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  • 1
    Electronic Resource
    Electronic Resource
    Passive range estimation for rotorcraft low-altitude flight (1993)
    Springer
    Machine vision and applications 6 (1993), S. 10-24 
    Details
    ISSN: 1432-1769
    Keywords: Passive ranging ; Computer vision ; Optical flow ; Helicopter flight ; Intelligent systems
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract The automation of rotorcraft low-altitude flight presents challenging problems in control, computer vision, and image understanding. A critical element in this problem is the ability to detect and locate obstacles, using on-board sensors, and to modify the nominal trajectory. This requirement is also necessary for the safe landing of an autonomous lander on Mars. This paper examines some of the issues in the location of objects, using a sequence of images from a passive sensor, and describes a Kalman filter approach to estimate range to obstacles. The Kalman filter is also used to track features in the images leading to a significant reduction of search effort in the feature-extraction step of the algorithm. The method can compute range for both straightline and curvilinear motion of the sensor. An experiment is designed in the laboratory to acquire a sequence of images along with the sensor motion parameters under conditions similar to helicopter flight. The paper presents range estimation results using this imagery.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01212428
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  • 2
    Electronic Resource
    Electronic Resource
    Bis(L-threoninium) sulfate monohydrate (2001)
    Copenhagen : International Union of Crystallography (IUCr)
    Acta crystallographica 57 (2001), S. o581-o583 
    Details
    ISSN: 1600-5368
    Source: Crystallography Journals Online : IUCR Backfile Archive 1948-2001
    Topics: Chemistry and Pharmacology , Geosciences , Physics
    Notes: In the title compound, 2C4H10NO3+·SO42−·H2O, both threoninium molecules have a gauche II form for the Cγ and gauche I form for the Oγ. The sulfate anion links the cation in an infinite manner through hydrogen bonds along the b and c axes. The two water molecules on the twofold axes link the sulfate groups and one of the cations.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1107/S1600536801008960
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  • 3
    Electronic Resource
    Electronic Resource
    D-Serinium D-serine nitrate (2001)
    Copenhagen : International Union of Crystallography (IUCr)
    Acta crystallographica 57 (2001), S. o682-o684 
    Details
    ISSN: 1600-5368
    Source: Crystallography Journals Online : IUCR Backfile Archive 1948-2001
    Topics: Chemistry and Pharmacology , Geosciences , Physics
    Notes: In the title compound, C3H8O3N+·NO3−·C3H7O3N, the serinium and the serine as zwitterion are held together by a strong O—H...O hydrogen bond. The serinium cation has a gauche I conformation and the serine molecule has a gauche II conformation for the hydroxyl O atom. The nitrate anion links the amino N atom of molecule 1 extending in a chain running along the a axis.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1107/S1600536801009035
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  • 4
    Electronic Resource
    Electronic Resource
    Bis(D-phenylglycinium) sulfate monohydrate (2001)
    Copenhagen : International Union of Crystallography (IUCr)
    Acta crystallographica 57 (2001), S. o754-o756 
    Details
    ISSN: 1600-5368
    Source: Crystallography Journals Online : IUCR Backfile Archive 1948-2001
    Topics: Chemistry and Pharmacology , Geosciences , Physics
    Notes: In the title compound, 2C8H10NO2+·SO42−·H2O, the cations exist as two crystallographically independent molecules in the asymmetric unit. In the crystal, these molecules are linked by the sulfate ion through strong O—H...O hydrogen bonds; the phenylglycinium cations, sulfate anion and water molecule are held together by N—H...O and O—H...O hydrogen bonds.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1107/S1600536801011941
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  • 5
    Electronic Resource
    Electronic Resource
    Hydrogen bis[L-lysinium(2+)] dichloride perchlorate (2001)
    Copenhagen : International Union of Crystallography (IUCr)
    Acta crystallographica 57 (2001), S. o875-o877 
    Details
    ISSN: 1600-5368
    Source: Crystallography Journals Online : IUCR Backfile Archive 1948-2001
    Topics: Chemistry and Pharmacology , Geosciences , Physics
