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

In-situ and real time scanning probe microscopy of organic ultra thin films

In recent decades, Organic Thin Film Transistors (OTFTs) have attracted lots of interest due to their low cost, large area and flexible properties which have brought them to be considered the building blocks of the future organic electronics. Experimentally, devices based on the same organic material deposited in different ways, i.e. by varying the deposition rate of the molecules, show different electrical performance. As predicted theoretically, this is due to the speed and rate by which charge carriers can be transported by hopping in organic thin films, transport that depends on the molecular arrangement of the molecules. This strongly suggests a correlation between the morphology of the organic semiconductor and the performance of the OTFT and hence motivated us to carry out an in-situ real time SPM study of organic semiconductor growth as an almost unprecedent experiment with the aim to fully describe the morphological evolution of the ultra-thin film and find the relevant morphological parameters affecting the OTFT electrical response. For the case of 6T on silicon oxide, we have shown that the growth mechanism is 2D+3D, with a roughening transition at the third layer and a rapid roughening. Relevant morphological parameters have been extracted by the AFM images. We also developed an original mathematical model to estimate theoretically and more accurately than before, the capacitance of an EFM tip in front of a metallic substrate. Finally, we obtained Ultra High Vacuum (UHV) AFM images of 6T at lying molecules layer both on silicon oxide and on top of 6T islands. Moreover, we performed ex-situ AFM imaging on a bilayer film composed of pentacene (a p-type semiconductor) and C60 (an n-type semiconductor)

Temperature and pressure gas geoindicators at the Solfatara fumaroles (Campi Flegrei)

Long time series of fluid pressure and temperature within a hydrothermal system feeding the Solfatara fumaroles are investigated here, on the basis of the chemical equilibria within the CO2–H2O–H2–CO gas system. The Pisciarelli fumarole external to Solfatara crater shows an annual cycle of CO contents that indicates the occurrence of shallow secondary processes that mask the deep signals. In contrast, the Bocca Grande and Bocca Nova fumaroles located inside Solfatara crater do not show evidence of secondary processes, and their compositional variations are linked to the temperature–pressure changes within the hydrothermal system. The agreement between geochemical signals and the ground movements of the area (bradyseismic phenomena) suggests a direct relationship between the pressurization process and the ground uplift. Since 2007, the gas geoindicators have indicated pressurization of the system, which is most probably caused by the arrival of deep gases with high CO2 contents in the shallow parts of the hydrothermal system. This pressurization process causes critical conditions in the hydrothermal system, as highlighted by the increase in the fumarole temperature, the opening of new vents, and the localized seismic activity. If the pressurization process continues with time, it is not possible to rule out the occurrence of phreatic explosions

Evaluation of 3D CNN Semantic Mapping for Rover Navigation

Terrain assessment is a key aspect for autonomous exploration rovers, surrounding environment recognition is required for multiple purposes, such as optimal trajectory planning and autonomous target identification. In this work we present a technique to generate accurate three-dimensional semantic maps for Martian environment. The algorithm uses as input a stereo image acquired by a camera mounted on a rover. Firstly, images are labeled with DeepLabv3+, which is an encoder-decoder Convolutional Neural Networl (CNN). Then, the labels obtained by the semantic segmentation are combined to stereo depth-maps in a Voxel representation. We evaluate our approach on the ESA Katwijk Beach Planetary Rover Dataset.Comment: To be presented at the 7th IEEE International Workshop on Metrology for Aerospace (MetroAerospace

Simulation Framework for Mobile Robots in Planetary-Like Environments

In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a planetary-like research vehicle which allows to test various perception and navigation approaches for specific environment conditions. The possibility of simulating arbitrary sensor setups comprising cameras, LiDARs (Light Detection and Ranging) and IMUs makes Gazebo an excellent resource for rapid prototyping. In this work we evaluate a variety of open-source visual and LiDAR SLAM (Simultaneous Localization and Mapping) algorithms in a simulated Martian environment. Datasets are captured by driving the rover and recording sensors outputs as well as the ground truth for a precise performance evaluation.Comment: To be presented at the 7th IEEE International Workshop on Metrology for Aerospace (MetroAerospace

Occupancy grid mapping for rover navigation based on semantic segmentation

Obstacle mapping is a fundamental building block of the autonomous navigation pipeline of many robotic platforms such as planetary rovers. Nowadays, occupancy grid mapping is a widely used tool for obstacle perception. It foreseen the representation of the environment in evenly spaced cells, whose posterior probability of being occupied is updated based on range sensors measurement. In more classic approaches, the cells are updated to occupied at the point where the ray emitted by the range sensor encounters an obstacle, such as a wall. The main limitation of this kind of methods is that they are not able to identify planar obstacles, such as slippery, sandy, or rocky soils. In this work, we use the measurements of a stereo camera combined with a pixel labeling technique based on Convolution Neural Networks to identify the presence of rocky obstacles in planetary environment. Once identified, the obstacles are converted into a scan-like model. The estimation of the relative pose between successive frames is carried out using ORB-SLAM algorithm. The final step consists of updating the occupancy grid map using the Bayes' update Rule. To evaluate the metrological performances of the proposed method images from the Martian analogous dataset, the ESA Katwijk Beach Planetary Rover Dataset have been used. The evaluation has been performed by comparing the generated occupancy map with a manually segmented ortomosaic map, obtained by drones' survey of the area used as reference

