Relative Pose Estimation of Non-Cooperative Space Targets Using a TOF Camera

It is difficult to determine the accurate pose of non-cooperative space targets in on-orbit servicing (OOS). The visual camera is easily affected by the extreme light environment in space, and the scanning lidar will have motion distortion when the target moves at high speed. Therefore, we proposed a non-cooperative target pose-estimation system combining a registration and a mapping algorithm using a TOF camera. We first introduce the projection model of the TOF camera and proposed a new calibration method. Then, we introduce the three modules of the proposed method: the TOF data preprocessing module, the registration module and the model mapping module. We assembled the experimental platform to conduct semi-physical experiments; the results showed that the proposed method has the smallest translation error 8 mm and Euler angle error 1° compared with other classical methods. The total time consumption is about 100 ms, and the pose tracking frequency can reach 10 Hz. We can conclude that the proposed pose-estimation scheme can achieve the high-precision pose estimation of non-cooperative targets and meet the requirements necessary for aerospace applications

Views of health care professionals on the implementation of preoperative advance care planning in older patients with head and neck cancer: Q methodology

Objective: To investigate the views of health care professionals in a head and neck surgical department toward the implementation of advance care planning prior to surgery for older patients with head and neck cancer. Method: Q methodology was used to explore and analyze participants’ views by combining quantitative and qualitative methods. Participants were asked to rank 35 Q statements generated via semi-structured interviews and a literature review and to explain the reasons for their ranking in subsequent interviews. The data was then analyzed and used to develop a factor series to illustrate participants’ views. Results: This study surveyed 15 health care professionals, including eight doctors and seven nurses. The views of health care professionals toward preoperative implementation of advance care planning discussions were varied and could be categorized into three types: defending the autonomy of patients, patients’ knowledge and the Chinese traditional cultural context hinder the implementation of preoperative advance care planning, and lack of confidence in performing preoperative advance care planning. Conclusions: Although the health care professionals in the head and neck surgical department in this study recognized the benefits of preoperative discussions regarding advance care planning, patients’ knowledge level, traditional Chinese values, inadequate capacity among health care professionals, and unsound legal policies have caused these professionals to have misgivings about preoperative counseling and discussing advance care planning with patients. Further studies should be conducted, and strategies to overcome barriers to discussions of preoperative advance care planning should be developed

A facile, bio-inspired synthetic route toward flower-like copper phosphate crystals with high specific surface area

A bio-inspired approach for the synthesis of flower-like copper phosphate crystals was proposed in this study. Herein, polydopamine (PDA) was applied to result in the self-assembly of crystals. The flower-like copper phosphate, composed of individual copper phosphate crystals possess self-assembled flowerlike architectures. The flower-like copper phosphate had a specific surface area of 1646.4 m2/g, much higher than irregular copper phosphate crystals of 245.3 m2/g. This method is expected to have many potential applications including catalysis science, antibacterial materials, and biological research

Non-Cooperative Spacecraft Pose Measurement with Binocular Camera and TOF Camera Collaboration

Non-cooperative spacecraft pose acquisition is a challenge in on-orbit service (OOS), especially for targets with unknown structures. A method for the pose measurement of non-cooperative spacecrafts based on the collaboration of binocular and time-of-flight (TOF) cameras is proposed in this study. The joint calibration is carried out to obtain the transformation matrix from the left camera coordinate system to the TOF camera system. The initial pose acquisition is mainly divided into feature point association and relative motion estimation. The initial value and key point information generated in stereo vision are yielded to refine iterative closest point (ICP) frame-to-frame registration. The final pose of the non-cooperative spacecraft is determined through eliminating the cumulative error based on the keyframes in the point cloud process. The experimental results demonstrate that the proposed method is able to track the target spacecraft during aerospace missions, which may provide a certain reference value for navigation systems

A Semantically Aware Multi-View 3D Reconstruction Method for Urban Applications

The task of 3D reconstruction of urban targets holds pivotal importance for various applications, including autonomous driving, digital twin technology, and urban planning and development. The intricate nature of urban landscapes presents substantial challenges in attaining 3D reconstructions with high precision. In this paper, we propose a semantically aware multi-view 3D reconstruction method for urban applications which incorporates semantic information into the technical 3D reconstruction. Our research primarily focuses on two major components: sparse reconstruction and dense reconstruction. For the sparse reconstruction process, we present a semantic consistency-based error filtering approach for feature matching. To address the challenge of errors introduced by the presence of numerous dynamic objects in an urban scene, which affects the Structure-from-Motion (SfM) process, we propose a computation strategy based on dynamic–static separation to effectively eliminate mismatches. For the dense reconstruction process, we present a semantic-based Semi-Global Matching (sSGM) method. This method leverages semantic consistency to assess depth continuity, thereby enhancing the cost function during depth estimation. The improved sSGM method not only significantly enhances the accuracy of reconstructing the edges of the targets but also yields a dense point cloud containing semantic information. Through validation using architectural datasets, the proposed method was found to increase the reconstruction accuracy by 32.79% compared to the original SGM, and by 63.06% compared to the PatchMatch method. Therefore, the proposed reconstruction method holds significant potential in urban applications

A High-Gain DC-DC Converter with a Wide Range of Output Voltage

In fuel-cell-powered electric vehicles, the output characteristics of the fuel cell are relatively soft, and the output voltage is unstable. Therefore, a DC-DC converter is required between the fuel cell and the inverter to transform the output voltage of the fuel cell into a suitable voltage for the motor drive. Existing non-isolated DC-DC converters cannot meet the requirements of high voltage gain, high efficiency and a wide range of output voltage simultaneously. To improve these performances, a high-gain DC-DC converter with a wide range of output voltage, based on a switched capacitor structure, is proposed in this paper. The converter supplies power to the load by connecting multiple capacitors with the input source in series in switch-on states, while the input source charges the capacitors through a series connection with an inductor in switch-off states. In comparison to existing converters, the proposed converter maintains high voltage gain at lower duty ratios and offers a wide range of output voltage. The operating principles, key waveforms and parameter design of the topology in Continuous Conduction Mode (CCM) are described and analyzed in detail, and the voltage gain of the proposed converter is compared with some other DC-DC converters. Finally, the results of simulations using Simulink and hardware experiments that were conducted to validate the theoretical analysis are described

Experimental Study on Vortex-Induced Vibration of Tension Leg and Riser for Full Depth Mooring Tension Leg Platform

According to the geometric parameters of the tension leg platform, the test model was made with a scale ratio of 1:61. The model was used to conduct the full-depth simulation test of uniform flow and wave current combination in the test pool. The model test results showed that when the reduced speed was between 5.5 and 8.5, and the lateral motion response of the platform was the most significant. In the interval of the reduced speed, the response frequency of transverse vortex-induced motion was close to the natural transverse frequency of the platform, and resonance occurred. The amplitude of surge motion increased with the increase of reduced speed. Due to the pull of the floating body, the tension of tension legs and risers increased with the flow rate but did not increase significantly in the floating body lock zone. The mooring tension had a certain limiting effect on the floating body sway. The displacement modes of tension legs and risers were greatly affected by the flow velocity. With the flow velocity increasing, the mode order increased. In addition, the increase in tension caused by the large displacement of the floating body had a certain impact on the displacement amplitude. The wave could reduce the sway of the floating body and strengthen the surge. Therefore, under the combined action of wave and current, the tension amplitude of the tension leg and riser was increased compared with that under the uniform flow. The conclusions obtained in this paper could be used for reference in the engineering design of tension legs and risers