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.

Active Voltage Control on series connection of IGBTs and diode recovery optimization

In this paper an Active Voltage Control (AVC) technique is presented, for series connection of insulated-gate-bipolar-transistors (IGBT) and control of diode recovery. The AVC technique can control the switching trajectory of an IGBT according to a pre-set reference signal. In series connections, every series connected IGBT follows the reference and so that the dynamic voltage sharing is achieved. Another key advantage for AVC is that by changing the reference signal at turn-on, the diode recovery can be optimised. © 2010 IEEE.

Turbine blade tip heat transfer in low speed and high speed flows

In this paper, high and low speed tip flows are investigated for a high-pressure turbine blade. Previous experimental data are used to validate a CFD code, which is then used to study the tip heat transfer in high and low speed cascades. The results show that at engine representative Mach numbers the tip flow is predominantly transonic. Thus, compared to the low speed tip flow, the heat transfer is affected by reductions in both the heat transfer coefficient and the recovery temperature. The high Mach numbers in the tip region (M>1.5) lead to large local variations in recovery temperature. Significant changes in the heat transfer coefficient are also observed. These are due to changes in the structure of the tip flow at high speed. At high speeds, the pressure side corner separation bubble reattachment occurs through supersonic acceleration which halves the length of the bubble when the tip gap exit Mach number is increased from 0.1 to 1.0. In addition, shock/boundary-layer interactions within the tip gap lead to large changes in the tip boundary-layer thickness. These effects give rise to significant differences in the heat-transfer coefficient within the tip region compared to the low-speed tip flow. Compared to the low speed tip flow, the high speed tip flow is much less dominated by turbulent dissipation and is thus less sensitive to the choice of turbulence model. These results clearly demonstrate that blade tip heat transfer is a strong function of Mach number, an important implication when considering the use of low speed experimental testing and associated CFD validation in engine blade tip design. Copyright © 2009 by ASME.

Comparing the sustainability of an innovative dry sanitation (Ecosan) system in China to a conventional waterborne sanitation system

The use of sustainability indicators for evaluating sanitation systems is applied to the Erdos Eco- Town Project (EETP) in China for illustration. The EETP is the largest urban settlement in the world employing ecological sanitation, which incorporates separation of waste streams, dry toilets, and resource recovery. The EETP’s dry sanitation system is compared against the Dongsheng District’s conventional sewer and centralised STP. The two systems are compared based on technological, environmental, economic, and societal indicators. Overall, the two systems perform reasonably well from a technological perspective. The conventional system performs significantly better than the dry system with regards to land and energy requirements, and global warming potential; it also performs better based on freshwater aquatic and terrestrial ecotoxicity potentials, but by a smaller margin. The dry system has superior environmental performance based on water consumption, eutrophication potential, and nutrient and organic matter recovery. The dry system is a more costly system as it requires greater infrastructure and higher operational costs, and does not benefit from economies of scale. The waterborne system performs better based on the societal indicators largely because it is a well-established system.

The effect of work processes on the casing heat transfer of a transonic turbine

This paper considers the effect of the rotor tip on the casing heat load of a transonic axial flow turbine. The aim of the research is to understand the dominant causes of casing heat-transfer. Experimental measurements were conducted at engine-representative Mach number, Reynolds number and stage inlet to casing wall temperature ratio. Time-resolved heat-transfer coefficient and gas recovery temperature on the casing were measured using an array of heat-transfer gauges. Time-resolved static pressure on the casing wall was measured using Kulite pressure transducers. Time-resolved numerical simulations were undertaken to aid understanding of the mechanism responsible for casing heat load. The results show that between 35% and 60% axial chord the rotor tip-leakage flow is responsible for more than 50% of casing heat transfer. The effects of both gas recovery temperature and heat transfer coefficient were investigated separately and it is shown that an increased stagnation temperature in the rotor tip gap dominates casing heat-transfer. In the tip gap the stagnation temperature is shown to rise above that found at stage inlet (combustor exit) by as much as 35% of stage total temperature drop. The rise in stagnation temperature is caused by an isentropic work input to the tip-leakage fluid by the rotor. The size of this mechanism is investigated by computationally tracking fluid path-lines through the rotor tip gap to understand the unsteady work processes that occur. Copyright © 2005 by ASME.

Soft turn-on of NPT IGBT under Active Voltage Control

In this paper the soft turn-on of NPT IGBT under Active Voltage Control (AVC) is presented. The AVC technique is able to control the IGBT switching trajectory according to a pre-defined reference signal generated by a FPGA chip. By applying a special designed reference signal at turn-on, the IGBT turn-on current overshoot and diode recovery can be optimized. Experiments of soft turn-on with different reference signal are presented in this paper. This technique can be used to reduce the switching stress on the device and on other components of the circuit. © 2011 IEEE.

All-fiber Yb-doped laser mode-locked by nanotubes

Single-wall carbon nanotubes (SWNTs) and graphene have emerged as promising saturable absorbers (SAs), due to their broad operation bandwidth and fast recovery times [1-3]. However, Yb-doped fiber lasers mode-locked using CNT and graphene SAs have generated relatively long pulses. All-fiber cavity designs are highly favored for their environmental robustness. Here, we demonstrate an all-fiber Yb-doped laser based on a SWNT saturable absorber, which allows generation of 8.7 ps-long pulses, externally compressed to 118 fs. To the best of our knowledge, these are the shortest pulses obtained with SWNT SAs from a Yb-doped fiber laser. © 2013 IEEE.