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NASA NTRS2011

Unsupervised Detection of Planetary Craters by a Marked Point Process

With the launch of several planetary missions in the last decade, a large amount of planetary images is being acquired. Preferably, automatic and robust processing techniques need to be used for data analysis because of the huge amount of the acquired data. Here, the aim is to achieve a robust and general methodology for crater detection. A novel technique based on a marked point process is proposed. First, the contours in the image are extracted. The object boundaries are modeled as a configuration of an unknown number of random ellipses, i.e., the contour image is considered as a realization of a marked point process. Then, an energy function is defined, containing both an a priori energy and a likelihood term. The global minimum of this function is estimated by using reversible jump Monte-Carlo Markov chain dynamics and a simulated annealing scheme. The main idea behind marked point processes is to model objects within a stochastic framework: Marked point processes represent a very promising current approach in the stochastic image modeling and provide a powerful and methodologically rigorous framework to efficiently map and detect objects and structures in an image with an excellent robustness to noise. The proposed method for crater detection has several feasible applications. One such application area is image registration by matching the extracted features.

Troglio, G.↗

NASA NTRS1993

Marked point process models of raindrop-size distributions

The principal process considered in this paper is the flux of raindrops through a volume of the atmosphere. This process is of fundamental importance for a wide variety of engineering and environmental problems, notably remote sensing of precipitation, infiltration of rainfall, soil erosion, atmospheric deposition of pollutants, and design of microwave communication systems. A marked point process model is developed in which the point process represents the arrival times of drops at the upper surface of a sample volume and the mark associated with a drop is its diameter. In the model, both the rate of occurrence of raindrops and the distribution of drop diameters vary randomly over time. Results that relate the drop-size distribution within the sample volume to the probability law of the drop-arrival process are presented. These results allow straightforward comparisons between temporal characterizations of drop-size distributions and spatial characterizations. Representations for derived processes such as rainfall rate and reflectivity are shown to be quite accurate using raindrop data from North Carolina.

Smith, James A.↗

NASA NTRS2017

Planetary Crater Detection and Registration Using Marked Point Processes, Graph Cut Algorithms, and Wavelet Transforms

This paper addresses the problem of semi-automatic image registration on planetary images. A joint feature-based and area-based approach is proposed. Firstly, the most relevant craters are extracted from the two images to register, and then, registration is performed in two steps. The first step matches the craters extracted from the images based on a generalized Hausdorff distance. In the second step, the mutual information between the two images is maximized to achieve high registration accuracy. Craters are detected by a stochastic-geometry approach based on a marked point process model and of a multiple-birth-and-cut energy minimization algorithm. The experimental validation is carried out with 13 images for the crater extraction stage, and with 20 semi-synthetic pairs of images with ground truth and several images extracted from actual multi-temporal lunar scenes for the registration phase.

Image Processing; Pattern Recognition↗

NASA NTRS2017

Planetary Crater Detection and Registration Using Marked Point Processes, Multiple Birth and Death Algorithms, and Region-Based Analysis

Because of the large variety of sensors and spacecraft collecting data, planetary science needs to integrate various multi-sensor and multi-temporal images. These multiple data represent a precious asset, as they allow the study of targets spectral responses and of changes in the surface structure; because of their variety, they also require accurate and robust registration. A new crater detection algorithm, used to extract features that will be integrated in an image registration framework, is presented. A marked point process-based method has been developed to model the spatial distribution of elliptical objects (i.e. the craters) and a birth-death Markov chain Monte Carlo method, coupled with a region-based scheme aiming at computational efficiency, is used to find the optimal configuration fitting the image. The extracted features are exploited, together with a newly defined fitness function based on a modified Hausdorff distance, by an image registration algorithm whose architecture has been designed to minimize the computational time.

Image Processing; Pattern Recognition↗

NASA NTRS2018

Planetary Crater Detection and Registration Using Marked Point Processes, Multiple Birth and Death Algorithms, and Region-Based Analysis

Image Processing:Pattern Recognition↗

NASA NTRS2017

Planetary Crater Detection and Registration Using Marked Point Processes, Graph Cut Algorithms, and Wavelet Transforms

N/A

Gotelli, Alberto↗

NASA NTRS1994

Mark Tracking: Position/orientation measurements using 4-circle mark and its tracking experiments

Future space robots require position and orientation tracking with visual feedback control to track and capture floating objects and satellites. We developed a four-circle mark that is useful for this purpose. With this mark, four geometric center positions as feature points can be extracted from the mark by simple image processing. We also developed a position and orientation measurement method that uses the four feature points in our mark. The mark gave good enough image measurement accuracy to let space robots approach and contact objects. A visual feedback control system using this mark enabled a robot arm to track a target object accurately. The control system was able to tolerate a time delay of 2 seconds.

