Shadow detection for mobile robots: Features,evaluation, and datasets

ABSTRACT

Shadows have long been a challenging topic for computer vision. This challenge is made even harder when we assume that the camera is moving, as many existing shadow detection techniques require the creation and maintenance of a background model. This article explores the problem of shadow modelling from a moving viewpoint (assumed to be a robotic platform) through comparing shadow-variant and shadow-invariant image features — primarily color, texture and edge-based features. These features are then embedded in a segmentation pipeline that provides predictions on shadow status, using minimal temporal context. We also release a public dataset of shadow-related image sequences, to help other researchers further develop shadow detection methods and to enable benchmarking of techniques.     

Communicating across the solar system

The technological advances of the Space Age have enabled us to project our senses through complex instruments to the edge of the Solar System and beyond. The link back to Earth by the communication channel has provided us with a wealth of information. The vast improvement in communication capability, by a factor of 10¹⁸, from the launching of the first earth satellites to the capacity of the Voyager telecommunications link across the Solar System, is symbolic of both our technical prowess and our cultural development. The combination of data rate and extreme distance at the Voyager 2 encounters with Uranus and Neptune in 1986 and 1989 will require the ground network to perform an engineering feat of unequalled magnitude. This paper describes the engineering challenge of communicating with spacecraft at the limits of the Solar System and the engineering responses to that challenge.     

CASH 2021: commercial access and space habitation

Issues about commercialization of space have been a growing concern in the past decade for the space community. This paper focuses on the work from a team of 51 students attending the Summer Session Program of the International Space University in Bremen, Germany. CASH 2021 (Commercial Access and Space Habitation) documents a plan that identifies commercial opportunities for space utilization that will extend human presence in space, and will chart the way forward for the next 20 years. The group selected four commercial sectors that show the most promise for the future: tourism, entertainment, space system service, assembly and debris removal, and research and development/production. The content of this document presents the results of their research. Historical activities in each of the commercial sectors are reviewed along with the current market situation. To provide a coherent background for future commercialization possibilities a scenario has been developed. This scenario includes a postulated upon ideal future and includes social, political and economic factors that may affect the space industry over the timeline of the study. The study also presents a roadmap, within the limited optimistic scenario developed, for the successful commercialization of space leading to future human presence in space. A broad range of commercially viable opportunities, not only within the current limits of the International Space Station, but also among the many new developments that are expected by 2021 are discussed.     

Spatial factors and muscle spindle input influence the generation of neuromuscular responses to stimulation of the human foot

Removal of the mechanical pressure gradient on the soles leads to physiological adaptations that ultimately result in neuromotor degradation during spaceflight. We propose that mechanical stimulation of the soles serves to partially restore the afference associated with bipedal loading and assists in attenuating the negative neuromotor consequences of spaceflight. A dynamic foot stimulus device was used to stimulate the soles in a variety of conditions with different stimulation locations, stimulation patterns and muscle spindle input. Surface electromyography revealed the lateral side of the sole elicited the greatest neuromuscular response in ankle musculature, followed by the medial side, then the heel. These responses were modified by preceding stimulation. Neuromuscular responses were also influenced by the level of muscle spindle input. These results provide important information that can be used to guide the development of a “passive” countermeasure that relies on sole stimulation and can supplement existing exercise protocols during spaceflight.     

Precision bone and muscle loss measurements by advanced, multiple projection DEXA (AMPDXA) techniques for spaceflight applications.

An advanced, multiple projection, dual energy x-ray absorptiometry (AMPDXA) scanner system is under development. The AMPDXA is designed to make precision bone and muscle loss measurements necessary to determine the deleterious effects of microgravity on astronauts as well as develop countermeasures to stem their bone and muscle loss. To date, a full size test system has been developed to verify principles and the results of computer simulations. Results indicate that accurate predictions of bone mechanical properties can be determined from as few as three projections, while more projections are needed for a complete, three-dimensional reconstruction.     

