Visual Tracking and Motion Estimation for an On-orbit Servicing of a Satellite

This thesis addresses visual tracking of a non-cooperative as well as a partially cooperative satellite, to enable close-range rendezvous between a servicer and a target satellite. Visual tracking and estimation of relative motion between a servicer and a target satellite are critical abilities for rendezvous and proximity operation such as repairing and deorbiting. For this purpose, Lidar has been widely employed in cooperative rendezvous and docking missions. Despite its robustness to harsh space illumination, Lidar has high weight and rotating parts and consumes more power, thus undermines the stringent requirements of a satellite design. On the other hand, inexpensive on-board cameras can provide an effective solution, working at a wide range of distances. However, conditions of space lighting are particularly challenging for image based tracking algorithms, because of the direct sunlight exposure, and due to the glossy surface of the satellite that creates strong reflection and image saturation, which leads to difficulties in tracking procedures. In order to address these difficulties, the relevant literature is examined in the fields of computer vision, and satellite rendezvous and docking. Two classes of problems are identified and relevant solutions, implemented on a standard computer are provided. Firstly, in the absence of a geometric model of the satellite, the thesis presents a robust feature-based method with prediction capability in case of insufficient features, relying on a point-wise motion model. Secondly, we employ a robust model-based hierarchical position localization method to handle change of image features along a range of distances, and localize an attitude-controlled (partially cooperative) satellite. Moreover, the thesis presents a pose tracking method addressing ambiguities in edge-matching, and a pose detection algorithm based on appearance model learning. For the validation of the methods, real camera images and ground truth data, generated with a laboratory tet bed similar to space conditions are used. The experimental results indicate that camera based methods provide robust and accurate tracking for the approach of malfunctioning satellites in spite of the difficulties associated with specularities and direct sunlight. Also exceptional lighting conditions associated to the sun angle are discussed, aimed at achieving fully reliable localization system in a certain mission

Analysis of speech and other sounds

This thesis comprises a study of various types of signal processing techniques, applied to the tasks of extracting information from speech, cough, and dolphin sounds. Established approaches to analysing speech sounds for the purposes of low data rate speech encoding, and more generally to determine the characteristics of the speech signal, are reviewed. Two new speech processing techniques, shift-and-add and CLEAN (which have previously been applied in the field of astronomical image processing), are developed and described in detail. Shift-and-add is shown to produce a representation of the long-term "average" characteristics of the speech signal. Under certain simplifying assumptions, this can be equated to the average glottal excitation. The iterative deconvolution technique called CLEAN is employed to deconvolve the shift-and-add signal from the speech signal. Because the resulting "CLEAN" signal has relatively few non-zero samples, it can be directly encoded at a low data rate. The performance of a low data rate speech encoding scheme that takes advantage of this attribute of CLEAN is examined in detail. Comparison with the multi-pulse LP C approach to speech coding shows that the new method provides similar levels of performance at medium data rates of about 16kbit/s. The changes that occur in the character of a person's cough sounds when that person is afflicted with asthma are outlined. The development and implementation of a micro-computer-based cough sound analysis system, designed to facilitate the ongoing study of these sounds, is described. The system performs spectrographic analysis on the cough sounds. A graphical user interface allows the sound waveforms and spectra to be displayed and examined in detail. Preliminary results are presented, which indicate that the spectral content of cough sounds are changed by asthma. An automated digital approach to studying the characteristics of Hector's dolphin vocalisations is described. This scheme characterises the sounds by extracting descriptive parameters from their time and frequency domain envelopes. The set of parameters so obtained from a sample of click sequences collected from free-ranging dolphins is analysed by principal component analysis. Results are presented which indicate that Hector's dolphins produce only a small number of different vocal sounds. In addition to the statistical analysis, several of the clicks, which are assumed to be used for echo-location, are analysed in terms of their range-velocity ambiguity functions. The results suggest that Hector's dolphins can distinguish targets separated in range by about 2cm, but are unable to separate targets that differ only in their velocity

Untangling hotel industry’s inefficiency: An SFA approach applied to a renowned Portuguese hotel chain

The present paper explores the technical efficiency of four hotels from Teixeira Duarte Group - a renowned Portuguese hotel chain. An efficiency ranking is established from these four hotel units located in Portugal using Stochastic Frontier Analysis. This methodology allows to discriminate between measurement error and systematic inefficiencies in the estimation process enabling to investigate the main inefficiency causes. Several suggestions concerning efficiency improvement are undertaken for each hotel studied.info:eu-repo/semantics/publishedVersio

MS FT-2-2 7 Orthogonal polynomials and quadrature: Theory, computation, and applications

Quadrature rules find many applications in science and engineering. Their analysis is a classical area of applied mathematics and continues to attract considerable attention. This seminar brings together speakers with expertise in a large variety of quadrature rules. It is the aim of the seminar to provide an overview of recent developments in the analysis of quadrature rules. The computation of error estimates and novel applications also are described

Generalized averaged Gaussian quadrature and applications

A simple numerical method for constructing the optimal generalized averaged Gaussian quadrature formulas will be presented. These formulas exist in many cases in which real positive GaussKronrod formulas do not exist, and can be used as an adequate alternative in order to estimate the error of a Gaussian rule. We also investigate the conditions under which the optimal averaged Gaussian quadrature formulas and their truncated variants are internal

National Aeronautics and Space Administration (NASA)/American Society for Engineering Education (ASEE) Summer Faculty Fellowship Program, 1987, volume 2

The 1987 Johnson Space Center (JCS) National Aeronautics and Space Administration (NASA)/American Society for Engineering Education (ASEE) Summer Faculty Fellowship program was conducted by Texas A and M University and JSC. The 10-week program was operated under the auspices of ASEE. The basic objectives of the program are: to further the professional knowledge of qualified engineering and science faculty members; to stimulate an exchange of ideas between participants and NASA; to enrich and refresh the research and teaching activities of participants' institutions; and to contribute to the research objective of the NASA Centers. This document is a compilation of the final reports on the research projects done by the faculty fellows during the summer of 1987