

Robot Avoids Collisions With Obstacles

Developmental robot equipped with infrared sensors and control system acting in concert to enable manipulator arm to move around obstacles. Robot avoids collisions with other objects, even when moving in unpredictable ways. Control system requires no prior knowledge of environment.

Cheung, Edward↗
NASA NTRS1992

Concepts for pilot interaction with an automated NOE obstacle-avoidance system

The problem of providing an appropriate method by which a human pilot interacts with an automated nap-of-the-Earth rotorcraft guidance and control system is addressed. This problem is closely related to the broader question of what level and degree of automation is effective at reducing pilot workload during low-altitude flight missions requiring obstacle avoidance. A systematic approach for establishing the possible combinations of manual versus automatic authority over relevant guidance and control functions is first presented. From these possibilities, three candidate concepts are selected; selection is based upon their potential for practical implementation and reduction in pilot workload. This paper describes the selection of these three pilot-interaction concepts and the mathematical models for their implementation.

Coppenbarger, R. A.↗
NASA NTRS1991

Validation of vision-based obstacle detection algorithms for low-altitude helicopter flight

A validation facility being used at the NASA Ames Research Center is described which is aimed at testing vision based obstacle detection and range estimation algorithms suitable for low level helicopter flight. The facility is capable of processing hundreds of frames of calibrated multicamera 6 degree-of-freedom motion image sequencies, generating calibrated multicamera laboratory images using convenient window-based software, and viewing range estimation results from different algorithms along with truth data using powerful window-based visualization software.

Suorsa, Raymond↗
NASA NTRS1992

Vision-based recursive estimation of rotorcraft obstacle locations

The authors address vision-based passive ranging during nap-of-the-earth (NOE) rotorcraft flight. They consider the problem of estimating the relative location of identifiable features on nearby obstacles, assuming a sequence of noisy camera images and imperfect measurements of the camera's translation and rotation. An iterated extended Kalman filter is used to provide recursive range estimation. The correspondence problem is simplified by predicting and tracking each feature's image within the Kalman filter framework. Simulation results are presented which show convergent estimates and generally successful feature point tracking. Estimation performance degrades for features near the optical axis and for accelerating motions. Image tracking is also sensitive to angular rate.

Leblanc, D. J.↗
NASA NTRS1992

Automatic guidance and control laws for helicopter obstacle avoidance

The authors describe the implementation of a full-function guidance and control system for automatic obstacle avoidance in helicopter nap-of-the-earth (NOE) flight. The guidance function assumes that the helicopter is sufficiently responsive so that the flight path can be readily adjusted at NOE speeds. The controller, basically an autopilot for following the derived flight path, was implemented with parameter values to control a generic helicopter model used in the simulation. Evaluation of the guidance and control system with a 3-dimensional graphical helicopter simulation suggests that the guidance has the potential for providing good and meaningful flight trajectories.

Cheng, Victor H. L.↗
NASA NTRS1993

Vision based obstacle detection and grouping for helicopter guidance

Electro-optical sensors can be used to compute range to objects in the flight path of a helicopter. The computation is based on the optical flow/motion at different points in the image. The motion algorithms provide a sparse set of ranges to discrete features in the image sequence as a function of azimuth and elevation. For obstacle avoidance guidance and display purposes, these discrete set of ranges, varying from a few hundreds to several thousands, need to be grouped into sets which correspond to objects in the real world. This paper presents a new method for object segmentation based on clustering the sparse range information provided by motion algorithms together with the spatial relation provided by the static image. The range values are initially grouped into clusters based on depth. Subsequently, the clusters are modified by using the K-means algorithm in the inertial horizontal plane and the minimum spanning tree algorithms in the image plane. The object grouping allows interpolation within a group and enables the creation of dense range maps. Researchers in robotics have used densely scanned sequence of laser range images to build three-dimensional representation of the outside world. Thus, modeling techniques developed for dense range images can be extended to sparse range images. The paper presents object segmentation results for a sequence of flight images.

Sridhar, Banavar↗
NASA NTRS1993

Obstacle detection by recognizing binary expansion patterns

This paper describes a technique for obstacle detection, based on the expansion of the image-plane projection of a textured object, as its distance from the sensor decreases. Information is conveyed by vectors whose components represent first-order temporal and spatial derivatives of the image intensity, which are related to the time to collision through the local divergence. Such vectors may be characterized as patterns corresponding to 'safe' or 'dangerous' situations. We show that essential information is conveyed by single-bit vector components, representing the signs of the relevant derivatives. We use two recently developed, high capacity classifiers, employing neural learning techniques, to recognize the imminence of collision from such patterns.

Baram, Yoram↗
NASA NTRS2000

Performance Characterization of Obstacle Detection Algorithms for Aircraft Navigation

The research reported here is a part of NASA's Synthetic Vision System (SVS) project for the development of a High Speed Civil Transport Aircraft (HSCT). One of the components of the SVS is a module for detection of potential obstacles in the aircraft's flight path by analyzing the images captured by an on-board camera in real-time. Design of such a module includes the selection and characterization of robust, reliable, and fast techniques and their implementation for execution in real-time. This report describes the results of our research in realizing such a design.

