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)     

Neutral Upper Atmosphere and Ionosphere Modeling

Numerical modeling tools can be used for a number of reasons yielding many benefits in their application to planetary upper atmosphere and ionosphere environments. These tools are commonly used to predict upper atmosphere and ionosphere characteristics and to interpret measurements once they are obtained. Additional applications of these tools include conducting diagnostic balance studies, converting raw measurements into useful physical parameters, and comparing features and processes of different planetary atmospheres. This chapter focuses upon various classes of upper atmosphere and ionosphere numerical modeling tools, the equations solved and key assumptions made, specified inputs and tunable parameters, their common applications, and finally their notable strengths and weaknesses. Examples of these model classes and their specific applications to individual planetary environments will be described.     

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     

Doppler Compensation & Single Pulse Imaging using Adaptive Pulse Compression

The effects of target Doppler are addressed in relation to adaptive receive processing for radar pulse compression. To correct for Doppler-induced filter mismatch over a single pulse, the Doppler-compensated adaptive pulse compression (DC-APC) algorithm is presented whereby the respective Doppler shifts for large target returns are jointly estimated with the illuminated range profile and subsequently incorporated into the original APC adaptive receive filter formulation. As a result, the Doppler-mismatch-induced range sidelobes can be suppressed thereby regaining a significant portion of the sensitivity improvement that is possible when applying adaptive pulse compression (APC) without the existence of significant Doppler mismatch. In contrast, instead of compensating for Doppler mismatch, the single pulse imaging (SPI) algorithm generalizes the APC formulation for a bank of Doppler-shifted matched filters thereby producing a sidelobe-suppressed range-Doppler image from the return signal of a single radar pulse which is applicable for targets with substantial variation in Doppler. Both techniques are based on the recently proposed APC algorithm and its generalization, the multistatic adaptive pulse compression (MAPC) algorithm, which have been shown to be effective for the suppression of pulse compression range sidelobes thus dramatically increasing the sensitivity of pulse compression radar.     

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.     

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.     

Assessing and minimizing collisions in satellite mega-constellations

We aim to provide satellite operators and researchers with an efficient means for evaluating and mitigating collision risk during the design process of mega-constellations. We first introduce a novel algorithm for conjunction prediction that relies on large-scale numerical simulations and uses a sequence of filters to greatly reduce its computational expense. We then use this brute-force algorithm to establish baselines of endogenous (intra-constellation), or self-induced, conjunction events for the FCC-reported designs of the OneWeb LEO and SpaceX Starlink mega-constellations. We demonstrate how these deterministic results can be used to validate more computationally efficient, stochastic techniques for close-encounter prediction by adopting a new probabilistic approach from Solar-System dynamics as a simple test case. Finally, we show how our methodology can be applied during the design phase of large constellations by investigating Minimum Space Occupancy (MiSO) orbits, a generalization of classical frozen orbits that holistically account for the perturbed-Keplerian dynamics of the Earth-satellite-Moon-Sun system. The results indicate that the adoption of MiSO orbital configurations of the proposed mega-constellations can significantly reduce the risk of endogenous collisions with nearly indistinguishable adjustments to the nominal orbital elements of the constellation satellites.