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.

Shear deformation analysis on laser-induced reverse bulging and plugging

A new kind of failure mode is observed in circular brass foils in which their peripheries are fixed and their surfaces are subjected to a long pulsed laser over a central region. The failure is classified into three stages; they are referred to as thermal bulging, localized shear deformation and perforation by plugging. A distinct feature of the failure mode is that bulging and plugging occurred in the direction opposite to the incident laser beam. To study the failure mode, we investigate the non-linear response of heated, non-homogeneous circular plates. Based on the large deflection equations of Berger [J. Appl. Mech. 22 (3), 465-472 (1965)], Ohnabe and Mizuguchi [Int. J. Non-Linear Mech. 28 (4), 365-372 (1993)] and the parabolic shear deformation theory of Bhimaraddi and Stevens [J. Appl. Mech. 51 (1), 195-198 (1984)], we have derived new coupled governing equations of shear deformation and deflection. The new equations are solved, for the plate with a clamped edge, by the Galerkin and iterative methods. The numerical results for the shear deformation distribution are in good agreement with the experimental observation.

An Approximate Method for Evaluating the Shear Band Thickness in Saturated Soils

formula for the thickness of a shear band formed in saturated soils under a simple shear or a combined stress state has been proposed. It is shown that the shear band thickness is dependent on the pore pressure properties of the material and the dilatancy rate, but is independent of the details of the combined stress state. This is in accordance with some separate experimental observations.

The investigation on dynamic fracture behavour of materials under compressive-shear combined stress waves

In this paper, an improved plate impact experimental technique is presented for studying dynamic fracture mechanism of materials, under the conditions that the impacting loading is provided by a single pulse and the loading time is in the sub-microsecond range. The impacting tests are carried out on the pressure-shear gas gun. The loading rate achieved is dK/dt similar to 10(8) MPa m(1/2) s(-1). With the elimination of influence of the specimen boundary, the plane strain state of a semi-infinite crack in an infinite elastic plate is used to simulate the deformation fields of crack tip. The single pulses are obtained by using the "momentum trap" technique. Therefore, the one-time actions of the single pulse are achieved by eradicating the stress waves reflected from the specimen boundary or diffracted from the crack surfaces. In the current study, some important phenomena have been observed. The special loading of the single pulse can bring about material damage around crack tip, and affect the material behavior, such as kinking and branching of the crack propagation. Failure mode transitions from mode I to mode II crack are observed under asymmetrical impact conditions. The mechanisms of the dynamic crack propagation are consistent with the damage failure model.

Evaluar el crecimiento de estacas de veranera (Bouganvillea glabra choisy) bajo el efecto de biofertilizante liquido a base de estiercol vacuno

El presente trabajo se realizó en la finca “Las Mercedes”, propiedad de La Universidad Nacional Agraria (UNA), ubicada en el Municipio de Managua, en el período comprendido entre el mes de Octubre del 2006 a Marzo del 2007.Esta investigación se hizo con la finalidad de establecer una nueva alternativa para la propagación de veranera (Bougainvillea glabra) aplicando diferentes dosis de biofertilizante líquido a base de estiércol vacuno y determinar como influye en el crecimiento. En el ensayo se utilizaron estacas de 30 centímetros sembradas directamente en las bolsas de polietileno y el sustrato utilizado para la propagación de la misma fue Compost en un 100%. La parcela experimental constó de 100 bolsas de polietileno de las cuales 36 bolsas fueron bordes y 64 al área útil, se tomaron 20 bolsas al azar a las cuales se les midió las variables en estudio. Para el estudio se recurrió a un diseño completamente azarizado (DCA) y en él se evaluaron diferentes tratamientos, (A) 2.0 litros (B) 1.5 litros (C) 1.0 litros de biofertilizante y (D) solamente agua, se analizaron las variables número de brotes, diámetro del brote, altura del brote, número de raíces y sobrevivencia de plantas. Se encontró diferencia significativa en el número de brotes en el tratamiento C (2.72) en el número de raíces el tratamiento A presento el mayor número (8) y la sobrevivencia el tratamiento A presentó el mayor porcentaje (87).

The Nonlinear Phenomena Of Thin Polydimethylsiloxane (Pdms) Films In Electrowetting

Electrowetting (EW) is an effective way to manipulate small volume liquid in micro- and nano-devices, for it can improve its wettability. Since the late 1990s, electrowetting-on-dielectric (EWOD) has been used widely in bio-MEMS, lab-on-a-chip, etc. Polydimethlsiloxane (PDMS) is extensively utilized as base materials in the fabrication of biomedical micro- and nano-devices. The properties of thin PDMS films used as dielectric layer in EW are studied in this paper. The experimental results show that the thin PDMS films exhibit good properties in EWOD. As to PDMS films with different thicknesses, a threshold voltage and a hysteresis were observed in the EIWOD experiments.

