Search results for: lunar trajectories

Authors: Emre Ünal, Hasan Başaran

Abstract:

In this study, starting with a predetermined Lunar free-return trajectory, an analysis of major near-Earth perturbations is carried out. Referencing to historical Apollo-13 flight, changes in the mission’s resultant perimoon and perigee altitudes with each perturbative effect are evaluated. The perturbations that were considered are Earth oblateness effects, up to the 6^th order, atmospheric drag, third body perturbations consisting of solar and planetary effects and solar radiation pressure effects. It is found that for a Moon mission, most of the main perturbative effects spoil the trajectory significantly while some came out to be negligible. It is seen that for apparent future request of constructing low cost, reliable and safe trajectories to the Moon, most of the orbital perturbations are crucial.

Keywords: Apollo-13 trajectory, atmospheric drag, lunar trajectories, oblateness effect, perturbative effects, solar radiation pressure, third body perturbations.

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Authors: Bao Jinsong, Hu Xiaofeng, Wang Wei, Yu Dili, Jin Ye

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The paper researched and presented a virtual simulation system based on a full-digital lunar terrain, integrated with kinematics and dynamics module as well as autonomous navigation simulation module. The system simulation models are established. Enabling technologies such as digital lunar surface module, kinematics and dynamics simulation, Autonomous navigation are investigated. A prototype system for lunar rover locomotion simulation is developed based on these technologies. Autonomous navigation is a key echnology in lunar rover system, but rarely involved in virtual simulation system. An autonomous navigation simulation module have been integrated in this prototype system, which was proved by the simulation results that the synthetic simulation and visualizing analysis system are established in the system, and the system can provide efficient support for research on the autonomous navigation of lunar rover.

Keywords: Lunar rover, virtual simulation, autonomous navigation, full-digital lunar terrain

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Authors: Lv Shizeng, Han Xiao, Zhang Yi, Ding Wenjing

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The lunar sample storage device is mainly used for the preparation of the lunar samples, observation, physical analysis and other work. The lunar samples and operating equipment are placed directly inside the storage device. The inside of the storage device is a high purity nitrogen environment to ensure that the sample is not contaminated by the Earth's environment. In order to ensure that the water and oxygen indicators in the storage device meet the sample requirements, a dynamic gas cycle is required between the storage device and the external purification equipment. However, the internal gas disturbance in the storage device can affect the operation of the sample. In this paper, the storage device model is established, and the tetrahedral mesh is established by Tetra/Mixed method. The influence of different inlet position and gas flow on the internal flow field disturbance is calculated, and the disturbed flow area should be avoided during the sampling operation.

Keywords: Lunar samples, gas disturbance, storage device, characteristic analysis.

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Authors: Voss Harrigan, Korey Carter, Mohammad Reza Shaeri

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Detrimental effects of lunar dust on space hardware, spacesuits, and astronauts’ health have been already identified during Apollo missions. Developing effective dust mitigation technologies is critically important for successful space exploration and related missions in NASA applications. In this study, an electrostatic cleaning system (ECS) integrated with a negatively ionized Thunderon brush was developed to mitigate small-sized lunar dust particles with diameters ranging from 0.04 µm to 35 µm, and the mean and median size of 7 µm and 5 µm, respectively. It was found that the frequency pulses of the negative ion generator caused particles to stick to the Thunderon bristles and repel between the pulses. The brush was used manually to ensure that particles were removed from areas where the ECS failed to mitigate the lunar simulant. The acquired data demonstrated that the developed system removed over 91-96% of the lunar dust particles. The present study was performed as a proof-of-concept to enhance the cleaning performance of ECSs by integrating a brushing process. Suggestions were made to further improve the performance of the developed technology through future research.

Keywords: lunar dust mitigation, electrostatic cleaning system, brushing, Thunderon brush, cleaning rate

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Authors: Xiaohuan Li, Wangmin Yi, Xinghui Wu

Abstract:

In order to verify the performance of lunar lander structure, landing-impact test is urgently needed. And the test equipment is necessary for the test. The functions and the key points of the equipment are presented to satisfy the requirements of the test, and the design scheme is proposed. The composition, the major function and the critical parts’ design of the equipment are introduced. By the load test of releasing device and single-beam hoist, and the compatibility test of landing-impact testing system, the rationality and reliability of the equipment is proved.

