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Results for “laser range finder”

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 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2018

Calibration of a single-point laser range finder and a camera

Laser and visual imagery have been broadly utilized in computer vision and mobile robotics applications because these sensors provide complementary information. Since the single-point laser range finder can provide depth information of a single pixel in the observed image, its price and size is very suitable for handheld devices or very lightweight robotic platforms. So the combination of a single-point laser range finder and a camera has become increasingly useful in recent report and industrial applications. In this paper, we propose two accurate calibration methods for determining the position and direction of the laser range finder relative to the camera. Furthermore, we can accomplish calibration even without observing the laser spot in camera image. We evaluate the two methods through experiments which demonstrate their efficiency and high reliability.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS1973

Laser scanning methods and a phase comparison, modulated laser range finder for terrain sensing on a Mars roving vehicle

Two areas of a laser range finder for a Mars roving vehicle are investigated: (1) laser scanning systems, and (2) range finder methods and implementation. Several ways of rapidly scanning a laser are studied. Two digital deflectors and a matrix of laser diodes, are found to be acceptable. A complete range finder scanning system of high accuracy is proposed. The problem of incident laser spot distortion on the terrain is discussed. The instrumentation for a phase comparison, modulated laser range finder is developed and sections of it are tested.

Herb, G. T.↗
NASA NTRS1994

Small image laser range finder for planetary rover

A variety of technical subjects need to be solved before planetary rover navigation could be a part of future missions. The sensors which will perceive terrain environment around the rover will require critical development efforts. The image laser range finder (ILRF) discussed here is one of the candidate sensors because of its advantage in providing range data required for its navigation. The authors developed a new compact-sized ILRF which is a quarter of the size of conventional ones. Instead of the current two directional scanning system which is comprised of nodding and polygon mirrors, the new ILRF is equipped with the new concept of a direct polygon mirror driving system, which successfully made its size compact to accommodate the design requirements. The paper reports on the design concept and preliminary technical specifications established in the current development phase.

Wakabayashi, Yasufumi↗
NASA NTRS1974

Precision laser range finder system design for Advanced Technology Laboratory applications

Preliminary system design of a pulsed precision ruby laser rangefinder system is presented which has a potential range resolution of 0.4 cm when atmospheric effects are negligible. The system being proposed for flight testing on the advanced technology laboratory (ATL) consists of a modelocked ruby laser transmitter, course and vernier rangefinder receivers, optical beacon retroreflector tracking system, and a network of ATL tracking retroreflectors. Performance calculations indicate that spacecraft to ground ranging accuracies of 1 to 2 cm are possible.

Golden, K. E.↗
NASA NTRS1990

Use of laser range finders and range image analysis in automated assembly tasks

A proposition to study the effect of filtering processes on range images and to evaluate the performance of two different laser range mappers is made. Median filtering was utilized to remove noise from the range images. First and second order derivatives are then utilized to locate the similarities and dissimilarities between the processed and the original images. Range depth information is converted into spatial coordinates, and a set of coefficients which describe 3-D objects is generated using the algorithm developed in the second phase of this research. Range images of spheres and cylinders are used for experimental purposes. An algorithm was developed to compare the performance of two different laser range mappers based upon the range depth information of surfaces generated by each of the mappers. Furthermore, an approach based on 2-D analytic geometry is also proposed which serves as a basis for the recognition of regular 3-D geometric objects.

