Helicopter Flight Test of a Compact, Real-Time 3-D Flash Lidar for Imaging Hazardous Terrain During Planetary Landing

A second generation, compact, real-time, air-cooled 3-D imaging Flash Lidar sensor system, developed from a number of cutting-edge components from industry and NASA, is lab characterized and helicopter flight tested under the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project. The ALHAT project is seeking to develop a guidance, navigation, and control (GN&C) and sensing system based on lidar technology capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The Flash Lidar incorporates a 3-D imaging video camera based on Indium-Gallium-Arsenide Avalanche Photo Diode and novel micro-electronic technology for a 128 x 128 pixel array operating at a video rate of 20 Hz, a high pulse-energy 1.06 m Neodymium-doped: Yttrium Aluminum Garnet (Nd:YAG) laser, a remote laser safety termination system, high performance transmitter and receiver optics with one and five degrees field-of-view (FOV), enhanced onboard thermal control, as well as a compact and self-contained suite of support electronics housed in a single box and built around a PC-104 architecture to enable autonomous operations. The Flash Lidar was developed and then characterized at two NASA-Langley Research Center (LaRC) outdoor laser test range facilities both statically and dynamically, integrated with other ALHAT GN&C subsystems from partner organizations, and installed onto a Bell UH-1H Iroquois "Huey" helicopter at LaRC. The integrated system was flight tested at the NASA-Kennedy Space Center (KSC) on simulated lunar approach to a custom hazard field consisting of rocks, craters, hazardous slopes, and safe-sites near the Shuttle Landing Facility runway starting at slant ranges of 750 m. In order to evaluate different methods of achieving hazard detection, the lidar, in conjunction with the ALHAT hazard detection and GN&C system, operates in both a narrow 1deg FOV raster-scanning mode in which successive, gimbaled images of the hazard field are mosaicked together as well as in a wider, 4.85deg FOV staring mode in which digital magnification, via a novel 3-D superresolution technique, is used to effectively achieve the same spatial precision attained with the more narrow FOV optics. The lidar generates calibrated and corrected 3-D range images of the hazard field in real-time and passes them to the ALHAT Hazard Detection System (HDS) which stitches the images together to generate on-the-fly Digital Elevation Maps (DEM's) and identifies hazards and safe-landing sites which the ALHAT GN&C system can then use to guide the host vehicle to a safe landing on the selected site. Results indicate that, for the KSC hazard field, the lidar operational range extends from 100m to 1.35 km for a 30 degree line-of-sight angle and a range precision as low as 8 cm which permits hazards as small as 25 cm to be identified. Based on the Flash Lidar images, the HDS correctly found and reported safe sites in near-real-time during several of the flights. A follow-on field test, planned for 2013, seeks to complete the closing of the GN&C loop for fully-autonomous operations on-board the Morpheus robotic, rocket-powered, free-flyer test bed in which the ALHAT system would scan the KSC hazard field (which was vetted during the present testing) and command the vehicle to landing on one of the selected safe sites

Modeled vs. Actual Performance of the Geosynchronous Imaging Fourier Transform Spectrometer (GIFTS)

The NASA Geosynchronous Imaging Fourier Transform Spectrometer (GIFTS) has been completed as an Engineering Demonstration Unit (EDU) and has recently finished thermal vacuum testing and calibration. The GIFTS EDU was designed to demonstrate new and emerging sensor and data processing technologies with the goal of making revolutionary improvements in meteorological observational capability and forecasting accuracy. The GIFTS EDU includes a cooled (150 K), imaging FTS designed to provide the radiometric accuracy and atmospheric sounding precision required to meet the next generation GOES sounder requirements. This paper discusses a GIFTS sensor response model and its validation during thermal vacuum testing and calibration. The GIFTS sensor response model presented here is a component-based simulation written in IDL with the model component characteristics updated as actual hardware has become available. We discuss our calibration approach, calibration hardware used, and preliminary system performance, including NESR, spectral radiance responsivity, and instrument line shape. A comparison of the model predictions and hardware performance provides useful insight into the fidelity of the design approach

Geosynchronous Imaging Fourier Transform Spectrometer (GIFTS): Imaging and Tracking Capability

The geosynchronous-imaging Fourier transform spectrometer (GIFTS) engineering demonstration unit (EDU) is an imaging infrared spectrometer designed for atmospheric soundings. It measures the infrared spectrum in two spectral bands (14.6 to 8.8 microns, 6.0 to 4.4 microns) using two 128 128 detector arrays with a spectral resolution of 0.57/cm with a scan duration of approx. 11 seconds. From a geosynchronous orbit, the instrument will have the capability of taking successive measurements of such data to scan desired regions of the globe, from which atmospheric status, cloud parameters, wind field profiles, and other derived products can be retrieved. The GIFTS EDU provides a flexible and accurate testbed for the new challenges of the emerging hyperspectral era. The EDU ground-based measurement experiment, held in Logan, Utah during September 2006, demonstrated its extensive capabilities and potential for geosynchronous and other applications (e.g., Earth observing environmental measurements). This paper addresses the experiment objectives and overall performance of the sensor system with a focus on the GIFTS EDU imaging capability and proof of the GIFTS measurement concept

