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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 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Methods and strategies of object localization

An important property of an intelligent robot is to be able to determine the location of an object in 3-D space. A general object localization system structure is proposed, some important issues on localization discussed, and an overview given for current available object localization algorithms and systems. The algorithms reviewed are characterized by their feature extracting and matching strategies; the range finding methods; the types of locatable objects; and the mathematical formulating methods.

Shao, Lejun↗
NASA NTRSDate not supplied

Considerations for Optimal Sensor Placement for Higher Accuracy Object Localization for Urban Air Mobility

Previous research into object localization has shown that sensor placement and alignment plays an important role in achieving higher accuracy levels of the estimated location of a tracked Urban Air Mobility Vehicle. In general, a near-orthogonal intersection between the ground node observation vectors results in the highest accuracy due to a smaller overlapping uncertainty region between both. This applies to triangulation by means of ground node camera angle observations as well as trilateration by means of ground node distance measurements. However, this simple concept is not easily fulfilled with a network of a limited number of static ground nodes and a moving object to be localized. This case study performs sensitivity analyses and explores practical ways on how to achieve higher estimate accuracy levels in this context.

sensor placement↗
NASA NTRS2025

Considerations for Optimal Sensor Placement for Higher Accuracy Object Localization for Urban Air Mobility

Previous research into object localization has shown that sensor placement and alignment plays an important role in achieving higher accuracy levels of the estimated location of a tracked Urban Air Mobility Vehicle. In general, a near-orthogonal intersection between the ground node observation vectors results in the highest accuracy due to a smaller overlapping uncertainty region between both. This applies to triangulation by means of ground node camera angle observations as well as trilateration by means of ground node distance measurements. However, this simple concept is not easily fulfilled with a network of a limited number of static ground nodes and a moving object to be localized. This case study performs sensitivity analyses and explores practical ways on how to achieve higher estimate accuracy levels in this context.

sensor placement↗
NASA NTRS2022

Spatial Grid-Based Object Localization from A Single Passive Sensor: A Deep Learning-Integrated Approach

Ongoing efforts at NASA’s Langley Research Center have produced a single passive sensor system for detecting ground objects and pinpointing their real-world location to a desired level of precision. The Langley center serves as a test range for unmanned aerial systems (UAS) and real-time knowledge about the location of people on campus is needed to inform least-risk UAS flight operations. The proposed system provides this knowledge through a camera combined with a convolutional neural network and an algorithm that projects an imaginary grid of square cells from the ground plane onto the perspective view of the camera. The position of detected objects on the camera’s projected grid determines their location in the real-world. The imaginary grid is easily mapped to a universal coordinate system, such as longitude and latitude, to provide both relative and absolute positional information of the detected objects. This simple system is shown to be accurate and effective, with decisive advantages over alternative multi-sensor and active sensor approaches. Extensions to the system are described to allow adaptation to a variety of other use cases.

object localization↗
NASA NTRS2005

System and method for object localization

A computer-assisted method for localizing a rack, including sensing an image of the rack, detecting line segments in the sensed image, recognizing a candidate arrangement of line segments in the sensed image indicative of a predetermined feature of the rack, generating a matrix of correspondence between the candidate arrangement of line segments and an expected position and orientation of the predetermined feature of the rack, and estimating a position and orientation of the rack based on the matrix of correspondence.

Kelly, Alonzo J.↗
NASA NTRS1990

Tele-Autonomous control involving contact

Object localization and its application in tele-autonomous systems are studied. Two object localization algorithms are presented together with the methods of extracting several important types of object features. The first algorithm is based on line-segment to line-segment matching. Line range sensors are used to extract line-segment features from an object. The extracted features are matched to corresponding model features to compute the location of the object. The inputs of the second algorithm are not limited only to the line features. Featured points (point to point matching) and featured unit direction vectors (vector to vector matching) can also be used as the inputs of the algorithm, and there is no upper limit on the number of the features inputed. The algorithm will allow the use of redundant features to find a better solution. The algorithm uses dual number quaternions to represent the position and orientation of an object and uses the least squares optimization method to find an optimal solution for the object's location. The advantage of using this representation is that the method solves for the location estimation by minimizing a single cost function associated with the sum of the orientation and position errors and thus has a better performance on the estimation, both in accuracy and speed, than that of other similar algorithms. The difficulties when the operator is controlling a remote robot to perform manipulation tasks are also discussed. The main problems facing the operator are time delays on the signal transmission and the uncertainties of the remote environment. How object localization techniques can be used together with other techniques such as predictor display and time desynchronization to help to overcome these difficulties are then discussed.

