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Event driven animation provides a general method of describing controlling values for various computer animation techniques. A definition and comments are provided on genralizing motion description with events. Additional comments are also provided about the implementation of twixt.
The problem of constructing event-related information displays from multidimensional data generated by proximity, force-torque and tactile sensors integrated with the terminal device of a remotely controlled manipulator is considered. Event-driven displays are constructed by using appropriate algorithms acting on sensory data in real time. Event-driven information displays lessen the operator's workload and improve control performance. The paper describes and discusses several event-driven display examples that were implemented in the JPL teleoperator project, including a brief outline of the data handling system which drives the graphics display in real time. The paper concludes with a discussion of future plans to integrate event-driven displays with visual (TV) information.
EDSE (event-driven simulation engine), a model-based event-driven simulator implemented for SELMON, a tool for sensor selection and anomaly detection in real-time monitoring is described. The simulator is used in conjunction with a causal model to predict future behavior of the model from observed data. The behavior of the causal model is interpreted as equivalent to the behavior of the physical system being modeled. An overview of the functionality of the simulator and the model-based event-driven simulation paradigm on which it is based is provided. Included are high-level descriptions of the following key properties: event consumption and event creation, iterative simulation, synchronization and filtering of monitoring data from the physical system. Finally, how EDSE stands with respect to the relevant open issues of discrete-event and model-based simulation is discussed.
This paper details an architectural description of the Mission Data Processing and Control System (MPCS), an event-driven, multi-mission ground data processing components providing uplink, downlink, and data management capabilities which will support the Mars Science Laboratory (MSL) project as its first target mission. MPCS is developed based on a set of small reusable components, implemented in Java, each designed with a specific function and well-defined interfaces. An industry standard messaging bus is used to transfer information among system components. Components generate standard messages which are used to capture system information, as well as triggers to support the event-driven architecture of the system. Event-driven systems are highly desirable for processing high-rate telemetry (science and engineering) data, and for supporting automation for many mission operations processes.
An event-driven X-ray CCD imager device uses a floating-gate amplifier or other non-destructive readout device to non-destructively sense a charge level in a charge packet associated with a pixel. The output of the floating-gate amplifier is used to identify each pixel that has a charge level above a predetermined threshold. If the charge level is above a predetermined threshold the charge in the triggering charge packet and in the charge packets from neighboring pixels need to be measured accurately. A charge delay register is included in the event-driven X-ray CCD imager device to enable recovery of the charge packets from neighboring pixels for accurate measurement. When a charge packet reaches the end of the charge delay register, control logic either dumps the charge packet, or steers the charge packet to a charge FIFO to preserve it if the charge packet is determined to be a packet that needs accurate measurement. A floating-diffusion amplifier or other low-noise output stage device, which converts charge level to a voltage level with high precision, provides final measurement of the charge packets. The voltage level is eventually digitized by a high linearity ADC.
Event Driven Messaging with Role-Based Subscriptions (EDM-RBS) is a framework integrated into the Service Management Database (SMDB) to allow for role-based and subscription-based delivery of synchronous and asynchronous messages over JMS (Java Messaging Service), SMTP (Simple Mail Transfer Protocol), or SMS (Short Messaging Service). This allows for 24/7 operation with users in all parts of the world. The software classifies messages by triggering data type, application source, owner of data triggering event (mission), classification, sub-classification and various other secondary classifying tags. Messages are routed to applications or users based on subscription rules using a combination of the above message attributes. This program provides a framework for identifying connected users and their applications for targeted delivery of messages over JMS to the client applications the user is logged into. EDMRBS provides the ability to send notifications over e-mail or pager rather than having to rely on a live human to do it. It is implemented as an Oracle application that uses Oracle relational database management system intrinsic functions. It is configurable to use Oracle AQ JMS API or an external JMS provider for messaging. It fully integrates into the event-logging framework of SMDB (Subnet Management Database).
A charge-coupled-device (CCD) based high-speed imaging system, called a realtime, event-driven (RARE) camera, is undergoing development. This camera is capable of readout from multiple subwindows [also known as regions of interest (ROIs)] within the CCD field of view. Both the sizes and the locations of the ROIs can be controlled in real time and can be changed at the camera frame rate. The predecessor of this camera was described in High-Frame-Rate CCD Camera Having Subwindow Capability (NPO- 30564) NASA Tech Briefs, Vol. 26, No. 12 (December 2002), page 26. The architecture of the prior camera requires tight coupling between camera control logic and an external host computer that provides commands for camera operation and processes pixels from the camera. This tight coupling limits the attainable frame rate and functionality of the camera. The design of the present camera loosens this coupling to increase the achievable frame rate and functionality. From a host computer perspective, the readout operation in the prior camera was defined on a per-line basis; in this camera, it is defined on a per-ROI basis. In addition, the camera includes internal timing circuitry. This combination of features enables real-time, event-driven operation for adaptive control of the camera. Hence, this camera is well suited for applications requiring autonomous control of multiple ROIs to track multiple targets moving throughout the CCD field of view. Additionally, by eliminating the need for control intervention by the host computer during the pixel readout, the present design reduces ROI-readout times to attain higher frame rates. This camera (see figure) includes an imager card consisting of a commercial CCD imager and two signal-processor chips. The imager card converts transistor/ transistor-logic (TTL)-level signals from a field programmable gate array (FPGA) controller card. These signals are transmitted to the imager card via a low-voltage differential signaling (LVDS) cable assembly. The FPGA controller card is connected to the host computer via a standard peripheral component interface (PCI).