Kanda, Shinji↗

NASA NTRS1979

Control of dielectric film deposition

Airgap capacitor in deposition chamber is used to monitor deposition. Coating process is completely uniform over edges, points, and internal areas. Areas not requiring coating can be marked. Since deposition process is accomplished at or near room temperature, there is no risk of thermal damage to coated components. With control method, deposition material is fully utilized and no excess coating is necessary to insure protection of coated parts.

Graebner, E. C.↗

NASA NTRS2008

The Photogrammetry Cube

We can determine distances between objects and points of interest in 3-D space to a useful degree of accuracy from a set of camera images by using multiple camera views and reference targets in the camera s field of view (FOV). The core of the software processing is based on the previously developed foreign-object debris vision trajectory software (see KSC Research and Technology 2004 Annual Report, pp. 2 5). The current version of this photogrammetry software includes the ability to calculate distances between any specified point pairs, the ability to process any number of reference targets and any number of camera images, user-friendly editing features, including zoom in/out, translate, and load/unload, routines to help mark reference points with a Find function, while comparing them with the reference point database file, and a comprehensive output report in HTML format. In this system, scene reference targets are replaced by a photogrammetry cube whose exterior surface contains multiple predetermined precision 2-D targets. Precise measurement of the cube s 2-D targets during the fabrication phase eliminates the need for measuring 3-D coordinates of reference target positions in the camera's FOV, using for example a survey theodolite or a Faroarm. Placing the 2-D targets on the cube s surface required the development of precise machining methods. In response, 2-D targets were embedded into the surface of the cube and then painted black for high contrast. A 12-inch collapsible cube was developed for room-size scenes. A 3-inch, solid, stainless-steel photogrammetry cube was also fabricated for photogrammetry analysis of small objects.

Source record↗

NASA NTRS1988

Garbage collection can be made real-time and verifiable

An efficient means of memory reclamation (also known as Garbage Collection) is essential for Machine Intelligence applications where dynamic storage allocation is desired or required. Solutions for real-time systems must introduce very small processing overhead and must also provide for the verification of the software in order to meet the application time budgets and to verify the correctness of the software. Garbage Collection (GC) techniques are proposed for symbolic processing systems which may simultaneously meet both real-time requirements and verification requirements. The proposed memory reclamation technique takes advantage of the strong points of both the earlier Mark and Sweep technique and the more recent Copy Collection approaches. At least one practical implementation of these new GC techniques has already been developed and tested on a very-high performance symbolic computing system. Complete GC processing of all generated garbage has been demonstrated to require as little as a few milliseconds to perform. This speed enables the effective operation of the GC function as either a background task or as an actual part of the application task itself.

Hino, James H.↗

NASA NTRS1994

SSME Main Combustion Chamber (MCC) 'Hot Oil' Dewaxing

In an attempt to comply with the changing environmental regulations, a process was developed for the replacement of perchloroethylene in the dewaxing of the Space Shuttle Main Engine (SSME) Main Combustion Chamber (MCC) and other associated hardware filled with the Rigidax(registered mark) casting compound. Rigidax(registered mark) is a hard blue-dyed, calcium carbonate filled thermoplastic casting compound (melting point 77 C) that is melted and poured into hardware cavities to prevent contamination during material removal processes, i.e. machining, grinding, drilling, and deburring. Additionally, it serves as a maskant for designated areas during electroforming processes. Laboratory testing was conducted to evaluate seven alternate fluids for the replacement of perchloroethylene in the dewaxing process. Based upon successful laboratory results, a mineral oil was selected for testing on actual hardware. The final process developed involves simultaneous immersion and flushing of the MCC channels using a distinct eight stage process. A nonvolatile hydrocarbon analysis of a solvent flush sample is performed to determine the hardware cleanliness for comparison to the previous perchloroethylene dewaxing process.

Akpati, Anthony U.↗

NASA NTRS1991

Structure and particle properties of Saturn's E Ring

The present systematic reanalysis of a substantial portion of extant photometric data on the Saturn E Ring has calibrated every observation on the basis of a common 3D model. A simple power-law model is found to describe the ring's normal optical depth profile with orbital radius; this trend is departed from, however, near the density peak, where there emerges a 30-percent localized decrease in thickness. No power-law size distribution is found to be compatible with available photometry. The peculiar size distribution points to a ring origin in a process that was not collisional or disruptive.

