Coarse-to-fine vision-based localization by indexing scale-invariant features

This paper presents a novel coarse-to-fine global localization approach inspired by object recognition and text retrieval techniques. Harris-Laplace interest points characterized by scale-invariant transformation feature descriptors are used as natural landmarks. They are indexed into two databases: a location vector space model (LVSM) and a location database. The localization process consists of two stages: coarse localization and fine localization. Coarse localization from the LVSM is fast, but not accurate enough, whereas localization from the location database using a voting algorithm is relatively slow, but more accurate. The integration of coarse and fine stages makes fast and reliable localization possible. If necessary, the localization result can be verified by epipolar geometry between the representative view in the database and the view to be localized. In addition, the localization system recovers the position of the camera by essential matrix decomposition. The localization system has been tested in indoor and outdoor environments. The results show that our approach is efficient and reliable. © 2006 IEEE.

Time-resolved volumetric measurement of fine-scale coherent structures in turbulence.

We present full volumetric (three-dimensional) time-resolved (+one-dimensional) measurements of the velocity field in a large water mixing tank, allowing us to assess spatial and temporal rotational energy (enstrophy) and turbulent energy dissipation intermittency. In agreement with previous studies, highly intermittent behavior is observed, with intense coherent flow structures clustering in the periphery of larger vortices. However, further to previous work the full volumetric measurements allow us to separate out the effects of advection from other effects, elucidating not only their topology but also the evolution of these intense events, through the local balance of stretching and diffusion. These findings contribute toward a better understanding of the intermittency phenomenon, which should pave the way for more accurate models of the small-scale motions based on an understanding of the underlying flow physics.

Observation of large-scale features on graphite by scanning tunnelling microscopy

Superlattice structures and rippling fringes were imaged on two separate pieces of graphite (HOPG) by scanning tunnelling microscopy (STM). We observed the corrugation conservation phenomenon on one of the superlattice structures where an overlayer does not attenuate the corrugation amplitude of the superlattice. Such a phenomenon may illustrate an implication that nanoscale defects a few layers underneath the surface may propagate through many layers without decay and form the superlattice structure on the topmost surface. Some rippling fringes with periodicities of 20 nm and 30 nm and corrugations of 0.1 nm and 0.15nm were observed in the superlattice area and in nearby regions. Such fringes are believed to be due to physical buckling of the surface. The stress required to generate such structures is estimated, and a possible cause is discussed. An equation relating the attenuation factor to the number of overlayers is proposed. © 2005 The Japan Society of Applied Physics.

Scalable robustness for consensus protocols with heterogeneous dynamics

It is shown in the paper how robustness can be guaranteed for consensus protocols with heterogeneous dynamics in a scalable and decentralized way i.e. by each agent satisfying a test that does not require knowledge of the entire network. Random graph examples illustrate that the proposed certificates are not conservative for classes of large scale networks, despite the heterogeneity of the dynamics, which is a distinctive feature of this work. The conditions hold for symmetric protocols and more conservative stability conditions are given for general nonsymmetric interconnections. Nonlinear extensions in an IQC framework are finally discussed. Copyright © 2005 IFAC.

Improved jet noise modeling using a new time-scale.

To calculate the noise emanating from a turbulent flow using an acoustic analogy knowledge concerning the unsteady characteristics of the turbulence is required. Specifically, the form of the turbulent correlation tensor together with various time and length-scales are needed. However, if a Reynolds Averaged Navier-Stores calculation is used as the starting point then one can only obtain steady characteristics of the flow and it is necessary to model the unsteady behavior in some way. While there has been considerable attention given to the correct way to model the form of the correlation tensor less attention has been given to the underlying physics that dictate the proper choice of time-scale. In this paper the authors recognize that there are several time dependent processes occurring within a turbulent flow and propose a new way of obtaining the time-scale. Isothermal single-stream flow jets with Mach numbers 0.75 and 0.90 have been chosen for the present study. The Mani-Gliebe-Balsa-Khavaran method has been used for prediction of noise at different angles, and there is good agreement between the noise predictions and observations. Furthermore, the new time-scale has an inherent frequency dependency that arises naturally from the underlying physics, thus avoiding supplementary mathematical enhancements needed in previous modeling.

Electricity Storage Using a Thermal Storage Scheme

The increasing use of renewable energy technologies for electricity generation, many of which have an unpredictably intermittent nature, will inevitably lead to a greater demand for large-scale electricity storage schemes. For example, the expanding fraction of electricity produced by wind turbines will require either backup or storage capacity to cover extended periods of wind lull. This paper describes a recently proposed storage scheme, referred to here as Pumped Thermal Storage (PTS), and which is based on "sensible heat" storage in large thermal reservoirs. During the charging phase, the system effectively operates as a high temperature-ratio heat pump, extracting heat from a cold reservoir and delivering heat to a hot one. In the discharge phase the processes are reversed and it operates as a heat engine. The round- trip efficiency is limited only by process irreversibilities (as opposed to Second Law limitations on the coefficient of performance and the thermal efficiency of the heat pump and heat engine respectively). PTS is currently being developed in both France and England. In both cases, the schemes operate on the Joule-Brayton (gas turbine) cycle, using argon as the working fluid. However, the French scheme proposes the use of turbomachinery for compression and expansion, whereas for that being developed in England reciprocating devices are proposed. The current paper focuses on the impact of the various process irreversibilities on the thermodynamic round-trip efficiency of the scheme. Consideration is given to compression and expansion losses and pressure losses (in pipe-work, valves and thermal reservoirs); heat transfer related irreversibility in the thermal reservoirs is discussed but not included in the analysis. Results are presented demonstrating how the various loss parameters and operating conditions influence the overall performance.