Shao, Lejun↗
NASA NTRS1998

Operator Localization of Virtual Objects

Errors in the localization of nearby virtual objects presented via see-through, helmet mounted displays are examined as a function of viewing conditions and scene content. Monocular, biocular or stereoscopic presentation of the virtual objects, accommodation (required focus), subjects'age, and the position of physical surfaces are examined. Nearby physical surfaces are found to introduce localization errors that differ depending upon the other experimental factors. The apparent physical size and transparency of the virtual objects and physical surfaces respectively are also influenced by their relative position when superimposed. Design implications are discussed.

Ellis, Stephen R.↗
NASA NTRS1998

Localization of Virtual Objects in the Near Visual Field (Operator Interaction with Simple Virtual Objects)

Errors in the localization of nearby virtual objects presented via see-through, helmet mounted displays are examined as a function of viewing conditions and scene content in four experiments using a total of 38 subjects. Monocular, biocular or stereoscopic presentation of the virtual objects, accommodation (required focus), subjects' age, and the position of physical surfaces are examined. Nearby physical surfaces are found to introduce localization errors that differ depending upon the other experimental factors. These errors apparently arise from the occlusion of the physical background by the optically superimposed virtual objects. But they are modified by subjects' accommodative competence and specific viewing conditions. The apparent physical size and transparency of the virtual objects and physical surfaces respectively are influenced by their relative position when superimposed. The design implications of the findings are discussed in a concluding section.

Ellis, Stephen R.↗
NASA NTRS2017

Electromagnetic Scattering and Emission by a Fixed Multi-Particle Object in Local Thermal Equilibrium: General Formalism

The majority of previous studies of the interaction of individual particles and multi-particle groups with electromagnetic field have focused on either elastic scattering in the presence of an external field or self-emission of electromagnetic radiation. In this paper we apply semi-classical fluctuational electrodynamics to address the ubiquitous scenario wherein a fixed particle or a fixed multi-particle group is exposed to an external quasi-polychromatic electromagnetic field as well as thermally emits its own electromagnetic radiation. We summarize the main relevant axioms of fluctuational electrodynamics, formulate in maximally rigorous mathematical terms the general scattering emission problem for a fixed object, and derive such fundamental corollaries as the scattering emission volume integral equation, the Lippmann Schwinger equation for the dyadic transition operator, the multi-particle scattering emission equations, and the far-field limit. We show that in the framework of fluctuational electrodynamics, the computation of the self-emitted component of the total field is completely separated from that of the elastically scattered field. The same is true of the computation of the emitted and elastically scattered components of quadratic linear forms in the total electromagnetic field. These results pave the way to the practical computation of relevant optical observables.

Electromagnetic scattering; Thermal emission; Fluc↗
NASA NTRS1979

The Spacelab Wide Angle Telescope (SWAT)

A fast wide angle telescope that will be capable of imaging to the darker sky limit and in the ultraviolet wavelength region available above the atmosphere is described. The telescope (SWAT) has a resolution comparable to that of the large ground-based Schmidt telescope and a field of at least five degrees. A number of astrophysically important investigations can only be accomplished with such a telescope, e.g., detection of hidden, hot objects like hot white dwarfs and subwarfs in stellar binary systems, and energetic regions in globular clusters and galaxy nuclei. It permits unique studies of the UV-morphology of extended objects and allows discovery of very faint extensions, halos, jets, and filaments in galaxies. It can contribute to the investigation of dust in the Milky Way and in other galaxies and, with an objective prism, spectra of very faint objects can be obtained. The SWAT will localize objects for further study with the narrow-field Space Telescope.

