Autonomous Cooperative Visual Navigation for Planetary Exploration Robots

Planetary robotics navigation has attracted the great attention of many researchers in recent years. Localization is one of the most important problems for robots on another planet in the lack of GPS. The robots need to be able to know their location and the surrounding map in the environment concurrently, to work and communicate together on another planet. In the current work, a novel algorithm is designed to cooperatively localize a team of robots on another planet. Consequently, a robust algorithm is developed for cooperative Visual Odometry (VO) to localize each robot in a planetary environment while detecting both intra-loop closure and inter-loop closures using previously observed area by the robot and shared area from other robots, respectively. To validate the proposed algorithm, a comparison is provided between the proposed cooperative VO and the single version of VO. Accordingly, a planetary analogue real dataset is employed to investigate the accuracy of the proposed algorithm. The results promise the concept of cooperative VO to significantly increase the accuracy of localization

Tracking chessboard corners using projective transformation for augmented reality

Augmented reality has been a topic of intense research for several years for many applications. It consists of inserting a virtual object into a real scene. The virtual object must be accurately positioned in a desired place. Some measurements (calibration) are thus required and a set of correspondences between points on the calibration target and the camera images must be found. In this paper, we present a tracking technique based on both detection of Chessboard corners and a least squares method; the objective is to estimate the perspective transformation matrix for the current view of the camera. This technique does not require any information or computation of the camera parameters; it can used in real time without any initialization and the user can change the camera focal without any fear of losing alignment between real and virtual object

Robust deep learning LiDAR-based pose estimation for autonomous space landers

Accurate relative pose estimation of a spacecraft during space landing operation is critical to ensure a safe and successful landing. This paper presents a 3D Light Detection and Ranging (LiDAR) based AI relative navigation architecture solution for autonomous space landing. The proposed architecture is based on a hybrid Deep Recurrent Convolutional Neural Network (DRCNN) combining a Convolutional Neural Network (CNN) with an Recurrent Neural Network (RNN) based on a Long–Short Term Memory (LSTM) network. The acquired 3D LiDAR data is converted into a multi-projected images and feed the DRCNN with depth and other multi-projected imagery. The CNN module of the architecture allows an efficient representation of features, and the RNN module, as an LSTM, provides robust navigation motion estimates. A variety of landing scenarios are considered, simulated and experimented to evaluate the efficiency of the proposed architecture. A LiDAR based imagery data (Range, Slope, and Elevation) is initially created using PANGU (Planet and Asteroid Natural Scene Generation Utility) software and an evaluation of the proposed solution using this data is conducted. Tests using an instrumented Aerial Robot in Gazebo software to simulate landing scenarios on a synthetic but representative lunar terrain (3D digital elevation model) is proposed. Finally, real experiments using a real flying drone equipped with a Velodyne VLP16 3D LiDAR sensor to generate real 3D scene point clouds while landing on a designed down scaled lunar moon landing surface are conducted. All the test results achieved show that the suggested architecture is capable of delivering good 6 Degree of Freedom (DoF) pose precision with a good and reasonable computation

Clonal diversity and detection of carbapenem resistance encoding genes among multidrug-resistant Acinetobacter baumannii isolates recovered from patients and environment in two intensive care units in a Moroccan hospital

