No description available.

No description available.

Future autonomous space missions will require autonomous rendezvous and docking operations. The servicing spacecraft must be able to determine the relative 6 degree-of-freedom (6 DOF) motion between the vehicle and the target spacecraft. One method to determine the relative 6 DOF position and attitude is with 3D ladar imaging. Ladar sensor systems can capture close-proximity range images of the target spacecraft, producing 3D point cloud data sets. These sequentially collected point-cloud data sets were then registered with one another using a point correspondence-less variant of the Iterative Closest Points (ICP) algorithm to determine the relative 6 DOF displacements. Simulation experiments were performed and indicated that the mean-squared error (MSE), angular error, mean, and standard deviations for position and orientation estimates did not vary as a function of position and attitude and meet most minimum angular and translational error requirements for rendezvous and dock. Furthermore, the computational times required by this algorithm were comparable to previously reported variants of the point-to-point and point-to-plane-based ICP variants for single iterations when the initialization was already performed.

A novel design for atmospheric laser radar (lidar) is presented, implementing a digital micromirror device (DMD) for use in (A) aligning transmitter and receiver boresight angles and in (B) field-of-view (FOV) control of such "DMD lidar" instruments. A novel technique is presented to extract the transmitter-receiver overlap-compensation function from ratioing data from different FOVs in the same pointing direction. DMD lidar design considerations and trades are surveyed. Principles of modeling DMD lidar performance are introduced and implemented in a performance-predictive system simulation with data-validated results. Operational capabilities of DMD lidar are demonstrated through a hardware prototype with field measurement examples. Additional capabilities offered by integrating DMD within lidar and other optical systems are presented, including single-pixel Radon-imaging techniques.

Automatic target recognition (ATR) relies on images from various sensors including 3-D imaging ladar. The accuracy of recognizing a target is highly dependent on the number of points on the target. The highest spatial frequencies of a target are located on edges. Therefore, a higher sampling density is desirable at these locations. A ladar receiver captures information on edges by detecting two surfaces when the beam lands partially on one surface and partially on another if the distance between the surfaces is greater than the temporal pulse width of the laser. In recent years, the ability to digitize the intensity of the light seen at the ladar receiver has led to digitized ladar waveforms that can be post-processed. Post-processing the data allows signal processing techniques to be implemented on stored waveforms. The digitized waveform provides more information than simply a range from the sensor to the target and the intensity of received light. Complex surfaces change the shape of the return. This thesis exploits this information to enhance the resolution on the edges of targets in the 3-D image or point cloud. First, increased range resolution is obtained by means of deconvolution. This allows two surfaces to be detected even if the distance between them is less than the width of the transmitted pulse. Second, the locations of multiple returns within the ladar beam footprint are computed. Using deconvolution on the received waveform, an increase from 30 cm to 14 cm in range resolution is reported. Error on these measurements has a 2 cm standard deviation. A method for estimating the width of a 19 cm slot was reported to have a standard deviation of 3.44 cm. A method for angle estimation from a single waveform was developed. This method showed a 1.4° standard deviation on a 75° surface. Processed point clouds show sharper edges than the originals. The processing method presented in this thesis enhances the resolution on the edges of targets where it is needed. As a result, the high spatial frequency content of edges is better represented. While ATR applications may benefit from this thesis, other applications such as 3-D object modeling may benefit from better representation of edges as well.

Automatic target recognition (ATR) is the ability for a computer to discriminate between different objects in a scene. ATR is often performed on point cloud data from a sensor known as a Ladar. Increasing the resolution of this point cloud in order to get a more clear view of the object in a scene would be of significant interest in an ATR application. A technique to increase the resolution of a scene is known as super resolution. This technique requires many low resolution images that can be combined together. In recent years, however, it has become possible to perform super resolution on a single image. This thesis sought to apply Gabor Wavelets and Compressive Sensing to single image super resolution of digital images of natural scenes. The technique applied to images was then extended to allow the super resolution of a point cloud.

