Enhanced Image-Aided Navigation Algorithm with Automatic Calibration and Affine Distortion Prediction

This research aims at improving two key steps within the image aided navigation process: camera calibration and landmark tracking. The camera calibration step is improved by automating the point correspondence calculation within the standard camera calibration algorithm, thereby reducing the required time for calibration while maintaining the output model accuracy. The feature landmark tracking step is improved by digitally simulating affine distortions on input images in order to calculate more accurate feature descriptors for improved feature matching in high relative viewpoint change. These techniques are experimentally demonstrated in an outdoor environment with a consumer-grade inertial sensor and three imaging sensors, one of which is orthogonal to the rest. Using a tactical-grade inertial sensor coupled with GPS position data for comparison, the improved image aided navigation algorithm is shown to reduce navigation errors by 24% in position, 16% in velocity and 35% in attitude when compared to the standard image-aided navigation algorithm

Autonomous and Resilient Management of All-Source Sensors for Navigation Assurance

All-source navigation has become increasingly relevant over the past decade with the development of viable alternative sensor technologies. However, as the number and type of sensors informing a system increases, so does the probability of corrupting the system with sensor modeling errors, signal interference, and undetected faults. Though the latter of these has been extensively researched, the majority of existing approaches have constrained faults to biases, and designed algorithms centered around the assumption of simultaneously redundant, synchronous sensors with valid measurement models, none of which are guaranteed for all-source systems. This research aims to provide all-source multi-sensor resiliency, assurance, and integrity through an autonomous sensor management framework. The proposed framework dynamically places each sensor in an all-source system into one of four modes: monitoring, validation, calibration, and remodeling. Each mode contains specific and novel realtime processes that affect how a navigation system responds to sensor measurements. The monitoring mode is driven by a novel sensor-agnostic fault detection, exclusion, and integrity monitoring method that minimizes the assumptions on the fault type, all-source sensor composition, and the number of faulty sensors. The validation mode provides a novel method for the online validation of sensors which have questionable sensor models, in a fault-agnostic and sensor-agnostic manner, and without compromising the ongoing navigation solution in the process. The remaining two modes, calibration and remodeling, generalize and integrate online calibration and model identification processes to provide autonomous and dynamic estimation of candidate model functions and their parameters, which when paired with the monitoring and validation processes, directly enable resilient, self-correcting, plug-and-play open architecture navigation systems

Thermodynamics of nuclei in thermal contact

The behaviour of a di-nuclear system in the regime of strong pairing correlations is studied with the methods of statistical mechanics. It is shown that the thermal averaging is strong enough to assure the application of thermodynamical methods to the energy exchange between the two nuclei in contact. In particular, thermal averaging justifies the definition of a nuclear temperature.Comment: 9 pages, 1 figur

Final excitation energy of fission fragments

We study how the excitation energy of the fully accelerated fission fragments is built up. It is stressed that only the intrinsic excitation energy available before scission can be exchanged between the fission fragments to achieve thermal equilibrium. This is in contradiction with most models used to calculate prompt neutron emission where it is assumed that the total excitation energy of the final fragments is shared between the fragments by the condition of equal temperatures. We also study the intrinsic excitation-energy partition according to a level density description with a transition from a constant-temperature regime to a Fermi-gas regime. Complete or partial excitation-energy sorting is found at energies well above the transition energy.Comment: 8 pages, 3 figure

Marker based Thermal-Inertial Localization for Aerial Robots in Obscurant Filled Environments

For robotic inspection tasks in known environments fiducial markers provide a reliable and low-cost solution for robot localization. However, detection of such markers relies on the quality of RGB camera data, which degrades significantly in the presence of visual obscurants such as fog and smoke. The ability to navigate known environments in the presence of obscurants can be critical for inspection tasks especially, in the aftermath of a disaster. Addressing such a scenario, this work proposes a method for the design of fiducial markers to be used with thermal cameras for the pose estimation of aerial robots. Our low cost markers are designed to work in the long wave infrared spectrum, which is not affected by the presence of obscurants, and can be affixed to any object that has measurable temperature difference with respect to its surroundings. Furthermore, the estimated pose from the fiducial markers is fused with inertial measurements in an extended Kalman filter to remove high frequency noise and error present in the fiducial pose estimates. The proposed markers and the pose estimation method are experimentally evaluated in an obscurant filled environment using an aerial robot carrying a thermal camera.Comment: 10 pages, 5 figures, Published in International Symposium on Visual Computing 201

An approach to build JSON-based Domain Specific Languages solutions for web applications

Because of their level of abstraction, Domain-Specific Languages (DSLs) enable building applications that ease software implementation. In the context of web applications, we can find a lot of technologies and programming languages for server-side applications that provide fast, robust, and flexible solutions, whereas those for client-side applications are limited, and mostly restricted to directly use JavaScript, HTML5, CSS3, JSON and XML. This article presents a novel approach to creating DSL-based web applications using JSON grammar (JSON-DSL) for both, the server and client side. The approach includes an evaluation engine, a programming model and an integrated web development environment that support it. The evaluation engine allows the execution of the elements created with the programming model. For its part, the programming model allows the definition and specification of JSON-DSLs, the implementation of JavaScript components, the use of JavaScript templates provided by the engine, the use of link connectors to heterogeneous information sources, and the integration with other widgets, web components and JavaScript frameworks. To validate the strength and capacity of our approach, we have developed four case studies that use the integrated web development environment to apply the programming model and check the results within the evaluation engin

Critical Repetition Rates for Perceptual Segregation of Time-Varying Auditory, Visual and Vibrotactile Stimulation