Practical deployment of the brushless doubly-fed machine in a medium scale wind turbine

The Brushless Doubly-Fed Machine (BDFM) is a brushless electrical generator which allows variable speed operation with a power converter rated at only a fraction of the machine rating. This paper details an example implementation of the BDFM in a medium-scale wind turbine. Details of a simplified design procedure based on electrical and magnetic loadings are given along with the results of tests on the manufactured machine. These show that a BDFM of the scale works as expected but that the 4/8 BDFM chosen was slower and thus larger than the turbine's original induction machine. The implementation of the turbine system is discussed, including the vector-based control scheme that ensures the BDFM operates at a demanded speed and the Maximum Power Point Tracking (MPPT) scheme that selects the rotor speed that extracts the most power from the incident wind conditions.

Detection of large-scale concrete columns for automated bridge inspection

There are over 600,000 bridges in the US, and not all of them can be inspected and maintained within the specified time frame. This is because manually inspecting bridges is a time-consuming and costly task, and some state Departments of Transportation (DOT) cannot afford the essential costs and manpower. In this paper, a novel method that can detect large-scale bridge concrete columns is proposed for the purpose of eventually creating an automated bridge condition assessment system. The method employs image stitching techniques (feature detection and matching, image affine transformation and blending) to combine images containing different segments of one column into a single image. Following that, bridge columns are detected by locating their boundaries and classifying the material within each boundary in the stitched image. Preliminary test results of 114 concrete bridge columns stitched from 373 close-up, partial images of the columns indicate that the method can correctly detect 89.7% of these elements, and thus, the viability of the application of this research.

Large Scale Column Detection for Bridge Inspection

Manually inspecting bridges is a time-consuming and costly task. There are over 600,000 bridges in the US, and not all of them can be inspected and maintained within the specified time frame as some state DOTs cannot afford the essential costs and manpower. This paper presents a novel method that can detect bridge concrete columns from visual data for the purpose of eventually creating an automated bridge condition assessment system. The method employs SIFT feature detection and matching to find overlapping areas among images. Affine transformation matrices are then calculated to combine images containing different segments of one column into a single image. Following that, the bridge columns are detected by identifying the boundaries in the stitched image and classifying the material within each boundary. Preliminary test results using real bridge images indicate that most columns in stitched images can be correctly detected and thus, the viability of the application of this research.

Three-Dimensional Tracking of Construction Resources using an On-Site Camera System

Vision trackers have been proposed as a promising alternative for tracking at large-scale, congested construction sites. They provide the location of a large number of entities in a camera view across frames. However, vision trackers provide only two-dimensional (2D) pixel coordinates, which are not adequate for construction applications. This paper proposes and validates a method that overcomes this limitation by employing stereo cameras and converting 2D pixel coordinates to three-dimensional (3D) metric coordinates. The proposed method consists of four steps: camera calibration, camera pose estimation, 2D tracking, and triangulation. Given that the method employs fixed, calibrated stereo cameras with a long baseline, appropriate algorithms are selected for each step. Once the first two steps reveal camera system parameters, the third step determines 2D pixel coordinates of entities in subsequent frames. The 2D coordinates are triangulated on the basis of the camera system parameters to obtain 3D coordinates. The methodology presented in this paper has been implemented and tested with data collected from a construction site. The results demonstrate the suitability of this method for on-site tracking purposes.

Comparison of les to LDA and PIV measurements of a small scale high speed coflowing jet

Measurements and predictions are made of a short cowl co-flowing jet with a bypass ratio of 8:1. The Reynolds number for computations and measurements are matched at 300,000 and the Mach numbers representative of realistic jet conditions with core and co flow velocities of 240m/s and 216m/s respectively. The low Reynolds number of the measurements makes the case well suited to the assessment of large eddy resolving computational strategies. Also, the nozzle concentricity was carefully controlled to deal with the emerging metastability issues of jets with coflow. Measurements of mean quantities and turbulence statistics are made using both two dimensional coincident LDA and PIV systems. The computational simulations are completed on a modest 12×106 mesh. The simulation is now being run on a 50×106 mesh using hybrid RANSNLES (Numerical Large Eddy Simulation). Close to the nozzle wall a k-l RANS model is used. For an axisymmetric jet, comparison is made between simulations which use NLES, RANSNLES and also a simple imposed velocity profile where the nozzle is not modeled. The use of a near wall RANS model is shown to be beneficial. When compared with the measurements the NLES results are encouraging. Copyright © 2008 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

