Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment

The goal of this work is to navigate through an office environmentsusing only visual information gathered from four cameras placed onboard a mobile robot. The method is insensitive to physical changes within the room it is inspecting, such as moving objects. Forward and rotational motion vision are used to find doors and rooms, and these can be used to build topological maps. The map is built without the use of odometry or trajectory integration. The long term goal of the project described here is for the robot to build simple maps of its environment and to localize itself within this framework.

Problems of maximal mean resistance on the plane

Plakhov, A.Y.; Gouveia, P.D.F., (2007) 'Problems of maximal mean resistance on the plane', Nonlinearity 20(9) pp.2271-2287 RAE2008

Rotation-electronic interaction in the 3p-complex Rydberg state of water

An energy theory is formulated for the rotational energy levels in a p-complex Rydberg state of an asymmetric top molecule of symmetry C2v. The effective Hamiltonian used consists of the usual rigid rotor Hamiltonian augmented with terms representing electronic spin and orbital angular momentum effects. Criteria for assigning symmetry species to the rotational energy levels, following Houganfs scheme that uses the full molecular group,are established and given in the form of a table. This is particularly suitable when eigenvectors are calculated on a digital computer. Also, an intensity theory for transitions to the Rydberg p-complex singlet states is presented and selection rules in terms of symmetry species of energy states are established. Finally, applications to HpO and DpO are given.

Flou de mouvement réaliste en temps réel

Le flou de mouvement de haute qualité est un effet de plus en plus important en rendu interactif. Avec l'augmentation constante en qualité des ressources et en fidélité des scènes vient un désir semblable pour des effets lenticulaires plus détaillés et réalistes. Cependant, même dans le contexte du rendu hors-ligne, le flou de mouvement est souvent approximé à l'aide d'un post-traitement. Les algorithmes de post-traitement pour le flou de mouvement ont fait des pas de géant au niveau de la qualité visuelle, générant des résultats plausibles tout en conservant un niveau de performance interactif. Néanmoins, des artefacts persistent en présence, par exemple, de mouvements superposés ou de motifs de mouvement à très large ou très fine échelle, ainsi qu'en présence de mouvement à la fois linéaire et rotationnel. De plus, des mouvements d'amplitude importante ont tendance à causer des artefacts évidents aux bordures d'objets ou d'image. Ce mémoire présente une technique qui résout ces artefacts avec un échantillonnage plus robuste et un système de filtrage qui échantillonne selon deux directions qui sont dynamiquement et automatiquement sélectionnées pour donner l'image la plus précise possible. Ces modifications entraînent un coût en performance somme toute mineur comparativement aux implantations existantes: nous pouvons générer un flou de mouvement plausible et temporellement cohérent pour plusieurs séquences d'animation complexes, le tout en moins de 2ms à une résolution de 1280 x 720. De plus, notre filtre est conçu pour s'intégrer facilement avec des filtres post-traitement d'anticrénelage.

Handlungsinduktionen durch die visuelle Wahrnehmung von Linear- und Drehbewegungen im Sport