What sound quality has led to exclude infrasound from sound in the conventional hearing range? We examined whether temporal segregation of pressure pulses is a distinctive property and evaluated this perceptual limit via an adaptive psychophysical procedure for pure tones and carriers of different envelopes. Further, to examine across-domain similarity and individual covariation of this limit, here called the critical segregation rate (CSR), it was also measured for various periodic visual and vibrotactile stimuli. Results showed that sequential auditory or vibrotactile stimuli separated by at least ~80‒90 ms (~11‒12-Hz repetition rates), will be perceived as perceptually segregated from one another. While this limit did not statistically differ between these two modalities, it was significantly lower than the ~150 ms necessary to perceptually segregate successive visual stimuli. For the three sensory modalities, stimulus periodicity was the main factor determining the CSR, which apparently reflects neural recovery times of the different sensory systems. Among all experimental conditions, significant within- and across-modality individual CSR correlations were observed, despite the visual CSR (mean: 6.8 Hz) being significantly lower than that of both other modalities. The auditory CSR was found to be significantly lower than the frequency above which sinusoids start to elicit a tonal quality (19 Hz; recently published for the same subjects). Returning to our initial question, the latter suggests that the cessation of tonal quality — not the segregation of pressure fluctuations — is the perceptual quality that has led to exclude infrasound (sound with frequencies < 20 Hz) from the conventional hearing range

Sobretensiones por ferroresonancia en un sistema de distribución eléctrica rural: reporte de caso y simulación

The objective of this work was to analyze an overvoltage case in a rural distribution feeder belonging to an electrical distribution company in the southeast of the Buenos Aires Province in Argentina. The network was modeled in the Electromagnetic Transients Program, based on the electrical parameters that make up the circuit, in order to evaluate its behavior under various switching and load states. The simulation analysis showed that during certain operation and load situations, the conditions for the overvoltage phenomenon occurred, causing a voltage increase in the single-phase transformer feeding. The guidelines for prevention and control of the phenomenon were provided taking into account the results obtained in the study.El objetivo del trabajo presentado fue el de analizar un caso de sobretensión en un sistema de distribución de energía eléctrica rural (13,2kV) perteneciente a una Cooperativa de Electricidad del sudeste de la Policía de Buenos Aires, Rep. Argentina. A partir de los parámetros que componen el circuito eléctrico se modeló la red dentro del entorno del programa computacional Electromagnetic Transients Program, con el fin de evaluar su comportamiento ante distintas maniobras de interrupción y estados de carga. El análisis de la simulación demostró que, en ciertas situaciones de operación y carga, se conjugaron las condiciones para la ocurrencia del fenómeno de ferrorresonancia, ocasionando la elevación de tensión de alimentación en transformadores monofásicos. Considerando los resultados del estudio, se brindaron pautas a tener en cuenta para la prevención y control del fenómeno

Comparative study of tributyltin toxicity on two bacteria of the genus Bacillus

Tributyltin is a potent biocide mainly used in marine antifouling paints. Owing to its widespread distribution in coast areas and its high toxicity to aquatic organisms, the use of this compound is generally restricted and under government regulation. Despite of that, it persists in the aquatic environment. Organotins used in industry have also been detected in terrestrial environments. The persistence and high lipophilicity explain bioaccumulation. The role of bacteria in recycling organic matter prompted us to study the interaction of tributyltin with two ubiquitous bacilli, B. stearothermophilus and B. subtilis, proposed as biological indicators of pollutants with ecological impact. These bacteria have been used as suitable models for the study of toxicity mechanisms of unselective lipophilic compounds (e.g., DDT and endosulfan). Drug effects on growth parameters, oxygen consumption and membrane organization were assessed. Bacteria growth in a liquid complex medium was disturbed by concentrations of TBT as low as 25 nM (8 [mu]g L-1), close to the concentration in polluted environments. The respiratory activity is affected by TBT in both microorganisms. Membrane organization, assessed by fluorescence polarization of two fluidity probes, 1,6-diphenyl-1,3,5-hexatriene (DPH) and a propionic acid derivative (DPH-PA), was also perturbed by the xenobiotic. Alterations on growth, oxygen consumption and physical properties of membrane lipids are stronger in B. stearothermophilus as compared to B. subtilis. A putative relationship between growth inhibition and respiratory activity impairment induced by TBT and its effects on the physical behaviour of bacterial membrane lipids is suggested.http://www.sciencedirect.com/science/article/B6TCP-4GSJR3R-9/1/18e0ee5c8ce4e887466d84b850ad8ec

Non-random distribution of biocrust in a natural arid environment in the northern mexican plateau

Abstract. Biocrust, as photosynthetic organisms, has been considered to show an inversely proportional relationship with vascular plant cover. However, some studies report association and facilitation relationships between them. This research explores whether i) biocrust is associated with shrub species, ii) biocrust cover is higher in undershrub microenvironments than in open areas between plants and, iii) soil moisture and solar radiation affect biocrust distribution. Biocrust cover was analyzed by morphotype in microenvironments under the canopy of two dominant shrub species (Larrea tridentata and Parthenium incanum) and in open areas. Soil moisture and solar radiation were recorded at each microenvironment. Thirty-three interception lines (975 points) were used to analyze the association between vascular plants and biocrust and 20 sampling plots to estimate morphotype cover. Results reveal a positive association between biocrust and plant species compared to open areas. Lichens and cyanobacteria showed a higher cover under L. tridentata than under P. incanum and in open areas, suggesting a species-specific facilitative association with L. tridentata, maybe due to a higher soil water content in this microenvironment. Mosses had lower cover in the open area where the highest solar radiation was recorded. Lichens and cyanobacteria distribution appeared to be related to soil moisture. Keywords: creosote bush, cyanobacteria, lichens, mosses, northeastern Mexic