FINAL REPORT FOR AUTOMATIC STEREO CORRELATOR SC-1305

• Document Type: CREST
• Collection: NGA Records (Formerly NIMA)
• Document Number (FOIA) /ESDN (CREST): CIA-RDP78B04747A000400010005-2
• Release Decision: RIPPUB
• Original Classification: K
• Document Page Count: 41
• Document Creation Date: December 28, 2016
• Document Release Date: June 8, 2011
• Sequence Number: 5
• Publication Date: July 23, 1965
• Content Type: REPORT

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FINAL REPORT
For
AUTOMATIC STEREO CORRELATOR
SC-1305
"Construction of Breadboard System of an Automatic
Stereo Correlator and Evaluation of the Performance capabilities
of such a System."
Period Covered:
July 1964 - July 1965
Date:
23 July 1965
Job No.:
SC-1305
Document No.:
OD-130
TASK OBJECT
To manufacture a breadboard and to conduct sufficient
tests to determine the performance capabilities inherent
system of automatic stereo correlation as described
proposal.
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Page
I The Automatic Stereo Correlation System 1
II Principle of Operation of the Scanner
1) x Axis
2) Y Axis
3) A Error
4) M Error
5) Anamorphic Error
6) The Averaging Nature of the System
III
The Breadboard Scan System
1) Breadboard Simplification
2) Left Side System'
3) Right Side System
4) Common Features
5) Error Detection Slits
6) The Synchronizing Slits
7) The Scan Drive
IV
Optical Details of Breadboard
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1) The Left Side Optical Path
10
2) The Right Side Optical Path
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V
The Breadboard Electronic System
12
1) Scan Drive and Synchronization
12
2) Photomultipliers and Preamplifiers
12
3) The Multiplexed System
13
4) The Electronic Switch and Error
Detection System
13
5) The Servo Drive
13
6) The Illumination Control
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VI Breadboard Performance
1) Optics
2) Electronics
VIII Test Results
1) System Parameters
2) X Axis
3) Y Axis
4) AAxis
5) M Axis
Paae
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THE AUTOMATIC STEREO CORRELATION SYSTEM
proposed a system of Automatic Stereo
Correlation as a product improvement for the Model 552 Viewer* in
February 1964. The proposed system would be completely automatic
once the operator made the initial stereo setting. Automatic
correction would be provided for displacement errors in the X and
Y axes, errors in angular position and differences in magnification.
In addition, it was proposed to control the intensity of the light
sources so that the left and right images were observed at equal
levels of illumination. Correction for anamorphic error, a logical
extension of the system proposed for magnification error correction,
was proposed in March 1965. If the images have no contrast such
as water images, the automatic system would not operate and the
system would revert to normal control for the X and Y carriages,
but magnification and angular adjustments would remain at their
last setting. The reversion of the X and Y automatic tracking
system to manual control is accomplished with a suitable time de-
lay so that in the event of momentary loss of signal information,
such as that caused by a cloud, the system will continue to track
at the last setting until after the delay and be able to control
automatic tracking when the signal is again present.
* Refer to Figure 1 for the optical schematic of the 552 and
Figure 5 for the application of the Automatic Stereo Correlation
System to a 552 type viewer.
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II
PRINCIPLE OF OPERATION
OF SCANNER
1)_ MIS
Figure 2 illustrates the principle of operation of
the scanner. As shown, two (2) slits are provided so that the
image of the right frame is scanned in synchronism with that of
the left frame. These images are relayed from the fiber optics
end at the eyepiece assembly. Consequently, the system should
maintain these two (2) images so that they are essentially the
same. It should be realized, however, that if there are any
height differences, then the two (2) images cannot be made iden-
tical. In this case, the average center of one image is made to
correspond to the average center of the second image.
The operation of the system is based on the utili-
zation of two (2) slits scanning both frames simultaneously in
synchronism. Two (2) photomultipliers are provided for photo-
detection of the light level of the slits. As shown in Figure
2(I) the two images are in correspondence. In addition, the re-
lationship of the two slits is such that the slit of image b is
leading in phase that of a. In other words, the slit of b is
slightly to the right of a.
