Coordinated Motion Planning for On-Orbit Satellite Inspection using a Swarm of Small-Spacecraft

This paper addresses the problem of how to plan optimal motion for a swarm of on-orbit servicing (OOS) small-spacecraft remotely inspecting a non-cooperative client spacecraft in Earth orbit. With the goal being to maximize the information gathered from the coordinated inspection, we present an integrated motion planning methodology that is a) fuel-efficient to ensure extended operation time and b) computationally-tractable to make possible on-board re-planning for improved exploration. Our method is decoupled into first offline selection of optimal orbits, followed by online coordinated attitude planning. In the orbit selection stage, we numerically evaluate the upper and lower bounds of the information gain for a discretized set of passive relative orbits (PRO). The algorithm then sequentially assigns orbits to each spacecraft using greedy heuristics. For the attitude planning stage, we propose a dynamic programming (DP) based attitude planner capable of addressing vehicle and sensor constraints such as attitude control system specifications, sensor field of view, sensing duration, and sensing angle. Finally, we validate the performance of the proposed algorithms through simulation of a design reference mission involving 3U CubeSats inspecting a satellite in low Earth orbit

CaRT: Certified Safety and Robust Tracking in Learning-based Motion Planning for Multi-Agent Systems

The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-based motion planning policy. First, in a nominal setting, the analytical form of our CaRT safety filter formally ensures safe maneuvers of nonlinear multi-agent systems, optimally with minimal deviation from the learning-based policy. Second, in off-nominal settings, the analytical form of our CaRT robust filter optimally tracks the certified safe trajectory, generated by the previous layer in the hierarchy, the CaRT safety filter. We show using contraction theory that CaRT guarantees safety and the exponential boundedness of the trajectory tracking error, even under the presence of deterministic and stochastic disturbance. Also, the hierarchical nature of CaRT enables enhancing its robustness for safety just by its superior tracking to the certified safe trajectory, thereby making it suitable for off-nominal scenarios with large disturbances. This is a major distinction from conventional safety function-driven approaches, where the robustness originates from the stability of a safe set, which could pull the system over-conservatively to the interior of the safe set. Our log-barrier formulation in CaRT allows for its distributed implementation in multi-agent settings. We demonstrate the effectiveness of CaRT in several examples of nonlinear motion planning and control problems, including optimal, multi-spacecraft reconfiguration.Comment: IEEE Conference on Decision and Control (CDC), Preprint Version, Accepted July, 202

Coordinated Motion Planning for On-Orbit Satellite Inspection using a Swarm of Small-Spacecraft

This paper addresses the problem of how to plan optimal motion for a swarm of on-orbit servicing (OOS) small-spacecraft remotely inspecting a non-cooperative client spacecraft in Earth orbit. With the goal being to maximize the information gathered from the coordinated inspection, we present an integrated motion planning methodology that is a) fuel-efficient to ensure extended operation time and b) computationally-tractable to make possible on-board re-planning for improved exploration. Our method is decoupled into first offline selection of optimal orbits, followed by online coordinated attitude planning. In the orbit selection stage, we numerically evaluate the upper and lower bounds of the information gain for a discretized set of passive relative orbits (PRO). The algorithm then sequentially assigns orbits to each spacecraft using greedy heuristics. For the attitude planning stage, we propose a dynamic programming (DP) based attitude planner capable of addressing vehicle and sensor constraints such as attitude control system specifications, sensor field of view, sensing duration, and sensing angle. Finally, we validate the performance of the proposed algorithms through simulation of a design reference mission involving 3U CubeSats inspecting a satellite in low Earth orbit

Therapeutic effect of intraductal saline irrigation in chronic obstructive sialadenitis

The aim of the present study was to evaluate the effectiveness of intraductal irrigation using normal saline in chronic obstructive sialadenitis. Patients who had one of the following symptoms were recruited: pain, swelling, stiffness, and dry mouth. A total of 58 salivary glands in 33 patients were diagnosed as having sialadenitis using sialography and ultrasonography. The patients were divided into two groups (swelling group and dry mouth group), according to the major complaint. Repeated intraductal irrigation was performed on each gland. Difference of symptom severity evaluated using numerical rating scale (NRS), and ductal width measured using ultrasonography were compared between the two groups. The average NRS score was significantly decreased from 6.0 to 3.3 after 3–5 visits of intraductal irrigation (P < 0.05). The reduction in NRS was greater in the swelling group than in the dry mouth group, although the difference between the groups was not statistically significant. There was no change of ductal width before and after the irrigation. Intraductal irrigation according to this study method using normal saline is a simple treatment for the patients with chronic obstructive sialadenitis. It provides a conservative treatment option reducing the subjective symptoms

