Pencil-Beam Surveys for Trans-Neptunian Objects: Novel Methods for Optimization and Characterization

Digital co-addition of astronomical images is a common technique for increasing signal-to-noise and image depth. A modification of this simple technique has been applied to the detection of minor bodies in the Solar System: first stationary objects are removed through the subtraction of a high-SN template image, then the sky motion of the Solar System bodies of interest is predicted and compensated for by shifting pixels in software prior to the co-addition step. This "shift-and-stack" approach has been applied with great success in directed surveys for minor Solar System bodies. In these surveys, the shifts have been parameterized in a variety of ways. However, these parameterizations have not been optimized and in most cases cannot be effectively applied to data sets with long observation arcs due to objects' real trajectories diverging from linear tracks on the sky. This paper presents two novel probabilistic approaches for determining a near-optimum set of shift-vectors to apply to any image set given a desired region of orbital space to search. The first method is designed for short observational arcs, and the second for observational arcs long enough to require non-linear shift-vectors. Using these techniques and other optimizations, we derive optimized grids for previous surveys that have used "shift-and-stack" approaches to illustrate the improvements that can be made with our method, and at the same time derive new limits on the range of orbital parameters these surveys searched. We conclude with a simulation of a future applications for this approach with LSST, and show that combining multiple nights of data from such next-generation facilities is within the realm of computational feasibility.Comment: Accepted for publication in PASP March 1, 2010

Sedimentological characterization of Antarctic moraines using UAVs and Structure-from-Motion photogrammetry

In glacial environments particle-size analysis of moraines provides insights into clast origin, transport history, depositional mechanism and processes of reworking. Traditional methods for grain-size classification are labour-intensive, physically intrusive and are limited to patch-scale (1m2) observation. We develop emerging, high-resolution ground- and unmanned aerial vehicle-based ‘Structure-from-Motion’ (UAV-SfM) photogrammetry to recover grain-size information across an moraine surface in the Heritage Range, Antarctica. SfM data products were benchmarked against equivalent datasets acquired using terrestrial laser scanning, and were found to be accurate to within 1.7 and 50mm for patch- and site-scale modelling, respectively. Grain-size distributions were obtained through digital grain classification, or ‘photo-sieving’, of patch-scale SfM orthoimagery. Photo-sieved distributions were accurate to <2mm compared to control distributions derived from dry sieving. A relationship between patch-scale median grain size and the standard deviation of local surface elevations was applied to a site-scale UAV-SfM model to facilitate upscaling and the production of a spatially continuous map of the median grain size across a 0.3 km2 area of moraine. This highly automated workflow for site scale sedimentological characterization eliminates much of the subjectivity associated with traditional methods and forms a sound basis for subsequent glaciological process interpretation and analysis

Simultaneous Exoplanet Characterization and deep wide-field imaging with a diffractive pupil telescope

High-precision astrometry can identify exoplanets and measure their orbits and masses, while coronagraphic imaging enables detailed characterization of their physical properties and atmospheric compositions through spectroscopy. In a previous paper, we showed that a diffractive pupil telescope (DPT) in space can enable sub-microarcsecond accuracy astrometric measurements from wide-field images by creating faint but sharp diffraction spikes around the bright target star. The DPT allows simultaneous astrometric measurement and coronagraphic imaging, and we discuss and quantify in this paper the scientific benefits of this combination for exoplanet science investigations: identification of exoplanets with increased sensitivity and robustness, and ability to measure planetary masses to high accuracy. We show how using both measurements to identify planets and measure their masses offers greater sensitivity and provides more reliable measurements than possible with separate missions, and therefore results in a large gain in mission efficiency. The combined measurements reliably identify potentially habitable planets in multiple systems with a few observations, while astrometry or imaging alone would require many measurements over a long time baseline. In addition, the combined measurement allows direct determination of stellar masses to percent-level accuracy, using planets as test particles. We also show that the DPT maintains the full sensitivity of the telescope for deep wide-field imaging, and is therefore compatible with simultaneous scientific observations unrelated to exoplanets. We conclude that astrometry, coronagraphy, and deep wide-field imaging can be performed simultaneously on a single telescope without significant negative impact on the performance of any of the three techniques.Comment: 15 pages, 6 figures. This second paper, following the paper describing the diffractive pupil telescope (DPT) astrometric technique, shows how simultaneous astrometry and coronagraphy observations, enabled by the DPT concept, constrain the orbital parameters and mass of exoplanet

Characterization of a RS-LiDAR for 3D Perception

High precision 3D LiDARs are still expensive and hard to acquire. This paper presents the characteristics of RS-LiDAR, a model of low-cost LiDAR with sufficient supplies, in comparison with VLP-16. The paper also provides a set of evaluations to analyze the characterizations and performances of LiDARs sensors. This work analyzes multiple properties, such as drift effects, distance effects, color effects and sensor orientation effects, in the context of 3D perception. By comparing with Velodyne LiDAR, we found RS-LiDAR as a cheaper and acquirable substitute of VLP-16 with similar efficiency.Comment: For ICRA201

The Mason Test: A Defense Against Sybil Attacks in Wireless Networks Without Trusted Authorities

Wireless networks are vulnerable to Sybil attacks, in which a malicious node poses as many identities in order to gain disproportionate influence. Many defenses based on spatial variability of wireless channels exist, but depend either on detailed, multi-tap channel estimation - something not exposed on commodity 802.11 devices - or valid RSSI observations from multiple trusted sources, e.g., corporate access points - something not directly available in ad hoc and delay-tolerant networks with potentially malicious neighbors. We extend these techniques to be practical for wireless ad hoc networks of commodity 802.11 devices. Specifically, we propose two efficient methods for separating the valid RSSI observations of behaving nodes from those falsified by malicious participants. Further, we note that prior signalprint methods are easily defeated by mobile attackers and develop an appropriate challenge-response defense. Finally, we present the Mason test, the first implementation of these techniques for ad hoc and delay-tolerant networks of commodity 802.11 devices. We illustrate its performance in several real-world scenarios

On-barn pig weight estimation based on body measurements by structure-from-motion (SfM)

Information on the body shape of pigs is a key indicator to monitor their performance and health and to control or predict their market weight. Manual measurements are among the most common ways to obtain an indication of animal growth. However, this approach is laborious and difficult, and it may be stressful for both the pigs and the stockman. The present paper proposes the implementation of a Structure from Motion (SfM) photogrammetry approach as a new tool for on-barn animal reconstruction applications. This is possible also to new software tools allowing automatic estimation of camera parameters during the reconstruction process even without a preliminary calibration phase. An analysis on pig body 3D SfM characterization is here proposed, carried out under different conditions in terms of number of camera poses and animal movements. The work takes advantage of the total reconstructed surface as reference index to quantify the quality of the achieved 3D reconstruction, showing how as much as 80% of the total animal area can be characterized