For simplicity of analysis, assume that the image
is a dot in the center. Then the signals developed by the scanning
slits are shown. The difference of these signals is then developed
by a difference amplifier. In addition, the amplitude of that
difference (a-b) is computed. The amplitude of (a-b) is determined
by changing the negative portion of the signal (a-b) to a positive
value. Now, when the slit of image b' is lagging that of a', as
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shown in the lower right of Figure 2(11), then the slit of b' is
slightly to the right of a'. The resultant signals of a', b',
(a'-b') and (a'-b') are as shown.
It may be noted that in the case mentioned above,
(a-b) for a leading slit phase is the same as (a'-b') for a
lagging phase, or (a-b) -(a'-b') = 0.
However, let us consider the case when the object
in (b) is to the right of where it should be, as shown in Sections
IV and V of Figure 2. Consequently, the two images are not in
correspondence. It may be obvious that now that the difference
(a-b) has decreased for the leading phase of the scanning slit,
and has increased for the lagging phase. Consequently, if (a-b)
leading is compared to (a'-b') lagging, then an error signal is
developed corresponding to offset in the relative position of the
object; consequently, (a-b) -(a'-b') is negative as indicated in
Section VI of Figure 2.
It may be noted that if the error of position of
the object is reversed, as shown in Figure 2, (Section VII and
VIII) then the difference (a-b) has increased for the leading
phase, and has decreased for (a'-b') the lagging phase, then
(a-b) -(a'-b') is positive. Consequently, by comparing (a-b)
leading to (a'-b') lagging, the polarity of the signal determines
whether the error is to the right or to the left.
The operation of the system integrates the error
(a-b) lead -(a'-b') lag. This integration is achieved by an R-C
network, which averages the amplitude of the error. This DC sig-
nal is applied to a standard DC servo system, where the speed of
the correction is dependent on the amplitude of the signal, and
the direction of drive is dependent on polarity of the error sig-
nal.
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PRINCIPLE OF OPERATION (Y-AXIS)
Y ERROR
As shown in Figure 3, (left. column) the slits for
the Y axis are designed in a similar manner to the X axis, except
that the direction of scan is now along the Y axis. Two (2) scans
are made, one with the slit b leading, and another scan with the
slit b lagging. The error signal is then determined by (a-b)
3) Q ERROR
The operation of the orientation detection is pro-
vided in a similar manner to the Y axis scan. However, the scanning
of the slits is achieved along the Y axis, but the phase leading
and phase lagging signals are developed by rotating the (b) slit
in clockwise and counterclockwise direction. The (a-b) lead is
then compared to (a'-b') lag to result in the servo error signal.
4)
(M) ERROR
The magnification error signals are developed by
slits scanning in the Y axis. However, these slits in the b
frame are placed slightly out of focus, beyond the image plane as
in Figure 3, (right hand column). The magnification is increased
slightly. The scan shown in lower right Figure 3 is developed
when the slit in the b frame is closer to the focusing lens, thus
with slightly less magnification. The signal (a-b) (higher magni-
fication) is compared to (a '-b') (lower magnification) to result
in a servo error signal.
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5)
ANAMORPHIC ERROR *
The anamorphic error signals are developed in the
same manner as the magnification error signal except that the
direction of scan is now along the X axis. Two scans are made,
one with slightly more magnification in the b frame. The signal
a-b high magnification is compared to a'-b' (lower magnification
to result in a servo error signal.
6) THE AVERAGING NATURE OF THE SYSTEM
- The system design described has an advantage in
that it is an averaging sensor, whereby the images from the right
and left frames do not have to be identical. Thus, if the images
observed have appreciable height, the two images are not the same.
The system averages by scanning so that it offsets in one direction
(A) and the other direction (-A). It then maintains the errors
for A and -A the same. Consequently, if the contrast of the two
images are not the same, there is always an optimum position where
A and -0 are equal, even though the value of this A may be rela-
tively high. It may also be concluded that any, distortion in one
frame relative to the other does not cause malfunction of the
system, due to the averaging feature described above.
