Single and multiple stereo view navigation for planetary rovers

© Cranfield UniversityThis thesis deals with the challenge of autonomous navigation of the ExoMars rover. The absence of global positioning systems (GPS) in space, added to the limitations of wheel odometry makes autonomous navigation based on these two techniques - as done in the literature - an inviable solution and necessitates the use of other approaches. That, among other reasons, motivates this work to use solely visual data to solve the robot’s Egomotion problem. The homogeneity of Mars’ terrain makes the robustness of the low level image processing technique a critical requirement. In the first part of the thesis, novel solutions are presented to tackle this specific problem. Detection of robust features against illumination changes and unique matching and association of features is a sought after capability. A solution for robustness of features against illumination variation is proposed combining Harris corner detection together with moment image representation. Whereas the first provides a technique for efficient feature detection, the moment images add the necessary brightness invariance. Moreover, a bucketing strategy is used to guarantee that features are homogeneously distributed within the images. Then, the addition of local feature descriptors guarantees the unique identification of image cues. In the second part, reliable and precise motion estimation for the Mars’s robot is studied. A number of successful approaches are thoroughly analysed. Visual Simultaneous Localisation And Mapping (VSLAM) is investigated, proposing enhancements and integrating it with the robust feature methodology. Then, linear and nonlinear optimisation techniques are explored. Alternative photogrammetry reprojection concepts are tested. Lastly, data fusion techniques are proposed to deal with the integration of multiple stereo view data. Our robust visual scheme allows good feature repeatability. Because of this, dimensionality reduction of the feature data can be used without compromising the overall performance of the proposed solutions for motion estimation. Also, the developed Egomotion techniques have been extensively validated using both simulated and real data collected at ESA-ESTEC facilities. Multiple stereo view solutions for robot motion estimation are introduced, presenting interesting benefits. The obtained results prove the innovative methods presented here to be accurate and reliable approaches capable to solve the Egomotion problem in a Mars environment

Cyprus' image—a sun and sea destination—as a detrimental factor to seasonal fluctuations. Exploration into motivational factors for holidaying in Cyprus

Cyprus is established as a summer destination. To aid the destination in developing its winter season as well, this research uses a qualitative inductive approach to explore the tourists’ current image of the island and their motivations of visiting it. The research indicates that the current image, which essentially portrays Cyprus as a sun-and-sea destination is thought to dissuade tourists from perceiving the island as a year-round destination. Nonetheless, increasing the pull factors of the destination through the development of unique special interest products can help in extending the tourism season as well as broaden its narrow image

Determination of the Dalitz plot parameter alpha for the decay eta->3pi^0 with the Crystal Ball at MAMI-B

A precise measurement of the Dalitz plot parameter, alpha, for the eta->3pi^0 decay is presented. The experiment was performed with the Crystal Ball and TAPS large acceptance photon detectors at the tagged photon beam facility of the MAMI-B electron accelerator in Mainz. High statistics of 1.8*10^6 eta->3pi^0 events were obtained, giving the result alpha = -0.032 +/- 0.002(stat) +/- 0.002(syst).Comment: 9 pages, 6 figures, published in the online-first section of EPJ A, included changes referees asked for, added DO

Venous Admixture in COPD: Pathophysiology and Therapeutic Approaches

Chronic obstructive and interstitial lung diseases impair pulmonary gas exchange leading to wasted ventilation (alveolar dead space) and wasted perfusion (venous admixture). These two fundamental types of abnormality represent opposite ends of the spectrum of ventilation-perfusion mismatch with V˙/Q˙ ratios of infinity and zero. Treatment approaches that improve airway function, reduce air trapping and hyperinflation have received much attention and might be successful at ameliorating the problems associated with high V˙/Q˙. However, in patients with low V˙/Q˙ abnormality in whom venous admixture leads to hypoxemia, there are few therapeutic options. Indeed, some patients are refractory to treatment with supplemental oxygen particularly during exercise. Theoretically these patients could benefit from an intervention that increased mixed venous oxygen content thereby ameliorating the deleterious effects of venous admixture. In this perspective article we discuss the mechanisms whereby venous admixture contributes to hypoxemia and reduced oxygen delivery to tissues. We explore methods which could potentially increase mixed venous oxygen content thus ameliorating the deleterious effects of venous admixture. One such intervention that warrants further investigation is the therapeutic creation of an arterio-venous fistula. Such an approach would be novel, simple and minimally invasive. There is reason to believe that complications would be minor leading to a favorable risk-benefit analysis. This approach to treatment could have significant impact for patients with COPD but should also benefit any patient with chronic hypoxemia that impairs exercise performance