Keywords: Landing-impact test, lunar lander, releasing device, test equipment.

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Authors: Mukesh Singh Boori, Vít Voženílek

Abstract:

Olomouc is a unique and complex landmark with widespread forestation and land use. This research work was conducted to assess important and complex land use change trajectories in Olomouc region. Multi-temporal satellite data from 1991, 2001 and 2013 were used to extract land use/cover types by object oriented classification method. To achieve the objectives, three different aspects were used: (1) Calculate the quantity of each transition; (2) Allocate location based landscape pattern (3) Compare land use/cover evaluation procedure. Land cover change trajectories shows that 16.69% agriculture, 54.33% forest and 21.98% other areas (settlement, pasture and water-body) were stable in all three decade. Approximately 30% of the study area maintained as a same land cove type from 1991 to 2013. Here broad scale of political and socioeconomic factors was also affect the rate and direction of landscape changes. Distance from the settlements was the most important predictor of land cover change trajectories. This showed that most of landscape trajectories were caused by socio-economic activities and mainly led to virtuous change on the ecological environment.

Keywords: Remote Sensing, land use/cover, Change trajectories, Image classification.

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Authors: Hossein Mirzaee, Farhad Besharati

Abstract:

A combination of image fusion and quad tree decomposition method is used for detecting the sunspot trajectories in each month and computation of the latitudes of these trajectories in each solar hemisphere. Daily solar images taken with SOHO satellite are fused for each month and the result of fused image is decomposed with Quad Tree decomposition method in order to classifying the sunspot trajectories and then to achieve the precise information about latitudes of sunspot trajectories. Also with fusion we deduce some physical remarkable conclusions about sun magnetic fields behavior. Using quad tree decomposition we give information about the region on sun surface and the space angle that tremendous flares and hot plasma gases permeate interplanetary space and attack to satellites and human technical systems. Here sunspot images in June, July and August 2001 are used for studying and give a method to compute the latitude of sunspot trajectories in each month with sunspot images.

Keywords: Quad Tree Decomposition, Sunspot.

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Authors: J. J. Cetina-Denis, R. M. López-Gutiérrez, R. Ramírez-Ramírez, C. Cruz-Hernández

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This work addresses the problem of designing an algorithm capable of generating chaotic trajectories for mobile robots. Particularly, the chaotic behavior is induced in the linear and angular velocities of a Khepera III differential mobile robot by infusing them with the states of the H´enon chaotic map. A possible application, using the properties of chaotic systems, is patrolling a work area. In this work, numerical and experimental results are reported and analyzed. In addition, two quantitative numerical tests are applied in order to measure how chaotic the generated trajectories really are.

Keywords: Chaos, chaotic trajectories, differential mobile robot, Henons map, Khepera III robot, patrolling applications.

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Authors: Mark Harmon, Abdolghani Ebrahimi, Patrick Lucey, Diego Klabjan

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In this paper, we predict the likelihood of a player making a shot in basketball from multiagent trajectories. To approach this problem, we present a convolutional neural network (CNN) approach where we initially represent the multiagent behavior as an image. To encode the adversarial nature of basketball, we use a multichannel image which we then feed into a CNN. Additionally, to capture the temporal aspect of the trajectories we use “fading.” We find that this approach is superior to a traditional FFN model. By using gradient ascent, we were able to discover what the CNN filters look for during training. Last, we find that a combined FFN+CNN is the best performing network with an error rate of 39%.

Keywords: basketball, computer vision, image processing, convolutional neural network

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Authors: Attapon Charoenpon, Ekkarach Pankeaw

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This paper present a new way to find the aerodynamic characteristic equation of missile for the numerical trajectories prediction more accurate. The goal is to obtain the polynomial equation based on two missile characteristic parameters, angle of attack (α ) and flight speed (╬¢ ). First, the understudied missile is modeled and used for flow computational model to compute aerodynamic force and moment. Assume that performance range of understudied missile where range -10< α <10 and 0< ╬¢ <200. After completely obtained results of all cases, the data are fit by polynomial interpolation to create equation of each case and then combine all equations to form aerodynamic characteristic equation, which will be used for trajectories simulation.