Silicon array readouts for microchannel plate intensifiers offer several attractive features. In this class of detector, the electron cloud output of the MCP intensifier is converted to visible light by a phosphor; that light is then fiber-optically coupled to the silicon array. In photon-counting mode, the resulting light splashes on the silicon array are recognized and centroided to fractional pixel accuracy by off-chip electronics. This process can result in very high (MCP-limited) spatial resolution while operating at a modest MCP gain (desirable for dynamic range and long term stability). The principal limitation of intensified CCD systems of this type is their severely limited local dynamic range, as accurate photon counting is achieved only if there are not overlapping event splashes within the frame time of the device. This problem can be ameliorated somewhat by processing events only in pre-selected windows of interest of by using an addressable charge injection device (CID) for the readout array. We are currently pursuing the development of an intriguing alternative readout concept based on using an event-driven CMOS Active Pixel Sensor. APS technology permits the incorporation of discriminator circuitry within each pixel. When coupled with suitable CMOS logic outside the array area, the discriminator circuitry can be used to trigger the readout of small sub-array windows only when and where an event splash has been detected, completely eliminating the local dynamic range problem, while achieving a high global count rate capability and maintaining high spatial resolution. We elaborate on this concept and present our progress toward implementing an event-driven APS readout.
Silicon array readouts for microchannel plate intensifiers offer several attractive features. In this class of detector, the electron cloud output of the MCP intensifier is converted to visible light by a phosphor; that light is then fiber-optically coupled to the silicon array. In photon-counting mode, the resulting light splashes on the silicon array are recognized and centroided to fractional pixel accuracy by off-chip electronics. This process can result in very high (MCP-limited) spatial resolution for the readout while operating at a modest MCP gain (desirable for dynamic range and long term stability). The principal limitation of intensified CCD systems of this type is their severely limited local dynamic range, as accurate photon counting is achieved only if there are not overlapping event splashes within the frame time of the device. This problem can be ameliorated somewhat by processing events only in pre-selected windows of interest or by using an addressable charge injection device (CID) for the readout array. We are currently pursuing the development of an intriguing alternative readout concept based on using an event-driven CMOS Active Pixel Sensor. APS technology permits the incorporation of discriminator circuitry within each pixel. When coupled with suitable CMOS logic outside the array area, the discriminator circuitry can be used to trigger the readout of small sub-array windows only when and where an event splash has been detected, completely eliminating the local dynamic range problem, while achieving a high global count rate capability and maintaining high spatial resolution. We elaborate on this concept and present our progress toward implementing an event-driven APS readout.
Stanford Telecom developed the Three-Dimensional Event-Driven Graphics Environment (3D-EDGE) for NASA GSFC's (GSFC) Communications Link Analysis and Simulation System (CLASS). 3D-EDGE consists of a library of object-oriented subroutines which allow engineers with little or no computer graphics experience to programmatically manipulate, render, animate, and access complex three-dimensional objects.
A viewgraph presentation describing the Event-Driven X- Ray CCD (EDCCD) detector system for high energy astrophysics is presented. The topics include: 1) EDCCD: Description and Advantages; 2) Summary of Grant Activity Carried Out; and 3) EDCCD Test System.
Commercially available cameras are not design for the combination of single frame and high-speed streaming digital video with real-time control of size and location of multiple regions-of-interest (ROI). A new control paradigm is defined to eliminate the tight coupling between the camera logic and the host controller. This functionality is achieved by defining the indivisible pixel read out operation on a per ROI basis with in-camera time keeping capability. This methodology provides a Random Access, Real-Time, Event-driven (RARE) camera for adaptive camera control and is will suited for target tracking applications requiring autonomous control of multiple ROI's. This methodology additionally provides for reduced ROI read out time and higher frame rates compared to the original architecture by avoiding external control intervention during the ROI read out process.