* Proposed extension of the magnification error correction system.
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III
THE BREADBOARD SCAN SYSTEM
l) BREADBOARD SIMPLIFICATION
The breadboard system is similar to the basic sys-
tem. By restricting the maximum object size to about 1 inch
square and making the left side optical system solely manual, con-
siderable simplification is achieved in the breadboard model.
There are no X and Y axis memory features.
2) "9:9- SIDE SYSTEM
The left side system consisted of a film holder
with manual X, Y motion and illuminating light. An optical sys-
tem incorporating a fiber optic cable transmits the image to a
beam splitter which passes the image to the left eyepiece and to
the scanning disc.
3) RIGHT SIDE SYSTEM
The right side system contains a motorized rotateable
film holder and an optical system incorporating a motorized zoom
lens mounted on a carriage having motorized X and Y drives. The
optical system transmits the image to a beam splitter. The beam
splitter passes the image to the right eyepiece and to the scanning
disc. The scanning disc and the eyepieces are both mounted on
the same motorized X, Y carriage used for the right channel. The
illumination source of the right channel is controlled by an auto-
matic solid state dimmer.
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4)
COMMON FEATURES
The left and right images projected on the disc
are scanned by slits, as described in Section III part 5. The
images scanned by the slits are projected on the cathodes of two
photomultipliers. Lenses are used to defocus the images on the
photomultiplier in order to eliminate the effects of variations
of the photo cathodes sensitivity. Five (5) photo diodes and
synchronizing slits are used to synchronize the scanning disc
and the electronic circuitry.
ERROR DETECTION SLITS
The images from the right and left formats are
rotated by two dove prisms so that the images along the X and Y
axis when focused on the scanning disc, conform to the X and Y
alit directions of the scanning disc, as shown in Figure 4. As
noted, slits are provided to achieve the scanning motions pre-
viously described. However, the slits are located at 45 degrees
from the film axis in order to achieve the X and Y scans. In
position 1, Figure 4, the slit travels across the Y direction in
both the right and left format. The alit of the right format is
shown at the center of the optical axis while the alit of the
left format, 1; is offset by Y1. Ninety (90?) degrees after
this scan is made the slits in position 6 and 6' are in operation.
The offset in the Y axis is now A Y2. Thus, two (2) offsets are
utilized (A Y1 and G Y2) which correspond to two different fields
of view. These two offsets present error signals with an offset
in one direction. However, as the disc rotates 180 degrees, the
slit 1' interchanges its position with slit 1. In this manner,
the A Y1 and A Y2 are also reversed. Consequently, during one
resolution four scans,' A Y1, L Y2, - AY1 and -AY2, are obtained.
The error signal developed is computed based.on C Y2 + AY 21' and
-*AY1 -.6y 1*
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25X1
After the Y direction scan at the 1, 1', 6 and 6'
slits are scanned. The anamorphic correction slits shown in
Figure 4, slits 2, 2', 7, and 7' are referenced only. Slits 3,
3' and B, 8' provide scanning in the X direction. In this case,
position 3 is displaced by A X1 and position 8 by AX 2' After 180
degrees rotation, the displacement will reverse. The four
resultant scans are G Xl, QX2, -c%X1 and -AX2
- The orientation scan is achieved by slits 4 and 9.
The actual scan motion is made in the Y axisl however, there is
a slight tilt,AQ, and A A2 provided in slits 4 and 9. Again,
when the positions are reversed by 180 degrees, the orientation
error is reversed. Consequently, four (4) scans are developed,
?e. ~e2 , -L1a, and -CQ2 .
The magnification scan is achieved by slits 5 and
10 where slit 5 is across the right format and slit 5' is across
the left format. The slits in positions 5 and 10,results in in-
creased magnification through the use of lenses mounted over the
slits. These lenses produce a change of magnification of A M1 and
AM2 respectively. Now, after a 180 degree reversal, the left
format will be increased in magnification while the right format
remains the same as the other slits. This reversal of increase
in magnification from the right to the left results in an error
signal similar to that shown in Figure 2. Consequently, four (4)
scans are provided : d Ml , D M2 , -AM1 and -AM2
As described previously, the same scanning disc is
utilized to develop errors for four (4) servo systems, X, Y, M and
0. This time sharing of the photomultipliers and the optics
results in a unique system having a high degree of simplicity and
reliability.