    Notes: In the title compound, 2C6H15N2O2+·H+·ClO4−·2Cl−, the two mono- and dicationic lysinium molecules are held together by strong O—H...O hydrogen bonds. Both the perchlorate and chloride anions link molecules 1 and 2 through the α-amino and ε-amino groups into infinite chains along the a axis. The aggregation of the hydrophilic groups is along the z = 0 plane and that of hydrophobic is along the z = 1 \over 4 plane. Molecule 1 is engaged in a zigzag (Z1) head-to-tail sequence.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1107/S1600536801013484
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  • 6
    Electronic Resource
    Electronic Resource
    L-Phenylalanine–nitric acid (2/1) (2001)
    Copenhagen : International Union of Crystallography (IUCr)
    Acta crystallographica 57 (2001), S. o916-o918 
    Details
    ISSN: 1600-5368
    Source: Crystallography Journals Online : IUCR Backfile Archive 1948-2001
    Topics: Chemistry and Pharmacology , Geosciences , Physics
    Notes: In the title compound, 2 C9H11NO2·H+·NO3−, both phenylalanine residues have a gauche I conformation. The aggregation of the hydrophilic zone is along z = 0 and the hydrophobic zone is sandwiched between two such layers at z = 0 and z = 1.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1107/S1600536801014350
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  • 7
    Electronic Resource
    Electronic Resource
    Tri(L-isoleucinium) sulfate bisulfate (2001)
    Copenhagen : International Union of Crystallography (IUCr)
    Acta crystallographica 57 (2001), S. o558-o560 
    Details
    ISSN: 1600-5368
    Source: Crystallography Journals Online : IUCR Backfile Archive 1948-2001
    Topics: Chemistry and Pharmacology , Geosciences , Physics
    Notes: The title compound, 3C6H14NO2+·HSO4−·SO42−, comprises three cationic isoleucinium molecules, and sulfate and bisulfate anions (1:1). The molecules are held together by strong N—H...O and O—H...O hydrogen bonds.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1107/S1600536801008583
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  • 8
    Electronic Resource
    Electronic Resource
    Bis(L-histidinium sulfate) trihydrate (2001)
    Copenhagen : International Union of Crystallography (IUCr)
    Acta crystallographica 57 (2001), S. o607-o609 
    Details
    ISSN: 1600-5368
    Source: Crystallography Journals Online : IUCR Backfile Archive 1948-2001
    Topics: Chemistry and Pharmacology , Geosciences , Physics
    Notes: In the title compound, 2C6H11N3O22+·2SO42−·3H2O, both diprotonated histidinium cations are linked by strong hydrogen bonds by water molecules and normal hydrogen bonds by sulfate anions. The Cγ atom has a gauche II conformation with respect to the amino N atom and it is trans to the C′ atom for both molecules. The imidazolinium rings are normal to the carbon skeletal plane, as expected.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1107/S1600536801009758
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  • 9
    Electronic Resource
    Electronic Resource
    Bis(DL-aspartic acid) sulfate (2001)
    Copenhagen : International Union of Crystallography (IUCr)
    Acta crystallographica 57 (2001), S. o679-o681 
    Details
    ISSN: 1600-5368
    Source: Crystallography Journals Online : IUCR Backfile Archive 1948-2001
    Topics: Chemistry and Pharmacology , Geosciences , Physics
    Notes: In the title compound, 2C4H8NO4+·SO42−, the sulfate anion connects the aspartic acid cations by strong hydrogen bonds. Both independent cations have a gauche II form, and the Cγ is trans to the C′ atom. An intramolecular N—H...O hydrogen bond is observed in one of the cations.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1107/S1600536801010054
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  • 10
    Electronic Resource
    Electronic Resource
    Bis(β-alanine) hydrogen nitrate (2001)
    Copenhagen : International Union of Crystallography (IUCr)
    Acta crystallographica 57 (2001), S. o1004-o1006 
    Details
    ISSN: 1600-5368
    Source: Crystallography Journals Online : IUCR Backfile Archive 1948-2001
    Topics: Chemistry and Pharmacology , Geosciences , Physics
    Notes: In the title compound, 2C3H7NO2.H+·NO3−, both the alanine residues, related by a center of symmetry, are linked by a strong symmetric O—H...O hydrogen bond with an O...O distance of 2.467 (2) Å. The N atom and one of the O atoms of the nitrate anion lie on the twofold axis.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1107/S1600536801015793
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