Optical inertial space sextant for an advanced space navigation system

Dual field optical tracking system and television camera chain combined with two gyroscopes to form space navigation sextant

Data display programming

Computer programming for control of complex data processing operations involved in analysis and interpretation of large volumes of sensor data from scientific satellite

Molecular Line Transfer Calculations in Star Forming Regions

This thesis describes the development, benchmarking and application of a non-LTE, co-moving frame Monte Carlo molecular line radiative transfer module for TORUS. Careful attention has been paid to the convergence, acceleration and optimisation of the code. I present the results of the application of the code to various benchmarking scenarios, including a collapsing cloud, a circumstellar disc and a very optically thick cloud of interstellar water. Benchmarking is an essential step in verifying the accuracy and efficiency of the code which is vital if it is to be used to analyse real data. In all cases, the code was able to accurately reproduce either the expected analytical solution or (in the absence of such a solution) was able to produce results commensurate with the results of other codes. In order to facilitate the motivating radiative transfer calculations of a star-forming cluster simulated using smoothed particle hydrodynamics (SPH) performed in this thesis, it was first necessary to devise and test an algorithm that efficiently maps an irregular distribution of smoothed particle hydrodynamics (SPH) particles onto a regular adaptive mesh. Whilst the algorithm was designed with this in mind it has also been used to study the effects of radiative feedback in circumstellar discs as well create a synthetic survey of a simulated galaxy. Bate et al.'s particle representation was resampled onto an adaptive mesh to enable me to use TORUS to obtain non-LTE level populations of multiple molecular species throughout the cluster and create velocity-resolved datacubes by calculating the emergent intensity using raytracing. I compared line profiles of cores traced by N2H+ (1-0) to probes of low density gas (13CO and C18O (1-0)) surrounding the cores along the line-of-sight. The relative differences of the line-centre velocities were found to be small compared to the velocity dispersion, matching recent observations. The conclusion is that one cannot reject competitive accretion as a viable theory of star formation based on observed velocity profiles

Image Display and Manipulation System (IDAMS) program documentation, Appendixes A-D

The IDAMS Processor is a package of task routines and support software that performs convolution filtering, image expansion, fast Fourier transformation, and other operations on a digital image tape. A unique task control card for that program, together with any necessary parameter cards, selects each processing technique to be applied to the input image. A variable number of tasks can be selected for execution by including the proper task and parameter cards in the input deck. An executive maintains control of the run; it initiates execution of each task in turn and handles any necessary error processing

Enhanced online programming for industrial robots

The use of robots and automation levels in the industrial sector is expected to grow, and is driven by the on-going need for lower costs and enhanced productivity. The manufacturing industry continues to seek ways of realizing enhanced production, and the programming of articulated production robots has been identified as a major area for improvement. However, realizing this automation level increase requires capable programming and control technologies. Many industries employ offline-programming which operates within a manually controlled and specific work environment. This is especially true within the high-volume automotive industry, particularly in high-speed assembly and component handling. For small-batch manufacturing and small to medium-sized enterprises, online programming continues to play an important role, but the complexity of programming remains a major obstacle for automation using industrial robots. Scenarios that rely on manual data input based on real world obstructions require that entire production systems cease for significant time periods while data is being manipulated, leading to financial losses. The application of simulation tools generate discrete portions of the total robot trajectories, while requiring manual inputs to link paths associated with different activities. Human input is also required to correct inaccuracies and errors resulting from unknowns and falsehoods in the environment. This study developed a new supported online robot programming approach, which is implemented as a robot control program. By applying online and offline programming in addition to appropriate manual robot control techniques, disadvantages such as manual pre-processing times and production downtimes have been either reduced or completely eliminated. The industrial requirements were evaluated considering modern manufacturing aspects. A cell-based Voronoi generation algorithm within a probabilistic world model has been introduced, together with a trajectory planner and an appropriate human machine interface. The robot programs so achieved are comparable to manually programmed robot programs and the results for a Mitsubishi RV-2AJ five-axis industrial robot are presented. Automated workspace analysis techniques and trajectory smoothing are used to accomplish this. The new robot control program considers the working production environment as a single and complete workspace. Non-productive time is required, but unlike previously reported approaches, this is achieved automatically and in a timely manner. As such, the actual cell-learning time is minimal

Progress Report No. 2

Progress report of the Biomedical Computer Laboratory, covering period 1 July 1965 to 30 June 1966

Detection of crack-like indications in digital radiography by global optimisation of a probabilistic estimation function