Die vorliegende Arbeit beschäftigt sich mit den Einflüssen visuell wahrgenommener Bewegungsmerkmale auf die Handlungssteuerung eines Beobachters. Im speziellen geht es darum, wie die Bewegungsrichtung und die Bewegungsgeschwindigkeit als aufgabenirrelevante Reize die Ausführung von motorischen Reaktionen auf Farbreize beeinflussen und dabei schnellere bzw. verzögerte Reaktionszeiten bewirken. Bisherige Studien dazu waren auf lineare Bewegungen (von rechts nach links und umgekehrt) und sehr einfache Reizumgebungen (Bewegungen einfacher geometrischer Symbole, Punktwolken, Lichtpunktläufer etc.) begrenzt (z.B. Ehrenstein, 1994; Bosbach, 2004, Wittfoth, Buck, Fahle & Herrmann, 2006). In der vorliegenden Dissertation wurde die Gültigkeit dieser Befunde für Dreh- und Tiefenbewegungen sowie komplexe Bewegungsformen (menschliche Bewegungsabläufe im Sport) erweitert, theoretisch aufgearbeitet sowie in einer Serie von sechs Reaktionszeitexperimenten mittels Simon-Paradigma empirisch überprüft. Allen Experimenten war gemeinsam, dass Versuchspersonen an einem Computermonitor auf einen Farbwechsel innerhalb des dynamischen visuellen Reizes durch einen Tastendruck (links, rechts, proximal oder distal positionierte Taste) reagieren sollten, wobei die Geschwindigkeit und die Richtung der Bewegungen für die Reaktionen irrelevant waren. Zum Einfluss von Drehbewegungen bei geometrischen Symbolen (Exp. 1 und 1a) sowie bei menschlichen Drehbewegungen (Exp. 2) zeigen die Ergebnisse, dass Probanden signifikant schneller reagieren, wenn die Richtungsinformationen einer Drehbewegung kompatibel zu den räumlichen Merkmalen der geforderten Tastenreaktion sind. Der Komplexitätsgrad des visuellen Ereignisses spielt dabei keine Rolle. Für die kognitive Verarbeitung des Bewegungsreizes stellt nicht der Drehsinn, sondern die relative Bewegungsrichtung oberhalb und unterhalb der Drehachse das entscheidende räumliche Kriterium dar. Zum Einfluss räumlicher Tiefenbewegungen einer Kugel (Exp. 3) und einer gehenden Person (Exp. 4) belegen unsere Befunde, dass Probanden signifikant schneller reagieren, wenn sich der Reiz auf den Beobachter zu bewegt und ein proximaler gegenüber einem distalen Tastendruck gefordert ist sowie umgekehrt. Auch hier spielt der Komplexitätsgrad des visuellen Ereignisses keine Rolle. In beiden Experimenten führt die Wahrnehmung der Bewegungsrichtung zu einer Handlungsinduktion, die im kompatiblen Fall eine schnelle und im inkompatiblen Fall eine verzögerte Handlungsausführung bewirkt. In den Experimenten 5 und 6 wurden die Einflüsse von wahrgenommenen menschlichen Laufbewegungen (freies Laufen vs. Laufbandlaufen) untersucht, die mit und ohne eine Positionsveränderung erfolgten. Dabei zeigte sich, dass unabhängig von der Positionsveränderung die Laufgeschwindigkeit zu keiner Modulation des richtungsbasierten Simon Effekts führt. Zusammenfassend lassen sich die Studienergebnisse gut in effektbasierte Konzepte zur Handlungssteuerung (z.B. die Theorie der Ereigniskodierung von Hommel et al., 2001) einordnen. Weitere Untersuchungen sind nötig, um diese Ergebnisse auf großmotorische Reaktionen und Displays, die stärker an visuell wahrnehmbaren Ereignissen des Sports angelehnt sind, zu übertragen.

Passive Dynamics in the Control of Gymnastic Maneuvers

The control of aerial gymnastic maneuvers is challenging because these maneuvers frequently involve complex rotational motion and because the performer has limited control of the maneuver during flight. A performer can influence a maneuver using a sequence of limb movements during flight. However, the same sequence may not produce reliable performances in the presence of off-nominal conditions. How do people compensate for variations in performance to reliably produce aerial maneuvers? In this report I explore the role that passive dynamic stability may play in making the performance of aerial maneuvers simple and reliable. I present a control strategy comprised of active and passive components for performing robot front somersaults in the laboratory. I show that passive dynamics can neutrally stabilize the layout somersault which involves an "inherently unstable" rotation about the intermediate principal axis. And I show that a strategy that uses open loop joint torques plus passive dynamics leads to more reliable 1 1/2 twisting front somersaults in simulation than a strategy that uses prescribed limb motion. Results are presented from laboratory experiments on gymnastic robots, from dynamic simulation of humans and robots, and from linear stability analyses of these systems.

Dinàmica de rotació d'un sòlid rígid (apunts)

Apunts de suport a l'assignatura Fonaments físics de l'enginyeria

Large vibrational variational calculations using 'multimode' and an iterative diagonalization technique

We have favoured the variational (secular equation) method for the determination of the (ro-) vibrational energy levels of polyatomic molecules. We use predominantly the Watson Hamiltonian in normal coordinates and an associated given potential in the variational code 'Multimode'. The dominant cost is the construction and diagonalization of matrices of ever-increasing size. Here we address this problem, using pertubation theory to select dominant expansion terms within the Davidson-Liu iterative diagonalization method. Our chosen example is the twelve-mode molecule methanol, for which we have an ab initio representation of the potential which includes the internal rotational motion of the OH group relative to CH3. Our new algorithm allows us to obtain converged energy levels for matrices of dimensions in excess of 100 000.