Mixed nonlinear LES for DES suitable flows

It is shown that a new mixed nonlinear/eddy viscosity LES model reproduces profiles better than a number of competing nonlinear and mixed models for plane channel flow. The objective is an LES method that produces a fully resolved turbulent boundary layer and could be applied to a variety of aerospace problems that are currently studied with RANS, RANS-LES, or DES methods that lack a true turbulent boundary layer. There are two components to the new model. One an eddy viscosity based upon the advected subgrid scale energy and a relatively small coefficient. Second, filtered nonlinear terms based upon the Leray regularization. Coefficients for the eddy viscosity and nonlinear terms come from LES tests in decaying, isotropic turbulence. Using these coefficients, the velocity profile matches measurements data at Reτ ≈ 1000 exactly. Profiles of the components of kinetic energy have the same shape as in the experiment, but the magnitudes differ by about 25%. None of the competing LES gets the shape correct. This method does not require extra operations at the transition between the boundary layer and the interior flow.

2-Scale topography dry electrode for biopotential measurements.

The design and fabrication of a novel 2-scale topography dry electrode using macro and micro needles is presented. The macro needles enable biopotential measurements on hairy skin, the function of the micro needles is to decrease the electrode impedance even further by penetrating the outer skin layer. Also, a fast and reliable impedance characterization protocol is described. Based on this impedance measurement protocol, a comparison study is made between our dry electrode, 3 other commercial dry electrodes and a standard wet gel electrode. Promising results are already obtained with our electrodes which do not have skin piercing micro needles. For the proposed electrodes, three different conductive coatings (Ag/AgCl/Au) are compared. AgCl is found to be slightly better than Ag as coating material, while our Au coated electrodes have the highest impedance.

Cross-comparison of fast reactor concepts with various coolants

Four fast reactor concepts using lead (LFR), liquid salt, NaCl-KCl-MgCl2 (LSFR), sodium (SFR), and supercritical CO2 (GFR) coolants are compared. Since economy of scale and power conversion system compactness are the same by virtue of the consistent 2400 MWt rating and use of the S-CO2 power conversion system, the achievable plant thermal efficiency, core power density and core specific powers become the dominant factors. The potential to achieve the highest efficiency among the four reactor concepts can be ranked from highest to lowest as follows: (1) GFR, (2) LFR and LSFR, and (3) SFR. Both the lead- and salt-cooled designs achieve about 30% higher power density than the gas-cooled reactor, but attain power density 3 times smaller than that of the sodium-cooled reactor. Fuel cycle costs are favored for the sodium reactor by virtue of its high specific power of 65 kW/kgHM compared to the lead, salt and gas reactor values of 45, 35, and 21 kW/kgHM, respectively. In terms of safety, all concepts can be designed to accommodate the unprotected limiting accidents through passive means in a self-controllable manner. However, it does not seem to be a preferable option for the GFR where the active or semi-passive approach will likely result in a more economic and reliable plant. Lead coolant with its superior neutronic characteristics and the smallest coolant temperature reactivity coefficient is easiest to design for self-controllability, while the LSFR requires special reactivity devices to overcome its large positive coolant temperature coefficient. The GFR required a special core design using BeO diluent and a supercritical CO2 reflector to achieve negative coolant void worth-one of the conditions necessary for inherent shutdown following large LOCA. Protected accidents need to be given special attention in the LSFR and LFR due to the small margin to freezing of their coolants, and to a lesser extent in the SFR. © 2009 Elsevier B.V. All rights reserved.

Friction-induced vibration: Model development and comparison with large-scale experimental tests

This paper presents a comparison between theoretical predictions and experimental results from a pin-on-disc test rig exploring friction-induced vibration. The model is based on a linear stability analysis of two systems coupled by sliding contact at a single point. Predictions are compared with a large volume of measured squeal initiations that have been post-processed to extract growth rates and frequencies at the onset of squeal. Initial tests reveal the importance of including both finite contact stiffness and a velocity-dependent dynamic model for friction, giving predictions that accounted for nearly all major clusters of squeal initiations from 0 to 5 kHz. However, a large number of initiations occurred at disc mode frequencies that were not predicted with the same parameters. These frequencies proved remarkably difficult to destabilise, requiring an implausibly high coefficient of friction. An attempt has been made to estimate the dynamic friction behaviour directly from the squeal initiation data, revealing complex-valued frequency-dependent parameters for a new model of linearised dynamic friction. These new parameters readily destabilised the disc modes and provided a consistent model that could account for virtually all initiations from 0 to 15 kHz. The results suggest that instability thresholds for a wide range of squeal-type behaviour can be predicted, but they highlight the central importance of a correct understanding and accurate description of dynamic friction at the sliding interface. © 2013 Elsevier Ltd. All rights reserved.