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

Incidence and mechanism of the pivot shift. An in vitro study.

Accepted versio

Rotational dynamics of a superhelix towed in a Stokes fluid

Motivated by the intriguing motility of spirochetes (helically-shaped bacteria that screw through viscous fluids due to the action of internal periplasmic flagella), we examine the fundamental fluid dynamics of superhelices translating and rotating in a Stokes fluid. A superhelical structure may be thought of as a helix whose axial centerline is not straight, but also a helix. We examine the particular case where these two superimposed helices have different handedness, and employ a combination of experimental, analytic, and computational methods to determine the rotational velocity of superhelical bodies being towed through a very viscous fluid. We find that the direction and rate of the rotation of the body is a result of competition between the two superimposed helices; for small axial helix amplitude, the body dynamics is controlled by the short-pitched helix, while there is a cross-over at larger amplitude to control by the axial helix. We find far better, and excellent, agreement of our experimental results with numerical computations based upon the method of Regularized Stokeslets than upon the predictions of classical resistive force theory

DEM investigation of the influence of particulate properties and operating conditions on the mixing process in rotary drums: Part 2-Process validation and experimental study

The process of homogenization of particulates is an indispensable part of many industrial processes, and, therefore, it is necessary to pay a special attention to this area and develop it. This paper deals with a complex study of homogenization of particulate matters in a rotary drum in terms of shape, size, and density of particles. In addition, the influence of operating parameters, such as drum filling capacity, rotational speed, and drum filling pattern are also investigated. Studies of reproducibility of discrete element method simulations, effects of rotary drum sizes or effects of drum volumetric filling to the mixture homogeneity index were also carried out. In general, the least satisfactory values of the homogeneity index resulted from the mixing of particles with different densities. The dominating factor of homogenization was the drum filling-up degree. The course of the homogeneity index in 140, 280, and 420 mm drums was very similar and after five revolutions of the drum, identical values of the homogeneity index were achieved for all the drum diameters. The optimal drum filling-up degree is at 40-50% for the spherical particles and 30-40% for the sharp-edged particles. The repeatability of simulations showed the maximum relative standard deviation of the homogeneity index at 0.6% from ten simulation repetitions with the same parametric conditions.Web of Science82art. no. 18

Effect of rotation rate on the forces of a rotating cylinder: Simulation and control

In this paper we present numerical solutions to several optimal control problems for an unsteady viscous flow. The main thrust of this work is devoted to simulation and control of an unsteady flow generated by a circular cylinder undergoing rotary motion. By treating the rotation rate as a control variable, we can formulate two optimal control problems and use a central difference/pseudospectral transform method to numerically compute the optimal control rates. Several types of rotations are considered as potential controls, and we show that a proper synchronization of forcing frequency with the natural vortex shedding frequency can greatly influence the flow. The results here indicate that using moving boundary controls for such systems may provide a feasible mechanism for flow control

On the Dependency of the Electromechanical Response of Rotary MEMS/NEMS on Their Embedded Flexure Hinges’ Geometry

This paper investigates how the electromechanical response of MEMS/NEMS devices changes when the geometrical characteristics of their embedded flexural hinges are modified. The research is dedicated particularly to MEMS/NEMS devices which are actuated by means of rotary comb-drives. The electromechanical behavior of a chosen rotary device is assessed by studying the rotation of the end effector, the motion of the comb-drive mobile fingers, the actuator’s maximum operating voltage, and the stress sustained by the flexure when the flexure’s shape, length, and width change. The results are compared with the behavior of a standard revolute joint. Outcomes demonstrate that a linear flexible beam cannot perfectly replace the revolute joint as it induces a translation that strongly facilitates the pull-in phenomenon and significantly increases the risk of ruptures of the comb-drives. On the other hand, results show how curved beams provide a motion that better resembles the revolute motion, preserving the structural integrity of the device and avoiding the pull-in phenomenon. Finally, results also show that the end effector motion approaches most precisely the revolute motion when a fine tuning of the beam’s length and width is performed

Aerospace medicine and biology: A continuing bibliography with indexes, supplement 204

This bibliography lists 140 reports, articles, and other documents introduced into the NASA scientific and technical information system in February 1980

Using Surface-Motions for Locomotion of Microscopic Robots in Viscous Fluids

Microscopic robots could perform tasks with high spatial precision, such as acting in biological tissues on the scale of individual cells, provided they can reach precise locations. This paper evaluates the feasibility of in vivo locomotion for micron-size robots. Two appealing methods rely only on surface motions: steady tangential motion and small amplitude oscillations. These methods contrast with common microorganism propulsion based on flagella or cilia, which are more likely to damage nearby cells if used by robots made of stiff materials. The power potentially available to robots in tissue supports speeds ranging from one to hundreds of microns per second, over the range of viscosities found in biological tissue. We discuss design trade-offs among propulsion method, speed, power, shear forces and robot shape, and relate those choices to robot task requirements. This study shows that realizing such locomotion requires substantial improvements in fabrication capabilities and material properties over current technology.Comment: 14 figures and two Quicktime animations of the locomotion methods described in the paper, each showing one period of the motion over a time of 0.5 milliseconds; version 2 has minor clarifications and corrected typo

The role of the research simulator in the systems development of rotorcraft

The potential application of the research simulator to future rotorcraft systems design, development, product improvement evaluations, and safety analysis is examined. Current simulation capabilities for fixed-wing aircraft are reviewed and the requirements of a rotorcraft simulator are defined. The visual system components, vertical motion simulator, cab, and computation system for a research simulator under development are described

Antenna pattern shaping, sensing, and steering study Final report

Design of steerable satellite antenna with beam pattern sensing syste