Background Carbapenem-resistant Acinetobacter baumannii has recently been defined by the World Health Organization as a critical pathogen. The aim of this study was to compare clonal diversity and carbapenemase-encoding genes of A. baumannii isolates collected from colonized or infected patients and hospital environment in two intensive care units (ICUs) in Morocco. Methods The patient and environmental sampling was carried out in the medical and surgical ICUs of Mohammed V Military teaching hospital from March to August 2015. All A. baumannii isolates recovered from clinical and environmental samples, were identified using routine microbiological techniques and Matrix-Assisted Laser Desorption/Ionization Time-of-Flight Mass Spectrometry. Antimicrobial susceptibility testing was performed using disc diffusion method. The carbapenemase-encoding genes were screened for by PCR. Clonal relatedness was analyzed by digestion of the DNA with low frequency restriction enzymes and pulsed field gel electrophoresis (PFGE) and the multi locus sequence typing (MLST) was performed on two selected isolates from two major pulsotypes. Results A total of 83 multidrug-resistant A. baumannii isolates were collected: 47 clinical isolates and 36 environmental isolates. All isolates were positive for the bla OXA51-like and bla OXA23-like genes. The coexistence of bla NDM-1 /bla OXA-23-like and bla OXA 24-like /bla OXA-23-like were detected in 27 (32.5%) and 2 (2.4%) of A. baumannii isolates, respectively. The environmental samples and the fecally-colonized patients were significantly identified (p < 0.05) as the most common sites of isolation of NDM-1-harboring isolates. PFGE grouped all isolates into 9 distinct clusters with two major groups (0007 and 0008) containing up to 59% of the isolates. The pulsotype 0008 corresponds to sequence type (ST) 195 while pulsotype 0007 corresponds to ST 1089.The genetic similarity between the clinical and environmental isolates was observed in 80/83 = 96.4% of all isolates, belonging to 7 pulsotypes. Conclusion This study shows that the clonal spread of environmental A. baumannii isolates is related to that of clinical isolates recovered from colonized or infected patients, being both associated with a high prevalence of the bla OXA23-like and bla NDM-1genes. These findings emphasize the need for prioritizing the bio-cleaning of the hospital environment to control and prevent the dissemination of A. baumannii clonal lineages

LensWatch: I. Resolved HST Observations and Constraints on the Strongly-Lensed Type Ia Supernova 2022qmx ("SN Zwicky")

Supernovae (SNe) that have been multiply-imaged by gravitational lensing are rare and powerful probes for cosmology. Each detection is an opportunity to develop the critical tools and methodologies needed as the sample of lensed SNe increases by orders of magnitude with the upcoming Vera C. Rubin Observatory and Nancy Grace Roman Space Telescope. The latest such discovery is of the quadruply-imaged Type Ia SN 2022qmx (aka, "SN Zwicky"; Goobar et al. 2022) at z = 0.3544. SN Zwicky was discovered by the Zwicky Transient Facility (ZTF) in spatially unresolved data. Here we present follow-up Hubble Space Telescope observations of SN Zwicky, the first from the multi-cycle "LensWatch" program (www.lenswatch.org). We measure photometry for each of the four images of SN Zwicky, which are resolved in three WFC3/UVIS filters (F475W, F625W, F814W) but unresolved with WFC3/IR F160W, and produce an analysis of the lensing system using a variety of independent lens modeling methods. We find consistency between time delays estimated with the single epoch of HST photometry and the lens model predictions constrained through the multiple image positions, with both inferring time delays of <1 day. Our lens models converge to an Einstein radius of (0.168+0.009-0.005)", the smallest yet seen in a lensed SN. The "standard candle" nature of SN Zwicky provides magnification estimates independent of the lens modeling that are brighter by ~1.5 mag and ~0.8 mag for two of the four images, suggesting significant microlensing and/or additional substructure beyond the flexibility of our image-position mass models

SN 2023ixf in Messier 101: Photo-ionization of Dense, Close-in Circumstellar Material in a Nearby Type II Supernova

We present UV/optical observations and models of supernova (SN) 2023ixf, a type II SN located in Messier 101 at 6.9 Mpc. Early-time ("flash") spectroscopy of SN 2023ixf, obtained primarily at Lick Observatory, reveals emission lines of H I, He I/II, C IV, and N III/IV/V with a narrow core and broad, symmetric wings arising from the photo-ionization of dense, close-in circumstellar material (CSM) located around the progenitor star prior to shock breakout. These electron-scattering broadened line profiles persist for $\sim$8 days with respect to first light, at which time Doppler broadened features from the fastest SN ejecta form, suggesting a reduction in CSM density at $r \gtrsim 10^{15}$ cm. The early-time light curve of SN2023ixf shows peak absolute magnitudes (e.g., $M_{u} = -18.6$ mag, $M_{g} = -18.4$ mag) that are $\gtrsim 2$ mag brighter than typical type II supernovae, this photometric boost also being consistent with the shock power supplied from CSM interaction. Comparison of SN 2023ixf to a grid of light curve and multi-epoch spectral models from the non-LTE radiative transfer code CMFGEN and the radiation-hydrodynamics code HERACLES suggests dense, solar-metallicity, CSM confined to $r = (0.5-1) \times 10^{15}$ cm and a progenitor mass-loss rate of $\dot{M} = 10^{-2}$ M$_{\odot}$yr$^{-1}$. For the assumed progenitor wind velocity of $v_w = 50$ km s$^{-1}$, this corresponds to enhanced mass-loss (i.e., ``super-wind'' phase) during the last $\sim$3-6 years before explosion.Comment: 18 pages, 8 figures. Submitted to ApJ