Photoproduction of π0\pi^0-pairs off protons and off neutrons

Total cross sections, angular distributions, and invariant-mass distributions have been measured for the photoproduction of $\pi^0\pi^0$ pairs off free protons and off nucleons bound in the deuteron. The experiments were performed at the MAMI accelerator facility in Mainz using the Glasgow photon tagging spectrometer and the Crystal Ball/TAPS detector. The accelerator delivered electron beams of 1508 and 1557~MeV, which produced bremsstrahlung in thin radiator foils. The tagged photon beam covered energies up to 1400~MeV. The data from the free proton target are in good agreement with previous measurements and were only used to test the analysis procedures. The results for differential cross sections (angular distributions and invariant-mass distributions) for free and quasi-free protons are almost identical in shape, but differ in absolute magnitude up to 15\%. Thus, moderate final-state interaction effects are present. The data for quasi-free neutrons are similar to the proton data in the second resonance region (final state invariant masses up to $\approx$1550~MeV), where both reactions are dominated by the $N(1520)3/2^-\rightarrow \Delta(1232)3/2^+\pi$ decay. At higher energies, angular and invariant-mass distributions are different. A simple analysis of the shapes of the invariant-mass distributions in the third resonance region is consistent with strong contributions of an $N^{\star}\rightarrow N\sigma$ decay for the proton, while the reaction is dominated by a sequential decay via a $\Delta\pi$ intermediate state for the neutron. The data are compared to predictions from the Two-Pion-MAID model and the Bonn-Gatchina coupled channel analysis.Comment: accepted for publication in Eur. Phys. J.

Photoproduction of pi0-mesons off neutrons in the nucleon resonance region

Precise angular distributions have been measured for the first time for the photoproduction of $\pi^{0}$-mesons off neutrons bound in the deuteron. The effects from nuclear Fermi motion have been eliminated by a complete kinematic reconstruction of the final state. The influence of final-state-interaction effects has been estimated by a comparison of the reaction cross section for quasi-free protons bound in the deuteron to the results for free protons and then applied as a correction to the quasi-free neutron data. The experiment was performed at the tagged photon facility of the Mainz Microtron MAMI with the Crystal Ball and TAPS detector setup for incident photon energies between $0.45$~GeV and $1.4$~GeV. The results are compared to the predictions from reaction models and partial-wave analyses based on data from other isospin channels. The model predictions show large discrepancies among each other and the present data will provide much tighter constraints. This is demonstrated by the results of a new analysis in the framework of the Bonn-Gatchina coupled-channel analysis which included the present data.Comment: accepted for publication in Phys; Rev. Let

The isospin structure of photoproduction of pi-eta pairs from the nucleon in the threshold region