Physiologic and metabolic responses of wheat seedlings to elevated and super-elevated carbon dioxide

The metabolic consequence of suboptimal (400 μmol mol⁻¹ or ppm), near-optimal (1500 ppm) and supra-optimal (10,000 ppm) atmospheric carbon dioxide concentrations [CO₂] was investigated in an attempt to reveal plausible underlying mechanisms for the differential physiological and developmental responses to increasing [CO₂]. Both non-targeted and targeted metabolite profiling by GC–MS and LC–MS were employed to examine primary and secondary metabolites in wheat (Triticum aestivum, cv Yocoro rojo) continuously exposed to these [CO₂] levels for 14, 21 and 28 days. Metabolite profile was altered by both [CO₂] and physiological age. In general, plants grown under high [CO₂] exhibited a metabolite profile characteristic of older plants under ambient CO₂. Elevated [CO₂] resulted in higher levels of phosphorylated sugar intermediates, though no clear trend in the content of reducing sugars was observed. Transient starch content was enhanced by increasing [CO₂] to a much greater extent at 10,000 ppm CO₂ than at 1500 ppm CO₂. The percentage increase of starch content resulting from CO₂ enrichment declined as plants develope. In contrast, elevated [CO₂] promoted the accumulation of secondary metabolites (flavonoids) progressively to a greater extent as plants became mature. Elevated [CO₂] to 1500 ppm induced a higher initial growth rate, while super-elevated [CO₂] appeared to negate such initial growth promotion. However, after 4 weeks, there was no difference in vegetative growth between 1500 and 10,000 ppm CO₂-grown plants, both elevated CO₂ levels resulted in an overall 25% increase in biomass over the control plants. More interestingly, elevated atmospheric [CO₂] reduced evapotranspiration rate (ET), but further increase to the supra-optimal level resulted in increased ET (a reversed trend), i.e. ET at 1500 ppm < ET at 10,000 ppm < ET at 400 ppm. The differential effect of elevated and super-elevated CO₂ on plants was further reflected in the nitrogen dynamics. These results provide the potential metabolic basis for the differential productivity and stomatal function of plants grown under elevated and super-elevated CO₂ levels.     

A pilot survey of attitudes to space sciences and exploration among British school children

Over 200 school children in eight schools in the east of England were surveyed to determine their interest in space exploration and awareness of current space activities. Of those surveyed, 33% were interested in space to ‘discover a new planet’, and 24% to find life on another planet. When asked to list space exploration organisations 77% listed NASA. Six of those surveyed listed ESA (<0.5%). The data bring starkly to light, despite the Huygens landing on Titan and Mars Express, the lack of awareness of the existence of ESA among a new generation of European school children. These data suggest that further surveys are merited to determine the factors that influence interest in space sciences and related disciplines among school children, and the source of their information.     

From Titan’s tholins to Titan’s aerosols: Isotopic study and chemical evolution at Titan’s surface

In the present work, we focused on the possible isotopic fractionation of carbon during the processes involved in the formation of Titan’s tholins. We present the first results obtained on the ¹²C/¹³C isotopic ratios measured on Titan’s tholins synthesized in laboratory with cold plasma discharges. Measurements of isotopic ratio ¹²C/¹³C, done both on tholins and on the initial gas mixture (N₂:CH₄ (98:2)) used to produce them, do not show any evident deficit or enrichment in ¹³C relatively to ¹²C in the synthesized tholins, compared to the initial gas mixture. This observation allows to go further in the analyses of the ACP experiment data, including part of the Cassini–Huygens mission.     

Sounding rocket experiment of bare electrodynamic tether system

An overview of a sounding rocket, S-520-25th, project on space tether technology experiment is presented. The project is prepared by an international research group consisting of Japanese, European, American, and Australian researchers. The sounding rocket will be assembled by the ISAS/JAXA and will be launched in the summer of 2009. The sounding rocket mission includes two engineering experiments and two scientific experiments. These experiments consist of the deployment of bare electrodynamic tape tether in space, a quick ignition test of hollow cathode system in space, the demonstration of bare electrodynamic tether system in space, and the test of the OML (orbital-motion-limit) current collection theory.     

Wolf–Rayet star nucleosynthesis and the isotopic composition of the Galactic Cosmic Rays

There is now strong observational evidence that the composition of the Galactic Cosmic Rays (GCRs) exhibits some significant deviations with respect to the abundances measured in the local (solar neighbourhood) interstellar medium (ISM). Two main scenarios have been proposed in order to account for these differences (`anomalies). The first one, referred to as the `two-component scenario, invokes two distinct components to be accelerated to GCR energies by supernova blast waves. One of these components is just made of ISM material of `normal solar composition, while the other one emerges from the wind of massive mass-losing stars of the Wolf–Rayet (WR) type. The second model, referred to as the `metallicity-gradient scenario, envisions the acceleration of ISM material whose bulk composition is different from the local one as a result of the fact that it originates from inner regions of the Galaxy, where the metallicity has not the local value. In both scenarios, massive stars, particularly of the WR type, play an important role in shaping the GCR composition. After briefly reviewing some basic observations and predictions concerning WR stars (including s-process yields), this paper revisits the two proposed scenarios in the light of recent non-rotating or rotating WR models.