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

Soil CO2 emissions at Furnas volcano (São Miguel Island, Azores archipelago) - volcano monitoring perspectives, geomorphologic studies and land-use planning application

Carbon dioxide (CO2) diffuse degassing structures (DDS) at Furnas Volcano (São Miguel Island, Azores) are mostly associated with the main fumarolic fields, evidence that CO2 soil degassing is the surface expression of rising steam from the hydrothermal system. Locations with anomalous CO2 flux are mainly controlled by tectonic structures oriented WNW-ESE and NW-SE and by the geomorphology of the volcano, as evidenced by several DDS located in depressed areas associated with crater margins. Hydrothermal soil CO2 emissions in Furnas volcano are estimated to be ~ 968 t d-1. Discrimination between biogenic and hydrothermal CO2 was determined using a 1 statistical approach and the carbon isotope composition of the CO2 efflux. Different sampling densities were used to evaluate uncertainty in the estimation of the total CO2 flux, and showed that a low density of points may not be adequate to quantify soil emanations from a relatively small DDS. Thermal energy release associated to diffuse degassing at Furnas caldera is about 118 MW (from an area of ~ 4.8 km2) based on the H2O/CO2 ratio in fumarolic gas. The DDS affect also Furnas and Ribeira Quente villages, which are located inside the caldera and in the south flank of the volcano, respectively. At these sites, 58% and 98% of the houses are built over hydrothermal CO2 emanations, and the populations are at risk due to potential high concentrations of CO2 accumulating inside the dwellings. Keywords: Soil diffuse degassing; soil CO2 flux; emission rates; Azores archipelago

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

Thermal monitoring of hydrothermal activity by permanent infrared automatic stations: Results obtained at Solfatara di Pozzuoli, Campi Flegrei (Italy)

A permanent automatic infrared (IR) station was installed at Solfatara crater, the most active zone of Campi Flegrei caldera. After a positive in situ calibration of the IR camera, we analyze 2175 thermal IR images of the same scene from 2004 to 2007. The scene includes a portion of the steam heated hot soils of Solfatara. The experiment was initiated to detect and quantify temperature changes of the shallow thermal structure of a quiescent volcano such as Solfatara over long periods. Ambient temperature results as the main parameter affecting IR temperatures while air humidity and rain control image quality. A geometric correction of the images was necessary to remove the effects of slow movement of the camera. After a suitable correction the images give a reliable and detailed picture of the temperature changes, over the period October 2004 – January 2007, which suggests origin of the changes were linked to anthropogenic activity, vegetation growth and to the increase of the flux of hydrothermal fluids in the area of the hottest fumaroles. Two positive temperature anomalies were registered after the occurrence of two seismic swarms which affected the hydrothermal system of Solfatara in October 2005 and October 2006. It is worth noting that these signs were detected in a system characterized by a low level of activity with respect to systems affected by real volcanic crisis where more spectacular results will be expected. Results of the experiment show that this kind of monitoring system can be a suitable tool for volcanic surveillance

Improving monitoring techniques by exploiting TerraSAR-X data: an application to Campi Flegrei (Naples, Italy)

Geodetic monitoring of the Neapolitan Volcanic District, including the Campi Flegrei caldera on the west of the city of Naples (Italy), is carried out via an integration between ground based networks and space-borne DInSAR techniques, exploiting the SAR sensors onboard ERS1-2 and ENVISAT satellites. This allowed, for instance, to follow the time evolution of the small uplift events which took place in 2000 and 2005-2006. Unfortunately, the use of the ENVISAT C-band could result sometimes in no information when dealing with very low deformation rates, as in the 2005-2006 case, when only continuous ground stations were able to detect the very beginning of the uplift event. To overcome this problem, from December 2009 we decided to use an high resolution SAR sensor operating in the X band, i.e. TerraSAR-X from DLR. TerraSAR-X High Resolution Spotlight scenes covering the main part of the Campi Flegrei caldera and centred on the Solfatara crater were used for a DInSAR analysis, using the GENESIS DLR’s software. The first two scenes (Dec. 15 and 26) were acquired with a temporal baseline of only one repetition cycle (11 days) and formed an interferogram with a very small perpendicular baseline (16.5 m). Apart from some minor atmospheric effects, the interferogram shows a small but clear deformation signal in the Pisciarelli area, close to the east side of the Solfatara crater. The ellipse shaped uplift area extends approximately 30 meters in E-W and 20 meters in N-S directions and the maximum deformation is up to 10 mm in the centre of the uplifted area. The availability of a new scene (06/01/2010) allowed three possible combinations. The deformation event highlighted by this analysis is consistent with geochemical observations carried out in Pisciarelli by INGV-OV. Pisciarelli area is seat of a fumarolic field systematically monitored in the frame of the volcanic surveillance of the Campi Flegrei caldera. Two field surveys highlighted that, during the period of SAR images acquisition, a new and strong fumarolic vent appeared in the centre of the uplifted area. In fact the vent, firstly observed on Dec. 21, was absent on Dec. 16. The two independent observations, field surveys and SAR data, suggest that the opening of the fumarolic vent was preceded by the pressurization of a small part of the fumarolic field highlighted by the documented uplift. The correlation between the dynamics of the fumarolic field and the deformation signal is confirmed by the fact that in the 26/12/2009-06/01/2010 interferogram the deformation signal is no more detectable. Finally, this case proves the high potentiality of TerraSAR-X High Resolution Spotlight data in monitoring volcanic activity with a resolution suitable for detecting also minor, but possibly dangerous, changes of the systems, as it could be in the early recognition of the signals generated by impending phreatic eruptions. TerraSAR-X High Resolution Spotlight acquisitions will continue every cycle and PS-InSAR and SBAS algorithms will be applied to carefully monitor any further changes in the activity of the Campi Flegrei volcanic system

