This slide presentation reviews the use of "soft computing" which differs from "hard computing" in that it is more tolerant of imprecision, partial truth, uncertainty, and approximation and its use in image analysis. Soft computing provides flexible information processing to handle real life ambiguous situations and achieve tractability, robustness low solution cost, and a closer resemblance to human decision making. Several systems are or have been developed: Fuzzy Reasoning Edge Detection (FRED), Fuzzy Reasoning Adaptive Thresholding (FRAT), Image enhancement techniques, and visual/pattern recognition. These systems are compared with examples that show the effectiveness of each. NASA applications that are reviewed are: Real-Time (RT) Anomaly Detection, Real-Time (RT) Moving Debris Detection and the Columbia Investigation. The RT anomaly detection reviewed the case of a damaged cable for the emergency egress system. The use of these techniques is further illustrated in the Columbia investigation with the location and detection of Foam debris. There are several applications in commercial usage: image enhancement, human screening and privacy protection, visual inspection, 3D heart visualization, tumor detections and x ray image enhancement

Dominguez, Jesus A.

Klinko, Steve

NASA Technical Reports Server

https://ntrs.nasa.gov/search.jsp?R=20110008622 2019-08-30T15:13:04+00:00Z
.. 
Outline 
Kennedy Space Center 
• System" Development. 
• Performance results compared with 
existing approaches. 
• NASA applications. 
• Commercialization. 
ASRC Aerospace Corp. 
System Development 
Kennedy ce Center 
Soft Computing (SC): 
differs from conventional (hard) computing in that, unlike hard 
computing, it is tolerant of imprecision, uncertainty, partial truth, and 
approximation. 
provides flexible information processing to handle real life ambiguous 
situations and achieve tractability, robustness, low solution cost, and close 
resemblance of human decision making. 
ASRC Aerospace Corp. 
System Development 
Center 
• FRED (Fuzzy Reasoning Edge Detection): 
Image edge extraction technique developed at KSC (patent protected). 
• FRAT (Fuzzy Reasoning Adaptive Thresholding): 
Image binarization technique developed at KSC (patent protected). 
• Set of Image Enhancement Techniques: 
Techniques developed at KSC (one patent protected). 
• Visual/Pattern Recognition: 
Commercially available technique (NeuroShell) via Artificial Neural. _ _ . 
Network (ANN) and GA (Genetic Algorithm). 
ASRC Aerospace Corp. 
Software implementation (Cont). ASRC Aerospace Corp. 
Kennedy Space Center 
WiT 7. 2 Igraph: MotionTestTrajec toriesOisplay 1-11o'1~1 
FRA T algorithm coded in C and "wrapped" 
under an 110 operator and named KSCThreslin 
formS: c:AnlageS ... 
-Performance results compared with existing approaches: FRED 
Kennedy Space Center 
Original Image: CD containing a hard-to-
see major scratch on the center 
FRED: The major scratch is clearly 
shown as well as other minor ones • 
ASRC Aerospace Corp. 
Performance results compared with existing approaches: FRED 
OeJUCCI'_= Center 
Sobel Approach: less clear features, major 
scratch invisible 
Pre wit Approach: less clear feature,- .---
major scratch invisible 
ASRC Aerospace Corp. 
Performance results compared with existing approaches: FRA T 
Kennedy Space Center 
Original 8-bit Image 
Size: 246x245 
Huang-Wang Method 
CPU time: 10.8 ms 
Threshold: 89 
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New Method 
CPU time: 2.0 ms 
Threshold: 8 
ASRC Aerospace Corp, 
NASA Applications ASRC Aerospace Corp. 
Kennedy Space Center 
• Real-Time (RT) Anomaly Detection. 
• Real-Time (RT) Moving Debris Detection. 
• Columbia Investigation. 
RT Anomaly Detection 
Kennedy Space Center 
• . Image Preprocessing. 
Enhancement 
Segmentation (Binarization) 
FRAT 
• Classification and Learning Processes. 