Alvertos, Nicolas↗
NASA NTRS2007

Laser Range and Bearing Finder with No Moving Parts

A proposed laser-based instrument would quickly measure the approximate distance and approximate direction to the closest target within its field of view. The instrument would not contain any moving parts and its mode of operation would not entail scanning over of its field of view. Typically, the instrument would be used to locate a target at a distance on the order of meters to kilometers. The instrument would be best suited for use in an uncluttered setting in which the target is the only or, at worst, the closest object in the vicinity; for example, it could be used aboard an aircraft to detect and track another aircraft flying nearby. The proposed instrument would include a conventional time-of-flight or echo-phase-shift laser range finder, but unlike most other range finders, this one would not generate a narrow cylindrical laser beam; instead, it would generate a conical laser beam spanning the field of view. The instrument would also include a quadrant detector, optics to focus the light returning from the target onto the quadrant detector, and circuitry to synchronize the acquisition of the quadrant-detector output with the arrival of laser light returning from the nearest target. A quadrant detector constantly gathers information from the entire field of view, without scanning; its output is a direct measure of the position of the target-return light spot on the focal plane and is thus a measure of the direction to the target. The instrument should be able to operate at a repetition rate high enough to enable it to track a rapidly moving target. Of course, a target that is not sufficiently reflective could not be located by this instrument. Preferably, retroreflectors should be attached to the target to make it sufficiently reflective.

Bryan, Thomas C.↗
DOE OSTI2019

Characterization of a double Time-Of-Flight detector system for accurate velocity measurement in a storage ring using laser beams

The Isochronous Mass Spectrometry (IMS) is a powerful tool for mass measurements of exotic nuclei with half-lives as short as several tens of micro-seconds in storage rings. In order to improve the mass resolving power while preserving the acceptance of the storage ring, the IMS with two Time-Of-Flight (TOF) detectors has been implemented at the storage ring CSRe in Lanzhou, China. Additional velocity information beside the revolution time in the ring can be obtained for each of the stored ions by using the double TOF detector system. In this paper, we introduced a new method of using a 658 nm laser range finder and a short-pulsed ultra-violet laser to directly measure the distance and time delay difference between the two TOF detectors which were installed inside the 10 -11 mbar vacuum chambers. Here, the results showed that the distance between the two ultra-thin carbon foils of the two TOF detectors was ranging from 18032.5 mm to 18035.0 mm over a measurable area of 20x20 mm 2 .

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1974

A practical obstacle detection system for the Mars Rover

Discussion of an obstacle detection system which uses a laser range finder as the principal sensing device. The laser scans the scene ahead and stores the range data for the terrain in a matrix form. This matrix can be thought of as a 'range image'. This range varies from point to point, but sharp changes are caused by the presence of obstacles. Some existing algorithms and one developed by the authors were used to obtain the outlines of obstacles from the 'range image'. All these algorithms end with a thresholding operation. A theoretical analysis shows how a proper value of the threshold may be chosen, given the type of irregularity of the terrain to be detected. The analysis also shows how large the statistics of measurement noise can be allowed without leading to false alarms.

Reed, M.↗
DOE OSTI2019

Extrinsic calibration of a single-point laser rangefinder and single camera

We present a new method for calibrating a single-point laser rangefinder and single camera because the combination of a cheap single-point laser range finder (LRF) and a camera has become increasingly helpful in recent industrial applications. In order to effectively use the date from the camera and LRF, it is important to know their relative position and orientation from each other. In this paper, a robust extrinsic calibration method for determining the position and direction of the LRF with respect to the camera is proposed. Due to the spot of the single-point LRF we commonly use is mostly invisible, infrared camera is utilized to detect laser spot and then establish the position relationship between visible light camera and infrared camera to calibrate the extrinsic parameters. Experimental results demonstrate that the proposed method can calibrate the extrinsic parameters with high precision and effectively.

42 ENGINEERING↗
DOE OSTI2019

High Precision In-Pipe Robot Localization with Reciprocal Sensor Fusion - 19516

Manual measurement of U-235 deposits in uranium enrichment piping is a costly, time consuming, and labor-intensive process that is a well-known cost and schedule driver. Autonomous, robotic innovation enabled by this research is revolutionizing the measurement speed, quality and safety of this important operation. The huge advantage is the robot's ability to measure from inside the pipes. The upside is sensing the geometry, appearance and radiometry directly. The downside is the inability to know precise, absolute position of the measurements in very long pipe runs. This paper develops the unprecedented localization required for this purpose. This paper presents the precise localization method designed for in-pipe radiation measurement robots. Unlike other in-pipe localization methods, this approach achieves millimeter-level accuracy in hundred-foot runs and does everything on one robot without relying on tether cable or communicating devices out of pipe, which is an important feature for nuclear in-pipe robot. It overcomes challenges usually encountered by in-pipe localization such as long travelling distance and operation time, narrow view angle, and featureless environment. The robot is equipped with encoders embedded in tracks which can record travelled distance, but encoder odometry drifts unacceptably due to slip and non-linearity. The robot also incorporates a laser range finder measuring the absolute distance, but range finder in long pipes has many misleading false measurements that are difficult to filter. The innovation here is to use one to filter/calibrate the other so that data used from the two sensors improve each other iteratively and reciprocally. The survey measurements accuracy of this localization method is proven by experiments comparing to ground truth and 'Zippering error' experiments that compare measurements to fixed features in pipes. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS1974

