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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 NTRS1992

Display of scientific data structures for algorithm visualization

We present a technique for defining graphical depictions for all the data types defined in an algorithm. The ability to display arbitrary combinations of an algorithm's data objects in a common frame of reference, coupled with interactive control of algorithm execution, provides a powerful way to understand algorithm behavior. Type definitions are constrained so that all primitive values occurring in data objects are assigned scalar types. A graphical display, including user interaction with the display, is modeled by a special data type. Mappings from the scalar types into the display model type provide a simple user interface for controlling how all data types are depicted, without the need for type-specific graphics logic.

Hibbard, William↗
NASA NTRS1997

UFLIC: A Line Integral Convolution Algorithm for Visualizing Unsteady Flows

This paper presents an algorithm, UFLIC (Unsteady Flow LIC), to visualize vector data in unsteady flow fields. Using the Line Integral Convolution (LIC) as the underlying method, a new convolution algorithm is proposed that can effectively trace the flow's global features over time. The new algorithm consists of a time-accurate value depositing scheme and a successive feed-forward method. The value depositing scheme accurately models the flow advection, and the successive feed-forward method maintains the coherence between animation frames. Our new algorithm can produce time-accurate, highly coherent flow animations to highlight global features in unsteady flow fields. CFD scientists, for the first time, are able to visualize unsteady surface flows using our algorithm.

Shen, Han-Wei↗
NASA NTRS1995

Fast algorithms for visualizing fluid motion in steady flow on unstructured grids

The plotting of streamlines is an effective way of visualizing fluid motion in steady flows. Additional information about the flowfield, such as local rotation and expansion, can be shown by drawing in the form of a ribbon or tube. In this paper, we present efficient algorithms for the construction of streamlines, streamribbons and streamtubes on unstructured grids. A specialized version of the Runge-Kutta method has been developed to speed up the integration of particle paths. We have also derived closed-form solutions for calculating angular rotation rate and radius to construct streamribbons and streamtubes, respectively. According to our analysis and test results, these formulations are two to four times better in performance than previous numerical methods. As a large number of traces are calculated, the improved performance could be significant.

Ueng, S. K.↗
NASA NTRS1998

Exploring Gigabyte Datasets in Real Time: Architectures, Interfaces and Time-Critical Design

Architectures and Interfaces: The implications of real-time interaction on software architecture design: decoupling of interaction/graphics and computation into asynchronous processes. The performance requirements of graphics and computation for interaction. Time management in such an architecture. Examples of how visualization algorithms must be modified for high performance. Brief survey of interaction techniques and design, including direct manipulation and manipulation via widgets. talk discusses how human factors considerations drove the design and implementation of the virtual wind tunnel. Time-Critical Design: A survey of time-critical techniques for both computation and rendering. Emphasis on the assignment of a time budget to both the overall visualization environment and to each individual visualization technique in the environment. The estimation of the benefit and cost of an individual technique. Examples of the modification of visualization algorithms to allow time-critical control.

Bryson, Steve↗
NASA NTRS2005

Path Following with Slip Compensation for a Mars Rover

A software system for autonomous operation of a Mars rover is composed of several key algorithms that enable the rover to accurately follow a designated path, compensate for slippage of its wheels on terrain, and reach intended goals. The techniques implemented by the algorithms are visual odometry, full vehicle kinematics, a Kalman filter, and path following with slip compensation. The visual-odometry algorithm tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs, by use of a maximum-likelihood motion-estimation algorithm. The full-vehicle kinematics algorithm estimates motion, with a no-slip assumption, from measured wheel rates, steering angles, and angles of rockers and bogies in the rover suspension system. The Kalman filter merges data from an inertial measurement unit (IMU) and the visual-odometry algorithm. The merged estimate is then compared to the kinematic estimate to determine whether and how much slippage has occurred. The kinematic estimate is used to complement the Kalman-filter estimate if no statistically significant slippage has occurred. If slippage has occurred, then a slip vector is calculated by subtracting the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the wheel velocities and steering angles needed to compensate for slip and follow the desired path.