Long Time Series Of Fumarolic Compositions At Volcanoes: The Key To Understand The Activity Of Quiescent Volcanoes

Long time series of fumarolic chemical and isotopic compositions at Campi Flegrei, Vulcano, Panarea, Nisyros and Mammoth volcanoes highlight the occurrence of mixing processes among magmatic and hydrothermal fluids. At Campi Flegrei temperatures of about 360°C of the hydrothermal system are inferred by chemical and isotopic geoindicators. These high temperatures are representative of a deep zone where magmatic gases mix with hydrothermal liquids forming the gas plume feeding the fumaroles. Similar mixing processes between magmatic fluids and a hydrothermal component of marine origin have been recognized at Vulcano high temperature fumaroles. In both the system a typical ‘andesitic’ water type composition and high CO2 contents characterizes the magmatic component. Our hypothesis is that pulsing injections of these CO2- rich magmatic fluids at the bottom of the hydrothermal systems trigger the bradyseismic crises, periodically affecting Campi Flegrei, and the periodical volcanic unrest periods of Vulcano. At Campi Flegrei a strong increase of the fraction of the magmatic component marked the bradyseismic crisis (seismicity and ground uplift) of 1982-84 and four minor episodes occurred in 1989, 1994 and 2000 and 2006. Increases of the magmatic component in the fumaroles of Vulcano were recorded in 1979-1981, 1985, 1988, 1996, 2004 and 2005 concurrently with anomalous seismic activity. Physicalnumerical simulations of the injection of hot, CO2 rich fluids at the base of a hydrothermal system, asses the physical feasibility the process. Ground deformations, gravitational anomalies and seismic crisis can be well explained by the complex fluid dynamic processes caused by magma degassing episodes. Sporadic data on the fumaroles of other volcanoes, for example Panarea, Nisyros (Greece), Mammoth (California), suggest that magma degassing episodes frequently occur in dormant volcanoes causing volcanic unrest processes not necessarily linked to magma movement but rather to pulsating degassing processes from deep pressurized, possibly stationary, magma bodies

Performance of the diamond active target prototype for the PADME experiment at the DAΦ\PhiNE BTF

The PADME experiment at the DA$\Phi$NE Beam-Test Facility (BTF) is designed to search for the gauge boson of a new $\rm U(1)$ interaction in the process e$^+$e$^-\rightarrow\gamma$+$\rm A'$, using the intense positron beam hitting a light target. The $\rm A'$, usually referred as dark photon, is assumed to decay into invisible particles of a secluded sector and it can be observed by searching for an anomalous peak in the spectrum of the missing mass measured in events with a single photon in the final state. The measurement requires the determination of the 4-momentum of the recoil photon, performed by a homogeneous, highly segmented BGO crystals calorimeter. A significant improvement of the missing mass resolution is possible using an active target capable to determine the average position of the positron bunch with a resolution of less than 1 mm. This report presents the performance of a real size $\rm (2x2 cm^2)$ PADME active target made of a thin (50 $\mu$m) diamond sensor, with graphitic strips produced via laser irradiation on both sides. The measurements are based on data collected in a beam test at the BTF in November 2015.Comment: 7 pages, 10 figure