Artificial Neural Network (ANN) 
Genetic Algorithm (GA). 
ASRC Aerospace Corp. 
RT Anomaly Detection ASRC Aerospace Corp. 
Center 
Astronauts training on the emergency egress system. 
Anomalies on the basket slidewire 
Broken strand. Molten spots caused by lighting. 
• 
RT Anomaly Detection (Cont.) ASRC Aerospace Corp. 
Kennedy Space Center 
Cable and Line Inspection Mechanism (CLIM) 
The National Aeronautics and Space Administnllion (NASA) seeks to transfer the NASA-dt .. 1opcd Cable 
and Line Inspection Mechanism technology to private 
IndUStry for use in commeltial applications, This mecha-
nISm wa< developed at the John F. Kennedy Space Cenler 
(KSC) to provide a mean for automated inspection of 
lhe seven lidewi,., cables used in the emergency egre 
y tem for the Space Shunle, There are two sets of 
gantry cable plus an over!tead lightning cable that requi,., 
periodic inspection, These cables are nonfmou stamless 
steel; the",fore, magnetic cable testers are not SUItable for 
such inspections. Prior 10 this invention. cable inspections 
requirtd 150 man-hours twice per year, with inspectors 
being hoisted m baoskets to manually inspect the cables by 
w , ,.. • 
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.... ~ 
.', 
. ~..- -
dIrect touch and sight. The CLiM lechnology ehminlles 
the haz.ardous. manpower·intenshc. and lime-consuming 
methods pt'<\iously requirtd 10 maintain the emergency 
egres system at peak perfonnance standard" In addilion, 
CLIM i capable of in peeting Ihe lop end of ferrous 
wi,., ropes near the attachmenl point in the cable hou ing 
whe,., magnelic cable leslers are unable 10 reach, CUM 
has a further application with ""peCIIO radIO frequency 
(RF) lower guy-wire inspeclions, The low<arbon, low-
magnetic indUClance of the stainless-sleel guy-wi,., cables. 
combined wilh added RF radiation interference from the 
lower, yoclds magneue cable leslers lnefrect;'e, The,.,fore, 
CLlM', abilily to conducla 360-dtgree view oflhe cable 
without incWTing RF radialion inlerfe,.,nce is ignificant. 
National Aeronaulics and Space Admini tration 
John F. Kennedy Space Center, FL 
Cable & Line Inspection Mechanism (CUM) built by NASA. 
CUM at the lab . CUM at the Shuttle Pad 
Slide wire image acquired by CUM 
RT Anomaly Detection (Cont.) ASRC Aerospace Corp. 
Kennedy Space Center 
t Original 
Binarization via FRAT 
Anomaly Detection via ANN-GA engine (output) 
RT Anomaly Detection (Cont.) ASRC Aerospace Corp. 
Kennedy Space Center 
RETRIEVEICREATE 
SESSIONS 
ON-LINE ANOMAL Y 
DETECTION 
ANN-GA MODEL GENERATION 
BASED ON GENERATED IMAGE 
INPUT DATA 
OFF-LINE TRAINING AND 
GENERATION OF IMAGE INPUT 
DATA 
x 
End-user front 
end built via 
MFG. 
Main Menu 
• 
RT Anomaly Detection (Cont.) ASRC Aerospace Corp. 
Kennedy Space Center 
'" A1 (Magena) 
",A2 (c,an) 
'" A3 (ltI'eIow) 
A4 (llMagena) 
AS (ltC)WI) 
Nj (Whie) 
A7 (Whie) 
AS (Whie) 
AS (Whie) 
End-user front 
end built via 
MFG. 
Training Stage. 
RT Anomaly Detection (Cont.) ASRC Aerospace Corp. 