West, R. M.↗
NASA NTRS1990

An optimal sensing strategy of a proximity sensor system for recognition and localization of polyhedral objects

An algorithm is presented for the recognition and localization of thre-dimensional polyhedral objects based on an optical proximity sensor system capable of measuring the depth and orientation of a local area of an object surface. Emphasis is given to the determination of an optimal sensor trajectory or an optimal probing, for efficient discrimination among all the possible interpretations. The determination of an optimal sensor trajectory for the next probing consists of the selection of optimal beam orientations based on the surface normal vector distribution of the multiple interpretation image (MII) and the selection of an optimal probing plane by projecting the MII onto the projection plane perpendicular to a selected beam orientation and deriving the optimal path on the projection plane. The selection of optimal beam orientation and probing plane is based on the measure of discrimination power of a cluster of surfaces of an MII. Simulation results are shown.

Lee, Sukhan↗
NASA NTRS1980

Mission objectives for geological exploration of the Apollo 16 landing site

The objectives of the Apollo 16 mission to delineate the nature and origin of two major physiographic units of the central lunar highlands are discussed. Surface exploration plans, specific sampling procedures, operational constraints, and suites of samples that were collected for specific local objectives are described. Pre-mission hypotheses that favored a volcanic origin for the Cayley plains as well as the Descartes mountains were proved to be wrong by the mission results, but not enough samples have been studied to draw any other definite conclusions. Two contrasting schools of thought about the origin of the Apollo fragmental impact deposits are described: one maintains that the samples are predominantly of local origin, while the other suggests more distant, basin-related sources.

Muehlberger, W. R.↗
NASA NTRS1977

On possible associations of quasi-stellar objects and radio galaxies with rich clusters of galaxies

A comparison of the cataloged coordinates of QSOs and of 3CR galaxies with those of Abell's rich clusters of galaxies yields the following results: (1) There is no statistically significant evidence that high-redshift QSOs lie preferentially close to Abell clusters. (2) There is no statistically significant evidence that low-redshift QSOs lie preferentially close to Abell clusters. (3) There is (as is well known) highly significant evidence that 3CR galaxies lie preferentially close to Abell clusters. (4) The distributions of angular separations between QSOs and clusters and between 3CR galaxies and clusters differ at statistically significant (but not highly significant) levels. In view of these results, a generic relationship between low-redshift QSOs and radio galaxies seems questionable. This result for the QSOs is also entirely consistent with the idea that they are 'local' objects with redshifts of noncosmological origin.

Roberts, D. H.↗
NASA NTRS1989

Tele-autonomous control involving contacts: The applications of a high precision laser line range sensor

The object localization algorithm based on line-segment matching is presented. The method is very simple and computationally fast. In most cases, closed-form formulas are used to derive the solution. The method is also quite flexible, because only few surfaces (one or two) need to be accessed (sensed) to gather necessary range data. For example, if the line-segments are extracted from boundaries of a planar surface, only parameters of one surface and two of its boundaries need to be extracted, as compared with traditional point-surface matching or line-surface matching algorithms which need to access at least three surfaces in order to locate a planar object. Therefore, this method is especially suitable for applications when an object is surrounded by many other work pieces and most of the object is very difficult, is not impossible, to be measured; or when not all parts of the object can be reached. The theoretical ground on how to use line range sensor to located an object was laid. Much work has to be done in order to be really useful.

Volz, R. A.↗
NASA NTRS1976

On the masses of the quasi-stellar objects

Current estimates of quasar masses are based on the idea that the objects are outbursts involving galaxies or on the argument that the conversion of mass into radiant energy requires a minimum mass. These estimates are contrasted with those that can be obtained by considering the dynamics of the gas in the regions surrounding the highly compact nonthermal central source. In the analysis, it is assumed that absorption arises in gas clouds associated with quasars and that the emission- and absorption-line regions are being driven by radiation pressure. The results demonstrate that the masses of cosmologically distant quasars must lie between 50 million and 2 billion solar masses and that the mass-loss rate should be about one ten-millionth part per year. If the quasars are local objects, the upper mass limit is reduced to about 20 million solar masses. It is noted that these masses are significantly less than the masses of galaxies, but might be appropriate for galactic nuclei.

Burbidge, G.↗