Shear Localization In Dynamic Deformation: Microstructural Evolution

Investigations made by the authors and collaborators into the microstructural aspects of adiabatic shear localization are critically reviewed. The materials analyzed are low-carbon steels, 304 stainless steel, monocrystalline Fe-Ni-Cr, Ti and its alloys, Al-Li alloys, Zircaloy, copper, and Al/SiCp composites. The principal findings are the following: (a) there is a strain-rate-dependent critical strain for the development of shear bands; (b) deformed bands and white-etching bands correspond to different stages of deformation; (c) different slip activities occur in different stages of band development; (d) grain refinement and amorphization occur in shear bands; (e) loss of stress-carrying capability is more closely associated with microdefects rather than with localization of strain; (f) both crystalline rotation and slip play important roles; and (g) band development and band structures are material dependent. Additionally, avenues for new research directions are suggested.

A Novel Counter Sheet-Flow Sandwich Cell Culture Device For Mammalian Cell Growth In Space

Cell culture and growth in space is crucial to understand the cellular responses under microgravity. The effects of microgravity were coupled with such environment restrictions as medium perfusion, in which the underlying mechanism has been poorly understood. In the present work, a customer-made counter sheet-flow sandwich cell culture device was developed upon a biomechanical concept from fish gill breathing. The sandwich culture unit consists of two side chambers where the medium flow is counter-directional, a central chamber where the cells are cultured, and two porous polycarbonate membranes between side and central chambers. Flow dynamics analysis revealed the symmetrical velocity profile and uniform low shear rate distribution of flowing medium inside the central culture chamber, which promotes sufficient mass transport and nutrient supply for mammalian cell growth. An on-orbit experiment performed on a recovery satellite was used to validate the availability of the device.

Measurement Of Fracture Toughness And Interfacial Shear Strength Of Hard And Brittle Cr Coating On Ductile Steel Substrate

The fracture toughness and interfacial adhesion properties of a coating on its substrate are considered to be crucial intrinsic parameters determining performance and reliability of coating-substrate system. In this work, the fracture toughness and interfacial shear strength of a hard and brittle Cr coating on a normal medium carbon steel substrate were investigated by means of a tensile test. The normal medium carbon steel substrate electroplated with a hard and brittle Cr coating was quasi-statically stretched to induce an array of parallel cracks in the coating. An optical microscope was used to observe the cracking of the coating and the interfacial decohesion between the coating and the substrate during the loading. It was found that the cracking of the coating initiated at critical strain, and then the number of the cracks of the coating per unit axial distance increased with the increase in the tensile strain. At another critical strain, the number of the cracks of the coating became saturated, i.e. the number of cracks per unit axial distance became a constant after this critical strain. Based on the experiment result, the fracture toughness of the brittle coating can be determined using a mechanical model. Interestingly, even when the whole specimen fractured completely under an extreme strain of the substrate, the interfacial decohesion or buckling of the coating on its substrate was completely absent. The test result is different from that appeared in the literature though the identical test method and the brittle coating/ductile metal substrate system are taken. It was found that this difference can be attributed to an important mechanism that the Cr coating on the steel substrate has a good adhesion, and the ultimate interfacial shear strength between the Cr coating and the steel substrate has exceeded the maximum shear flow strength level of the steel substrate. This result also indicates that the maximum shear flow strength level of the ductile steel substrate can be only taken as a lower bound estimate on the ultimate shear strength of the interface. This estimation of the ultimate interfacial shear strength is consistent with the theoretical analysis and prediction presented in the literature.

Comparison Of Shear Banding In Bmgs Due To Thermal-Softening And Free Volume Creation

This paper reports a comparative study of shear banding in BMGs resulting from thermal softening and free volume creation. Firstly, the effects of thermal softening and free volume creation on shear instability are discussed. It is known that thermal softening governs thermal shear banding, hence it is essentially energy related. However, compound free volume creation is the key factor to the other instability, though void-induced softening seems to be the counterpart of thermal softening. So, the driving force for shear instability owing to free volume creation is very different from the thermally assisted one. In particular, long wave perturbations are always unstable owing to compound free volume creation. Therefore, the shear instability resulting from coupled compound free volume creation and thermal softening may start more like that due to free volume creation. Also, the compound free volume creation implies a specific and intrinsic characteristic growth time of shear instability. Finally, the mature shear band width is governed by the corresponding diffusions (thermal or void diffusion) within the band. As a rough guide, the dimensionless numbers: Thermal softening related number B, Deborah number (denoting the relation of instability growth rate owing to compound free volume and loading time) and Lewis number (denoting the competition of different diffusions) show us their relative importance of thermal softening and free volume creation in shear banding. All these results are of particular significance in understanding the mechanism of shear banding in bulk metallic glasses (BMGs).