Correlation between spatial resolution and ball distortion rate of panoramic radiography

Abstract Background The purpose of this study was to analyze the correlation between spatial resolution and ball distortion rate of panoramic radiography and to elucidate the minimum criterion for ball distortion rate, which is very relevant to clinical readability. Methods Horizontal and vertical spatial resolution and ball distortion rates were calculated in the same position, such as the incisor, premolar, molar, and temporomandibular joint area with various object depths corresponding to 48 mm. Three devices were evaluated. A region showing spatial resolution above the reference standard was selected, and the ball distortion rate corresponding to the same region was divided into horizontal and vertical phantom groups. The mean and standard deviation of the obtained ball distortion rates were calculated. Students t-test was used to statistically analyze the mean difference in ball distortion rates between vertical and horizontal phantom groups. Results In all devices, the horizontal line pair phantom, but not the vertical line pair phantom, was readable in all areas measured at the line pair value of at least 1.88 lp/mm. The line pair value tended to be higher toward the center and lower toward the outside. The ball distortion rate tended to decrease closer to the center and increased further away. In addition, ball distortion rates could not be measured at some areas as they were not recognized as balls due to the high degree of distortion at the outermost and innermost sides. The number of balls satisfying the reference value using the horizontal line pair phantom was 102 (mean of ball distortion rates, 20.98; standard deviation, 15.25). The number of balls satisfying the reference value using the vertical line pair phantom was 49 (mean of ball distortion rates, 16.33; standard deviation, 14.25). However, mean ball distortion rate was not significantly different between the two groups. Conclusions Image layer of panoramic radiography could be evaluated by the spatial resolution using horizontal and vertical line pair phantoms and by assessing ball distortion rates through a ball-type panorama phantom. A ball distortion rate of 20% could be used as a threshold to evaluate the image layer of panoramic radiography

Clinical and panoramic radiographic features of osteomyelitis of the jaw: A comparison between antiresorptive medication-related and medication-unrelated conditions

Purpose: This study was performed to analyze the clinical and imaging features of contemporary osteomyelitis (OM) and to investigate differences in these features on panoramic radiography according to patients&apos; history of use of medication affecting bone metabolism. Materials and Methods: The records of 364 patients (241 female and 123 male, average age 66.8 +/- 14.9 years) with OM were retrospectively reviewed. Panoramic imaging features were analyzed and compared between patients with medication-related OM (m-OM) and those with conventional, medication-unrelated OM (c-OM). Results: The age of onset of OM tended to be high, with the largest number of patients experiencing onset in their 70s. The 2 most frequent presumed causes were antiresorptive medication use (44.2%) and odontogenic origin (34.6%). On panoramic radiographs, a mix of osteolysis and sclerosis was the most common lesion pattern observed (68.6%). Sequestrum, extraction socket, and periosteal new bone formation were found in 143 (42.1%), 79 (23.2%), and 24 (7.1%) cases, respectively. The m-OM group exhibited sequestrum and extraction socket more frequently and displayed significantly higher mandibular cortical index values than the c-OM group. Conclusion: We observed some differences in imaging features as shown on panoramic radiography according to the history of antiresorptive medication use. This study may help elucidate the predictive imaging features of medication-related osteonecrosis of the jaw.N

Takayasu's Arteritis Treated by Percutaneous Transluminal Angioplasty with Stenting in the Descending Aorta

A 17-yr-old young woman was referred to our hospital with a 2-yr history of claudication of the lower extremities and severe arterial hypertension. Physical examination revealed significantly different blood pressures between both arms (160/92 and 180/95 mmHg) and legs (92/61 and 82/57 mmHg). The hematological and biochemical values were within their normal ranges, except for the increased erythrocyte sedimentation rate (83 mm/hr) and C-reactive protein (6.19 mg/L). On 3-dimensional computed tomographic angiography, the ascending aorta, the aortic arch and its branches, and the thoracic and, descending aorta, but not the renal artery, were shown to be stenotic. The diagnosis of type IIb Takayasu's arteritis was made according to the new angiographic classification of Takayasu's arteritis, Takyasu conference 1994. Percutaneous transluminal angioplasty with stenting was performed on the thoracic and abdominal aorta. After the interventional procedures, the upper extremity blood pressure improved from 162/101 mmHg to 132/85 mmHg, respectively. She has been free of claudication and there have been no cardiac events during 2-yr of clinical follow-up