Plastic crystal behaviour in tetraethylammonium dicyanamide

The plastic crystal tetraethylammonium dicyanamide ([N_2,2,2,2][dca]) has been investigated with an emphasis on structure and dynamics in the plastic phase. It was found that almost all of the volume expansion occurs at the II → I transition, with no volume expansion at the melt transition (as normally observed for crystals). The conductivity of this material shows a rapid increase at temperatures below the II → I transition, reaching values ~ 10^{− 3} S/cm in Phase I, and 0.1 S/cm in the melt. The NMR measurements show that there is a sudden onset of rotational motions of the cations at the plastic transition; below this temperature the cations appear static. The rotational motion of the cation in Phase I has been discussed in terms of isotropic tumbling.

Design of an angular radial robotic stingray

The propeller is the primary propulsion method for underwater vehicles. It is relatively simple to implement and generally uses rotational motion from the drive through to the propeller. However, it is difficult to seal a high speed propeller shaft from water ingress. As an alternative we can look at nature's own underwater inhabitants and study their locomotive methods.

Spacecraft's attitude prediction: solar radiation torque and the Earth's shadow

A semi-analytical approach is proposed to study the rotational motion of an artificial satellite, under the influence of torque due to the solar radiation pressure, and taking into account the influence of Earth's shadow. Using Andoyer variables the equations for the rotational motion are presented in extended Hamiltonian form. In order to get a solution for the state variables close to an actual motion, the considered model for the shadow function takes into account physical and geometric factors and three specific regions: shadow, penumbra and full light. A mapping for the shadow function is proposed and a semi-analytical process is applied. When the satellite is totally illuminated or it is inside the penumbra, a known analytical solution is used to compute the satellite's attitude. A numerical simulation shows, when the penumbra region is included, the attenuation of the rotational motion during the transition from the shadow to the illuminate region and vice versa. (c) 2005 Published by Elsevier Ltd on behalf of COSPAR.

Analytical attitude prediction of spin stabilized spacecrafts perturbed by magnetic residual torque

An analytical approach for spin-stabilized spacecraft attitude prediction is presented for the influence of the residual magnetic torques. Assuming an inclined dipole model for the Earth's magnetic field, an analytical averaging method is applied to obtain the mean residual torque every orbital period. The orbit mean anomaly is utilized to compute the average components of residual torque in the spacecraft body frame reference system. The theory is developed for time variations in the orbital elements, and non-circular orbits, giving rise to many curvature integrals. It is observed that the residual magnetic torque does not have component along the spin axis. The inclusion of this torque on the rotational motion differential equations of a spin stabilized spacecraft yields conditions to derive an analytical solution. The solution shows that residual torque does not affect the spin velocity magnitude, contributing only for the precession and the drift of the spin axis of the spacecraft. (c) 2005 COSPAR. Published by Elsevier Ltd. All rights reserved.

Attitude propagation using non-singular canonical variables

Three sets of non-singular canonical variables for the rotational motion are analyzed. These sets are useful when the angle between z-axis of a coordinate system fixed in artificial satellite ( here defined by the directions of principal moments of inertia of the satellite) and the rotational angular momentum vector is zero or when the angle between Z-inertial axis and rotational angular momentum vector is zero. The goal of this paper is to compare all these sets and to determine the benefits of their uses. With this objective, the dynamical equations of each set were derived, when mean hamiltonian associate with the gravity gradient torque is included. For the torque-free rotational motion, analytical solutions are computed for symmetrical satellite for each set of variables. When the gravity gradient torque is included, an analytical solution is shown for one of the sets and a numerical solution is obtained for one of the other sets. By this analysis we can conclude that: the dynamical equation for the first set is simple but it has neither clear geometrical nor physical meaning; the other sets have geometrical and physical meaning but their dynamical equations are more complex.

Attitude stability of artificial satellites subject to gravity gradient torque

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Attitude stabilization of a rigid spacecraft in the geomagnetic field

An analytical method is proposed to study the attitude stability of a triaxial spacecraft moving in a circular Keplerian orbit in the geomagnetic field. The method is developed based on the electrodynamics effect of the influence of the Lorentz force acting on the charged spacecraft's surface. We assume that the rigid spacecraft is equipped with an electrostatic charged protective shield, having an intrinsic magnetic moment. The main elements of this shield are an electrostatic charged cylindrical screen surrounding the protected volume of the spacecraft. The rotational motion of the spacecraft about its centre of mass due to torques from gravitational force, as well Lorentz and magnetic forces is investigated. The equilibrium positions of the spacecraft in the orbital coordinate system are obtained. The necessary and sufficient conditions for the stability of the spacecraft's equilibrium positions are constructed using Lyapunov's direct method. The numerical results have shown that the Lorentz force has a significant influence on the stability of the equilibrium positions, which can affect the attitude stabilization of the spacecraft. (C) 2007 COSPAR. Published by Elsevier Ltd. All rights reserved.