Showalter, Mark R.↗

NASA NTRS1977

Apollo-Soyuz pamphlet no. 8: Zero-g technology

The behavior of liquids in zero gravity environments is discussed with emphasis on foams, wetting, and wicks. A multipurpose electric furnace (MA-010) for the high temperature processing of metals and salts in zero-g is described. Experiments discussed include: monolectic and synthetic alloys (MA-041); multiple material melting point (MA-150); zero-g processing of metals (MA-070); surface tension induced convection (MA-041); halide eutectic growth; interface markings in crystals (MA-060); crystal growth from the vapor phase (MA-085); and photography of crystal growth (MA-028).

Page, L. W.↗

NASA NTRSDate not supplied

The Instrumented Walking and Turning Test to Evaluate Suited Gait Dynamics and Performance in Extravehicular Activity Training Environments

Background and aims: Walking will be required for many exploration tasks on the Moon during the Artemis program. Walking in a straight line on the confined floorspace of a testing area, and repetitive treadmill walking that requires no change in direction may not adequately reflect the balance and coordination required during ambulation. Also, performance of turning maneuvers may be affected differently in different extravehicular activity (EVA) training facilities that simulate partial gravity. For example, the Neutral Buoyancy Lab (NBL) simulates lunar gravity by adding weight to underwater subjects to alter buoyancy and achieve the equivalent ground reaction force of 1/6 of Earth’s gravity (1/6G), whereas the Active Response Gravity Offload System (ARGOS) uses a computer controlled overhead suspension system programmed to continuously offload a percentage of a subject’s weight to simulate 1/6G. The degree to which dynamic movements such as turning are comparable across these EVA training facilities has not yet been evaluated. The instrumented gait test helps NASA scientists and engineers evaluate gait dynamics and performance in suited conditions, and this test demonstrates the unique characteristics and limitations of EVA training facilities. We developed an instrumented walking and turning test using inertial measurement units (IMUs) and conducted the test at NASA’s EVA training facilities. Results were used to compare suited walking and turning characteristics in the ARGOS and the NBL. Methods: Subjects donned the Mark III space suit during offloading with the ARGOS spreader bar gimbal and donned the Z2.5 space suit while underwater in the NBL with weights and floatation added to achieve realistic suit center of gravity. The test team securely attached three Opal (APDM, OR, USA) wireless IMUs on the space suit for each test run: one on the middle of the hard upper torso, and one on the left and on the right ankle bearings. During the NBL tests, the IMUs were encased in a waterproof housing (GoPro) with foam added to create a tighter fit. At both testing facilities, 6.3 m x 1.0 m (LxW) walking lines were marked, and a cone for turning or walking around was located at the end of the walking path with another line on the other side of the cone to indicate the stopping point after walking around the cone. Under simulated 1/6G, subjects began by standing at the marked line with their arms folded across the chest, they then walked at a preferred speed along the straight walking path until they reached the end, turned 180 degrees around the cone, and finally stopped at the marked stopping point. All IMU data recorded during testing were automatically saved to the internal memory. Then, raw IMU signals were processed using custom MATLAB (Mathworks, MA, USA) code to compare gait parameters during both the walking and the turning components of the task. These parameters included time (s), speed (m/s for walking and rad/s for turning), step number (n) and walk:turn time ratio (% time spent straight walking versus turning). Results: Less time, faster gait, fewer steps, and higher walk:turn ratio during both walking and turning components were exhibited during tests performed at the ARGOS versus those performed at the NBL. During the NBL tests, the slower walking speed continued at the same rate throughout a U-shape turn. During the ARGOS tests, the subjects performed shorter and tighter turns at 4 times the speed of the NBL turns because they walked 30% faster and the vertical offloading system gave them more support. Conclusion: Our data show that the differences in walking and turning parameters during the NBL tests may be due to the high viscosity in the water environment where the motion of the lower limbs was slow and did not reach full flexion and extension. These tests improve the current knowledge of testing environments in preparation for EVAs on the lunar surface.

Kyoung Jae Kim↗

NASA NTRS1991

Concurrent-scene/alternate-pattern analysis for robust video-based docking systems

