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1 |
Development of a vision system for safe and high-precision soft landing on the Moon
توسعه یک سیستم بینایی برای فرود نرم و ایمن و با دقت بالا بر روی ماه-2021 Modern stage of space exploration is tightly related with the Moon research, with the deployment of long-term research stations on its surface. One of the critical elements here is a system for providing a highly accurate and reliable soft landing. The task of soft landing was solved many years ago, however, its accuracy is insufficient for modern lunar projects. Modern computer vision systems allow getting high-quality surface images at all stages of landing, and processing them in real time. The use of technical vision is beneficial due to the low weight, dimensions and energy consumption.The following tasks are assigned to the vision system: self-position determination of the landing unit and selection of a suitable place for a safe landing. Self-position determination by the video is necessary for INS data correction. Two methods are considered: detection and comparison of craters, and GHT. Both methods use the vector map and don’t require actual high- precision orthoplan. The safe site choosing method uses the found position for binding it to the desired and undesirable sites map. After that a precise choice follows, which takes into account the surface angle, smoothness, presence of extensive shadow areas. The algorithm is able to select landing sites close to those manually selected by the operator. The obtained algorithms can work in real time with the influence of interfering factors (noise, changes in the Sun position, changing of camera angle), and can be used to solve the problem.© 2021 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the 14th International Symposium “Intelligent Systems”. Keywords: Visual navigation | safe landing | landing site selection | hough transform | computer vision |
مقاله انگلیسی |
2 |
Lunar and off Earth resource drivers, estimations and the development conundrum
محورهای قمری و خاموش زمین ، برآوردها و معمای توسعه-2020 All human enterprise is based on the acquisition and use of natural resources. Space exploration highlights our greatest example of the
potential utility and economic savings that would be gained in providing what is needed to spur large-scale settlement growth and operations
during gravity-well hopping. As opposed to the pure economics behind resource location, extraction and production on Earth, the
fruitful, successful and sustainable human expansion off Earth makes it imperative that we fully understand the distribution and abundance
of extraterrestrial resources, combined with current technological capabilities and a highly defined user-base before human landing
site selection can occur. A working model and methodology, entitled Planetary Resource Management System (PRMS), adapted from
the terrestrial petroleum exploration model, serves as a guideline for defining extraterrestrial prospecting, which ultimately provides criteria
for the selection of human landing sites. Correct selection, in fruition, will enable highly self-sustainable and growing human settlements
on the lunar surface or elsewhere. Further discussions addressing the continued and potentially distracting misuse of common
space-goals marketing points, used in promoting extraterrestrial mining and in situ resource utilization (ISRU), are examined in light of
big picture usage, infrastructure and a priori needs. The present exemplar of extremely slow human population growth rates off Earth
highlights the need for implementing the single concise goal of establishing growing and self-sustained human settlements on other
worlds. Such a distinct goal will circularly drive the need for in situ resources and commercialization that the historical acquisition of
basic scientific knowledge alone is incapable of rendering. Keywords: ISRU | Moon | Prospecting | Mining | Sustainability | Habitation |
مقاله انگلیسی |
3 |
Extraterritorial Jurisdiction on Celestial Bodies
صلاحیت برون مرزی در مورد اجسام آسمانی-2019 Space exploration is a trailblazing project endowed with multiple uses by multiple users. The human
settlement project on celestial bodies, such as the Moon Village, will give rise to complex activities. To
regulate these activities, it is necessary to extend earthly countries jurisdiction into outer space. This
article examines existing rules on extraterritorial jurisdiction and identified possible problems thereof.
This article offers solutions by making reference to the jurisprudences from human rights law. For the
jurisdictional quasi-territorial jurisdiction and personal jurisdiction, this article offers new criteria in
establishing them. Keywords: Jurisdiction | Quasi-territory | Ratione personae |
مقاله انگلیسی |
4 |
General and specific factors in the processing of faces
عوامل عمومی و خاص در پردازش چهره-2017 The ability to recognize faces varies considerably between individuals, but does performance co-vary for
tests of different aspects of face processing? For 397 participants (of whom the majority were university
students) we obtained scores on the Mooney Face Test, Glasgow Face Matching Test (GFMT), Cambridge
Face Memory Test (CFMT) and Composite Face Test. Overall performance was significantly correlated for
each pair of tests, and we suggest the term f for the factor underlying this pattern of positive correlations.
However, there were large variations in the amount of variance shared by individual tests: The GFMT and
CFMT are strongly related, whereas the GFMT and the Mooney test tap largely independent abilities. We
do not replicate a frequently reported relationship between holistic processing (from the Composite test)
and face recognition (from the CFMT)—indeed, holistic processing does not correlate with any of our
tests. We report associations of performance with digit ratio and autism-spectrum quotient (AQ), and
from our genome-wide association study we include a list of suggestive genetic associations with perfor
mance on the four face tests, as well as with f.
