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     

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.     

Fluid electrolyte and hormonal changes in conditioned and unconditioned men under hypokinesia

It has been suggested that hypokinesia (diminished muscular activity) may induce more changes in fluid electrolyte metabolism and hormonal concentration of blood plasma in conditioned than unconditioned men. Thus, the objective of this investigation was to determine the effect of 7 days of hypokinesis (HK) on fluid-electrolyte excretion and hormonal content of blood in 12 physically healthy men aged 19-23 years. They were divided into two equal groups according to their physical conditioning. For the simulation of the hypokinetic effect the men were kept under a rigorous bed rest regime. During the background period (BGP), that is prior to the exposure to HK, and under HK, the rate of elimination of fluid, sodium and potassium, and the content of blood plasma aldosterone and cortisol was measured. The amount of excretion of fluid and electrolytes increased while blood plasma aldosterone content decreased. In the conditioned men, a greater excretion of fluid and electrolytes and a greater reduction of plasma aldosterone concentration was observed. It was concluded that hypokinesia induced substantial changes in fluid-electrolyte excretion and hormonal content of blood plasma in both conditioned and unconditioned men.     

Different atmospheric effects in remote sensing of uniform and nonuniform surfaces

The atmospheric effect on the radiance of sunlight scattered from the Earth-atmosphere system is greatly dependent on the surface reflectance pattern, the contrast between adjacent fields, and the optical properties of the atmosphere. In addition, the atmospheric effect is described by the range and magnitude of the adjacency effects, the atmospheric modulation transfer function, and the apparent spatial resolution of remotely sensed imagery. This paper discusses the atmospheric effect on classification of surface features and shows that surface nonuniformity can be used for developing procedures to remove the atmospheric effect from the satellite imagery.     

Chromosomal changes in cultured human epithelial cells transformed by low- and high-LET radiation.

For a better assessment of radiation risk in space, an understanding of the responses of human cells, especially the epithelial cells, to low- and high-LET radiation is essential. In our laboratory, we have successfully developed techniques to study the neoplastic transformation of two human epithelial cell systems by ionizing radiation. These cell systems are human mammary epithelial cells (H184B5) and human epidermal keratinocytes (HEK). Both cell lines are immortal, anchorage dependent for growth, and nontumorigenic in athymic nude mice. Neoplastic transformation was achieved by irradiating cells successively. Our results showed that radiogenic cell transformation is a multistep process and that a single exposure of ionizing radiation can cause only one step of transformation. It requires, therefore, multihits to make human epithelial cells fully tumorigenic. Using a simple karyotyping method, we did chromosome analysis with cells cloned at various stages of transformation. We found no consistent large terminal deletion of chromosomes in radiation-induced transformants. Some changes of total number of chromosomes, however, were observed in the transformed cells. These transformants provide an unique opportunity for further genetic studies at a molecular level.