GIFTS EDU Ground-based Measurement Experiment

Geosynchronous Imaging Fourier Transform Spectrometer (GIFTS) Engineering Demonstration Unit (EDU) is an imaging infrared spectrometer designed for atmospheric soundings. The EDU groundbased measurement experiment was held in Logan, Utah during September 2006 to demonstrate its extensive capabilities for geosynchronous and other applications

Ocean PHILLS hyperspectral imager : design, characterization, and calibration

The Ocean Portable Hyperspectral Imager for Low-Light Spectroscopy (Ocean PHILLS) is a hyperspectral imager specifically designed for imaging the coastal ocean. It uses a thinned, backside-illuminated CCD for high sensitivity and an all-reflective spectrograph with a convex grating in an Offner configuration to produce a nearly distortion-free image. The sensor, which was constructed entirely from commercially available components, has been successfully deployed during several oceanographic experiments in 1999–2001. Here we describe the instrument design and present the results of laboratory characterization and calibration. We also present examples of remote-sensing reflectance data obtained from the LEO-15 site in New Jersey that agrees well with ground-truth measurements.Keywords: Remote sensing, Ocean optics, Visible spectroscop

Geosynchronous Imaging Fourier Transform Spectrometer (GIFTS) Engineering Demonstation Unit (EDU) Overview and Performance Summary

The Geosynchronous Imaging Fourier Transform Spectrometer (GIFTS), developed for the NASA New Millennium Program (NMP) Earth Observing-3 (EO-3) mission, has recently completed a series of uplooking atmospheric measurements. The GIFTS development demonstrates a series of new sensor and data processing technologies that can significantly expand geostationary meteorological observational capability. The resulting increase in forecasting accuracy and atmospheric model development utilizing this hyperspectral data is demonstrated by the uplooking data. The GIFTS sensor is an imaging FTS with programmable spectral resolution and spatial scene selection, allowing spectral resolution and area coverage to be traded in near-real time. Due to funding limitations, the GIFTS sensor module was completed as an engineering demonstration unit that can be upgraded to flight quality. This paper reviews the GIFTS system design considerations and the technology utilized to enable a nearly two order performance increase over the existing GOES sounder and shows its capability. While not designed as an operational sensor, GIFTS EDU provides a flexible and accurate testbed for the new products the hyperspectral era will bring. Efforts to find funding to upgrade and demonstrate this amazing sensor in space are continuing

The effect of high tibial osteotomy on stress in the tibio-femoral joint: a computer simulation study

Osteoarthritis (OA) is a degenerative disease of all of the tissues within the diarthrodial joint and one of the leading causes of disability. Knee OA is often caused by lower limb malalignment, high body mass index, and injury to the surrounding soft tissues, resulting in a cyclic degradation of the joint. High tibial osteotomy (HTO) is a realignment surgery to restore knee function and minimise excessive loading. However, the link between malalignment and stress in the knee is not well understood and surgical outcomes by HTO have been unpredictable. Therefore the overarching goal is to develop a three-dimensional virtual surgery finite element (FE) model that integrates subject specific imaging and computational biomechanics to predict the effects of different realignment techniques on knee joint contact stress. FE models of a cadaveric knee joint were created from magnetic resonance images, using Mimics v14 (Materialise, Belgium). Following non-manifold assembly, these 3D models were exported to Abaqus 6.11 to determine the stress distribution within the medial-lateral compartments of the well-aligned knee. A 10° open wedge HTO was performed to simulate the malaligned knee. Boundary conditions of 300N axial load and 12 Nm bending moment were applied to simulate posture in the well aligned and malaligned knee. Peak compressive stress in the malaligned knee was 60% higher than that of the well-aligned knee. This excessive stress is considered a primary factor for the onset and progression of OA. These results highlight the importance of understanding the effects of HTO on the knee joint contact stresses in order to delay OA progression

Knee joint contact mechanics in a malaligned limb: an integrated finite element and in vitro study

Excessive joint stress, often caused by knee malalignment, contributes to osteoarthritis (OA) progression. High tibial osteotomy (HTO) is a conservative surgery that corrects lower limb malalignment to relieve damaged tissues from excessive loading. However, HTO outcome has been highly variable and the relationship between the degree of malalignment correction and knee joint contact stresses is not known. If this were known, HTO could be tailored to each patient to best restore joint stresses to normal levels. Therefore, the aim of this work is to create a three-dimensional (3D) finite element (FE) model of the knee joint to predict the effect of different malalignment corrections on knee joint contact stresses. In this study, we present the verification of our subject-specific 3D FE model