No description available.

The ability to create three-dimensional (3D) images offers a wide variety of solutions to meet ever increasing consumer demands. As popularity for 3D cinema and television continues to grow, 3D images will remain an important area of research and development. While there are a variety of ways to create a 3D model, textel images are quickly become the preferred solution that has been captured with a texel camera. The combination of multiple texel images taken around a scene can be used to form a texel model. Offering both visual and dimensional accuracy, texel models are becoming invaluable tools for disaster management, situational awareness, and even military application. However, displaying a texel model often provides challenges, and the problems that arise when viewing texel models will be discussed and corrected in this paper.

La utilización práctica del efecto Doppler en la emisión láser fue propuesta desde los inicios del desarrollo de los láseres en los años sesenta. Sólo en los años ochenta la investigación realizada pudo salir del laboratorio y dar lugar a la fabricación de aparatos de medida de velocidad comerciales. A partir de los noventa estos aparatos se popularizaron rápidamente. Actualmente se utilizan medidores de velocidad láser por efecto Doppler en múltiples aplicaciones, entre las que sobresale la medida de velocidad de fluidos, para estudios aéreo e hidrodinámicos. Sus características únicas, como la precisión obtenida en la medida, su alta resolución espacial y el carácter no intrusivo, sólo han comenzado recientemente a tener rivales de consideración, como pueden ser la velocimetría de imagen de partículas (PIV). También la medida de velocidades de móviles sólidos comienza a resultar, con el abaratamiento general de los componentes opto-electrónicos, un objetivo para muchas empresas. Entre las aplicaciones de este tipo se contemplan el control de velocidad de los vehículos en carretera y el control de procesos industriales del ramo textil, papelero y deempresas fabricantes de cables, entre otros. Empresas europeas y americanas, como Dantec Electronik y TSI, por citar las más representativas, comercializan aparatos LDA de propósito general de altas prestaciones. Hasta la fecha estos sistemas sólo podían ser adquiridos por importantes centros de investigación o grandes empresas, debido a su elevado coste. El futuro comercial de la velocimetría láser Doppler exige la fabricación de aparatos más económicos y adaptados a las necesidades del cliente. Muchos de los sistemas actuales son voluminosos,difíciles de manejar y con potencias de trabajo elevadas. Se está llevando a cabo un importante trabajo para conseguir reducir el tamaño y coste de los equipos sin perder sus principales prestaciones. Asimismo la alta velocidad y capacidad de cálculo de los ordenadores personales actuales debe hacer innecesaria la inclusión de procesadores específicos para estos equipos.Presentamos el diseño y construcción de un sistema integral de medida de dos componentes de la velocidad, sistema 2D-LDA, para aplicaciones industriales e hidrodinámicas de baja potencia. Siguiendo la filosofía delineada arriba, el diseño de nuestro sistema LDA fue realizado utilizando únicamente una fuente laser y un módulo detector. Los sistemas LDA de medida de dos componentes de velocidad comercialmente disponibles, por el contrario, emplean dos longitudes de onda óptica y dos fotodetectores independientes. Las emisiones azul y verde típicas de los láseres de ion-Ar son las longitudes de onda a menudo elegidas en este tipo de medidas. Por otra parte, se ha empleado los dos canales de entrada de una tarjeta de adquisición de uso general para realizar el disparo multinivel. Esta configuración permite trabajar en cada momento con la parte de señal burst teóricamente más adecuada, con mayor valor de relación señal a ruido.Este trabajo ha sido financiado por la CICYT Proyecto PETRI 95-0249-OP:REALIZACIÓN DE SISTEMAS LÁSER PORTÁTILES DE MEDIDA DE VELOCIDAD POR EFECTO DOPPLER (LDA-LDV) DE BAJO COSTE PARA APLICACIONES INDUSTRIALES E HIDRODINÁMICAS. / The practical use of the Doppler effect at optical wavelengths was proposed at the early beginning of the development of the laser, in the sixties. However, it was only in the eighties when the results of the experimental work could finally get out of the laboratories, and the first Laser Velocimeters were commercially available. In the nineties this kind of systems became rapidly popular. Nowadays the Laser Velocimeters based on the Doppler frequency shift find a lot of important applications, especially in some industrial processes and in hydrodynamic and aerodynamic research.The unique characteristics of the Laser Doppler Velocimetry (LDV) only recently have encountered a rival technique in the Particle Image Velocimetry (PIV), for applications on fluids. The main features of LDV systems are the accuracy and the speed of the measurements, the high spatial resolution and, of course, the non-intrusive character of the technique. Moreover this kind of systems present advantages not only in fluid applications: actually it can compete with the microwave radar in the estimation of the velocity of solid targets. This becomes possible due to theprogressive reduction of prices of optoelectronic devices and the improvement of its performances. The monitoring of the traffic velocity and the control of machinery in the manufacture of paper, wires and cables or thread can be mentioned among these applications.European an American companies, as Dantek Electronic or TSI, to mention the two most representative, commercialize high performance general-purpose LDV systems. Up to the date these instruments are sizeable and expensive, and its use requires some special training. There is not doubt that the future market of the LDV systems goes through a substantial decrease of prices and, indeed, through the possibility of custom-built designs. The potential number of users would increase then in an important manner. Many efforts are now being devoted by researchers in that direction. Moreover, the important improvement of capabilities of the desktop computers makes unnecessary the special electronic processors that, up to now, have been provided by the manufacturers of LDV systems as a part of them.In this Thesis the design and realization of a complete Laser Doppler Anemometer is presented. The system can measure two components of a fluid velocity (2D-LDA) and originally it was conceived to be used in industrial and hydrodynamics applications.Following the philosophy outlined above, the design of our LDA system was performed with only one laser source and one detector module. The common commercially available LDAs, on the contrary, designed to measure two components of velocity, use two different optical wavelengths and two independent photodiodes.On the other hand, a general-purpose acquisition card with two input channels has been used to implement a multilevel trigger. The configuration performed here permits to work in each moment with the part of the burst having the best signal to noise ratio.This work has been supported by the Spanish Government, CICYT project PETRI 95-0249-OP.