_R
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6)
THE SYNCHRONIZING SLITS
In order to allow this time sharing, an electronic
switch is provided. This is achieved simply by utilizing 16
synchronizing slits located on the scanning disc and a 180 degree
sense determining shutter, as shown in Figure 4., Five (5) light
sources illuminate these slits from one side. On the other side,
four photo diodes are located radially so that the light from one
of the four quartets of synchronizing slits corresponding to the
four error sensors, Y, X, 9 and M will be actuated at one time and
a fifth photo diode is actuated by the 180 degree sense shutter.
The block diagram, Figure 6, illustrates the utilization of each
sensor to actuate consecutively X, C, M and Y, -X, -?, -M and -Y.
7)_- SCAN DRIVE
The scanning disc is rotated at approximately 10
revolutions per second by a DC gear motor driven by a solid state
speed control.
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IV
OPTICAL DETAILS OF BREADBOARD
1) TILE LEFT SIDE OPT_ ICAL PATH
The left side optical path consists of the
following 14 elements:
a) A film holder consisting of a modified micro-
scope stage which provides manual X and Y axis adjustment.
b) An objective lens mounted in a microscope barrel.
c) A fiber optic cable which transmits the image.
d) A field lens.
e) A diaphragm.
f) A dove prism to orient the image for proper
scanning.
g) A beam splitter.
BEAM SPLITTER PATH 1
h) The scanning disc.
i) A lens.
j) A photomultiplier.
FAM SPLITTER PATH 2
k) A dove prism to orient the imago for viewing.
1 & m) A pair of mirrors.
n) An eyepiece.
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2)
THE RIGHT SIDE OPTICAL PATH
The right side optical path consists of the following
a) A motorized rotateable film holder mounted on
a motorized X, Y carriage.
b) An objective lens mounted in a microscope barrel.
c) A motorized zoom lens.
d) A 45 degree mirror.
e) A field lens.
g) A colimating lens.
h) A diaphragm.
i) A dove prism.to orient the image for proper
scanning.
j) A beam splitter.
BEAM SPLITTER PATH 1
k) The scanning disc.
1) A lens.
m) A photomultiplier
BEAM SPLITTER PATH 2
n) A dove prism to orient the image for viewing.
o & p) A pair of mirrors.
q) An eyepiece.
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V
THE BREADBOARD ELECTRONIC SYSTEM
1) SCAN DRIV_ E AND gYNORONIZATI
The block diagram, Figure 6, shows the general
operation of the system in the automatic mode.
A speed controlled DC motor is used to rotate the
scanning disc at approximately ten (10) revolutions per second.
During each complete scan, sixteen (16) selector gate signals and
one (1) sense gate signal are provided by the sensing photo diodes.
These provide sixteen (16) selection intervals correspond to a
left and right side look at each of the two pairs of slits uti-
lized for each of the four error channels.
2) PHQTOMULTIPLIERS RE IERS
The photomultipliers are RCA type 1P21; these are
selected due to their low noise level and high sensitivity rela-
tive to their size. A 500 volt DC power supply is provided with
a regualtion better than 1/2%, to maintain the electronic gain of
the photomultiplier essentially constant. The preamplifiers are
standard transistorized amplifier modules. They have an essen-
tially flat response up to 200,000 cps. As used, the output of
the preamplifier is a low impedance signal, allowing the use of
an eight foot cable between the preamplifiers at the eyepiece
assembly and the electronic rack.
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3)
THE MULTIPLEXED SYSTEM
The outputs of the preamplifiers are applied to a
difference amplifier. If the signal from the left frame is (a)
and the right frame signal is (b), then the output is (a-b) _= D.
