Fast approximation of visibility dominance using topographic features as targets and the associated uncertainty

An approach to reduce visibility index computation time andmeasure the associated uncertainty in terrain visibility analysesis presented. It is demonstrated that the visibility indexcomputation time in mountainous terrain can be reduced substantially,without any significant information loss, if the lineof sight from each observer on the terrain is drawn only to thefundamental topographic features, i.e., peaks, pits, passes,ridges, and channels. However, the selected sampling of targetsresults in an underestimation of the visibility index ofeach observer. Two simple methods based on iterative comparisonsbetween the real visibility indices and the estimatedvisibility indices have been proposed for a preliminary assessmentof this uncertainty. The method has been demonstratedfor gridded digital elevation models

Sample Efficient Optimization for Learning Controllers for Bipedal Locomotion

Learning policies for bipedal locomotion can be difficult, as experiments are expensive and simulation does not usually transfer well to hardware. To counter this, we need al- gorithms that are sample efficient and inherently safe. Bayesian Optimization is a powerful sample-efficient tool for optimizing non-convex black-box functions. However, its performance can degrade in higher dimensions. We develop a distance metric for bipedal locomotion that enhances the sample-efficiency of Bayesian Optimization and use it to train a 16 dimensional neuromuscular model for planar walking. This distance metric reflects some basic gait features of healthy walking and helps us quickly eliminate a majority of unstable controllers. With our approach we can learn policies for walking in less than 100 trials for a range of challenging settings. In simulation, we show results on two different costs and on various terrains including rough ground and ramps, sloping upwards and downwards. We also perturb our models with unknown inertial disturbances analogous with differences between simulation and hardware. These results are promising, as they indicate that this method can potentially be used to learn control policies on hardware.Comment: To appear in International Conference on Humanoid Robots (Humanoids '2016), IEEE-RAS. (Rika Antonova and Akshara Rai contributed equally

Weathering and erosion of the polar layered deposits on Mars

The Martial polar layered deposits are widely believed to be composed of water ice and silicates, but the relative amount of each component is unknown. The conventional wisdom among Mars researchers is that the deposits were formed by periodic variations in the deposition of dust and ice caused by climate changes over the last 10 to 100 million years. It is assumed here that water ice is an important constituent of the layered deposits, that the deposits were formed by eolian processes, and that the origin and evolution of the north and south polar deposits were similar. Weathering of the layered deposits by sublimation of water ice can account for the geologic relationships in the polar regions. The nonvolatile components of the layered deposits appears to consist mainly of bright red dust, with small amounts of dark dust or sand. Dark dust, perhaps similar to the magnetic material found at the Viking Lander sites, may perferentially form filamentary residue particles upon weathering of the deposits. Once eroded, these particles may saltate to form the dark dunes found in both polar regions

The Role of Ejecta in the Small Crater Populations on the Mid-Sized Saturnian Satellites

We find evidence that crater ejecta play an important role in the small crater populations on the Saturnian satellites, and more broadly, on cratered surfaces throughout the Solar System. We measure crater populations in Cassini images of Enceladus, Rhea, and Mimas, focusing on image data with scales less than 500 m/pixel. We use recent updates to crater scaling laws and their constants to estimate the amount of mass ejected in three different velocity ranges: (i) greater than escape velocity, (ii) less than escape velocity and faster than the minimum velocity required to make a secondary crater (v_min), and (iii) velocities less than v_min. Although the vast majority of mass on each satellite is ejected at speeds less than v_min, our calculations demonstrate that the differences in mass available in the other two categories should lead to observable differences in the small crater populations; the predictions are borne out by the measurements we have made to date. Rhea, Tethys, and Dione have sufficient surface gravities to retain ejecta moving fast enough to make secondary crater populations. The smaller satellites, such as Enceladus but especially Mimas, are expected to have little or no traditional secondary populations because their escape velocities are near the threshold velocity necessary to make a secondary crater. Our work clarifies why the Galilean satellites have extensive secondary crater populations relative to the Saturnian satellites. The presence, extent, and sizes of sesquinary craters (craters formed by ejecta that escape into temporary orbits around Saturn before re-impacting the surface) is not yet well understood. Finally, our work provides further evidence for a "shallow" size-frequency distribution (slope index of ~2 for a differential power-law) for comets a few km diameter and smaller. [slightly abbreviated]Comment: Submitted to Icarus. 77 double-spaced pages, including 25 figures and 5 table

Surface networks

© Copyright CASA, UCL. The desire to understand and exploit the structure of continuous surfaces is common to researchers in a range of disciplines. Few examples of the varied surfaces forming an integral part of modern subjects include terrain, population density, surface atmospheric pressure, physico-chemical surfaces, computer graphics, and metrological surfaces. The focus of the work here is a group of data structures called Surface Networks, which abstract 2-dimensional surfaces by storing only the most important (also called fundamental, critical or surface-specific) points and lines in the surfaces. Surface networks are intelligent and “natural ” data structures because they store a surface as a framework of “surface ” elements unlike the DEM or TIN data structures. This report presents an overview of the previous works and the ideas being developed by the authors of this report. The research on surface networks has fou

Workshop on the Tectonic Evolution of Greenstone Belts (supplement containing abstracts of invited talks and late abstracts)

Topics addressed include: greenstone belt tectonics, thermal constaints, geological structure, rock components, crustal accretion model, geological evolution, synsedimentary deformation, Archean structures and geological faults

The origin of channels and associated deposits in the Elysium region of Mars

Photogeological studies of the Elysium volcanic province of Mars show that its sinuous channels are part of a large deposit which probably was emplaced as a series of huge volcanic debris flows or lahars. The suggestion is based on evidence that the lahars were : (1) gravity-driven mass flow deposits (lobate outlines, steep snouts, smooth medial channels and rough lateral deposits--the deposits narrow and widen in accord with topography, and they extend downslope); (2) wet (channeled surfaces, drainage features); and (3) associated with volcanism (the deposits and channels extend from a system of fractures which fed lava flows). It is conceivable that heat associated with magmatism melted ground ice below the Elysium volcanoes, formed a muddy slurry which issued out of regional fractures and spread over the adjoining plain