Recognition of three dimensional obstacles by an edge detection scheme

The need for an obstacle detection system on the Mars roving vehicle was assumed, and a practical scheme was investigated and simulated. The principal sensing device on this vehicle was taken to be a laser range finder. Both existing and original algorithms, ending with thresholding operations, were used to obtain the outlines of obstacles from the raw data of this laser scan. A theoretical analysis was carried out to show how proper value of threshold may be chosen. Computer simulations considered various mid-range boulders, for which the scheme was quite successful. The extension to other types of obstacles, such as craters, was considered. The special problems of bottom edge detection and scanning procedure are discussed.

Reed, M. A.↗
NASA NTRS1973

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

The following tasks related to the design, construction, and evaluation of a mobile planetary vehicle for unmanned exploration of Mars are discussed: (1) design and construction of a 0.5 scale dynamic vehicle; (2) mathematical modeling of vehicle dynamics; (3) experimental 0.4 scale vehicle dynamics measurements and interpretation; (4) vehicle electro-mechanical control systems; (5) remote control systems; (6) collapsibility and deployment concepts and hardware; (7) design, construction and evaluation of a wheel with increased lateral stiffness, (8) system design optimization; (9) design of an on-board computer; (10) design and construction of a laser range finder; (11) measurement of reflectivity of terrain surfaces; (12) obstacle perception by edge detection; (13) terrain modeling based on gradients; (14) laser scan systems; (15) path selection system simulation and evaluation; (16) gas chromatograph system concepts; (17) experimental chromatograph separation measurements and chromatograph model improvement and evaluation.

Frederick, D. K.↗
NASA NTRS2004

Laser Range and Bearing Finder for Autonomous Missions

NASA has recently re-confirmed their interest in autonomous systems as an enabling technology for future missions. In order for autonomous missions to be possible, highly-capable relative sensor systems are needed to determine an object's distance, direction, and orientation. This is true whether the mission is autonomous in-space assembly, rendezvous and docking, or rover surface navigation. Advanced Optical Systems, Inc. has developed a wide-angle laser range and bearing finder (RBF) for autonomous space missions. The laser RBF has a number of features that make it well-suited for autonomous missions. It has an operating range of 10 m to 5 km, with a 5 deg field of view. Its wide field of view removes the need for scanning systems such as gimbals, eliminating moving parts and making the sensor simpler and space qualification easier. Its range accuracy is 1% or better. It is designed to operate either as a stand-alone sensor or in tandem with a sensor that returns range, bearing, and orientation at close ranges, such as NASA's Advanced Video Guidance Sensor. We have assembled the initial prototype and are currently testing it. We will discuss the laser RBF's design and specifications. Keywords: laser range and bearing finder, autonomous rendezvous and docking, space sensors, on-orbit sensors, advanced video guidance sensor

Granade, Stephen R.↗
NASA NTRS2006

Range-Measuring Video Sensors

Optoelectronic sensors of a proposed type would perform the functions of both electronic cameras and triangulation- type laser range finders. That is to say, these sensors would both (1) generate ordinary video or snapshot digital images and (2) measure the distances to selected spots in the images. These sensors would be well suited to use on robots that are required to measure distances to targets in their work spaces. In addition, these sensors could be used for all the purposes for which electronic cameras have been used heretofore. The simplest sensor of this type, illustrated schematically in the upper part of the figure, would include a laser, an electronic camera (either video or snapshot), a frame-grabber/image-capturing circuit, an image-data-storage memory circuit, and an image-data processor. There would be no moving parts. The laser would be positioned at a lateral distance d to one side of the camera and would be aimed parallel to the optical axis of the camera. When the range of a target in the field of view of the camera was required, the laser would be turned on and an image of the target would be stored and preprocessed to locate the angle (a) between the optical axis and the line of sight to the centroid of the laser spot.

