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This paper presents the design and testing of a multi-channel vibrotactile display composed of cylindrical handle with four embedded vibrating elements driven by piezoelectric beams. The experimental goal of the paper is to analyze the performance of the device during a teleoperated force controlled task. As a test bed, a teleoperator system composed of two PHANToM haptic devices is used to trace a rectangular path while the operator attempts to maintain a constant force at the remote manipulator's tip. Four sensory modalities are compared. The first is visual feedback alone. Then, visual feedback is combined with vibration, force feedback, and force feedback plus vibration. Comparisons among these four modes are presented in terms of mean force error. Results show that force feedback combined with vibration provide the best feedback for the task. They also indicate that the vibrotactile device provides a clear benefit in the intended application, by reducing the mean force errors by 35 percent when compared to visual feedback alone.

Certain minimally invasive surgical procedures involve the treatment of highly precise target locations within deformable tissues. While preoperative MRI and CT models can be used for surgical planning, they provide only coarse guidance during surgery due to their limited resolution and owing to tissue deformation. Ultrasound imaging is a promising means of obtaining real-time intraoperative data for target localization that is particularly well suited to minimally invasive surgery due to its portability, speed, and safety. This paper presents a system, in which ultrasound images are used to guide a manipulator to a surgical site. Electromagnetic tracking of the ultrasound probe is used to orient the images. These are then segmented in real time to determine target locations. Finally, target coordinates are used to produce control inputs to drive the manipulator to the target site. The potential of the approach is demonstrated experimentally using a manipulator arm, phantom target, and commercial ultrasound machine.

We present the instrumentation and products of the NASA Plankton Aerosol, Cloud, ocean Ecosystem (PACE) mission relevant to air quality management. Since PACE will launch in the 2022 to 2023 timeframe, this paper discusses several activities in anticipation of a robust air quality applications program using PACE products. Products from the PACE ocean color imager and two multiangle polarimeters will be used synergistically to retrieve properties relevant to air quality applications. These instruments provide high spectral and spatial resolution measurements used to derive key properties of aerosols and clouds including effective particle radii, particle shapes, aerosol and cloud optical depths, refractive indices and single scattering albedos all of which are critical for characterizing airmasses for managing air quality, hazardous episodes of wildfire and volcanic emissions, and long range transport of pollution. Because of the number of products with potential societal benefits, the PACE mission is highly pertinent to NASA's Applied Sciences Program's efforts to promote, discover, and demonstrate innovative, practical, and sustainable uses of the Earth observations. We discuss plans to support these efforts by establishing a prelaunch early adopter program and outline communication strategies to engage the air quality user community.

We report on an airborne demonstration of atmospheric methane (CH 4 ) measurements with an Integrated Path Differential Absorption (IPDA) lidar using an optical parametric amplifier (OPA) and optical parametric oscillator (OPO) laser transmitter and sensitive avalanche photodiode detector. The lidar measures the atmospheric CH 4 absorption at multiple, discrete wavelengths near 1650.96 nm. The instrument was deployed in the fall of 2015, aboard NASA's DC-8 airborne laboratory along with an in-situ spectrometer and measured CH 4 over a wide range of surfaces and atmospheric conditions from altitudes of 2 km to 13 km. In this paper, we will show the results from our flights, compare the performance of the two laser transmitters, and identify areas of improvement for the lidar.

Accurately detecting urban expansion with remote sensing techniques is a challenge due to the complexity of urban landscapes. This paper explored methods for detecting urban expansion with multitemporal QuickBird images in Lucas do Rio Verde, Mato Grosso, Brazil. Different techniques, including image differencing, principal component analysis (PCA), and comparison of classified impervious surface images with the matched filtering method, were used to examine urbanization detection. An impervious surface image classified with the hybrid method was used to modify the urbanization detection results. As a comparison, the original multispectral image and segmentation-based mean-spectral images were used during the detection of urbanization. This research indicates that the comparison of classified impervious surface images with matched filtering method provides the best change detection performance, followed by the image differencing method based on segmentation-based mean spectral images. The PCA is not a good method for urban change detection in this study. Shadows and high spectral variation within the impervious surfaces represent major challenges to the detection of urban expansion when high spatial resolution images are used.