On-line Vehicle Motion Estimation from Visual Terrain Information Part II: Ground Velocity and Position Estimation

An algorithm, combining velocity/height estimates, obtained from an airborne body fixed image shift estimator with auxiliary on-board measurements and sparsely stored terrain profile information constitutes an entirely passive autonomous navigation system suitable for moderate-g flight missions. Two versions are addressed. The "naive estimator," in which altitude estimates are multiplied by velocity/height estimaters, yields ground velocity. Position, obtained by integration, diverges with time. The "extended Kalman filter" (EKF) version, in which velocity and position are defined as state space components, locks on the stored terrain profile and does not diverge with time. It degenerates into the "naive estimator" if the terrain is completely flat. Numerical examples indicate excellent performance potential of the EKF estimator.     

On-Line Vehicle Motion Estimation from Visual Terrain Information Part I: Recursive Image Registration

This paper addresses estimation of motion from the optical flow observed by an airborne down looking electro-optical sensor. The paper is in two parts. Part I addresses the development and analysis of a velocity-to-height ratio estimation algorithm and its principal error characteristics. In part II, it is shown how the information provided by the motion estimator can be integrated with additional on-board sensors to provide a complete autonomous navigation system. Part I as presented here is a summary version of the full length paper.? The algorithm implements recursive registration of successive images by using the gradient of a similarity function between them to control the tracking of their relative shift. The shift estimate provides velocity/height information. Substantial saving in memory and computation as compared to conventional full frame registration is achieved by using only a single line in the TV frame. Stochastic mathematical models for the image, terrain and vehicle velocity perturbations are used in the analysis. The choice of the most appropriate similarity function in the registration algorithm is addressed. Performance analysis indicates very small error variances, as illustrated by numerical examples.     

Post: Polar stratospheric telescope

The tropopause, typically at 16 to 18 km altitude at the lower latitudes, dips to 8 km in the polar regions. This makes the cold, dry and nonturbulent lower stratosphere accessible to tethered aerostats. Tethered aerostats can fly as high as 12 km and are extremely reliable, lasting for many years. In contrast to free-flying balloons, they can stay on station for weeks at a time, and payloads can be safely recovered for maintenance and adjustment and relaunched in a matter of hours. We propose to use such a platform, located first in the Arctic (near Fairbanks, Alaska) and, potentially, later in the Antarctic, to operate a new technology 6-meter, diluted aperture telescope with diffraction-limited performance in the near infrared. Thanks to the low ambient temperature (220 K), thermal emission from the optics is of the same order as that of the zodiacal light in the 2 to 3 micron band. Since this wavelength interval is the darkest part of the zodiacal light spectrum from optical wavelengths to 100 microns, the combination of high resolution images and a very dark sky make it the spectral region of choice for observing the redshifted light from galaxies and clusters of galaxies at moderate to high redshifts.Affiliated to the Astrophysics Division, Space Science Department, European Space Agency     

M-FISH analysis of chromosome aberrations in human fibroblasts exposed to energetic iron ions in vitro.

Confluent human fibroblast cells were exposed to 6 Gy gamma-rays or 200 MeV/nucleon Fe ions at 0.7 or 3 Gy. The cells were allowed to repair for 24 hours after exposure and chromosomes were collected using a premature chromosome condensation technique with calyculin-A. Chromosome aberrations were analyzed using the multicolor FISH (mFISH) technique that allows identification of both complex and truly incomplete exchanges. Results showed that both doses of the Fe ions produced higher ratios of complex to simple exchanges and lower ratio of complete to incomplete exchanges than the 6 Gy gamma-exposure. The ratios of aberration yields were similar for the two doses of Fe ions. After 0.7 Gy of Fe ions, most complex aberrations were found to involve three or four chromosomes, indicating this is the maximum number of chromosome domains traversed by a single Fe ion track.     

Changes of endolymphatic pressure in the semicircular canal of pigeon by caloric stimulation.

It gets into difficult to explain the mechanism of caloric nystagmus only by convection theory from results of microgravity experiments. One of the other theories is an occurrence of a relative volume change due to a temperature change. Since the volume change must lead to a pressure change after caloric stimulation, we tried to measure the ampulla pressure of the horizontal semicircular canal in pigeons (Columba livia) using an improved servo micropipette system. The main result was that the ampulla pressure increased by cooling and decreased by heating. The changes of the ampulla pressure depended on the temperature change but were not influenced by the pigeon's head position.     