Howard, Richard T.↗
DOE OSTI2018

Pixelated CZT Technology for the Detection, Identification, and Localization of Gamma-Ray Sources - 18311

Radioactive waste-management applications require good measurements to qualitatively and quantitatively characterize waste materials. Often these measurements must be done in situ, and the user wishes to learn something of the isotopic and spatial distribution of the source. Therefore, there is a need for a portable instrument that can map radioactive contamination and quantify sources. This presentation introduces several instruments that have been applied to this task, along with example measurements in relevant applications. All instruments are based on 3D-position-sensitive CdZnTe (CZT) detectors. This technology routinely achieves better than 1.1% FWHM energy resolution at 662 keV and operates at room temperature with a startup time under 2 minutes. All are packaged in portable enclosures with WiFi and Bluetooth capabilities for wireless communication. These capabilities allow the technology to be used in more advanced measurements in the field. A unique capability of these detectors is the ability to image the spatial distribution of gamma rays from a single stationary measurement. The first product, Polaris-H, has been in use at commercial nuclear power plants since 2013. The system, currently used at over 50% of the US nuclear-power fleet, integrates a 3D-position-sensitive CZT detector, associated readout electronics, an embedded computer, a battery with over 7-hour life, an optical camera, and a laser range finder in a portable water-proof enclosure. The system connects wirelessly to a tablet which displays a gamma-ray spectrum and isotope-specific images of the gamma-ray distribution in all directions in real time. The CZT detectors have a dynamic range from 50 keV up to 3 MeV. Coded aperture or pinhole imaging is used for energies below 250 keV, and Compton imaging is used for energies above 250 keV. List-mode data is saved to an external USB memory stick to enable more advanced analysis, including isotopic activity analysis, via H3D's post-processing software. Additional systems based on the same architecture have been developed to optimize the technology for other applications. These include Polaris-H Quad, which provides over 3 times the sensitivity for applications involving weaker sources, and Polaris-H Shield, which uses a collimator to provide images and isotope information over a narrower field of view in order to measure weaker sources in the presence of stronger sources of the same isotope. H3D has also developed custom systems that have been mounted on robots and drones that enable remote operation of the technology. Results from the measurements collected at commercial nuclear power plants and other applicable sites will be presented to show how these instruments can be used to detect, identify, and localize gamma-ray sources. Advanced analysis techniques to show the accurate quantification of the gamma-ray source will also be presented. Applications range from characterizing simple objects, to locating hottest points, estimating contamination distributions on an isotope-by-isotope basis, and differentiating scatter and direct emissions. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2021

Criticality Accident Alarm System Shielding Benchmark: Integral Experiment Request 498, Critical Engineering Decision 2 Report

A workable design to perform a CAAS benchmark experiment is detailed herein. Key dimensions, materials, source intensity levels, and detectors are listed in this report. Sensitivity to 21 perturbations was determined to be acceptable. The next step will be for NCSP management to determine whether procurement should occur and if the experiment should proceed. The perturbation study suggests that the room return shield cavity radius and runout should be maintained to within a millimeter, the room return shield should be positioned carefully (perhaps with a laser range finder), and that the detectors should be mounted in a lightweight fixture such as aluminum, so their positioning is assured. Using a 3D scanner or photogrammetry to record part shapes may be beneficial. Further work is also needed to verify source reproducibility.

36 MATERIALS SCIENCE↗
NASA NTRS1973

Gradient estimates from stereo measurements for a Martian vehicle

The Martian roving vehicle requires an autonomous obstacle detection and path selection system. A laser range finder will be used to determine the locations of a number of discrete points at distances of 3 to 30 meters from the vehicle. The system might measure angles, ranges or a combination of both types of measurements.

Pfeifer, W. J.↗