Photoproduction of $\pi\eta$-pairs from nucleons has been investigated from threshold up to incident photon energies of $\approx$~1.4~GeV. The quasi-free reactions $\gamma p\rightarrow p\pi^0\eta$, $\gamma n\rightarrow n\pi^0\eta$, $\gamma p\rightarrow n\pi^+\eta$, and $\gamma n\rightarrow p\pi^-\eta$ were for the first time measured from nucleons bound in the deuteron. The corresponding reactions from a free-proton target were also studied to investigate final-state interaction effects (for neutral pions the free-proton results could be compared to previous measurements; the $\gamma p\rightarrow n\pi^+\eta$ reaction was measured for the first time). For the $\pi^0\eta$ final state coherent production via the $\gamma d\rightarrow d\pi^0\eta$ reaction was also investigated. The experiments were performed at the tagged photon beam of the Mainz MAMI accelerator using an almost $4\pi$ coverage electromagnetic calorimeter composed of the Crystal Ball and TAPS detectors. The total cross sections for the four different final states obey the relation $\sigma(p\pi^0\eta)$ $\approx$ $\sigma(n\pi^0\eta)$ $\approx$ $2\sigma(p\pi^-\eta)$ $\approx$ $2\sigma(n\pi^+\eta)$ as expected for a dominant contribution from a $\Delta^{\star}\rightarrow\eta\Delta(1232)\rightarrow\pi\eta N$ reaction chain, which is also supported by the shapes of the invariant-mass distributions of nucleon-meson and $\pi$-$\eta$ pairs. The experimental results are compared to the predictions from an isobar reaction model.Comment: accepted for publication in Phys. Lett.

Photoproduction of π0-pairs off protons and off neutrons

Total cross sections, angular distributions, and invariant-mass distributions have been measured for the photoproduction of π0π0 pairs off free protons and off nucleons bound in the deuteron. The experiments were performed at the MAMI accelerator facility in Mainz using the Glasgow photon tagging spectrometer and the Crystal Ball/TAPS detector. The accelerator delivered electron beams of 1508 and 1557MeV, which produced bremsstrahlung in thin radiator foils. The tagged photon beam covered energies up to 1400MeV. The data from the free proton target are in good agreement with previous measurements and were only used to test the analysis procedures. The results for differential cross sections (angular distributions and invariant-mass distributions) for free and quasi-free protons are almost identical in shape, but differ in absolute magnitude up to 15%. Thus, moderate final-state interaction effects are present. The data for quasi-free neutrons are similar to the proton data in the second resonance region (final-state invariant masses up to ≈1550 MeV), where both reactions are dominated by the N(1520)3/2−→Δ(1232)3/2+π decay. At higher energies, angular and invariant-mass distributions are different. A simple analysis of the shapes of the invariant-mass distributions in the third resonance region is consistent with strong contributions of an N⋆→Nσ decay for the proton, while the reaction is dominated by a sequential decay via a Δπ intermediate state for the neutron. The data are compared to predictions from the Two-Pion-MAID model and the Bonn-Gatchina coupled-channel analysis

Measurement of the beam-helicity asymmetry I⊙I^{\odot} in the photoproduction of π0π±\pi^0\pi^{\pm}-pairs off protons and off neutrons

Beam-helicity asymmetries have been measured at the MAMI accelerator in Mainz for the photoproduction of mixed-charge pion pairs in the reactions $\boldsymbol{\gamma}p\rightarrow n\pi^0\pi^+$ off free protons and $\boldsymbol{\gamma}d\rightarrow (p)p\pi^0\pi^-$ and $\boldsymbol{\gamma}d\rightarrow (n)n\pi^0\pi^+$ off quasi-free nucleons bound in the deuteron for incident photon energies up to 1.4 GeV. Circularly polarized photons were produced from bremsstrahlung of longitudinally polarized electrons and tagged with the Glasgow-Mainz magnetic spectrometer. The charged pions, recoil protons, recoil neutrons, and decay photons from $\pi^0$ mesons were detected in the 4$\pi$ electromagnetic calorimeter composed of the Crystal Ball and TAPS detectors. Using a complete kinematic reconstruction of the final state, excellent agreement was found between the results for free and quasi-free protons, suggesting that the quasi-free neutron results are also a close approximation of the free-neutron asymmetries. A comparison of the results to the predictions of the Two-Pion-MAID reaction model shows that the reaction mechanisms are still not well understood, in particular at low incident photon energies in the second nucleon-resonance region.Comment: accepted for publication in Eur. phys. J.