999 resultados para Invariant Bi-separable preference


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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.

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In this paper, a method to construct topological template in terms of symbolic dynamics for the diamagnetic Kepler problem is proposed. To confirm the topological template, rotation numbers of invariant manifolds around unstable periodic orbits in a phase space are taken as an object of comparison. The rotation numbers are determined from the definition and connected with symbolic sequences encoding the periodic orbits in a reduced Poincare section. Only symbolic codes with inverse ordering in the forward mapping can contribute to the rotation of invariant manifolds around the periodic orbits. By using symbolic ordering, the reduced Poincare section is constricted along stable manifolds and a topological template, which preserves the ordering of forward sequences and can be used to extract the rotation numbers, is established. The rotation numbers computed from the topological template are the same as those computed from their original definition.

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It is shown that the variable power singularity of the strain field at the crack tip can be obtained by the simple technique of collapsing quadrilateral isoparametric elements into triangular elements around the crack tip and adequately shifting the side-nodes adjacent to this crack tip. The collapsed isoparametric elements have the desired singularity at crack tip along any ray. The strain expressions for a single element have been derived and in addition to the desired power singularity, additional singularities are revealed. Numerical examples have shown that triangular elements formed by collapsing one side lead to excellent results.

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Short fatigue crack behaviour in a weld metal has been further investigated. The Schmid factor and the fractal dimension of short cracks on iso-stress specimens subjected to reversed bending have been determined and then applied to account for the distribution and orientation characteristics of short fatigue cracks. The result indicates that the orientation preference of short cracks is attributed to the large values of Schmid factor at relevant grains. The Schmid factors of most slip systems, which produced short cracks, are less than or equal to 0.4. Crack length measurements reveal that short crack path, compared to that of long crack, possesses a more stable and relatively larger value of fractal dimension. This is regarded as one of the typical features of short cracks.

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The invariant representation of the spin tensor defined as the rotation rate of a principal triad for a symmetric and non-degenerate tensor is derived on the basis of the general solution of a linear tensorial equation. The result can be naturally specified to study the. spin of the stretch tensors and to investigate the relations between various rotation rate tensors encountered frequently in modern continuum mechanics. A remarkable formula which relates the generalized stress conjugate to the generalized strain in Hill's sense. to Cauchy stress, is obtained in invariant form through the work conjugate principle. Particularly, a detailed discussion on the time rate of logarithmic strain and its conjugate stress is made as the principal axes of strain arc not fixed during deformation.

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We demonstrate the first full-duplex wireless-over-fibre transmission between a central station and a CWDM ring architecture with remote 40 GHz LO delivery using a bi-directional semiconductor optical amplifier. © 2005 Optical Society of America.