A typical docking target employs a three-point design of retroreflective tape, one at each endpoint of the center-line, and one on the tip of the central post. Scenes, sensed via laser diode illumination, produce pictures with spots corresponding to desired reflection from the retroreflectors and other reflections. Control corrections for each axis of the vehicle can then be properly applied if the desired spots are accurately tracked. However, initial acquisition of these three spots (detection and identification problem) are non-trivial under a severe noise environment. Signal-to-noise enhancement, accomplished by subtracting the non-illuminated scene from the target scene illuminated by laser diodes, can not eliminate every false spot. Hence, minimization of docking failures due to target mistracking would suggest needed inclusion of added processing features pertaining to target locations. In this paper, we present a concurrent processing scheme for a modified docking target scene which could lead to a perfect docking system. Since the non-illuminated target scene is already available, adding another feature to the three-point design by marking two non-reflective lines, one between the two end-points and one from the tip of the central post to the center-line, would allow this line feature to be picked-up only when capturing the background scene (sensor data without laser illumination). Therefore, instead of performing the image subtraction to generate a picture with a high signal-to-noise ratio, a processed line-image based on the robust line detection technique (Hough transform) can be used to fuse with the actively sensed three-point target image to deduce the true locations of the docking target. This dual-channel confirmation scheme is necessary if a fail-safe system is to be realized from both the sensing and processing point-of-views. Detailed algorithms and preliminary results are presented.

Udomkesmalee, Suraphol↗

NASA NTRS1991

Comparison of frequency domain and time domain laser velocimeter signal processors

An experimental investigation was conducted in the 14- by 22-foot subsonic tunnel at NASA-Langley Research Center to measure the inflow into a scale model helicopter rotor in forward flight. These inflow measurements were acquired utilizing a two-component laser velocimeter, and the data were processed by a frequency-domain processor (FDP). As a subset of the experiment, a time-domain counter processor was utilized simultaneously with an FDP to make a comparison of the two processors possible. The results indicate that the FDP had a marked improvement in processing capability in conditions of low signal-to-noise ratios and had a reduction in the number of erroneous data points acquired. However, the FDP yielded a lower data rate in comparison to the counter when signal-to-noise ratios were high. Comparison of the data sets shows that the FDP consistantly measures velocities which are 0.7 percent higher than those measured by the counter processor.

Mace, W. D., Jr.↗

NASA NTRS1988

Figures of merit for airfoil/aircraft design integration

Because the airfoil can so strongly impact other aspects of an aircraft configuration, it is important that the airfoil design process be integrated with that of the aircraft to achieve the best possible performance of a new flight vehicle. To aid in preliminary design efforts, several aerodynamic figures of merit are presented which facilitate the matching of the airfoil performance characteristics to those of the aircraft. These figures of merit are fairly general and can assist the airfoil design process for flight vehicles designed for maximum endurance, range, or ceiling. Although specifically applicable to vehicles for which the wing area is sized by some required minimum airspeed, the discussion is pertinent to all airfoil/aircraft matching situations and points the way for developing similar figures of merit to aid the airfoil/aircraft design process for any flight vehicle.

Maughmer, Mark D.↗

NASA NTRS1999

Mineralogy of the Solar System

The coming decade will witnesses the first sample return missions from solar system bodies in 30 years. These samples will all be very small, some missions return only a few milligrams of total mass. Fortunately, the capability of modem methods to characterize ultra-small samples is well established from analysis of interplanetary dust particles (IDPs), interstellar grains recovered from meteorites, and other materials requiring ultra-sensitive analytical capabilities. Powerful analytical techniques are available that require, under favorable circumstances, single particles of only a few nanograms for entire suites of fairly comprehensive characterizations. A returned sample of greater than 1,000 particles with total mass of just one microgram permits comprehensive quantitative geochemical measurements that are impractical to can-y out in situ by flight instruments. With the Galileo flybys of Gaspra and Ida, it is now recognized that even very small airless bodies have indeed developed a particulate regolith. Acquiring a sample of the bulk regolith, a simple sampling strategy, provides two critical pieces of information about the body. Regolith samples are excellent bulk samples since they normally contain all the key components of the local environment, albeit in particulate form. Furthermore, since this fine fraction dominates remote measurements, regolith samples also provide information about surface alteration processes and are a key link to remote sensing of other bodies. Studies indicate that a statistically significant number of nanogram-sized particles should be able to characterize the regolith of a primitive asteroid, although the presence of larger components within even primitive meteorites (e.g.. Murchison), e.g. chondrules, CAI, large crystal fragments, etc., points out the limitations of using data obtained from nanogram-sized samples to characterize entire primitive asteroids. However, most important asteroidal geological processes have left their mark on the matrix, since this is the finest-grained portion and therefore most sensitive to chemical and physical changes. Thus, the following information can be learned from this fine grain size fraction alone: (1) mineral paragenesis; (2) regolith processes, (3) bulk composition; (4) conditions of thermal and aqueous alteration (if any); (5) relationships to planets, comets, meteorites (via isotopic analyses, including oxygen; (6) abundance of water and hydrated material; (7) abundance of organics; (8) history of volatile mobility, (9) presence and origin of presolar and/or interstellar material.

Zolensky, Michael E.↗