Keywords: Aerodynamic, Characteristic Equation, Angle ofAttack, Polynomial interpolation, Trajectories

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Authors: Helle Hein, Ülo Lepik

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A gradient learning method to regulate the trajectories of some nonlinear chaotic systems is proposed. The method is motivated by the gradient descent learning algorithms for neural networks. It is based on two systems: dynamic optimization system and system for finding sensitivities. Numerical results of several examples are presented, which convincingly illustrate the efficiency of the method.

Keywords: Chaos, Dynamical Systems, Learning, Neural Networks

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Authors: Christian Rathgeber, Franz Winkler, Xiaoyu Kang, Steffen Müller

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In this contribution two approaches for calculating optimal trajectories for highly automated vehicles are presented and compared. The first one is based on a non-linear vehicle model, used for evaluation. The second one is based on a simplified model and can be implemented on a current ECU. In usual driving situations both approaches show very similar results.

Keywords: Trajectory planning, direct method, indirect method, highly automated driving.

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Authors: Konstanca Nikolajevic, Nicolas Belanger, David Duvivier, Rabie Ben Atitallah, Abdelhakim Artiba

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Finding the optimal 3D path of an aerial vehicle under flight mechanics constraints is a major challenge, especially when the algorithm has to produce real time results in flight. Kinematics models and Pythagorian Hodograph curves have been widely used in mobile robotics to solve this problematic. The level of difficulty is mainly driven by the number of constraints to be saturated at the same time while minimizing the total length of the path. In this paper, we suggest a pragmatic algorithm capable of saturating at the same time most of dimensioning helicopter 3D trajectories’ constraints like: curvature, curvature derivative, torsion, torsion derivative, climb angle, climb angle derivative, positions. The trajectories generation algorithm is able to generate versatile complex 3D motion primitives feasible by a helicopter with parameterization of the curvature and the climb angle. An upper ”motion primitives’ concatenation” algorithm is presented based. In this article we introduce a new way of designing three-dimensional trajectories based on what we call the ”Dubins gliding symmetry conjecture”. This extremely performing algorithm will be soon integrated to a real-time decisional system dealing with inflight safety issues.

Keywords: Aerial robots, Motion primitives, Robotics.

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Authors: A. S. Gorobtsov, A. S. Polyanina, A. E. Andreev

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The movement of points feet of the anthropomorphous robot in space occurs along some stable trajectory of a known form. A large number of modifications to the methods of control of biped robots indicate the fundamental complexity of the problem of stability of the program trajectory and, consequently, the stability of the control for the deviation for this trajectory. Existing gait generators use piecewise interpolation of program trajectories. This leads to jumps in the acceleration at the boundaries of sites. Another interpolation can be realized using differential equations with fractional derivatives. In work, the approach to synthesis of generators of program trajectories is considered. The resulting system of nonlinear differential equations describes a smooth trajectory of movement having rectilinear sites. The method is based on the theory of an asymptotic stability of invariant sets. The stability of such systems in the area of localization of oscillatory processes is investigated. The boundary of the area is a bounded closed surface. In the corresponding subspaces of the oscillatory circuits, the resulting stable limit cycles are curves having rectilinear sites. The solution of the problem is carried out by means of synthesis of a set of the continuous smooth controls with feedback. The necessary geometry of closed trajectories of movement is obtained due to the introduction of high-order nonlinearities in the control of stabilization systems. The offered method was used for the generation of trajectories of movement of point’s feet of the anthropomorphous robot. The synthesis of the robot's program movement was carried out by means of the inverse method.

Keywords: Control, limits cycle, robot, stability.

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Authors: Alaa A. Osman, Amgad M. Bayoumy, Ismail El baialy, Osama E. Abdellatif, Essam E. Khallil

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In this paper, a numerical simulation of a finned store separating from a wing-pylon configuration has been studied and validated. A dynamic unstructured tetrahedral mesh approach is accomplished by using three grid sizes to numerically solving the discretized three dimensional, inviscid and compressible Euler equations. The method used for computations of separation of an external store assuming quasi-steady flow condition. Computations of quasi-steady flow have been directly coupled to a six degree-offreedom (6DOF) rigid-body motion code to generate store trajectories. The pressure coefficients at four different angular cuts and time histories of various trajectory parameters and wing pressure distribution during the store separation are compared for every grid size with published experimental data.