A new algorithm for detection of longitudinal crack-like indications in radiographic images is developed in this work. Conventional local detection techniques give unsatisfactory results for this task due to the low signal to noise ratio (SNR ~ 1) of crack-like indications in radiographic images. The usage of global features of crack-like indications provides the necessary noise resistance, but this is connected with prohibitive computational complexities of detection and difficulties in a formal description of the indication shape. Conventionally, the excessive computational complexity of the solution is reduced by usage of heuristics. The heuristics to be used, are selected on a trial and error basis, are problem dependent and do not guarantee the optimal solution. Not following this way is a distinctive feature of the algorithm developed here. Instead, a global characteristic of crack-like indication (the estimation function) is used, whose maximum in the space of all possible positions, lengths and shapes can be found exactly, i.e. without any heuristics. The proposed estimation function is defined as a sum of a posteriori information gains about hypothesis of indication presence in each point along the whole hypothetical indication. The gain in the information about hypothesis of indication presence results from the analysis of the underlying image in the local area. Such an estimation function is theoretically justified and exhibits a desirable behaviour on changing signals. The developed algorithm is implemented in the C++ programming language and testet on synthetic as well as on real images. It delivers good results (high correct detection rate by given false alarm rate) which are comparable to the performance of trained human inspectors.In dieser Arbeit wurde ein neuer Algorithmus zur Detektion rissartiger Anzeigen in der digitalen Radiographie entwickelt. Klassische lokale Detektionsmethoden versagen wegen des geringen Signal-Rausch-Verhältnisses (von ca. 1) der Rissanzeigen in den Radiographien. Die notwendige Resistenz gegen Rauschen wird durch die Benutzung von globalen Merkmalen dieser Anzeigen erzielt. Das ist aber mit einem undurchführbaren Rechenaufwand sowie Problemen bei der formalen Beschreibung der Rissform verbunden. Üblicherweise wird ein übermäßiger Rechenaufwand bei der Lösung vergleichbarer Probleme durch Anwendung von Heuristisken reduziert. Dazu benuzte Heuristiken werden mit der Versuchs-und-Irrtums-Methode ermittelt, sind stark problemangepasst und können die optimale Lösung nicht garantieren. Das Besondere dieser Arbeit ist anderer Lösungsansatz, der jegliche Heuristik bei der Suche nach Rissanzeigen vermeidet. Ein globales wahrscheinlichkeitstheoretisches Merkmal, hier Schätzfunktion genannt, wird konstruiert, dessen Maximum unter allen möglichen Formen, Längen und Positionen der Rissanzeige exakt (d.h. ohne Einsatz jeglicher Heuristik) gefunden werden kann. Diese Schätzfunktion wird als die Summe des a posteriori Informationsgewinns bezüglich des Vorhandenseins eines Risses im jeden Punkt entlang der hypothetischen Rissanzeige definiert. Der Informationsgewinn entsteht durch die Überprüfung der Hypothese der Rissanwesenheit anhand der vorhandenen Bildinformation. Eine so definierte Schätzfunktion ist theoretisch gerechtfertigt und besitzt die gewünschten Eigenschaften bei wechselnder Anzeigenintensität. Der Algorithmus wurde in der Programmiersprache C++ implementiert. Seine Detektionseigenschaften wurden sowohl mit simulierten als auch mit realen Bildern untersucht. Der Algorithmus liefert gute Ergenbise (hohe Detektionsrate bei einer vorgegebenen Fehlalarmrate), die jeweils vergleichbar mit den Ergebnissen trainierter menschlicher Auswerter sind

Image Display And Manipulation System (IDAMS), user's guide

A combination operator's guide and user's handbook for the Image Display and Manipulation System (IDAMS) is reported. Information is presented to define how to operate the computer equipment, how to structure a run deck, and how to select parameters necessary for executing a sequence of IDAMS task routines. If more detailed information is needed on any IDAMS program, see the IDAMS program documentation

Hardware/software interaction in graphical display systems

A review of the principles and applications of display systems is given. A state-of-the-art survey is made of the various types of display devices and their disadvantages. A study is made of the problems associated with two particular display devices and solutions found by the use of hardware and software techniques. A communications line is occupied for an excessive amount of time when drawing graphs on a standard incremental plotter from a remote computer. This time was significantly reduced for low cost by using a satellite computer and trying various alternative coding techniques.A low cost interactive raster scan graphics system was developed that used a magnetic disc to refresh television monitors. This system was used to determine the best method for overcoming the crossing vector erasure problem. A system using the improvements to both the display devices is proposed as a further development.<p

The use of the LANDSAT data collection system and imagery in reservoir management and operation

The author has identified the following significant results. An increase in the data collection system's (DCS) ability to function in the flood control mission with no additional manpower was demonstrated during the storms which struck New England during April and May of 1975 and August 1976. It was found that for this watershed, creditable flood hydrographs could be generated from DCS data. It was concluded that an ideal DCS for reservoir regulation would draw features from LANDSAT and GOES. MSS grayscale computer printout and a USGS topographic map were compared, yielding an optimum computer classification map of the wetland areas of the Merrimack River estuary. A classification accuracy of 75% was obtained for the wetlands unit, taking into account the misclassified and the unclassified pixels. The MSS band 7 grayscale printouts of the Franklin Falls reservoir showed good agreement to USGS topographic maps in total area of water depicted at the low water reservoir stage and at the maximum inundation level. Preliminary analysis of the LANDSAT digital data using the GISS computer algorithms showed that the radiance of snow cover/vegetation varied from approximately 20 mW/sq cm sr in nonvegetated areas to less than 4 mW/sq cm sr for densely covered forested area