Visual 3-D SLAM from UAVs

The aim of the paper is to present, test and discuss the implementation of Visual SLAM techniques to images taken from Unmanned Aerial Vehicles (UAVs) outdoors, in partially structured environments. Every issue of the whole process is discussed in order to obtain more accurate localization and mapping from UAVs flights. Firstly, the issues related to the visual features of objects in the scene, their distance to the UAV, and the related image acquisition system and their calibration are evaluated for improving the whole process. Other important, considered issues are related to the image processing techniques, such as interest point detection, the matching procedure and the scaling factor. The whole system has been tested using the COLIBRI mini UAV in partially structured environments. The results that have been obtained for localization, tested against the GPS information of the flights, show that Visual SLAM delivers reliable localization and mapping that makes it suitable for some outdoors applications when flying UAVs

Same data, different conclusions: Radical dispersion in empirical results when independent analysts operationalize and test the same hypothesis

In this crowdsourced initiative, independent analysts used the same dataset to test two hypotheses regarding the effects of scientists’ gender and professional status on verbosity during group meetings. Not only the analytic approach but also the operationalizations of key variables were left unconstrained and up to individual analysts. For instance, analysts could choose to operationalize status as job title, institutional ranking, citation counts, or some combination. To maximize transparency regarding the process by which analytic choices are made, the analysts used a platform we developed called DataExplained to justify both preferred and rejected analytic paths in real time. Analyses lacking sufficient detail, reproducible code, or with statistical errors were excluded, resulting in 29 analyses in the final sample. Researchers reported radically different analyses and dispersed empirical outcomes, in a number of cases obtaining significant effects in opposite directions for the same research question. A Boba multiverse analysis demonstrates that decisions about how to operationalize variables explain variability in outcomes above and beyond statistical choices (e.g., covariates). Subjective researcher decisions play a critical role in driving the reported empirical results, underscoring the need for open data, systematic robustness checks, and transparency regarding both analytic paths taken and not taken. Implications for organizations and leaders, whose decision making relies in part on scientific findings, consulting reports, and internal analyses by data scientists, are discussed

The Sariçiçek howardite fall in Turkey: Source crater of HED meteorites on Vesta and impact risk of Vestoids

The Sari\c{c}i\c{c}ek howardite meteorite shower consisting of 343 documented stones occurred on 2 September 2015 in Turkey and is the first documented howardite fall. Cosmogenic isotopes show that Sari\c{c}i\c{c}ek experienced a complex cosmic ray exposure history, exposed during ~12-14 Ma in a regolith near the surface of a parent asteroid, and that an ca.1 m sized meteoroid was launched by an impact 22 +/- 2 Ma ago to Earth (as did one third of all HED meteorites). SIMS dating of zircon and baddeleyite yielded 4550.4 +/- 2.5 Ma and 4553 +/- 8.8 Ma crystallization ages for the basaltic magma clasts. The apatite U-Pb age of 4525 +/- 17 Ma, K-Ar age of ~3.9 Ga, and the U,Th-He ages of 1.8 +/- 0.7 and 2.6 +/- 0.3 Ga are interpreted to represent thermal metamorphic and impact-related resetting ages, respectively. Petrographic, geochemical and O-, Cr- and Ti- isotopic studies confirm that Sari\c{c}i\c{c}ek belongs to the normal clan of HED meteorites. Petrographic observations and analysis of organic material indicate a small portion of carbonaceous chondrite material in the Sari\c{c}i\c{c}ek regolith and organic contamination of the meteorite after a few days on soil. Video observations of the fall show an atmospheric entry at 17.3 +/- 0.8 kms-1 from NW, fragmentations at 37, 33, 31 and 27 km altitude, and provide a pre-atmospheric orbit that is the first dynamical link between the normal HED meteorite clan and the inner Main Belt. Spectral data indicate the similarity of Sari\c{c}i\c{c}ek with the Vesta asteroid family spectra, a group of asteroids stretching to delivery resonances, which includes (4) Vesta. Dynamical modeling of meteoroid delivery to Earth shows that the disruption of a ca.1 km sized Vesta family asteroid or a ~10 km sized impact crater on Vesta is required to provide sufficient meteoroids <4 m in size to account for the influx of meteorites from this HED clan

The Sariçiçek howardite fall in Turkey: Source crater of HED meteorites on Vesta and impact risk of Vestoids