Autologous microsurgical breast reconstruction and coronary artery bypass grafting: an anatomical study and clinical implications

OBJECTIVE: To identify possible avenues of sparing the internal mammary artery (IMA) for coronary artery bypass grafting (CABG) in women undergoing autologous breast reconstruction with deep inferior epigastric artery perforator (DIEP) flaps. BACKGROUND: Optimal autologous reconstruction of the breast and coronary artery bypass grafting (CABG) are often mutually exclusive as they both require utilisation of the IMA as the preferred arterial conduit. Given the prevalence of both breast cancer and coronary artery disease, this is an important issue for women's health as women with DIEP flap reconstructions and women at increased risk of developing coronary artery disease are potentially restricted from receiving this reconstructive option should the other condition arise. METHODS: The largest clinical and cadaveric anatomical study (n=315) to date was performed, investigating four solutions to this predicament by correlating the precise requirements of breast reconstruction and CABG against the anatomical features of the in situ IMAs. This information was supplemented by a thorough literature review. RESULTS: Minimum lengths of the left and right IMA needed for grafting to the left-anterior descending artery are 160.08 and 177.80 mm, respectively. Based on anatomical findings, the suitable options for anastomosis to each intercostals space are offered. In addition, 87-91% of patients have IMA perforator vessels to which DIEP flaps can be anastomosed in the first- and second-intercostal spaces. CONCLUSION: We outline five methods of preserving the IMA for future CABG: (1) lowering the level of DIEP flaps to the fourth- and fifth-intercostals spaces, (2) using the DIEP pedicle as an intermediary for CABG, (3) using IMA perforators to spare the IMA proper, (4) using and end-to-side anastomosis between the DIEP pedicle and IMA and (5) anastomosis of DIEP flaps using retrograde flow from the distal IMA. With careful patient selection, we hypothesize using the IMA for autologous breast reconstruction need not be an absolute contraindication for future CABG

LensWatch. I. Resolved HST Observations and Constraints on the Strongly Lensed Type Ia Supernova 2022qmx (“SN Zwicky”)

Supernovae (SNe) that have been multiply imaged by gravitational lensing are rare and powerful probes for cosmology. Each detection is an opportunity to develop the critical tools and methodologies needed as the sample of lensed SNe increases by orders of magnitude with the upcoming Vera C. Rubin Observatory and Nancy Grace Roman Space Telescope. The latest such discovery is of the quadruply imaged Type Ia SN 2022qmx (aka, “SN Zwicky”) at z = 0.3544. SN Zwicky was discovered by the Zwicky Transient Facility in spatially unresolved data. Here we present follow-up Hubble Space Telescope observations of SN Zwicky, the first from the multicycle “LensWatch (www.lenswatch.org)” program. We measure photometry for each of the four images of SN Zwicky, which are resolved in three WFC3/UVIS filters (F475W, F625W, and F814W) but unresolved with WFC3/IR F160W, and present an analysis of the lensing system using a variety of independent lens modeling methods. We find consistency between lens-model-predicted time delays (≲1 day), and delays estimated with the single epoch of Hubble Space Telescope colors (≲3.5 days), including the uncertainty from chromatic microlensing (∼1-1.5 days). Our lens models converge to an Einstein radius of θ E = ( 0.168 − 0.005 + 0.009 ) ″ , the smallest yet seen in a lensed SN system. The “standard candle” nature of SN Zwicky provides magnification estimates independent of the lens modeling that are brighter than predicted by ∼ 1.7 − 0.6 + 0.8 mag and ∼ 0.9 − 0.6 + 0.8 mag for two of the four images, suggesting significant microlensing and/or additional substructure beyond the flexibility of our image-position mass models