Kennedy Space Center 
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NeuroShell Classifier - Trained Network Information 
NetworX filename: C:\seuions\datalsession11\session11 G3.net 
The network was trained on: 
Filename: C:\sessions\data\session11\session11 .dat 
Total data rows: 798 
Training rows: 798 
Start row: 1 
End row: 798 
Results of training session: 
Training time: 1:20:1 6" 
Generations trained: 178 
Correct classifications: 98.87% (789 of 798) 
Incorrect classifications: 1.13% (9 of 798) 
Performance by category: 
"0" 90.48% (38 of 42) 
"10" 99.34% (751 of 756) 
Network structure: 
Training strategy: Genetic 
Output name: "Class" 
Number of inputs: 13 
List of inputs and their relative importance: 
"ContrastO" 0.006 
"Contrast1" 0.163 
"AngMom20" 0.074 
"AngMom21 " 0.018 
"MeanVaIO" 0.018 
"MeanVaI1" 0.074 
"HomogenO" 0.095 
"Homogen1" 0.045 
"EntropyO" 0.184 
"Entropy1 " 0.01 
"ForrnFact" 0.094 
"Angle" 0.115 
"Edginess" 0.106 
Development of 
classification 
model via ANN & 
GA (NeuroShell) 
RT Anomaly Detection (Cont.) ASRC Aerospace Corp. 
Kenned S ace Center 
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Anomaly Detected 
& displayed in RT. 
Firing stage 
RT Anomaly Detection (Cont.) ASRCA".,p.<eC.,p. 
Kennedy Space Center 
Original image acquired by CLIM 
Automated Region of Interest (ROI) 
extraction and anomaly detection. 
RT Moving FOD Detection ASRC Aerospace Corp. 
Kennedy ace Center 
• Blob/FOD Selection and Trajectory Computation 
Logical path analysis (consecutive images). 
RT Moving FOD Detection (Cont.) ASRCA'''''pa"Co,~ 
RT Moving FOD Detection (Cont.) ASRC Aerospace Corp. 
Kennedy Space Center 
~ 
RT Moving FOD Detection (Cont.) ASRCA,,",p'«CO'p. 
Kennedy Space Center 
Columbia Investigation ASRC Aerospace Corp. 
Kennedy Space 'Center 
Foam Debris 
• 20: Detection & Location. FRAT 
Segmentation · (Binarization) 
Characterization (center of mass, borders, etc.) 
• 3D: Location & Trajectory 
Optimal path at three consecutive 3D projections. 
Columbia Investigation ASRC Aerospace Corp. 
Kennedy Space Center 
STS-107 REPORT: 
2D-Detection, 3D-Location & 3D-Velocity Estimation of 
Foam Debris Based on Images acquired by E212 & E20B 
Video Cameras . 
. - --
ASRC Aerospace Corp. 
Jesus A. Dominguez, ASRC Aerospace Corp. 
NASA Kennedy Space Center, June 12,2003 
; 
~olumbia Investigation: .-
Foam Debris Detection/Location (Cont.) ASRC Aerospace Corp. 
Kennedy Space Center 
E212 at 21.753 s ET20B at 21.757 s E212 at 21.769 s 
200 
- 1l0 
200 
-Ill H-----~------='-------~ -160 
Z -\40 
110 -141'--_~ __ ~~ __ ---l 
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__ E212 at 21.753 s __ E212 at 21.769 s 
__ ET208 at 21.757 s Optimized path. 
Columbia Investigation: 
.-Foam Debris Detection/Location (Cont.) 
ASRC Aerospace Corp. 
Kennedy Space Center 
E212 at 21.722 s ET208 at 21.724 s E212 at 21.738 s 
3D Conneetma: Distance x Optimal Debris Path 
250 375 400 425 450 
200 
150 
100 
-140 -120 -100 
__ E212 at 21.722 s __ E212 at 21.738 s 
__ ET208 at 21.724 s Optimized path. 
380 400 420 440 460 480 
Columbia Investigation: 
Foam Debris Detection/Location (Cont.) .-
ASRC Aerospace Corp. 
