Fusing Image Data for Calculating Position of an Object

A computer program has been written for use in maintaining the calibration, with respect to the positions of imaged objects, of a stereoscopic pair of cameras on each of the Mars Explorer Rovers Spirit and Opportunity. The program identifies and locates a known object in the images. The object in question is part of a Moessbauer spectrometer located at the tip of a robot arm, the kinematics of which are known. In the program, the images are processed through a module that extracts edges, combines the edges into line segments, and then derives ellipse centroids from the line segments. The images are also processed by a feature-extraction algorithm that performs a wavelet analysis, then performs a pattern-recognition operation in the wavelet-coefficient space to determine matches to a texture feature measure derived from the horizontal, vertical, and diagonal coefficients. The centroids from the ellipse finder and the wavelet feature matcher are then fused to determine co-location. In the event that a match is found, the centroid (or centroids if multiple matches are present) is reported. If no match is found, the process reports the results of the analyses for further examination by human experts

Geologising urban political ecology (UPE): the urbanisation of sand in Accra, Ghana

This paper makes a call for an urban political ecology (UPE) which engages more extensively with Earth’s geological formations. As a material at the centre of global urbanisation process, sand is offered as a geological entry point. The paper presents an analysis of the urbanisation of sand, or the ways in which sand is brought into the urban realm, grounding this reading in Accra—a growing city on Ghana’s Atlantic coast. Drawing from 14 months of ethnographic fieldwork, the paper charts the socio-natural politics through which sand is first unearthed from the edges of the city—an extractive processes otherwise known as “sand winning” in Ghana. By examining the forms of power which govern uneven revenue flows to communities, the displacement of farming groups, the widespread loss of farmland and a contested regime of governance, the analysis exposes the socio-natural politics through which the city’s geological baseline is first unearthed

Mission reliability estimation for repairable robot teams

Abstract. NASA has expressed interest in using modular self-repairable robotic teams for the exploration and colonization of Mars. One of the reasons often given for using repairable robots is increased reliability. Analytical tools are needed for estimating the reliability of robotic missions in order to determine if this reasoning is correct, and for what types of missions. In this paper we present the first method for analytically predicting the probability of mission completion for teams of repairable mobile robots. We then apply this method to compare the reliability of repairable and nonrepairable robot teams for an example mission scenario. Our results show that for this simple mission, with reasonable assumptions regarding costs, teams of repairable robots with spare components are superior to teams with spare nonrepairable robots