Kasturi, Rangachar↗
NASA NTRS2001

Obstacle Detection Algorithms for Rotorcraft Navigation

In this research we addressed the problem of obstacle detection for low altitude rotorcraft flight. In particular, the problem of detecting thin wires in the presence of image clutter and noise was studied. Wires present a serious hazard to rotorcrafts. Since they are very thin, their detection early enough so that the pilot has enough time to take evasive action is difficult, as their images can be less than one or two pixels wide. After reviewing the line detection literature, an algorithm for sub-pixel edge detection proposed by Steger was identified as having good potential to solve the considered task. The algorithm was tested using a set of images synthetically generated by combining real outdoor images with computer generated wire images. The performance of the algorithm was evaluated both, at the pixel and the wire levels. It was observed that the algorithm performs well, provided that the wires are not too thin (or distant) and that some post processing is performed to remove false alarms due to clutter.

Kasturi, Rangachar↗
NASA NTRS2003

Exploratory Calibration of Adjustable-Protrusion Surface-Obstacle (APSO) Skin Friction Vector Gage

The design of an adjustable-protrusion surface-obstacle (APSO) skin friction vector gage is presented. Results from exploratory calibrations conducted in laminar and turbulent boundary layers at the Washington University Low-Speed Wind Tunnel and for turbulent boundary layers at speeds up to Mach 2 on the ceiling of the NASA Glenn Research Center 8- X 6-ft Supersonic Wind Tunnel are also discussed. The adjustable-height gage was designed to yield both the magnitude and direction of the surface shear stress vector and to measure the local static pressure distribution. Results from the NASA test show good correlation for subsonic and low supersonic conditions covering several orders of magnitude in terms of the adopted similarity variables. Recommendations for future work in this area consist of identifying the physical parameters responsible for the disagreement between the university and NASA data sets, developing a compressibility correction specific to the APSO geometry, and examining the effect that static pressure distribution and skewed boundary layers have on the results from the APSO.

Hakkinen, Raimo J.↗
NASA NTRS2012

Awareness and Detection of Traffic and Obstacles Using Synthetic and Enhanced Vision Systems

Research literature are reviewed and summarized to evaluate the awareness and detection of traffic and obstacles when using Synthetic Vision Systems (SVS) and Enhanced Vision Systems (EVS). The study identifies the critical issues influencing the time required, accuracy, and pilot workload associated with recognizing and reacting to potential collisions or conflicts with other aircraft, vehicles and obstructions during approach, landing, and surface operations. This work considers the effect of head-down display and head-up display implementations of SVS and EVS as well as the influence of single and dual pilot operations. The influences and strategies of adding traffic information and cockpit alerting with SVS and EVS were also included. Based on this review, a knowledge gap assessment was made with recommendations for ground and flight testing to fill these gaps and hence, promote the safe and effective implementation of SVS/EVS technologies for the Next Generation Air Transportation System

Bailey, Randall E.↗
NASA NTRS2016

Pilot Field Test: The Ability to Ambulate Following Landing as Assessed with Seat Egress, Walk and Obstacle Testing

To date, changes in functional performance have been systematically studied after short-duration space flight. As important as the postflight functional changes have been, full functional recovery has never been investigated or established for long-duration flights. The Pilot Field Test (PFT) experiment, conducted with participation of ISS crewmembers traveling on Soyuz expeditions 34S - 41S, is comprised of several tasks designed to study the recovery of sensorimotor abilities of astronauts during the first 24 hours after landing and beyond. The objective of the Seat Egress - Walk and Obstacle Test, developed by NASA's Russian collaborators at the Institute for Biomedical Problems, is to address this gap in knowledge. This will allow us to characterize the ability of crewmembers to perform critical mission requirements that they will be expected to perform after an unassisted landing following 6 to 12 months in microgravity.

Fisher, E. A.↗
NASA NTRS2017

Exposing the Strategies that Can Reduce the Obstacles: Improving the Science User Experience

It is now well established that pursuing generic solutions to what seem are common problems in Earth science data access and use can often lead to disappointing results for both system developers and the intended users. This presentation focuses on real-world experience of managing a large and complex data system, NASAs Earth Science Data and Information Science System (EOSDIS), whose mission is to serve both broad user communities and those in smaller niche applications of Earth science data and services. In the talk, we focus on our experiences with known data user obstacles characterizing EOSDIS approaches, including various technological techniques, for engaging and bolstering, where possible, user experiences with EOSDIS. For improving how existing and prospective users discover and access NASA data from EOSDIS we introduce our cross-archive tool: Earthdata Search. This new search and order tool further empowers users to quickly access data sets using clever and intuitive features. The Worldview data visualization tool is also discussed highlighting how many users are now performing extensive data exploration without necessarily downloading data. Also, we explore our EOSDIS data discovery and access webinars, data recipes and short tutorials, targeted technical and data publications, user profiles and social media as additional tools and methods used for improving our outreach and communications to a diverse user community. These efforts have paid substantial dividends for our user communities by allowing us to target discipline specific community needs. The desired take-away from this presentation will be an improved understanding of how EOSDIS has approached, and in several instances achieved, removing or lowering the barriers to data access and use. As we look ahead to more complex Earth science missions, EOSDIS will continue to focus on our user communities, both broad and specialized, so that our overall data system can continue to serve the needs of science and applications users.

communications↗