Image-based localization and pose recovery using scale invariant features

In this paper, we propose a vision based mobile robot localization strategy. Local scale-invariant features are used as natural landmarks in unstructured and unmodified environment. The local characteristics of the features we use prove to be robust to occlusion and outliers. In addition, the invariance of the features to viewpoint change makes them suitable landmarks for mobile robot localization. Scale-invariant features detected in the first exploration are indexed into a location database. Indexing and voting allow efficient recognition of global localization. The localization result is verified by epipolar geometry between the representative view in database and the view to be localized, thus the probability of false localization will be decreased. The localization system can recover the pose of the camera mounted on the robot by essential matrix decomposition. Then the position of the robot can be computed easily. Both calibrated and un-calibrated cases are discussed and relative position estimation based on calibrated camera turns out to be the better choice. Experimental results show that our approach is effective and reliable in the case of illumination changes, similarity transformations and extraneous features. © 2004 IEEE.

Wake, shock and potential field interactions in a 1.5 stage turbine: Part I: Vane-rotor and rotor-vane interaction

The composition of the time-resolved surface pressure field around a high-pressure rotor blade caused by the presence of neighboring blade rows was studied, with the individual effects of wake, shock and potential field interaction being determined. Two test geometries were considered: first, a high-pressure turbine stage coupled with a swan-necked diffuser exit duct; secondly, the same high-pressure stage but with a vane located in the downstream duct. Both tests were carried out at engine-representative Mach and Reynolds numbers. By comparing the results to time-resolved computational predictions of the flowfield, the accuracy with which the computation predicts blade interaction was determined. It was found that in addition to upstream vane-rotor and rotor-downstream vane interactions, a new interaction mechanism was found resulting from the interaction between the downstream vane's potential field and the upstream vane's trailing edge potential field and shock.

Physical properties of some novel nematic bimesogens for the flexoelectric effect

In a chiral nematic liquid crystal, the flexoelectric effect consists of a fast and linear coupling with an applied electric field. One difficulty to overcome is the unwinding of the helix that occurs at higher fields due to dielectric coupling. The use of bimesogens, which possess very low molecular dielectric anisotropy can improve flexoelectric characteristics. New bimesogen compounds have recently been synthesised that exhibit switching angles of 45° for applied fields of about 9 V.μm-1. In this paper, results from dielectric, electro-optic and dynamic light scattering measurements are reported for the new bimesogenic mixture. The dielectric anisotropy Δε changes sign with temperature and its values range between -0.2 and 0.3 for the temperature range studied. For Δε weakly positive, no electric field Freedericksz transition could be induced but Williams domains are observed instead. The large decrease in the bend elastic constant to viscosity coefficient ratio is attributed to a large increase in the bend viscosity coefficient. © 2001 OPA (Overseas Publishers Association) N.V. Published by license under the Gordon and Breach Science Publishers imprint, a member of the Taylor & Francis Group.

YBa2Cu3O7 tapes prepared by sol-gel deposition techniques: Microstructure and structural characterizations

We report on the preparation conditions of YBa2Cu3O7 polycrystalline superconducting tapes by a sol-gel deposition technique. We present some discussion on the compatibility between the nature of the substrate, the use of a buffer layer, and the conditions used to prepare appropriate superconducting YBa2Cu3O7 materials. We report also on the microstructural characterizations performed in order to evaluate the crystallites size, degree of orientation and connectivity. © 2002 Elsevier Science B.V. All rights reserved.