Helmick, Daniel↗
NASA NTRS1991

3-D CFD in a day - The laser digitizer project

The computation of airflow over complex configurations requires a complete description of the geometry. This can be obtained from CAD data, from blueprints, or from actual models. In any case, the time required is currently estimated at 4 to 6 months. It is proposed to shorten this time by a factor of 10 to 100 through the use of automated software, a fast, highly parallel computer and a three-dimensional laser digitizer. This device can provide (x,y,z) coordinates of surface points at rates exceeding 14,500/sec. Thus, it is possible to digitize an entire model in a few minutes. The accuracy of measurement on a flat white surface is better than 0.005 inches. Higher accuracy is available at higher cost. This work discusses the challenges which remain to be addressed. In particular, the surface point data need to be converted into a surface description, the surface description needs to be made into a surface grid, and the surface grid used to make a volume grid for the flow solver. Algorithms are kept in place or in mind for all of these problems. Integration of the more mature flow solution and visualization algorithms then allows generation of solution graphics directly from a wind tunnel model.

Merriam, Marshal↗
NASA NTRS2003

Accelerating Large Data Analysis By Exploiting Regularities

We present techniques for discovering and exploiting regularity in large curvilinear data sets. The data can be based on a single mesh or a mesh composed of multiple submeshes (also known as zones). Multi-zone data are typical to Computational Fluid Dynamics (CFD) simulations. Regularities include axis-aligned rectilinear and cylindrical meshes as well as cases where one zone is equivalent to a rigid-body transformation of another. Our algorithms can also discover rigid-body motion of meshes in time-series data. Next, we describe a data model where we can utilize the results from the discovery process in order to accelerate large data visualizations. Where possible, we replace general curvilinear zones with rectilinear or cylindrical zones. In rigid-body motion cases we replace a time-series of meshes with a transformed mesh object where a reference mesh is dynamically transformed based on a given time value in order to satisfy geometry requests, on demand. The data model enables us to make these substitutions and dynamic transformations transparently with respect to the visualization algorithms. We present results with large data sets where we combine our mesh replacement and transformation techniques with out-of-core paging in order to achieve significant speed-ups in analysis.

Moran, Patrick J.↗
NASA NTRS2012

Visual perception system and method for a humanoid robot

A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.

Wells, James W.↗
NASA NTRS1998

Data Understanding Applied to Optimization

The goal of this research is to explore and develop software for supporting visualization and data analysis of search and optimization. Optimization is an ever-present problem in science. The theory of NP-completeness implies that the problems can only be resolved by increasingly smarter problem specific knowledge, possibly for use in some general purpose algorithms. Visualization and data analysis offers an opportunity to accelerate our understanding of key computational bottlenecks in optimization and to automatically tune aspects of the computation for specific problems. We will prototype systems to demonstrate how data understanding can be successfully applied to problems characteristic of NASA's key science optimization tasks, such as central tasks for parallel processing, spacecraft scheduling, and data transmission from a remote satellite.

Buntine, Wray↗
NASA NTRS1990

Vision science and technology for supervised intelligent space robots

The focus of recent work in robotic vision for application in intelligent space robots such as the Extravehicular Activity (EVA) Retriever is in visual function, that is, how information about the space world is derived and then conveyed to cognition. The goal of this work in visual function is first to understand how the relevant structure of the surrounding world is evidenced by regularities among the pixels of images, then to understand how these regularities are mapped on the premises that form the primitive elements of cognition, and then to apply these understandings with the elements of visual processing (algorithms) and visual mechanism (machine organization) to intelligent space robot simulations and test beds. Since visual perception is the process of recognizing regularities in images that are known on the basis of a model of the world to be reliable related to causal structure in the environment (because perception attaches meaning to the link between a conception of the environment and the objective environment), the work involves understanding generic, generally applicable models of world structure (not merely objects) and how that structure evidences itself in images.

Erickson, Jon D.↗
NASA NTRS2011

LADEE Satellite Modeling and Simulation Development

As human activity on and around the Moon increases, so does the likelihood that our actions will have an impact on its atmosphere. The Lunar Atmosphere and Dust Environment Explorer (LADEE), a NASA satellite scheduled to launch in 2013, will orbit the Moon collecting composition, density, and time variability data to characterize the current state of the lunar atmosphere. LADEE will also test the concept of the "Modular Common Bus" spacecraft architecture, an effort to reduce both development time and cost by designing reusable, modular components for use in multiple missions with similar requirements. An important aspect of this design strategy is to both simulate the spacecraft and develop the flight code in Simulink, a block diagram-style programming language that allows easy algorithm visualization and performance testing. Before flight code can be tested, however, a realistic simulation of the satellite and its dynamics must be generated and validated. This includes all of the satellite control system components such as actuators used for force and torque generation and sensors used for inertial orientation reference. My primary responsibilities have included designing, integrating, and testing models for the LADEE thrusters, reaction wheels, star trackers, and rate gyroscopes.