Basic Mechanical Behaviors And Mechanics Of Shear Banding In Bmgs

In this paper, some basic mechanical behaviors of bulk metallic glasses (BMGs) were discussed. It can be found from the discussions that the mechanical behaviors of BMGs are mainly due to the formation and operation of shear bands in BMGs. Furthermore, the relevant mechanics of shear banding were investigated in the paper. The theoretical analysis of deformation coupling thermal softening and free volume creation softening demonstrates that the free volume creation and thermal softening can jointly promote the formation of shear bands in BMGs, and the observed post mortem. shear band width looks more like that governed by free volume creation. (C) 2007 Elsevier Ltd. All rights reserved.

Adicciones

Resumen: Existen miradas diferentes de las villas, según se mira desde fuera o desde dentro. La gente piensa que la violencia y la droga nacen en la villa, cuando en realidad la violencia y la droga se habían introducido en la villa justamente por la ausencia del Estado durante décadas. La mirada que tenemos nosotros, los sacerdotes, es diferente, justamente por vivir dentro de la villa. El poder conocer la riqueza cultural y espiritual que tiene el habitante de la villa, hace que miremos esa realidad de otra manera. Por eso el proyecto que nosotros realizamos guarda relación con un proyecto que tiene como base el apoyo del barrio, no es una propuesta que nace de afuera y que se implementa en la villa, sino que es una propuesta de la villa que se implementa para los jóvenes de la villa. El pararnos frente al problema de las adicciones, como un “problema espiritual directamente vinculado con encontrarle sentido a la vida” ha hecho que trabajáramos en dos caminos básicos: primero la prevención, y luego la recuperación

Evaluación de la base de recursos naturales de Nicaragua y estudios de casos de su uso en la producción y exportación de cultivos

Este es un estudio de la base de recursos naturales de Nicaragua con un énfasis especial en algunos cultivos agrícolas. Los objetivos del estudio fueron los siguientes: 1) Evaluar si la exportación de café refinado en vez de café verde (oro) seria más favorable para Nicaragua, y 2) evaluar la rentabilidad económica y capacidad de carga ecológica para cultivos de importancia en la agricultura tropical. Las metodologías de Síntesis de Emergía (SE), Estimación de Costos y Rentabili dad (ECR) y Huella Ecológica (HE) fueron usadas con el objetivo de investigar si los resultados obtenidos diferían entre si, debido a los distintos objetivos, marco teórico y diferencias en limites de sistema de estos tres métodos. La relación de intercambio de emergla (RIE) para las exportaciones de café entre Nicaragua y las naciones de mayor desarrollo económico indica que el comercio no fue favorable para Nicaragua, ya que el país exporta mucha más riqueza real (medida en emergía) en el café, que lo que importa con el dinero recibido por el café y de esa manera el país está agotando sus recursos naturales locales. Estos resultados concuerdan con los índices de emergía calculados a nivel nacional (porcentaje de renovables, relación exportaciones a importaciones, relación emergía a dinero, relación de carga ambiental e índice de sostenibilidad). En cuanto al uso de las metodologías de Síntesis de Emergía, Estimación de Costos y Rentabilidad y Huella Ecológica en los diferentes cultivos, el estudio indicó que los cultivos de repollo (Brassica o/earaceae L. var. capitata) y tomate (Lycopersicum escu/entum L. Mili) fueron los cultivos más rentables, tanto en términos económicos como de emergía. El cultivo de café (Coffea arabica L.) fue el menos rentable. Cuando la sostenibilidad se midió como capacidad de carga ecológica, los cultivos de frijol (Phaseolus vulgaris, L.), café y maíz (Zea mays L.) fueron los más sostenibles. La comparación de resultados de las metodologías de Síntesis de Emergía, Estimación de Costos y Rentabilidad y Huella Ecológica indican la pobre coherencia entre la rentabilidad económica a corto plazo y la sostenibilidad ecológica de largo plazo. Ningún método o índice fue capaz de contestar todas las preguntas e incluir todos los aspectos. Sin embargo, se encontró que la metodologfa de Sintesis de Emergía y su perspectiva teórica es una herramienta más amplia y que proporciona mayor información sobre el balance entre la sostenibilidad ecológica de largo plazo y rantabilidad económica que los otros dos métodos usados. El método de slntesis de emergla puede ser usado para evaluar la sostenibilidad total de un pals y proporcionar una base para proponer cambios en politicas de comercio.