E212 at 21.753 s ET20B at 21.757 s E212 at 21.769 s 
3D ComtCctina Distance 
200 _13SH----~~'-----..:::=::::::t-i - I .. 
Z -1"0 
- ,., L.-~~~_----'--~ __ --J 
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__ E212 at 21.753 s __ E212 at 21.769 s 
__ ET20B at 21.757 s Optimized path. 
-Columbia In estigation: 
.-
Foam Debris Detection/Location (Cont.) 
ASRC Aerospace Corp. 
Kennedy Space Center 
E212 at 21.784 s ET208 at 21.791 s E212 at 21.800 s 
3D Comcctio& Distance 0pCimaJ Dew Path 
120 y 
- 1~ -160 -140 -120 
550 515 600 625 650 
60 X 
__ E212 at 21.784 s __ E212 at 21.800 s 
__ ET208 at 21.791 s Optimized path. 
Columbia Investigation: 
Foam Debris Detection/Location (Cont.) 
Kennedy Space Center 
E212 at 21.B16 s 
3D Connedina Distance OpcimoJ D,bri. Pith 
200 
ISO 
100 
SO 
7S0 800 8S0 900 
ASRC Aerospace Corp. 
ET20B at 21.B24 s E212 at 21.B31 s 
X 
750 TI5 800 825 850 
-120Z !~ 1-115 
L--===============:::::::::~:::;:::;::==-=<=o-...J_ -125 
-200 -180 -160 
Y 
__ E212 at 21.B16 s __ E212 at 21.B31 s 
__ ET20B at 21.B24 s Optimized path. 
Columbia Investigation: 
Foam Debris Trajectory 
Kennedy Space Center 
y 
-150 -100 
r===T==~~::~~~~:::::~IF==fFRl-120 
-130 
-140 Z. 
-150 
L......b==:::=::::::::J~~::::::c===L:=:::=c==::c=:==r==:=:t:::==:±======::;:::::::=~ -160 400 600 800 
x 
Current Work __ Lane-Nelson work via LighWave3D 
.-
ASRC Aerospace Corp. 
Columbia Investigation: 
Foam Debris Trajectory 
Kennedy Space Center 
-120 
Z -130 
- 140 
-150 
400 
x 
600 800 
-160 F--+-------~;;.........-==-- -------_H 
-150 
y 
-100 
Current Work ___ Lane-Nelson work via LighWave3D 
.-
ASRC Aerospace Corp. 
Columbia Investigation: 
Foam Debris Velocity 
Kennedy Space Center 
3D Velocity Estimation 
700 -
600 • • - • ~ 500 
• • -400 • >-
• :t::: 300 • ~ 200 -
• • • • > 100 • • 
0 
21.65 21.70 21.75 21.80 21.85 21.90 
Time (s) 
I · CurrentWork • Lane-Nelson Work (via LighWave3D) I 
ASRC Aerospace Corp. 
Proposed Debris Analysis Software 
System Development at KSC 
Kennedy Space Center 
Automated Debris Detection at KSC VAS Launch Analysis Laboratory 
MiorOIOft' 
. WlndOYlS 
Current as housing FRAT, 
FRED, SC-based image 
pattern recognition. 
VAB Launch Analysis Laboratory at 
KSC equipped with recently acquired 
SGI Reality Center facility with a 7-
foot display, and advanced SGI 
TP9500 data management 
subsystem. 
.-
ASRC Aerospace Corp. 
Commercialization: Licensing ASRC Aerospace Corp. 
Kennedy Space Center 
Patent 
NASAKSC 
Technology Marketing 
T 
Research Triangle Institute (RTI) 
Center for Technology Applications 
PO Box 12194, 3040 Cornwallis 
Research Triangle Park, NC 27709 
NASA Technology Applications Team: 
Ki rsten Rieth 
Phone: (919) 967-4991 
Fax: (919) 541-6221 
Email: krieth@ rtLorg 
John Geikler 
Phone: (919) 941-8372 
Fax: (919) 941-8399 
Email: johng@thesolutioncenter.com 
Commercialization (Cont.) 
