A practical multirobot localization system

We present a fast and precise vision-based software intended for multiple robot localization. The core component of the software is a novel and efficient algorithm for black and white pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost cameras, the core algorithm is able to process hundreds of images per second while tracking hundreds of objects with a millimeter precision. In addition, we present the method's mathematical model, which allows to estimate the expected localization precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions is verified in several experiments. Apart from the method description, we also make its source code public at \emph{http://purl.org/robotics/whycon}; so, it can be used as an enabling technology for various mobile robotic problems

DYNAMIC MEASUREMENT OF THREE-DIMENSIONAL MOTION FROM SINGLE-PERSPECTIVE TWO-DIMENSIONAL RADIOGRAPHIC PROJECTIONS

The digital evolution of the x-ray imaging modality has spurred the development of numerous clinical and research tools. This work focuses on the design, development, and validation of dynamic radiographic imaging and registration techniques to address two distinct medical applications: tracking during image-guided interventions, and the measurement of musculoskeletal joint kinematics. Fluoroscopy is widely employed to provide intra-procedural image-guidance. However, its planar images provide limited information about the location of surgical tools and targets in three-dimensional space. To address this limitation, registration techniques, which extract three-dimensional tracking and image-guidance information from planar images, were developed and validated in vitro. The ability to accurately measure joint kinematics in vivo is an important tool in studying both normal joint function and pathologies associated with injury and disease, however it still remains a clinical challenge. A technique to measure joint kinematics from single-perspective x-ray projections was developed and validated in vitro, using clinically available radiography equipmen

Metrological characterization of a vision-based system for relative pose measurements with fiducial marker mapping for spacecrafts

An improved approach for the measurement of the relative pose between a target and a chaser spacecraft is presented. The selected method is based on a single camera, which can be mounted on the chaser, and a plurality of fiducial markers, which can be mounted on the external surface of the target. The measurement procedure comprises of a closed-form solution of the Perspective from n Points (PnP) problem, a RANdom SAmple Consensus (RANSAC) procedure, a non-linear local optimization and a global Bundle Adjustment refinement of the marker map and relative poses. A metrological characterization of the measurement system is performed using an experimental set-up that can impose rotations combined with a linear translation and can measure them. The rotation and position measurement errors are calculated with reference instrumentations and their uncertainties are evaluated by the Monte Carlo method. The experimental laboratory tests highlight the significant improvements provided by the Bundle Adjustment refinement. Moreover, a set of possible influencing physical parameters are defined and their correlations with the rotation and position errors and uncertainties are analyzed. Using both numerical quantitative correlation coefficients and qualitative graphical representations, the most significant parameters for the final measurement errors and uncertainties are determined. The obtained results give clear indications and advice for the design of future measurement systems and for the selection of the marker positioning on a satellite surface

Analysis of turbulence and vortex structures by flow mapping

The technique of Particle Image Velocimetry (PIV) flow mapping is reviewed and comparisons made with Laser Doppler Anemometry (LDA). Results are presented showing the application of PlV to the determination of coherent structures in grid-generated turbulence and theoretical expressions are presented for the errors associated with the computation of statistical parameters. Measurements are also presented showing the vortex structure in the wake of a model wind turbine. These studies have revealed fundamental inadequacies in existing computer codes used by the wind turbine industry

Development of an augmented reality guided computer assisted orthopaedic surgery system