Keywords: CFD Modelling, Quasi-steady Flow, Moving-body Trajectories, Transonic Store Separation, Moving-body Trajectories.

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Authors: Eduardo F. Mello, Peter H. Bauer

Abstract:

The primary focus of this paper is the generation of energy-optimal speed trajectories for heterogeneous electric vehicle platoons in urban driving conditions. Optimal speed trajectories are generated for individual vehicles and for an entire platoon under the assumption that they can be executed without errors, as would be the case for self-driving vehicles. It is then shown that the optimization for the “average vehicle in the platoon” generates similar transportation energy savings to optimizing speed trajectories for each vehicle individually. The introduced approach only requires the lead vehicle to run the optimization software while the remaining vehicles are only required to have adaptive cruise control capability. The achieved energy savings are typically between 30% and 50% for stop-to-stop segments in cities. The prime motivation of urban platooning comes from the fact that urban platoons efficiently utilize the available space and the minimization of transportation energy in cities is important for many reasons, i.e., for environmental, power, and range considerations.

Keywords: Electric vehicles, energy efficiency, optimization, platooning, self-driving vehicles, urban traffic.

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Authors: R.Marsalek

Abstract:

This paper present a new way to find the aerodynamic characteristic equation of missile for the numerical trajectories prediction more accurate. The goal is to obtain the polynomial equation based on two missile characteristic parameters, angle of attack (α ) and flight speed (ν ). First, the understudied missile is modeled and used for flow computational model to compute aerodynamic force and moment. Assume that performance range of understudied missile where range -10< α <10 and 0< ν <200. After completely obtained results of all cases, the data are fit by polynomial interpolation to create equation of each case and then combine all equations to form aerodynamic characteristic equation, which will be used for trajectories simulation.

Keywords: ferro-precipitate, adsorption, SDS, zeta potential

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Authors: Kouamana Bousson, Paulo Machado

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The optimization and control problem for 4D trajectories is a subject rarely addressed in literature. In the 4D navigation problem we define waypoints, for each mission, where the arrival time is specified in each of them. One way to design trajectories for achieving this kind of mission is to use the trajectory optimization concepts. To solve a trajectory optimization problem we can use the indirect or direct methods. The indirect methods are based on maximum principle of Pontryagin, on the other hand, in the direct methods it is necessary to transform into a nonlinear programming problem. We propose an approach based on direct methods with a pseudospectral integration scheme built on Chebyshev polynomials.

Keywords: Pseudospectral Methods, Trajectory Optimization, 4DTrajectories

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Authors: Sandra Baßler, Peter Dünow, Mathias Marquardt

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A Fourier series based learning control (FSBLC) algorithm for tracking trajectories of mechanical systems with unknown nonlinearities is presented. Two processes are introduced to which the FSBLC with PD controller is applied. One is a simplified service robot capable of climbing stairs due to special wheels and the other is a propeller driven pendulum with nearly the same requirements on control. Additionally to the investigation of learning the feed forward for the desired trajectories some considerations on the implementation of such an algorithm on low cost microcontroller hardware are made. Simulations of the service robot as well as practical experiments on the pendulum show the capability of the used FSBLC algorithm to perform the task of improving control behavior for repetitive task of such mechanical systems.

Keywords: Climbing stairs, FSBLC, ILC, Service robot.

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Authors: Hasan Jumaah Mrayeh, Fue-Sang Lien

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ANSYS Fluent will be used to simulate Computational Fluid Dynamics (CFD) for an efficient lens and nozzle design which will be explained in this paper. We have designed and characterized an aerodynamic lens and a divergent nozzle for focusing flow that transmits sub 25 nm particles through the aerodynamic lens. The design of the lens and nozzle has been improved using CFD for particle trajectories. We obtained a case for calculating nanoparticles (25 nm) flowing through the aerodynamic lens and divergent nozzle. Nanoparticles are transported by air, which is pumped into the aerodynamic lens through the nozzle at 1 atmospheric pressure. We have also developed a computational methodology that can determine the exact focus characteristics of aerodynamic lens systems. Particle trajectories were traced using the Lagrange approach. The simulation shows the ability of the aerodynamic lens to focus on 25 nm particles after using a divergent nozzle.