###EgeUn###The Sariçiçek howardite meteorite shower consisting of 343 documented stones occurred on September 2, 2015 in Turkey and is the first documented howardite fall. Cosmogenic isotopes show that Sariçiçek experienced a complex cosmic-ray exposure history, exposed during ~12–14 Ma in a regolith near the surface of a parent asteroid, and that an ~1 m sized meteoroid was launched by an impact 22 ± 2 Ma ago to Earth (as did one-third of all HED meteorites). SIMS dating of zircon and baddeleyite yielded 4550.4 ± 2.5 Ma and 4553 ± 8.8 Ma crystallization ages for the basaltic magma clasts. The apatite U-Pb age of 4525 ± 17 Ma, K-Ar age of ~3.9 Ga, and the U,Th-He ages of 1.8 ± 0.7 and 2.6 ± 0.3 Ga are interpreted to represent thermal metamorphic and impact-related resetting ages, respectively. Petrographic; geochemical; and O-, Cr-, and Ti-isotopic studies confirm that Sariçiçek belongs to the normal clan of HED meteorites. Petrographic observations and analysis of organic material indicate a small portion of carbonaceous chondrite material in the Sariçiçek regolith and organic contamination of the meteorite after a few days on soil. Video observations of the fall show an atmospheric entry at 17.3 ± 0.8 km s -1 from NW; fragmentations at 37, 33, 31, and 27 km altitude; and provide a pre-atmospheric orbit that is the first dynamical link between the normal HED meteorite clan and the inner Main Belt. Spectral data indicate the similarity of Sariçiçek with the Vesta asteroid family (V-class) spectra, a group of asteroids stretching to delivery resonances, which includes (4) Vesta. Dynamical modeling of meteoroid delivery to Earth shows that the complete disruption of a ~1 km sized Vesta family asteroid or a ~10 km sized impact crater on Vesta is required to provide sufficient meteoroids ?4 m in size to account for the influx of meteorites from this HED clan. The 16.7 km diameter Antionia impact crater on Vesta was formed on terrain of the same age as given by the 4 He retention age of Sariçiçek. Lunar scaling for crater production to crater counts of its ejecta blanket show it was formed ~22 Ma ago. © The Meteoritical Society, 2019.58261, 40339 nccr – on the move NNX14AM62G MFAG/113F035 Simons Foundation: 302497 NNX14-AR92G, NNX16AD34G Academy of Finland: 299543 Government Council on Grants, Russian Federation: ? 02., A03.21.0006 Schweizerischer Nationalfonds zur Förderung der Wissenschaftlichen Forschung: PZ00P2_154874 Ministry of Education and Science of the Russian Federation: 3.1959.2017/4.6 National Natural Science Foundation of China: 41403055Acknowledgments—We thank N. Ergu€n and family in the village of Sari©ci©cek for donating the meteorites studied here and collecting meteorite fall coordinates. We thank E. Atalan and S. Ozdemir€ at Bingo€l University, and E. Necip Yardım and M. C© i©cek at Mu©s Alparslan University, for facilitating our research at the campuses, and S. Pamuk at the Bingo€l police headquarters. We thank A. and T. Ozdum€ an, police officers in Bingo€l, for assisting with the field study. For technical assistance, we further acknowledge support from M. Fehr, Y.-J. Lai, and L. Hoffland (NASA Ames Research Center); David Mittlefehldt (NASA JSC); K. Wimmer (Ries Crater Museum); J. Sanchez (Planetary Science Institute); A. Neesemann (Free University Berlin); S. Atanasova-Vladimirova and I. Piroeva (Institute of Physical Chemistry, BAS); and B. Georgieva and V. Strijkova (Institute of Optical Materials and Technologies, BAS). This work was supported by Istanbul University (Project No. 40339 and 58261), the Scientific and Technological Research Council of Turkey (MFAG/113F035), the Swiss National Science foundation (PZ00P2_154874 and NCCR PlanetS), the Ministry of Science and Higher Education of the Russian Federation (Project # 3.1959.2017/4.6), Act 211 of the Government of the Russian Federation, contract ? 02.A03.21.0006, the National Natural Science Foundation of China (41403055), the Simons Foundation (302497), the Academy of Finland (299543), the NASA Cosmochemistry Program (NNX14AM62G), the NASA Emerging Worlds Program (NNX16AD34G), and the NASA NEOO program (NNX14-AR92G). -

Same data, different conclusions: Radical dispersion in empirical results when independent analysts operationalize and test the same hypothesis

In this crowdsourced initiative, independent analysts used the same dataset to test two hypotheses regarding the effects of scientists’ gender and professional status on verbosity during group meetings. Not only the analytic approach but also the operationalizations of key variables were left unconstrained and up to individual analysts. For instance, analysts could choose to operationalize status as job title, institutional ranking, citation counts, or some combination. To maximize transparency regarding the process by which analytic choices are made, the analysts used a platform we developed called DataExplained to justify both preferred and rejected analytic paths in real time. Analyses lacking sufficient detail, reproducible code, or with statistical errors were excluded, resulting in 29 analyses in the final sample. Researchers reported radically different analyses and dispersed empirical outcomes, in a number of cases obtaining significant effects in opposite directions for the same research question. A Boba multiverse analysis demonstrates that decisions about how to operationalize variables explain variability in outcomes above and beyond statistical choices (e.g., covariates). Subjective researcher decisions play a critical role in driving the reported empirical results, underscoring the need for open data, systematic robustness checks, and transparency regarding both analytic paths taken and not taken. Implications for organizations and leaders, whose decision making relies in part on scientific findings, consulting reports, and internal analyses by data scientists, are discussed