Circumference imaging for optical based identification of cylindrical and conical objects

Inspection and identification of cylindrical or conical shaped objects presents a unique challenge for a machine vision system. Due to the circular nature of the objects it is difficult to image the whole object using traditional area cameras and image capture methods. This work describes a unique technique to acquire a two dimensional image of the entire surface circumference of a cylindrical/conical shaped object. The specific application of this method is the identification of large caliber (155 mm) ammunition rounds in the field as they are transported between or within vehicles. The proposed method utilizes a line scan camera in combination with high speed image acquisition and processing hardware to acquire images from multiple cameras and generate a single, geometrically accurate, surface image. The primary steps involved are the capture of multiple images as the ammunition moves by on the conveyor followed by warping to correct for the distortion induced by the curved projectile surface. The individual images are then tiled together to form one two-dimensional image of the complete circumference. Once this image has been formed an automatic identification algorithm begins the feature extraction and classification process

A Note on the Integral Formulation of Einstein's Equations Induced on a Braneworld

We revisit the integral formulation (or Green's function approach) of Einstein's equations in the context of braneworlds. The integral formulation has been proposed independently by several authors in the past, based on the assumption that it is possible to give a reinterpretation of the local metric field in curved spacetimes as an integral expression involving sources and boundary conditions. This allows one to separate source-generated and source-free contributions to the metric field. As a consequence, an exact meaning to Mach's Principle can be achieved in the sense that only source-generated (matter fields) contributions to the metric are allowed for; universes which do not obey this condition would be non-Machian. In this paper, we revisit this idea concentrating on a Randall-Sundrum-type model with a non-trivial cosmology on the brane. We argue that the role of the surface term (the source-free contribution) in the braneworld scenario may be quite subtler than in the 4D formulation. This may pose, for instance, an interesting issue to the cosmological constant problem.Comment: 10 pages, no figures, accepted for publication in the General Relativity and Gravitation Journa

Investigations of a THGEM-based imaging detector

We present the results of our recent studies on a Thick Gas Electron Multiplier (THGEM)-based imaging detector prototype. It consists of two 100x100 mm^2 THGEM electrodes in cascade, coupled to a resistive anode. The event location is recorded with a 2D double-sided readout electrode equipped with discrete delay-lines and dedicated electronics. The THGEM electrodes, produced by standard printed-circuit board and mechanical drilling techniques, a 0.4 mm thick with 0.5 mm diameter holes spaced by 1 mm. Localization resolutions of about 0.7 mm (FWHM) were measured with soft x-rays, in a detector operated with atmospheric-pressure Ar/CH4; good linearity and homogeneity were achieved. We describe the imaging-detector layout, the resistive-anode 2D readout system and the imaging properties. The THGEM has numerous potential applications that require large-area imaging detectors, with high-rate capability, single-electron sensitivity and moderate (sub-mm) localization resolution.Comment: Published in JINST, 22 pages, 18 figure

Exact Hypersurface-Homogeneous Solutions in Cosmology and Astrophysics

A framework is introduced which explains the existence and similarities of most exact solutions of the Einstein equations with a wide range of sources for the class of hypersurface-homogeneous spacetimes which admit a Hamiltonian formulation. This class includes the spatially homogeneous cosmological models and the astrophysically interesting static spherically symmetric models as well as the stationary cylindrically symmetric models. The framework involves methods for finding and exploiting hidden symmetries and invariant submanifolds of the Hamiltonian formulation of the field equations. It unifies, simplifies and extends most known work on hypersurface-homogeneous exact solutions. It is shown that the same framework is also relevant to gravitational theories with a similar structure, like Brans-Dicke or higher-dimensional theories.Comment: 41 pages, REVTEX/LaTeX 2.09 file (don't use LaTeX2e !!!) Accepted for publication in Phys. Rev.

Phenomenology of the Lense-Thirring effect in the Solar System

Recent years have seen increasing efforts to directly measure some aspects of the general relativistic gravitomagnetic interaction in several astronomical scenarios in the solar system. After briefly overviewing the concept of gravitomagnetism from a theoretical point of view, we review the performed or proposed attempts to detect the Lense-Thirring effect affecting the orbital motions of natural and artificial bodies in the gravitational fields of the Sun, Earth, Mars and Jupiter. In particular, we will focus on the evaluation of the impact of several sources of systematic uncertainties of dynamical origin to realistically elucidate the present and future perspectives in directly measuring such an elusive relativistic effect.Comment: LaTex, 51 pages, 14 figures, 22 tables. Invited review, to appear in Astrophysics and Space Science (ApSS). Some uncited references in the text now correctly quoted. One reference added. A footnote adde

<title>Asynchronous modulation/demodulation technique for robust identification of a target for 3D pose determination</title>

Engineers at Oak Ridge National Laboratory have been investigating the feasibility of computer-controlled docking in resupply missions, sponsored by the US Army. The goal of this program is to autonomously dock an articulating robotic boom with a special receiving port. A video camera mounted on the boom provides video images of the docking port to an image processing computer that calculates the position and orientation (pose) of the target relative to the camera. The control system can then move the boom into docking position. This paper describes a method of uniquely identifying and segmenting the receiving port from its background in a sequence of video images. An array of light-emitting diodes was installed to mark the vertices of the port. The markers have a fixed geometric pattern and are modulated at a fixed frequency. An asynchronous demodulation technique to segment flashing markers from an image of the port was developed and tested under laboratory conditions. The technique acquires a sequence of images and digitally processes them in the time domain to suppress all image features except the flashing markers. Pixels that vary at frequencies within the filter bandwidth are passed unattenuated, while variations outside the passband are suppressed. The image coordinates of the segmented markers are computed and then used to calculate the pose of the receiving port. The technique has been robust and reliable in a laboratory demonstration of autodocking

An asynchronous modulation/demodulation technique for robust identification of a target for 3-D pose determination

Engineers at Oak Ridge National Laboratory have been investigating the feasibility of computer-controlled docking in resupply missions, sponsored by the US Army. The goal of this program is to autonomously dock an articulating robotic boom with a special receiving port. A video camera mounted on the boom provides video images of the docking port to an image processing computer that calculates the position and orientation (pose) of the target relative to the camera. The control system can then move the boom into docking position. This paper describes a method of uniquely identifying and segmenting the receiving port from its background in a sequence of video images. An array of light-emitting diodes was installed to mark the vertices of the port. The markers have a fixed geometric pattern and are modulated at a fixed frequency. An asynchronous demodulation technique to segment flashing markers from an image of the port was developed and tested under laboratory conditions. The technique acquires a sequence of images and digitally processes them in the time domain to suppress all image features except the flashing markers. Pixels that vary at frequencies within the filter bandwidth are passed unattenuated, while variations outside the passband are suppressed. The image coordinates of the segmented markers are computed and then used to calculate the pose of the receiving port. The technique has been robust and reliable in a laboratory demonstration of autodocking