Previously held under moratorium from 1st December 2016 until 1st December 2021.This body of work documents the developed of a proof of concept augmented reality guided computer assisted orthopaedic surgery system – ARgCAOS. After initial investigation a visible-spectrum single camera tool-mounted tracking system based upon fiducial planar markers was implemented. The use of visible-spectrum cameras, as opposed to the infra-red cameras typically used by surgical tracking systems, allowed the captured image to be streamed to a display in an intelligible fashion. The tracking information defined the location of physical objects relative to the camera. Therefore, this information allowed virtual models to be overlaid onto the camera image. This produced a convincing augmented experience, whereby the virtual objects appeared to be within the physical world, moving with both the camera and markers as expected of physical objects. Analysis of the first generation system identified both accuracy and graphical inadequacies, prompting the development of a second generation system. This too was based upon a tool-mounted fiducial marker system, and improved performance to near-millimetre probing accuracy. A resection system was incorporated into the system, and utilising the tracking information controlled resection was performed, producing sub-millimetre accuracies. Several complications resulted from the tool-mounted approach. Therefore, a third generation system was developed. This final generation deployed a stereoscopic visible-spectrum camera system affixed to a head-mounted display worn by the user. The system allowed the augmentation of the natural view of the user, providing convincing and immersive three dimensional augmented guidance, with probing and resection accuracies of 0.55±0.04 and 0.34±0.04 mm, respectively.This body of work documents the developed of a proof of concept augmented reality guided computer assisted orthopaedic surgery system – ARgCAOS. After initial investigation a visible-spectrum single camera tool-mounted tracking system based upon fiducial planar markers was implemented. The use of visible-spectrum cameras, as opposed to the infra-red cameras typically used by surgical tracking systems, allowed the captured image to be streamed to a display in an intelligible fashion. The tracking information defined the location of physical objects relative to the camera. Therefore, this information allowed virtual models to be overlaid onto the camera image. This produced a convincing augmented experience, whereby the virtual objects appeared to be within the physical world, moving with both the camera and markers as expected of physical objects. Analysis of the first generation system identified both accuracy and graphical inadequacies, prompting the development of a second generation system. This too was based upon a tool-mounted fiducial marker system, and improved performance to near-millimetre probing accuracy. A resection system was incorporated into the system, and utilising the tracking information controlled resection was performed, producing sub-millimetre accuracies. Several complications resulted from the tool-mounted approach. Therefore, a third generation system was developed. This final generation deployed a stereoscopic visible-spectrum camera system affixed to a head-mounted display worn by the user. The system allowed the augmentation of the natural view of the user, providing convincing and immersive three dimensional augmented guidance, with probing and resection accuracies of 0.55±0.04 and 0.34±0.04 mm, respectively

Stellar Proper Motions in the Galactic Bulge from deep HST ACS/WFC Photometry

We present stellar proper motions in the Galactic bulge from the Sagittarius Window Eclipsing Extrasolar Search (SWEEPS) project using ACS/WFC on HST. Proper motions are extracted for more than 180,000 objects, with >81,000 measured to accuracy better than 0.3 mas/yr in both coordinates. We report several results based on these measurements: 1. Kinematic separation of bulge from disk allows a sample of >15,000 bulge objects to be extracted based on >6-sigma detections of proper motion, with <0.2% contamination from the disk. This includes the first detection of a candidate bulge Blue Straggler population. 2. Armed with a photometric distance modulus on a star by star basis, and using the large number of stars with high-quality proper motion measurements to overcome intrinsic scatter, we dissect the kinematic properties of the bulge as a function of distance along the line of sight. This allows us to extract the stellar circular speed curve from proper motions alone, which we compare with the circular speed curve obtained from radial velocities. 3. We trace the variation of the {l,b} velocity ellipse as a function of depth. 4. Finally, we use the density-weighted {l,b} proper motion ellipse produced from the tracer stars to assess the kinematic membership of the sixteen transiting planet candidates discovered in the Sagittarius Window; the kinematic distribution of the planet candidates is consistent with that of the disk and bulge stellar populations.Comment: 71 pages, 30 figures, ApJ Accepte

Index to NASA Tech Briefs, 1975

This index contains abstracts and four indexes--subject, personal author, originating Center, and Tech Brief number--for 1975 Tech Briefs

Replication of Known Dental Characteristics in Porcine Skin: Emerging Technologies for the Imaging Specialist

This study demonstrates that it is sometimes possible to replicate patterns of human teeth in pig skin and determine scientifically that a given injury pattern (bite mark) correlates with the dentitions of a very small proportion of a population dataset, e.g., 5 percent or even 1 percent. The authors recommend building on the template of this research with a sufficiently large database of samples that reflects the diverse world population. They also envision the development of a sophisticated imaging software application that enables forensic examiners to insert parameters for measurement, as well as additional methods of applying force to produce bite marks for research. The authors further advise that this project is applied science for injury pattern analysis and is only foundational research that should not be cited in testimony and judicial procedures. It supplements but does not contradict current guidelines of the American Board of Forensic Odontology regarding bite mark analysis and comparisons. A much larger population database must be developed. The project’s methodology is described in detail, accompanied by 11 tables and 41 figures

Validation of the multi-segment foot model with bi-planar fluoroscopy

A multi-segment foot model (MSFM) is a useful tool for measuring foot joint kinematics although soft-tissue artefact is often present. Quantifying this error is needed to evaluate the accuracy of this model. This study validated the MSFM against bi-planar radiostereometric analysis (RSA) fluoroscopy. Heel-strike, mid-stance, and toe-off events during the stance phase were compared between motion capture and fluoroscopy. Rise/drop of the medial longitudinal arch showed a significant difference (p \u3c 0.05) during toe-off, but no significant difference during heel-strike or mid-stance. Hindfoot supination/pronation and internal/external rotation, and forefoot supination/pronation motions showed no significant difference between the two techniques. The lack of significant difference will allow the MSFM to be used as a sufficiently accurate technique for measuring foot joint motions