Adams, Michael↗
NASA NTRS2020

Event Selection and Background Rejection in Time Projection Chambers Using Convolutional Neural Networks and a Specific Application to the AdEPT Gamma-ray Polarimeter Mission

The Advanced Energetic Pair Telescope gamma-ray polarimeter uses a time projection chamber for measuring pair production events and is expected to generate a raw instrument data rate four orders of magnitude greater than is transmittable with typical satellite data communications. GammaNet, a convolutional neural network, proposes to solve this problem by performing event classification on-board for pair production and background events, reducing the data rate to a level that can be accommodated by typical satellite communication systems. In order to train GammaNet, a set of 1.1 × 10(exp 6) pair production events and 10(exp 6) background events were simulated for the Advanced Energetic Pair Telescope using the Geant4 Monte Carlo code. An additional set of 10(exp 6) pair production and 10 background events were simulated to test GammaNet’s capability for background discrimination. With optimization, GammaNet has achieved the proposed background rejection requirements for Galactic Cosmic Ray proton events. Given the best case assumption for downlink speeds, signal sensitivity for pair production ranged between 1.1 ± 0.5% to 69 ± 2% for 5 and 250 MeV incident gamma rays. This range became 0.1 ± 0.1% to 17 ± 2% for the worst case scenario of downlink speeds. The application of a feature visualization algorithm to GammaNet demonstrated decreased response to electronic noise and events exiting or entering the frame and increased response to parallel tracks that are close in proximity. GammaNet has been successfully implemented and shows promising results.

Richard L. Garnett↗
NASA NTRS2021

Light-Robust Pole-from-Silhouette Algorithm and Visual-Hull Estimation for Autonomous Optical Navigation to an Unknown Small Body

We present an advanced Pole-from-Silhouette (PFS) algorithm, which is robust to illumination conditions and non-zero sun phase. PFS is an important step in the optical navigation pipeline for an autonomous small spacecraft to approach an unknown small body. The algo- rithm estimates the rotation pole and 3D shape (visual hull) of the small body using only the lit pixels within the silhouette of the small body, the body’s rotation rate, the spacecraft attitude, and the spacecraft-target relative distance, which is estimated from orbit determination. We present detailed numerical simulations and multiple sensitivity analyses to demonstrate the effectiveness of our proposed PFS algorithm in different scenarios and target bodies.

Nesnas, Issa A.↗
NASA NTRS1989

Detection of edges using local geometry

Researchers described a new representation, the local geometry, for early visual processing which is motivated by results from biological vision. This representation is richer than is often used in image processing. It extracts more of the local structure available at each pixel in the image by using receptive fields that can be continuously rotated and that go to third order spatial variation. Early visual processing algorithms such as edge detectors and ridge detectors can be written in terms of various local geometries and are computationally tractable. For example, Canny's edge detector has been implemented in terms of a local geometry of order two, and a ridge detector in terms of a local geometry of order three. The edge detector in local geometry was applied to synthetic and real images and it was shown using simple interpolation schemes that sufficient information is available to locate edges with sub-pixel accuracy (to a resolution increase of at least a factor of five). This is reasonable even for noisy images because the local geometry fits a smooth surface - the Taylor series - to the discrete image data. Only local processing was used in the implementation so it can readily be implemented on parallel mesh machines such as the MPP. Researchers expect that other early visual algorithms, such as region growing, inflection point detection, and segmentation can also be implemented in terms of the local geometry and will provide sufficiently rich and robust representations for subsequent visual processing.