Simple Kalman gains for filtering position and velocitymeasurements

An alternate set of equations is given for the exact computation of the Kalman gains under the conditions of no maneuvering input noise and measurements in position and velocity. They are simpler than the standard recursive equations, and are useful in applications where implementation of the standard Kalman filter is not possible due to real-time restrictions. When there is maneuvering input noise, the same gains can still approximate the optimal gains with a very minor degradation in performance, even when some parameters, for example the measurement interval, change during a track. Simulation studies have indicated that there is negligible performance degradation with this method of gain approximation     

Deuterium-free water (1H2O) in complex life-support systems of long-term space missions

Heavy water containing deuterium displays toxic property. It is stated that any quantity of a heavy isotope of hydrogen--deuterium--is undesirable to animals and plants. It was earlier shown by us that physical-chemical life support systems on board the "MIR" station fractionate (change) isotopes of hydrogen, oxygen and carbon. Therefore, the problem of regenerative systems in habitable space objects should include removal, from water, of a heavy stable isotope of hydrogen--deuterium. In this article we consider one method of obtaining deuterium-free water--decomposition of distillate water in an electrolyser to hydrogen and oxygen with subsequent synthesis in a catalytic or high-temperature reactor. The influence of deuterium-free water on the growth and development of Arabidopsis thaliana and Japanese quail is investigated. It is shown that with the help of the electrolysis method it is possible to fabricate water containing 80% less deuterium in comparison with SMOW. Experimentally, it is proved on a culture of Arabidopsis thaliana and Japanese quail that water with reduced contents of deuterium (80%) displays positive biological activity.     

Observations of the Subauroral Nonthermal Radio Emission of the Earth in 1995–1998

Results of almost four years of continuous observations of the subauroral nonthermal radio emission (SANE) onboard the Interball-1 satellite are presented. The main features of SANE are described and discussed: the intensity and character of a signal, its appearance in time, beam directivity, propagation distance, and other observed parameters.     

Near Earth Current Meander (Necm) Model of Substorms

We propose that the appropriate instability to trigger a substorm is a tailward meander (in the equatorial plane) of the strong current filament that develops during the growth phase. From this single assumption follows the entire sequence of events for a substorm. The main particle acceleration mechanism in the plasma sheet is curvature drift with a dawn-dusk electric field, leading to the production of auroral arcs. Eventually the curvature becomes so high that the ions cannot negotiate the sharp turn at the field-reversal region, locally, at a certain time. The particle motion becomes chaotic, causing a local outward meander of the cross-tail current. An induction electric field is produced by Lenz's law, E ^ind=–A/t. An outward meander with B _z>0 will cause E×B flow everywhere out from the disturbance; this reaction is a macroscopic instability which we designate the electromotive instability. The response of the plasma is through charge separation and a scalar potential, E ^es=–. Both types of electric fields have components parallel to B in a realistic magnetic field. For MHD theory to hold the net E must be small; this usually seems to happen (because MHD often does hold), but not always. Part of the response is the formation of field-aligned currents producing the well-known substorm current diversion. This is a direct result of a strong E ^ind (the cause) needed to overcome the mirror force of the current carriers; this enables charge separation to produce an opposing electrostatic field E ^es (the effect). Satellite data confirm the reality of a strong E in the plasma sheet by counter-streaming of electrons and ions, and by the inverse ion time dispersion, up to several 100 keV. The electron precipitation is associated with the westward traveling surge (WTS) and the ion with omega () bands, respectively. However, with zero curl, E ^es cannot modify the emf =Edl=–d^M/dt of the inductive electric field E ^ind (a property of vector fields); the charge separation that produces a reduction of E must enhance the transverse component E . The new plasma flow becomes a switch for access to the free energy of the stressed magnetotail. On the tailward side the dusk-dawn electric field with EJ<0 will cause tailward motion of the plasma and a plasmoid may be created; it will move in the direction of least magnetic pressure, tailward. On the earthward side the enhanced dawn-dusk induction electric field with EJ>0 will cause injection into the inner plasma sheet, repeatedly observed at moderate energies of 1–50 keV. This same electric field near the emerging X-line will accelerate particles non-adiabatically to moderate energies. With high magnetic moments in a weak magnetic field, electrons (ions) can benefit from gradient and curvature drift to attain high energies (by the ratio of the magnetic field magnitude) in seconds (minutes).