Synergism of binocular and motion stereo for passive ranging

Range measurements to objects in the world relative to mobile platforms such as ground or air vehicles are critical for visually aided navigation and obstacle detection/avoidance. An approach is presented that consists of a synergistic combination of two types of passive ranging method: binocular stereo and motion stereo. We show a new way to model the errors in binocular and motion stereo in conjunction with an inertial navigation system (INS) and derive the appropriate Kalman filter to refine the estimates from these two stereo ranging techniques. We present results using laboratory images that show that refined estimates can be optimally combined to give range values which are more accurate than any one of the individual estimates from binocular and motion stereo. By incorporating a blending filter, the approach has the potential of providing accurate, dense range measurements for all the pixels in the field of view (FOV)     

A system for obstacle detection during rotorcraft low altitudeflight

An airborne vehicle such as a rotorcraft must avoid obstacles like antennas, towers, poles, fences, tree branches, and wires strung across the flight path. Automatic detection of the obstacles and generation of appropriate guidance and control actions for the vehicle to avoid these obstacles would facilitate autonomous navigation. The requirements of an obstacle detection system for rotorcraft in low-altitude Nap-of-the-Earth (NOE) flight based on various rotorcraft motion constraints is analyzed here in detail. It is argued that an automated obstacle detection system for the rotorcraft scenario should include both passive and active sensors to be effective. Consequently, it introduces a maximally passive system which involves the use of passive sensors (TV, FLIR) as well as the selective use of an active (laser) sensor. The passive component is concerned with estimating range using optical flow-based motion analysis and binocular stereo. The optical flow-based motion analysis that is combined with on-board inertial navigation system (INS) to compute ranges to visible scene points is described. Experimental results obtained using land vehicle data illustrate the particular approach to motion analysis     

Entrapment of bacteria in fluid inclusions in laboratory-grown halite

Cells of the bacterium Pseudomonas aeruginosa, which were genetically modified to produce green fluorescent protein, were entrapped in fluid inclusions in laboratory-grown halite. The bacteria were used to inoculate NaCl-saturated aqueous solutions, which were allowed to evaporate and precipitate halite. The number, size, and distribution of fluid inclusions were highly variable, but did not appear to be affected by the presence of the bacteria. Many of the inclusions in crystals from inoculated solutions contained cells in populations ranging from two to 20. Microbial attachment to crystal surfaces was neither evident nor necessary for entrapment. Cells occurred exclusively within fluid inclusions and were not present in the crystal matrix. In both the inclusions and the hypersaline solution, the cells fluoresced and twitched, which indicates that the bacteria might have remained viable after entrapment. The fluorescence continued up to 13 months after entrapment, which indicates that little degradation of the bacteria occurred over that time interval. The entrapment, fluorescence, and preservation of cells were independent of the volume of hypersaline solution used or whether the solutions were completely evaporated prior to crystal extraction. The results of this study have a wide range of implications for the long-term survival of microorganisms in fluid inclusions and their detection through petrography. The results also demonstrate the preservation potential for microbes in hypersaline fluid inclusions, which could allow cells to survive harsh conditions of space, the deep geologic past, or burial in sedimentary basins.     

Acoustic κ-density fluctuation waves in suprathermal κ function fluids

We describe a new wave mode similar to the acoustic wave in which both density and velocity fluctuate. Unlike the acoustic wave in which the underlying distribution is Maxwellian, this new wave mode occurs when the underlying distribution is a suprathermal κ-function and involves fluctuations in the power law index, κ. This wave mode always propagates faster than the acoustic wave with an equivalent effective temperature and becomes the acoustic wave in the Maxwellian limit as κ → ∞.     

Reflex contributions to the assessment of the vertical

On the ground the vertical directions "up" and "down" have significance in relation to the strategy for avoiding collision of the skull with the planet. Voluntary acts to this end may be based on the experienced result of reflexly generated motor commands. Relevant receptors lie in the otolith organs of the labyrinth, but the head is seldom steady in waking life. A revised scheme of labyrinth reflexes on the limbs--"downhill limbs extend"--replaces the classical scheme of Magnus. Interactions with neck reflexes according to this scheme serve to stabilize the trunk. In an orbiting spacecraft the pattern of afferent signals from the labyrinth differs from that on the ground, and predictions based on the new scheme are to be tested in the project "Operation Push-Pull" proposed for ESRO's Spacelab. Other activities of the Council of Europe's Working Party on Aerospace Physiology and Medicine are briefly described.     

HELIO: The Heliophysics Integrated Observatory

Heliophysics is a new research field that explores the Sun–Solar System Connection; it requires the joint exploitation of solar, heliospheric, magnetospheric and ionospheric observations.     

Hybrid power source for manportable applications

In this paper, we present the results of work with a hybrid power system made of a fuel cell and rechargeable battery with pulse power capability. This hybrid power source successfully ran pulse power load based on the power profile of the present and future manportable military electronics and communications equipment. The hybrid consisted of a 35 W proton exchange membrane fuel cell (PEMFC) stack in parallel with a Li-ion battery. In this work, two cyclic load scenarios were utilized. Each consisted of a baseline load for 9 minutes followed by a higher pulse load for 1 minute. One test profile consisted of 20 W (baseline)/40 W (pulse) load, whereas, the second was 25 W/50 W. Under both scenarios, the hybrid provided significant enhancements in performance over the individual components tested separately. These results are discussed and analyzed. Also discussed are possible future implications of such technology and approach.