Relative pose determination algorithm for space on-orbit close range autonomous operation using LiDAR

Non cooperative on-orbit operations, such as rendezvous, docking or berthing operations, have become more relevant, mainly due to the necessity of expanding mission lifetimes, the increase of space debris and the reduction of human dependency. In order to automate these operations, the relative pose calculation between the target and the chaser must be determined autonomously. In recent years, LiDAR sensors have been introduced for this problem, achieving good accuracies. The critical part of this operation is the first relative pose calculation, since there is no previous information about the attitude of the target. In this work, a methodology to carry out this first relative pose calculation using LiDAR sensors is presented. A template matching algorithm has been developed, which uses the 3D model of the target to calculate the relative pose of the target regarding the LiDAR sensor. Three different study cases, with different distances and rotations, have been simulated in order to validate the algorithm, reaching an average error of 0.0383m

Solving shallow-water systems in 2D domains using Finite Volume methods and multimedia SSE instructions

AbstractThe goal of this paper is to construct efficient parallel solvers for 2D hyperbolic systems of conservation laws with source terms and nonconservative products. The method of lines is applied: at every intercell a projected Riemann problem along the normal direction is considered which is discretized by means of well-balanced Roe methods. The resulting 2D numerical scheme is explicit and first-order accurate. In [M.J. Castro, J.A. García, J.M. González, C. Pares, A parallel 2D Finite Volume scheme for solving systems of balance laws with nonconservative products: Application to shallow flows, Comput. Methods Appl. Mech. Engrg. 196 (2006) 2788–2815] a domain decomposition method was used to parallelize the resulting numerical scheme, which was implemented in a PC cluster by means of MPI techniques.In this paper, in order to optimize the computations, a new parallelization of SIMD type is performed at each MPI thread, by means of SSE (“Streaming SIMD Extensions”), which are present in common processors. More specifically, as the most costly part of the calculations performed at each processor consists of a huge number of small matrix and vector computations, we use the Intel© Integrated Performance Primitives small matrix library. To make easy the use of this library, which is implemented using assembler and SSE instructions, we have developed a C++ wrapper of this library in an efficient way. Some numerical tests were carried out to validate the performance of the C++ small matrix wrapper. The specific application of the scheme to one-layer Shallow-Water systems has been implemented on a PC’s cluster. The correct behavior of the one-layer model is assessed using laboratory data

Generalized inverses of a sum in rings

Documento submetido para revisão pelos pares. A publicar em "Bulletin of the Australian Mathematical Society". ISSN 0004-9727. 82:1 (2010) 156-164.We study properties of the Drazin index of regular elements in a ring with a unity 1. We give expressions for generalized inverses of 1 − ba in terms of generalized inverses of 1 − ab. In our development we prove that the Drazin index of 1 − ba is equal to the Drazin index of 1 − ab.Fundação para a Ciência e a Tecnologia (FCT) através do programa POCTIMinisterio de Educación y Ciencia of Spain - Project MTM2007-6723

Dimension and support of underground slate mines

[Abstract] We've studied the conditions about dimensions and support ofan underground mine of roofing slate in Galice, worked by rooms with continuous pillars. The rock mass was characterized by the empiric and analitic methods, calculating the stable pillar wide along the mine by the theory of attributed area and by a model of finite elements, where the breaking criterion ofHoek and Brown was applied. The result was a parabolic relationship between pillar wide and mine length. Stability studies in an isolated stope give an elastic performance on the periphery of the room, without tractions. Although the stability ofthe mine is good, a systematic support is recommended on the basis of bolts, that will be reinforced with projected concret at the top, and a singular treatment of the detected wedges

Una nueva especie del género Hoplopleura Enderlein, 1904 (Anoplura, Hoplopleuridae) parásita de Andinomys edax (Rodentia, Cricetidae)

The authors described a new species Hoplopleura zentaensi sp. n. based on specimens collected on Andinomys edax Thomas, l902, from Sierra de Zenta, Jujuy province, Argentina. Descriptions involve the holotype female; three nymphal instar, external architecture of eggs and sites of oviposition, providing differences with its close relative Hoplopleura hirsuta Ferris, l916 and Hoplopleura oxymycteri Ferris, l921. Comments on distribution of these species on their hosts are presented and they are included in the “erratica” group.Describimos en esta contribución a Hoplopleura zentaensi sp. n., a partir de la hembra, sus tres estadios ninfales y las características coriónicas externas del huevo de la referida especie parásita de Andinomys edax Thomas, 1902 (Rodentia, Cricetidae), capturado en Sierra de Zenta, Jujuy, Argentina. Hoplopleura zentaensi sp. n. es afín a Hoplopleura hirsuta Ferris, 1916 y de Hoplopleura oxymycteri Ferris, 1921, integrando junto a estas especies el grupo “erratica”

Printers are dangerous

Proceeding of: IEEE 35th International Carnahan Conference on Security Technology, London , UK, 16 - 19 october 2001In the last years, many new intelligent full-featured peripherals that assist information systems have appeared. Those peripherals, such as printers, copiers, PDA organizers, Web cameras, etc. usually have a very friendly way of configuration and management (via http, ftp or telnet servers) and offer more networked services everyday. Their computation, memory and networking capabilities have also increased in the last years. Nowadays, many of them are comparable to workstations and run complete operating systems such as Linux or Solaris. All those factors imply that these devices could represent a real threat to the security of information systems. This problem is even worse because most of those peripherals have been considered inoffensive and not many administrators are aware of their security risks. The most representative example is printers, which have been traditionally considered totally harmless devices. At the present time, that idea is difficult to defend because many security incidents related with networked printers have arisen in the last years. System and security administrators have traditionally focused their efforts in fortifying servers and hosts only, but it seems that this view is not enough for assuring security nowadays.Publicad

The computer in a roofing slate quarry

[Resumen] Sencillas configuraciones informáticas en base a ordenadores personales con programas comerciales de modelización y diseño asistido por ordenador, facilitan el reiterativo trabajo de planificación minera de una explotación de pizarra a cielo abierto. Su utilización es aplicable a tres fases del proyecto minero: Modelización del yacimiento (investigación), proyecto de explotación (viabilidad) y labores mineras (ejecución).[Abstract] Simple integrated systems based on personal computers and cornmercial programmes about modelling and CAD, make easy the reiterative work on exploitation planning in roofing slate quarries. We can use this systems in the three phases of the mining project: bed modelling (Research), exploitation (Viability)wand mining (Performance)

Sarcophagidae (Diptera) atraídos a cadáveres de cochinillo, con nuevas citas para la fauna portuguesa

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