Coherent optical signal processing systems typically require dynamic, low-loss phase changes of an optical signal. Waveform generation employing phase modulation is an important application area. In particular, laser radar systems have been shown to perform better with non-linear frequency chirps. This work shows how dynamically tunable integrated optical ring resonators are able to produce such phase changes to a signal in an effective manner and offer new possibilities for the detection of phase-modulated optical signals. When designing and fabricating dynamically tunable integrated optical ring resonators for any application, system level requirements must be taken into account. For frequency chirped laser radar systems, the primary system level requirements are good long range performance and fine range resolution. These mainly depend on the first sidelobe level and mainlobe width of the autocorrelation of the chirp. Through simulation, the sidelobe level and mainlobe width of the autocorrelation of the non-linear frequency modulated chirp generated by a series of integrated optical ring resonators is shown to be significantly lower than the well-known tangent-FM chirp. Proof-of-concept experimentation is also important to verify simulation assumptions. A proof-of-concept experiment employing thermally tunable Silicon-Nitride integrated optical ring resonators is shown to generate non-linear frequency modulated chirp waveforms with peak instantaneous frequencies of 28 kHz. Besides laser radar waveform generation, three other system level applications of dynamically tunable integrated optical ring resonators are explored in this work. A series of dynamically tunable integrated optical ring resonators is shown to produce constant dispersion which can then help extract complex spectral information. Broadband photonic RF phase shifting for beam steering of a phased array antenna is also shown using dynamically tunable integrated optical ring resonators. Finally all-optical pulse compression for laser radar using dynamically tunable integrated optical ring resonators is shown through simulation and proof-of-concept experimentation.