Keywords: Face perception | Face recognition | f | Holistic processing | Individual differences | Autism-spectrum quotient (AQ) | Genome-wide association study (GWAS) |
مقاله انگلیسی |
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صدا دادن به ارزشها: یک مشارکت کلی با UNGC PRME جهت تغییر شکل دادن آموزش مدیریت
سال انتشار: 2017 - تعداد صفحات فایل pdf انگلیسی: 5 - تعداد صفحات فایل doc فارسی: 16 صدا دادن به ارزشها (GVV)، یک دیدگاه نوآورانه برای توسعه رهبری مبتنی بر ارزشها، تقریبا" همزمان با راه اندازی اصول معاهده جهانی سازمان ملل برای آموزش مدیریت مسئول (PRME)، آغاز شد. در سال 2007 در اوج رهبری معاهده جهانی، بان کی مون دبیر کل سازما ملل PRME را باهدف همتراز کردن آموزش مدیریت با اهداف گسترده تر معاهده جهانی و تعهد آن به ارزشها و مسئولیت حقوقی، راه اندازی کرد. به طور مشابه، با آغاز به کار GVV در یک دهه پیش و با حمایت موسسه آسپن از برنامه تجارت و جامعه (و نیز انجمن پرورش کوکان کار) و دانکشده مدیریت دانشگاه ییل، هدف از آن، تغییر شکل دادن فنون آموزشی و برنامه درسی برای رهبری ارزش – محور و اخلاق تجاری در سراسر جهان بود. بنابراین بجاست که GVV و UNGC PRME راههای زیادی را برای مشارکت در این کار پیدا کنند. صفحات بعدی موارد زیر را طرح ریزی می کنند: پایه های مفهومی برای صدا دادن به ارزشها؛ تاثیری در آموزش کسب و کار (و فراتر از آن) می گذارد؛ یک تعدادی همکاری های سازنده با PRME درطی دهه گذشته؛ و نهایتا" فرصتهایی برای همکاری های آتی در جهت اهداف توسعه پایدار سازمان ملل.
کلیدواژه ها: صدا دادن به ارزشها | اخلاق تجاری | آموزش مدیریت | توسعه رهبری | UNGC PRME | برنامه درسی و آموزشی |
مقاله ترجمه شده |
6 |
Self calibration of the stereo vision system of the Chang’e-3 lunar rover based on the bundle block adjustment
کالیبراسیون از لحاظ سیستم دید استریو در جهت Changâ € ™ 3-e-3 ماهانه بر اساس تنظیم بلوک بسته-2017 The Chang’e-3 was the first lunar soft landing probe of China. It was composed of the lander and the lunar rover. The Chang’e-3 successful landed in the northwest of the Mare Imbrium in December 14, 2013. The lunar rover completed the movement, imaging and geological survey after landing. The lunar rover equipped with a stereo vision system which was made up of the Navcam system, the mast mechanism and the inertial measurement unit (IMU). The Navcam system composed of two cameras with the fixed focal length. The mast mechanism was a robot with three revolute joints. The stereo vision system was used to determine the position of the lunar rover, generate the digital elevation models (DEM) of the sur- rounding region and plan the moving paths of the lunar rover. The stereo vision system must be cali- brated before use. The control field could be built to calibrate the stereo vision system in the laboratory on the earth. However, the parameters of the stereo vision system would change after the launch, the orbital changes, the braking and the landing. Therefore, the stereo vision system should be self calibrated on the moon. An integrated self calibration method based on the bundle block adjustment is proposed in this paper. The bundle block adjustment uses each bundle of ray as the basic adjustment unit and the adjustment is implemented in the whole photogrammetric region. The stereo vision system can be self calibrated with the proposed method under the unknown lunar environment and all param- eters can be estimated simultaneously. The experiment was conducted in the ground lunar simulation field. The proposed method was compared with other methods such as the CAHVOR method, the vanish- ing point method, the Denavit-Hartenberg method, the factorization method and the weighted least- squares method. The analyzed result proved that the accuracy of the proposed method was superior to those of other methods. Finally, the proposed method was practical used to self calibrate the stereo vision system of the Chang’e-3 lunar rover on the moon.© 2017 International Society for Photogrammetry and Remote Sensing, Inc. (ISPRS). Published by ElsevierB.V. All rights reserved. Keywords:Chang’e-3 | Stereo vision system | Bundle block adjustment | Product of exponentials |
مقاله انگلیسی |
7 |
Dynamical behaviour of pneumatic artificial muscles
رفتار دینامیکی عضلات مصنوعی پنوماتیک-2015 The mechanical response of pneumatic
artificial muscles is analyzed in transient and periodic
conditions, assuming the inextensibility of the sheathing
fibres and considering the influence of the texture
geometry, of the dissipation due to the mutual sliding
between the braids and of the stress field inside the
bladder thickness, where the constituent elastomer is
regarded as a two-parameter Mooney–Rivlin material.
The polytropic exponent of the thermodynamic air
evolution inside the muscle during the charging and
discharging phases may be properly chosen depending
on the working frequency. The muscle end shape is
taken into account profiling the meridian section by a
simple m-degree parabolic law. The estimate of the
mechanical and geometrical parameters of each individual
muscle permits simulating its response in
several unsteady operations and identifying its hysteretic
behaviour under periodic pressure excitation.
The comparison with several experimental results
present in the literature shows a very acceptable
agreement.
Keywords Bio-robotics Pneumatic artificial
muscle Dynamical behaviour |
مقاله انگلیسی |