NASA's next generation space communications network will involve dynamic and autonomous services analogous to services provided by current terrestrial wireless networks. This architecture concept, known as the Space Mobile Network (SMN), is enabled by several technologies now in development. A pillar of the SMN architecture is the establishment and utilization of a continuous bidirectional control plane space link channel and a new User Initiated Service (UIS) protocol to enable more dynamic and autonomous mission operations concepts, reduced user space communications planning burden, and more efficient and effective provider network resource utilization. This paper provides preliminary results from the application of model driven architecture methodology to develop UIS. Such an approach is necessary to ensure systematic investigation of several open questions concerning the efficiency, robustness, interoperability, scalability and security of the control plane space link and UIS protocol.
This viewgraph presentation reviews the architectural description of the Mission Data Processing and Control System (MPCS). MPCS is an event-driven, multi-mission ground data processing components providing uplink, downlink, and data management capabilities which will support the Mars Science Laboratory (MSL) project as its first target mission. MPCS is designed with these factors (1) Enabling plug and play architecture (2) MPCS has strong inheritance from GDS components that have been developed for other Flight Projects (MER, MRO, DAWN, MSAP), and are currently being used in operations and ATLO, and (3) MPCS components are Java-based, platform independent, and are designed to consume and produce XML-formatted data
Most of the known linguistic models are essentially static, that is, time is not a parameter in describing the behavior of the object's model. In this paper we show a model for synchronous finite state machines based on fuzzy logic. Such finite state machines can be used to build both event-driven, time-varying, rule-based systems and the control unit section of a fuzzy logic computer. The architecture of a pipelined intelligent fuzzy controller is presented, and the linguistic model is represented by an overall fuzzy relation stored in a single rule memory. A VLSI integrated circuit implementation of the fuzzy controller is suggested. At a clock rate of 30 MHz, the controller can perform 3 MFLIPS on multi-dimensional fuzzy data.
A new model coupling scheme with remote sensing data assimilation was developed for estimation of daily actual evapotranspiration (ET). The scheme represents a mix of the VegET, a physically based model to estimate ET from a water balance, and an event driven phenology model (EDPM), where the EDPM is an empirically derived crop specific model capable of producing seasonal trajectories of canopy attributes. In this experiment, the scheme was deployed in a spatially explicit manner within the croplands of the Northern Great Plains. The evaluation was carried out using 2007-2009 land surface forcing data from the North American Land Data Assimilation System (NLDAS) and crop maps derived from remotely sensed data of NASA's Moderate Resolution Imaging Spectroradiometer (MODIS). We compared the canopy parameters produced by the phenology model with normalized difference vegetation index (NDVI) data derived from the MODIS nadir bi-directional reflectance distribution function (BRDF) adjusted reflectance (NBAR) product. The expectations of the EDPM performance in prognostic mode were met, producing determination coefficient (r2) of 0.8 +/-.0.15. Model estimates of NDVI yielded root mean square error (RMSE) of 0.1 +/-.0.035 for the entire study area. Retrospective correction of canopy dynamics with MODIS NDVI brought the errors down to just below 10% of observed data range. The ET estimates produced by the coupled scheme were compared with ones from the MODIS land product suite. The expected r2=0.7 +/-.15 and RMSE = 11.2 +/-.4 mm per 8 days were met and even exceeded by the coupling scheme0 functioning in both prognostic and retrospective modes. Minor setbacks of the EDPM and VegET performance (r2 about 0.5 and additional 30 % of RMSR) were found on the peripheries of the study area and attributed to the insufficient EDPM training and to spatially varying accuracy of crop maps. Overall the experiment provided sufficient evidence of soundness and robustness of the EDPM and VegET coupling scheme, assuring its potential for spatially explicit applications.
Commercially available cameras are not designed for the combination of single frame and high-speed streaming digital video with real-time control of size and location of multiple regions-of-interest (ROI). A new control paradigm is defined to eliminate the tight coupling between the camera logic and the host controller. This functionality is achieved by defining the indivisible pixel read out operation on a per ROI basis with in-camera time keeping capability. This methodology provides a Random Access, Real-time, Event-driven (RARE) camera for adaptive camera control and is well suited for target tracking applications requiring autonomous control of multiple ROIs. This methodology additionally provides for reduced ROI read out time and higher frame rates compared to the original architecture by avoiding external control intervention during the ROI read out process.
A vision-based obstacle detection system that provides information about objects as a function of azimuth and elevation is discussed. The range map is computed using a sequence of images from a passive sensor, and an extended Kalman filter is used to estimate range to obstacles. The magnitude of the optical flow that provides measurements for each Kalman filter varies significantly over the image depending on the helicopter motion and object location. In a standard Kalman filter, the measurement update takes place at fixed intervals. It may be necessary to use a different measurement update rate in different parts of the image in order to maintain the same signal to noise ratio in the optical flow calculations. A range estimation scheme that accepts the measurement only under certain conditions is presented. The estimation results from the standard Kalman filter are compared with results from a multirate Kalman filter and an event-driven Kalman filter for a sequence of helicopter flight images.