Keywords: Aerodynamic lens AL, divergent nozzle DN, ANSYS Fluent, Lagrange approach.

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Authors: Boris Barbolyas, Kristina Buckova, Tomas Volensky, Cyril Belavy, Ladislav Dedik

Abstract:

Background: Based on statokinezigram, the human balance control is often studied. Approach to human postural reaction analysis is based on a combination of stabilometry output signal with retroreflective marker data signal processing, analysis, and understanding, in this study. The study shows another original application of Method of Developed Statokinesigram Trajectory (MDST), too. Methods: In this study, the participants maintained quiet bipedal standing for 10 s on stabilometry platform. Consequently, bilateral vibration stimuli to Achilles tendons in 20 s interval was applied. Vibration stimuli caused that human postural system took the new pseudo-steady state. Vibration frequencies were 20, 60 and 80 Hz. Participant's body segments - head, shoulders, hips, knees, ankles and little fingers were marked by 12 retroreflective markers. Markers positions were scanned by six cameras system BTS SMART DX. Registration of their postural reaction lasted 60 s. Sampling frequency was 100 Hz. For measured data processing were used Method of Developed Statokinesigram Trajectory. Regression analysis of developed statokinesigram trajectory (DST) data and retroreflective marker developed trajectory (DMT) data were used to find out which marker trajectories most correlate with stabilometry platform output signals. Scaling coefficients (λ) between DST and DMT by linear regression analysis were evaluated, too. Results: Scaling coefficients for marker trajectories were identified for all body segments. Head markers trajectories reached maximal value and ankle markers trajectories had a minimal value of scaling coefficient. Hips, knees and ankles markers were approximately symmetrical in the meaning of scaling coefficient. Notable differences of scaling coefficient were detected in head and shoulders markers trajectories which were not symmetrical. The model of postural system behavior was identified by MDST. Conclusion: Value of scaling factor identifies which body segment is predisposed to postural instability. Hypothetically, if statokinesigram represents overall human postural system response to vibration stimuli, then markers data represented particular postural responses. It can be assumed that cumulative sum of particular marker postural responses is equal to statokinesigram.

Keywords: Center of pressure (CoP), a method of developed statokinesigram trajectory (MDST), a model of postural system behavior, retroreflective marker data.

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Authors: Hossein Mirzaee, Farhad Besharati

Abstract:

Solar sunspot rotation, latitudinal bands are studied based on intelligent computation methods. A combination of image fusion method with together tree decomposition is used to obtain quantitative values about the latitudes of trajectories on sun surface that sunspots rotate around them. Daily solar images taken with SOlar and Heliospheric (SOHO) satellite are fused for each month separately .The result of fused image is decomposed with Quad Tree decomposition method in order to achieve the precise information about latitudes of sunspot trajectories. Such analysis is useful for gathering information about the regions on sun surface and coordinates in space that is more expose to solar geomagnetic storms, tremendous flares and hot plasma gases permeate interplanetary space and help human to serve their technical systems. Here sunspot images in September, November and October in 2001 are used for studying the magnetic behavior of sun.

Keywords: Quad tree decomposition, sunspot image.

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Authors: M. P. Nanda Kumar, K. Dheeraj

Abstract:

The design of a feedback controller, so as to minimize a given performance criterion, for a general non-linear dynamical system is difficult; if not impossible. But for a large class of non-linear dynamical systems, the open loop control that minimizes a performance criterion can be obtained using calculus of variations and Pontryagin’s minimum principle. In this paper, the open loop optimal trajectories, that minimizes a given performance measure, is used to train the neural network whose inputs are state variables of non-linear dynamical systems and the open loop optimal control as the desired output. This trained neural network is used as the feedback controller. In other words, attempts are made here to solve the “inverse optimal control problem” by using the state and control trajectories that are optimal in an open loop sense.

Keywords: Inverse Optimal Control, Radial basis function neural network, Controller Design.

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Authors: Kemalettin Erbatur, Özer Koca, Evrim Taşkıran, Metin Yılmaz, Utku Seven

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Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important role in control. Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained from predefined ZMP reference trajectories by a Fourier series approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference trajectories possess pre-assigned single and double support phases, which are very useful in experimental tuning work. The ZMP based reference generation strategy is tested via threedimensional full-dynamics simulations of a 12-degrees-of-freedom biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.