An emitter follower buffer amplifier is used to apply the signal
D to a signal to amplitude converter which is used to reverse the
negative portion of the signal, resulting in _ (a b . The
emitter follower is used in order to minimize the distortion due
to the inherent non-linear input impedance of the signal to
amplitude converter.
4) THE BI TlR,O ' IIc SWITCU AND ERROR DETECTION SYSTEM
The output 5 is applied to an electronic switch,
which is actuated by the gating photo diodes. The coincidence of
a sense gate signal and a selector gate signal are required to
enable the output 5 to be distributed to the proper integrator.
Thus, when an X scan is performed, an X selector gate signal and
a 0 degree sense gating signal enable the signal D to be distri-
buted to the X integrator, and when D X scan is performed an X
selector gate signal and a 180 degree sense gating signal, gener-
ated by an inverter amplifier, enable the signal $ to be distri-
buted to the 6X integrator.
The outputs of the X and AX integrators are sub-
tracted by a low-drift modular difference amplifier giving a
resultant output of a-b - a'-b' which represents the servo error
signal.
5) TI-IE SERVO DRIVE
The four correction axes utilize 10 watt two-phase
60 cycle servo motors equipped with appropriate gear heads.
Standard chopper input vacuum tube servo power amplifiers are
used to drive the motors.
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6)
THE IIUM INAT ION C TROL
The illumination control system is operated by the
difference amplifier D2 after preamplification and integration.
Thus, if the illumination level is the same for the right and left
frames, the average DC level of the right and left frames are
equal, resulting in D = zero. Any error in the average value of
D is applied to a solid state dimmer amplifier, which increases
or decreases the illumination of one of the channels to make it
equal to the other.
'* -14-
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BREADBOARD PERFORMANCE
1) OPTICS
The performance of the optical system has been
basically satisfactory. There are three areas where improvements
could be made. The first is difficulty in centering the leads
and lags-of the alit shutte$,especially the alignment of two
pairs of slits for each error function. The second difficulty
experienced is the lack of rigidity in the photomultiplier mount.
The third is the limited motion that can be made before image
clipping takes place. The first difficulty would be alleviated
if provisions were made to permit the use of asimple alignment
tool. The second difficulty would be eliminated if the photo-
multiplier tubes themselves were clamped rather than the sockets
being held rigid. The use of larger size optics would easily
overcome the third difficulty. '
2) ELECTRONICS
The performance of the electronic system has been
generally satisfactory with the sole exception of difficulty in
obtaining good balanced output signals at low levels of input to
the signal-to-amplitude converter. The present design consists
of two PNP silicon common emitter class B amplifiers sharing a
common load resistor. A degree of forward bias is applied to
reduce threshold distortion. If the system were designed to use
NPN silicon transistors designed especially for good ft at low
levels and with more uniform threshold characteristics, and if
some degree of isolation would be imployed in the load circuit,
much better performance could be achieved. Another approach
using a single light emitting diode, such as a gallium arsenide
diode biased with sufficient DC to avoid threshold effects, and
optically coupled to a silicon photo diode would avoid both the
balance problem and the threshold difficulty.
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~. 25X1
A low priority was given to the intensity control
system since its operation is not essential for demonstrating the
scan principal, therefore, some minor redesign of this system is
still required at this time.
Despite the limitations imposed by the present
optical and electronic system difficulties, the breadboard is
capable of automatic stereo correlation of simple images to ac-
curacies better than .005 inches after initial manual stereo cor-
relation is made. Detailed quantitative test results are given in
Section VIII of this report.
_? ~_
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The SC-1305 breadboard demonstrates the soundness of the
scan principle involved and the relative ease of its implementation.
The breadboard design has also proved that the use of a
fiber optic cable with an image enhancing system introduces no
difficulties, and, therefore, that the principle is adaptable to
a 552 type viewer. The system was made to track a simple "L"
shaped target on all four axis simultaneously. One and two axis
tracking was done using selected simple photographic images with
the loss of signal information at low levels preventing automatic
stereo correlation of four axis simultaneously.
Limitations of signal level imposed by the signal to
amplitude converter has been the chief deterent to the use of the
system with more complex targets.