Kennedy Space Center 
http://nasa. rti.orglksclimaging 
1$ seeking c~ to Ic.-.se Its portfolio of.nq ptDCessrog UlcflnolOgIBS. The 
technologies span the range from low· to ~Ievel COfIlXJt ... vISion C~iU8S and 
~ .... SlgnfiC¥lt synergistc potential, olS NA.5A ~s demonstrated. 
The KSC inage processing port folio has potential for ,) tJm.d r.nge of applications 
• Medical diagnostIC imaging and computer·A1dec1 OetectlOfl (CA.D) 
• Ramols SlI'lsing, rouding military and earth resources 
• ceophYSlul appKations, including seismic, CPR, SAil. and magnetIC anomaly 
. Slometncs,lI'Icludingfinget",faclal,andirisscilrtS 
• Optic::aI charactlf recognition (OCR.) and other ~ applications 
• Sac:u1ly, surveilanc:e, and baggage IOSp8clion systems 
• Sc....-.njl and handwnllng analySIS, n:k.!ding POA. data Intry systems 
• IndustriallNChina vision and inspection systems 
Please find out more about NASA Kg 's portfpig or j'fl 'gonq Irc!m!oetJ. 
PlATINUM 1! _ . CJooonr.I, . ,. ..... W-"". . I"',..,j . l"->p ~ .... fO< l r S-do log oU ~Qr,h _ a 
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Figure 8 
Commercialization (Cont.) 
Kennedy Space Center 
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Commercialization: Status Summary ASRCAerospaceCorp. 
Kennedy Space Center 
• Patents already filed by NASA (February 2004). 
• Marketing and Promotion already in place by RTI. 
• 2 Software Usage Agreements executed. 
• 2 License Agreements executed. 
• 3 License Agreements being executed. 
• 3 License Agreements in negotiation. 
Commercialization: Selected Applications ASRCAerospaceCorp. 
Kennedy Space Center 
Image enhancement 
Commercialization: Selected Applications ASRCAerospaceCorp. 
Kennedy Space Center 
Original gray-scaled image 
o~ 31-€:- ):)1 Ad-A} Ell l=lJ-~ ~ . 
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(via FRAT). 
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Commercialization: Selected Applications ASRCAerospaceCorp. 
Kennedy Space Center 
Image enhancement 
Commercialization: Selected Applications ASRC Aerospace Corp. 
Kenned Space Center 
AS&E Inc. 
Human Screening & Privacy Protection 
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Commercialization: Selected Applications ASRC Aerospace Corp. 
Center 
NASAJSC 
Visual inspection based on x-ray images 
Original x-ray image of 
two pyrotechnic valves. 
Enhancement via FRED 
Segmentation via FRAT 
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Commercialization: Selected Applications 
Kenned Space Center 
Baylon School of Medicine 
3D heart Visualization 
Original image FRED FRAT 
A. Cross-sectional (tomographic) image of the left ventricular cavity of the dog heart 
acquired by an intracardiac echocardiography (ICE) catheter. Circle indicates ICE catheter. 
Dark region indicates blood-filled cavity, which is bounded by the interior suiface of the 
heart (endocardium). B. Result of FRED demo when applied to the ICE image depicted in A. 
C. Result of FRAT demo when applied to the ICE image depicted in A. 
ASRC Aerospace Corp. 
Commercialization: Selected Applications 
Kenned Space Center 
Zeus Technologies, Inc. 
Tumor detection on Sonograms 
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ASRC Aerospace Corp. 
Tumor 
Commercialization: Selected Applications ASRC Aerospace Corp. 
Kennedy Space Center 
Zeus Technologies, Inc. 
X-ray image' visualization enhancement 


Image Analysis via Soft Computing: Prototype Applications at NASA KSC and Product Commercialization

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