Keywords: Biped robot, Linear Inverted Pendulum Model, Zero Moment Point, Fourier series approximation.

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Authors: Zongyou He, Bashu Tsai, Chinhung Ko, Tainchi Lu

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A procedural-animation-based approach which rapidly synthesize the adaptive locomotion for quadruped characters that they can walk or run in any directions on an uneven terrain within a dynamic environment was proposed. We devise practical motion models of the quadruped animals for adapting to a varied terrain in a real-time manner. While synthesizing locomotion, we choose the corresponding motion models by means of the footstep prediction of the current state in the dynamic environment, adjust the key-frames of the motion models relying on the terrain-s attributes, calculate the collision-free legs- trajectories, and interpolate the key-frames according to the legs- trajectories. Finally, we apply dynamic time warping to each part of motion for seamlessly concatenating all desired transition motions to complete the whole locomotion. We reduce the time cost of producing the locomotion and takes virtual characters to fit in with dynamic environments no matter when the environments are changed by users.

Keywords: Dynamic environment, motion synthesis, procedural animation, quadruped locomotion

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Authors: Yuji Kageyama, Shin Nagata, Tatsuya Takino, Izuru Nomura, Hiroyuki Kamata

Abstract:

In previous study, technique to estimate a self-location by using a lunar image is proposed.We consider the improvement of the conventional method in consideration of FPGA implementationin this paper. Specifically, we introduce Artificial Bee Colony algorithm for reduction of search time.In addition, we use fixed point arithmetic to enable high-speed operation on FPGA.

Keywords: SLIM, Artificial Bee Colony Algorithm, Location Estimate.

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Authors: Diego Abbo

Abstract:

On February 15, 2012 off the Indian coast of Kerala, in position 091702N-0760180E by the oil tanker Enrica Lexie, flying the Italian flag, bursts of 5.56 x45 caliber shots were fired from assault rifles AR/70 Italian-made Beretta towards the Indian fisher boat St. Anthony. The shots that hit the St. Anthony fishing boat were six, of which two killed the Indian fishermen Ajesh Pink and Valentine Jelestine. From the analysis concerning the kinematic engagement of the two ships and from the autopsy and ballistic results of the Indian judicial authorities it is possible to reconstruct the trajectories of the six aforementioned shots. This essay reconstructs the trajectories of the six shots that cannot be of direct shooting but have undergone a rebound on the water. The investigation carried out scientifically demonstrates the rebound of the blows on the water, the gyrostatic deviation due to the rebound and the tumbling effect always due to the rebound as regards intermediate ballistics. In consideration of the four shots that directly impacted the fishing vessel, the current examination proves, with scientific value, that the trajectories could not be downwards but upwards. Also, the trajectory of two shots that hit to death the two fishermen could not be downwards but only upwards. In fact, this paper demonstrates, with scientific value: The loss of speed of the projectiles due to the rebound on the water; The tumbling effect in the ballistic medium within the two victims; The permanent cavities subject to the injury ballistics and the related ballistic trauma that prevented homeostasis causing bleeding in one case; The thermo-hardening deformation of the bullet found in Valentine Jelestine's skull; The upward and non-downward trajectories. The paper constitutes a tool in forensic ballistics in that it manages to reconstruct, from the final spot of the projectiles fired, all phases of ballistics like the internal one of the weapons that fired, the intermediate one, the terminal one and the penetrative structural one. In general terms the ballistics reconstruction is based on measurable parameters whose entity is contained with certainty within a lower and upper limit. Therefore, quantities that refer to angles, speed, impact energy and firing position of the shooter can be identified within the aforementioned limits. Finally, the investigation into the internal bullet track, obtained from any autopsy examination, offers a significant “lesson learned” but overall a starting point to contain or mitigate bleeding as a rescue from future gunshot wounds.

Keywords: Impact physics, intermediate ballistics, terminal ballistics, tumbling effect.