Gualtieri, J. A.↗
NASA NTRS2004

Cooperative Lander-Surface/Aerial Microflyer Missions for Mars Exploration

Concepts are being investigated for exploratory missions to Mars based on Bioinspired Engineering of Exploration Systems (BEES), which is a guiding principle of this effort to develop biomorphic explorers. The novelty lies in the use of a robust telecom architecture for mission data return, utilizing multiple local relays (including the lander itself as a local relay and the explorers in the dual role of a local relay) to enable ranges ~10 to 1,000 km and downlink of color imagery. As illustrated in Figure 1, multiple microflyers that can be both surface or aerially launched are envisioned in shepherding, metamorphic, and imaging roles. These microflyers imbibe key bio-inspired principles in their flight control, navigation, and visual search operations. Honey-bee inspired algorithms utilizing visual cues to perform autonomous navigation operations such as terrain following will be utilized. The instrument suite will consist of a panoramic imager and polarization imager specifically optimized to detect ice and water. For microflyers, particularly at small sizes, bio-inspired solutions appear to offer better alternate solutions than conventional engineered approaches. This investigation addresses a wide range of interrelated issues, including desired scientific data, sizes, rates, and communication ranges that can be accomplished in alternative mission scenarios. The mission illustrated in Figure 1 offers the most robust telecom architecture and the longest range for exploration with two landers being available as main local relays in addition to an ephemeral aerial probe local relay. The shepherding or metamorphic plane are in their dual role as local relays and image data collection/storage nodes. Appropriate placement of the landing site for the scout lander with respect to the main mission lander can allow coverage of extremely large ranges and enable exhaustive survey of the area of interest. In particular, this mission could help with the path planning and risk mitigation in the traverse of the long-distance surface explorer/rover. The basic requirements of design and operation of BEES to implement the scenarios are discussed. Terrestrial applications of such concepts include distributed aerial/surface measurements of meteorological events, i.e., storm watch, seismic monitoring, reconnaissance, biological chemical sensing, search and rescue, surveillance, autonomous security/ protection agents, and/or delivery and lateral distribution of agents (sensors, surface/subsurface crawlers, clean-up agents). Figure 2 illustrates an Earth demonstration that is in development, and its implementation will illustrate the value of these biomorphic mission concepts.

Thakoor, Sarita↗
NASA NTRS1992

MODIS algorithm development and data visualization using ACTS

The study of the Earth as a system will require the merger of scientific and data resources on a much larger scale than has been done in the past. New methods of scientific research, particularly in the development of geographically dispersed, interdisciplinary teams, are necessary if we are to understand the complexity of the Earth system. Even the planned satellite missions themselves, such as the Earth Observing System, will require much more interaction between researchers and engineers if they are to produce scientifically useful data products. A key component in these activities is the development of flexible, high bandwidth data networks that can be used to move large amounts of data as well as allow researchers to communicate in new ways, such as through video. The capabilities of the Advanced Communications Technology Satellite (ACTS) will allow the development of such networks. The Pathfinder global AVHRR data set and the upcoming SeaWiFS Earthprobe mission would serve as a testbed in which to develop the tools to share data and information among geographically distributed researchers. Our goal is to develop a 'Distributed Research Environment' that can be used as a model for scientific collaboration in the EOS era. The challenge is to unite the advances in telecommunications with the parallel advances in computing and networking.

Abbott, Mark R.↗
NASA NTRSDate not supplied

Comparison of Visual and LiDAR SLAM Algorithms using NASA Flight Test Data

Simultaneous Localization and Mapping (SLAM) is a promising technique that provides localization information and precise mapping of the physical environment without having much prior knowledge of the surroundings. SLAM may have a vital role in aeronautics and aerospace, where vehicles and aircraft must operate in complex environments with traditional localization services that may be degraded or unavailable. This paper compares several pre-canned 3D SLAM algorithms based on vision and LiDAR, namely ORB-SLAM, ORB-SLAM2, LOAM, A-LOAM, and F-LOAM on NASA UAS (Unmanned Aircraft System) flight test data. The NASA ARC UAS flight test demonstrates preliminary SLAM algorithm results, which serve as a stepping stone to simulated AAM (Advanced Air Mobility) concepts. Conducting AFRC UAS flight test for simulated AAM approach and landing with SLAM algorithms provides an Alternative Precision Navigation and Timing solution based on distributed landmarks and fiducials in the landing zone. These algorithms use the telemetry data as ground truth for a baseline comparison. The criteria of the performance comparison include robustness, accuracy, re-localization, response to environmental changes, and real-time effectiveness, which are currently qualitative but to be quantitative in the future.

computer vision↗