This is an area where a small amount of further develop-
ment along either of the two lines suggested in Section VI could
bring greatly improved results.
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VII
TEST RESULTS
I ) SYSTEM PARAMETERS
The accompanying curves show the system per-
formance in terms of millivolts output from the difference ampli-
fiers for errors of the right side object in X and Y displace-
ments in A rotation and in M magnification. Obviously, the actual
position errors and sensitivity of the system does, from this ,
point on, depend on the gain of the servo power amplifiers, the
motors starting voltages, and the system friction. The system
sensitivity of the breadboard was such that 1 to 3 millivolts
of signal into the servo power amplifiers would cause the motor
to drive. It would be simple to increase this. Residual voltage
at null across the motors control phase were 2 to 3 volts RMS,
and 4 or 5 volts RMS was the voltage when the motors started to
drive. The targets for these curves were clear "L" shaped images
on a black background. Their sizes were .08 inches in height by
.06 inches in width, and .013 inches thick. The magnification
from film to scan disc plane was three, 3X. The slit widths of
the shutters were set at about .01 inches. A discrimination be-
tween X and Y movements of better than 5 to 1 was easily achieved.
2) X AXIS
Figure 7 shows the X axis response with fiber
optic cable and image enhancer. The sensitivity about null is 2
millivolts for .001 inches displacement. At the nominal system
sensitivity of 2 millivolts to start the servo motor, the bread-
board responds to displacements of .001 inches. Allowing a safety
margin of 4 millivolts from the minimum and maximum outputs, the
system will track from approximately -.03 inches to +.018 inches,
or for about .048 inches in the X direction where the target it-
self is only .06 inches.
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Figure 8 shows the X axis without the fiber
optic cable and, therefore, at a higher light level. The sensi-
tivity around null is 4 millivolts per .001 inches, or twice as
sensitive. It should be noted that the tracking range is .05
inches, or about the same.
Figure 9 shows the X axis without the fiber
optic cable at a lower light level. Here the loss of information
due to the action of the signal to amplitude converter is apparent.
It can be seen that the prime effect of the
fiber optic cable was to somewhat reduce the sensitivity by
lowering the image brightness. With a more linear signal to
amplitude converter this effect would be reduced. The importance
of good linearity of the signal to amplitude converter can be
easily seen by comparing the three curves.
3) X AXIS
The results with the image enhancer, Figure 10,
shows the effects of some slit misalignment. The system would
operate from -.015 to +.015 inches, or .03 out of an image of 0.08
inches with a sensitivity of 3 millivolts per .001 inches. Figure
11 shows much better adjustment. Tracking is good here for about
.04 inches, and the sensitivity is 1.6 millivolts per .001 inches.
Note the sensitivity is less but the null is better defined.
Figure 12 shows the effect of low light level. Tracking is good
for .045 inches, but the sensitivity is only 0.4 millivolts per
.001 inches, and it would take an error of .005 inches before the
motor would drive.
,A_
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4)
Q AXIS
Figures 13, 14 and 15 show the A axis. Sensi-
tivity with the image enhancer was poor, .2 millivolts per degree
with a broad null. Without the fiber optics, 4 millivolts per
degree sensitivity was achieved at high illumination, and 2 milli-
volts per degree at low levels of illumination. Due to shifts in
the X and y positions, because the axis of rotation did not cor-
respond to the optical axis of the objective lens, the curves
show a degree of distortion. It can be concluded that the bread-
board system could correct for at least ? 6 degrees and possibly
as much as ? 13 degree rotational errors. Adjustment of this
system is somewhat difficult. More sensitivity could probably
be achieved with better adjustment.
5) M AXIS
Figure 16 shows a test on the M axis at low
levels. Due to optical interference caused by the lens mounts
on the scanning disc and a generally difficult adjustment, little
data was taken. The M scale shown is arbitrary, only roughly
corresponding to changes in ratio of magnification. It can be
seen that changes of 10?! in magnification produces a 3 millivolt
change in error signal output. This could also probably be made
more sensitive with better adjustment.
-20-
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