The role of the CAP in fostering the diffusion of institutional hybrid arrangements: three case studies from Italy

The last reforms of the CAP have promoted the diffusion of new regulatory tools to improve the coordination of decisions along the agri-food supply chain. Interbranch organizations, protection consortia, the regulation of the supply for PDO products and the extension of rules represent solutions aimed at fostering the diffusion of institutionalized collective arrangements in the presence of an increasing uncertainty surrounding transactions. In light of New Institutional Economics, this paper describes and evaluates some interesting case studies that refer to some strategic sectors for the primary sectors in Italy: wine, tobacco and cheese. The results highlight that CAP can play a central role in depicting a regulatory framework that provides room for meso-institutions to foster the diffusion of hybrid forms of collective arrangements, especially in sectors that are highly regulated or subsidized

Measuring and interpreting CO2 fluxes at regional scale: the case of the Apennines, Italy

Tectonically active regions are often characterized by large amounts of carbon dioxide degassing, and estimation of the total CO2 discharged to the atmosphere from tectonic structures, hydrothermal systems and inactive volcanic areas is crucial for the definition of present-day global Earth degassing. The carbon balance of regional aquifers is a powerful tool to quantify the diffuse degassing of deep inorganic carbon sources because the method integrates the CO2 flux over large areas. Its application to peninsular Italy shows that the region is characterized by specific CO2 fluxes higher than the baseline determined for the geothermal regions of the world, and that the amount of endogenous CO2 discharged through diffuse regional degassing (c. 2.1 × 1011 mol a−1) is the major component of the geological CO2 budget of Italy, definitely prevailing over the CO2 discharged by Italian active volcanoes and volcanoes with hydrothermal activity. Furthermore, the positive correlation between geothermal heat and deep CO2 dissolved in the groundwater of central Italy suggests that (1) the geothermal heat is transported into the aquifers by the same hot CO2-rich fluids causing the Italian CO2 anomaly and (2) the advective heat flow is the dominant form of heat transfer of the region. Supplementary material: The location, flow rate, extent of the hydrogeological basin, chemical and isotopic analyses of the 160 springs considered in this study, and the results of the carbon mass balance are reported in a table available at https://doi.org/10.6084/m9.figshare.c.423702

Bottom Effect in Atomic Force Microscopy Nanomechanics

In this work, the influence of the rigid substrate on the determination of the sample Young''s modulus, the so-called bottom-effect artifact, is demonstrated by an atomic force microscopy force-spectroscopy experiment. The nanomechanical properties of a one-component supported lipid membrane (SLM) exhibiting areas of two different thicknesses are studied: While a standard contact mechanics model (Sneddon) provides two different elastic moduli for these two morphologies, it is shown that Garcia''s bottom-effect artifact correction yields a unique value, as expected for an intrinsic material property. Remarkably, it is demonstrated that the ratio between the contact radius (and not only the indentation) and the sample thickness is the key parameter addressing the relevance of the bottom-effect artifact. The experimental results are validated by finite element method simulations providing a solid support to Garcia''s theory. The amphiphilic nature of the investigated material is representative of several kinds of lipids, suggesting that the results have far reaching implications for determining the correct Young''s modulus of SLMs. The generality of Garcia''s bottom-effect artifact correction allows its application to every kind of supported soft film

Carbon degassing through karst hydrosystems of Greece

Estimation of CO2 degassing from active tectonic structures and regional hydrothermal systems is essential for the quantification of presentday Earth degassing [Frondini et al., 2019 and references therein]. Due to the high solubility of CO2 in water, great amounts of deep inorganic carbon can be dissolved, transported, and released from regional aquifers. By applying a massbalance approach [Chiodini et al., 2000], different sources of the dissolved CO2 can be discriminated. The main source of degassing in Greece is concentrated in hydrothermal and volcanic areas. However, deep CO2 from active tectonic areas has not yet been quantified. A key point of this research is to investigate the possible deep CO2 degassing through the big karst aquifers of Greece. From May 2016, 156 karst springs were sampled along the greatest part of the Hellenic region. To discriminate the different carbon sources, we analyzed the chemical and isotopic composition of total dissolved inorganic carbon (TDIC). Results yield TDIC values from 1.89 to 21.7 mmol/l and δ13CTDIC from 16.61 to 0.91 ‰. On this basis, karst springs are clustered into two groups: (a) low TDIC and δ13CTDIC values and (b) intermediate TDIC and δ13CTDIC values. The carbon of the first group derives from organic source and dissolution of carbonates; whilst the second group shows a possible carbon input from deep source. This geogenic carbon is mostly related to high heat flux areas, often near active or recent (Quaternary) volcanic systems