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Authors: I. Asanuma, T. Yamaguchi, J. Park, K. J. Mackin

Abstract:

Fishery lights on the surface could be detected by the Day and Night Band (DNB) of the Visible Infrared Imaging Radiometer Suite (VIIRS) on the Suomi National Polar-orbiting Partnership (Suomi-NPP). The DNB covers the spectral range of 500 to 900 nm and realized a higher sensitivity. The DNB has a difficulty of identification of fishing lights from lunar lights reflected by clouds, which affects observations for the half of the month. Fishery lights and lights of the surface are identified from lunar lights reflected by clouds by a method using the DNB and the infrared band, where the detection limits are defined as a function of the brightness temperature with a difference from the maximum temperature for each level of DNB radiance and with the contrast of DNB radiance against the background radiance. Fishery boats or structures on islands could be detected by the Synthetic Aperture Radar (SAR) on the polar orbit satellites using the reflected microwave by the surface reflecting targets. The SAR has a difficulty of tradeoff between spatial resolution and coverage while detecting the small targets like fishery boats. A distribution of fishery boats and island activities were detected by the scan-SAR narrow mode of Radarsat-2, which covers 300 km by 300 km with various combinations of polarizations. The fishing boats were detected as a single pixel of highly scattering targets with the scan-SAR narrow mode of which spatial resolution is 30 m. As the look angle dependent scattering signals exhibits the significant differences, the standard deviations of scattered signals for each look angles were taken into account as a threshold to identify the signal from fishing boats and structures on the island from background noise. It was difficult to validate the detected targets by DNB with SAR data because of time lag of observations for 6 hours between midnight by DNB and morning or evening by SAR. The temporal changes of island activities were detected as a change of mean intensity of DNB for circular area for a certain scale of activities. The increase of DNB mean intensity was corresponding to the beginning of dredging and the change of intensity indicated the ending of reclamation and following constructions of facilities.

Keywords: Day night band, fishery, SAR, South China Sea.

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Authors: Martin Leroux, Sylvain Brisebois

Abstract:

Eating a meal is among the Activities of Daily Living, but it takes a lot of time and effort for people with physical or functional limitations. Dedicated technologies are cumbersome and not portable, while general-purpose assistive robots such as wheelchair-based manipulators are too hard to control for elaborate continuous motion like eating. Eating with such devices has not previously been automated, since there existed no description of a feeding motion for uncontrolled environments. In this paper, we introduce a feeding mode for assistive manipulators, including a mathematical description of trajectories for motions that are difficult to perform manually such as gathering and scooping food at a defined/desired pace. We implement these trajectories in a sequence of movements for a semi-automated feeding mode which can be controlled with a very simple 3-button interface, allowing the user to have control over the feeding pace. Finally, we demonstrate the feeding mode with a JACO robotic arm and compare the eating speed, measured in bites per minute of three eating methods: a healthy person eating unaided, a person with upper limb limitations or disability using JACO with manual control, and a person with limitations using JACO with the feeding mode. We found that the feeding mode allows eating about 5 bites per minute, which should be sufficient to eat a meal under 30min.

Keywords: Assistive robotics, Automated feeding, Elderly care, Trajectory design, Human-Robot Interaction.

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Authors: Christopher Paterson, Richard Curry, Alan Purvis, Simon Johnson

Abstract:

Emerging Bio-engineering fields such as Brain Computer Interfaces, neuroprothesis devices and modeling and simulation of neural networks have led to increased research activity in algorithms for the detection, isolation and classification of Action Potentials (AP) from noisy data trains. Current techniques in the field of 'unsupervised no-prior knowledge' biosignal processing include energy operators, wavelet detection and adaptive thresholding. These tend to bias towards larger AP waveforms, AP may be missed due to deviations in spike shape and frequency and correlated noise spectrums can cause false detection. Also, such algorithms tend to suffer from large computational expense. A new signal detection technique based upon the ideas of phasespace diagrams and trajectories is proposed based upon the use of a delayed copy of the AP to highlight discontinuities relative to background noise. This idea has been used to create algorithms that are computationally inexpensive and address the above problems. Distinct AP have been picked out and manually classified from real physiological data recorded from a cockroach. To facilitate testing of the new technique, an Auto Regressive Moving Average (ARMA) noise model has been constructed bases upon background noise of the recordings. Along with the AP classification means this model enables generation of realistic neuronal data sets at arbitrary signal to noise ratio (SNR).

Keywords: Action potential detection, Low SNR, Phase spacediagrams/trajectories, Unsupervised/no-prior knowledge.

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