Applications of real-time machine vision to the control of mining equipment

The mining industry presents us with a number of ideal applications for sensor based machine control because of the unstructured environment that exists within each mine. The aim of the research presented here is to increase the productivity of existing large compliant mining machines by retrofitting with enhanced sensing and control technology. The current research focusses on the automatic control of the swing motion cycle of a dragline and an automated roof bolting system. We have achieved: * closed-loop swing control of an one-tenth scale model dragline; * single degree of freedom closed-loop visual control of an electro-hydraulic manipulator in the lab developed from standard components.

Closed-form solutions for low-rank non-rigid reconstruction

Recovering the motion of a non-rigid body from a set of monocular images permits the analysis of dynamic scenes in uncontrolled environments. However, the extension of factorisation algorithms for rigid structure from motion to the low-rank non-rigid case has proved challenging. This stems from the comparatively hard problem of finding a linear “corrective transform” which recovers the projection and structure matrices from an ambiguous factorisation. We elucidate that this greater difficulty is due to the need to find multiple solutions to a non-trivial problem, casting a number of previous approaches as alleviating this issue by either a) introducing constraints on the basis, making the problems nonidentical, or b) incorporating heuristics to encourage a diverse set of solutions, making the problems inter-dependent. While it has previously been recognised that finding a single solution to this problem is sufficient to estimate cameras, we show that it is possible to bootstrap this partial solution to find the complete transform in closed-form. However, we acknowledge that our method minimises an algebraic error and is thus inherently sensitive to deviation from the low-rank model. We compare our closed-form solution for non-rigid structure with known cameras to the closed-form solution of Dai et al. [1], which we find to produce only coplanar reconstructions. We therefore make the recommendation that 3D reconstruction error always be measured relative to a trivial reconstruction such as a planar one.

Non-reductive Physicalism, Irreducibility of the Mental and the Problem of Mental Causation : A study of Donald Davidson's and Georg Henrik von Wright's positions in the philosophy of mind

In this study I consider what kind of perspective on the mind body problem is taken and can be taken by a philosophical position called non-reductive physicalism. Many positions fall under this label. The form of non-reductive physicalism which I discuss is in essential respects the position taken by Donald Davidson (1917-2003) and Georg Henrik von Wright (1916-2003). I defend their positions and discuss the unrecognized similarities between their views. Non-reductive physicalism combines two theses: (a) Everything that exists is physical; (b) Mental phenomena cannot be reduced to the states of the brain. This means that according to non-reductive physicalism the mental aspect of humans (be it a soul, mind, or spirit) is an irreducible part of the human condition. Also Davidson and von Wright claim that, in some important sense, the mental aspect of a human being does not reduce to the physical aspect, that there is a gap between these aspects that cannot be closed. I claim that their arguments for this conclusion are convincing. I also argue that whereas von Wright and Davidson give interesting arguments for the irreducibility of the mental, their physicalism is unwarranted. These philosophers do not give good reasons for believing that reality is thoroughly physical. Notwithstanding the materialistic consensus in the contemporary philosophy of mind the ontology of mind is still an uncharted territory where real breakthroughs are not to be expected until a radically new ontological position is developed. The third main claim of this work is that the problem of mental causation cannot be solved from the Davidsonian - von Wrightian perspective. The problem of mental causation is the problem of how mental phenomena like beliefs can cause physical movements of the body. As I see it, the essential point of non-reductive physicalism - the irreducibility of the mental - and the problem of mental causation are closely related. If mental phenomena do not reduce to causally effective states of the brain, then what justifies the belief that mental phenomena have causal powers? If mental causes do not reduce to physical causes, then how to tell when - or whether - the mental causes in terms of which human actions are explained are actually effective? I argue that this - how to decide when mental causes really are effective - is the real problem of mental causation. The motivation to explore and defend a non-reductive position stems from the belief that reductive physicalism leads to serious ethical problems. My claim is that Davidson's and von Wright's ultimate reason to defend a non-reductive view comes back to their belief that a reductive understanding of human nature would be a narrow and possibly harmful perspective. The final conclusion of my thesis is that von Wright's and Davidson's positions provide a starting point from which the current scientistic philosophy of mind can be critically further explored in the future.

Calculation of Sparking Potentials of SF6 and SF6-GAS Mixtures in Uniform and Non-Uniform Electric Fields

A simple formula is developed to predict the sparking potentials of SF6 and SF6-gas mixture in uniform and non-uniform fields. The formula has been shown to be valid over a very wide range from 1 to 1800 kPa·cm of pressure and electrode gap separation for mixtures containing 5 to 100% SF6. The calculated values are found to be in good agreement with the previously reported measurements in the literature. The formula should aid design engineers in estimating electrode-spacings and clearances in power apparatus and systems.

VAM applied to dimensional reduction of non-linear hyperelastic plates

This work aims at dimensional reduction of non-linear isotropic hyperelastic plates in an asymptotically accurate manner. The problem is both geometrically and materially non-linear. The geometric non-linearity is handled by allowing for finite deformations and generalized warping while the material non-linearity is incorporated through hyperelastic material model. The development, based on the Variational Asymptotic Method (VAM) with moderate strains and very small thickness to shortest wavelength of the deformation along the plate reference surface as small parameters, begins with three-dimensional (3-D) non-linear elasticity and mathematically splits the analysis into a one-dimensional (1-D) through-the-thickness analysis and a two-dimensional (2-D) plate analysis. Major contributions of this paper are derivation of closed-form analytical expressions for warping functions and stiffness coefficients and a set of recovery relations to express approximately the 3-D displacement, strain and stress fields. Consistent with the 2-D non-linear constitutive laws, 2-D plate theory and corresponding finite element program have been developed. Validation of present theory is carried out with a standard test case and the results match well. Distributions of 3-D results are provided for another test case. (c) 2012 Elsevier Ltd. All rights reserved.

Interacting fermions in synthetic non-Abelian gauge fields

Generation and study of synthetic gauge fields has enhanced the possibility of using cold atom systems as quantum emulators of condensed matter Hamiltonians. In this article we describe the physics of interacting spin -1/2 fermions in synthetic non-Abelian gauge fields which induce a Rashba spin-orbit interaction on the motion of the fermions. We show that the fermion system can evolve to a Bose-Einstein condensate of a novel boson which we call rashbon. The rashbon-rashbon interaction is shown to be independent of the interaction between the constituent fermions. We also show that spin-orbit coupling can help enhancing superfluid transition temperature of weak superfluids to the order of Fermi temperature. A non-Abelian gauge field, when used in conjunction with another potential, can generate interesting Hamiltonians such as that of a magnetic monopole.

Ship-Mounted Real-Time Surface Observational System on board Indian Vessels for Validation and Refinement of Model Forcing Fields

A network of ship-mounted real-time Automatic Weather Stations integrated with Indian geosynchronous satellites Indian National Satellites (INSATs)] 3A and 3C, named Indian National Centre for Ocean Information Services Real-Time Automatic Weather Stations (I-RAWS), is established. The purpose of I-RAWS is to measure the surface meteorological-ocean parameters and transmit the data in real time in order to validate and refine the forcing parameters (obtained from different meteorological agencies) of the Indian Ocean Forecasting System (INDOFOS). Preliminary validation and intercomparison of analyzed products obtained from the National Centre for Medium Range Weather Forecasting and the European Centre for Medium-Range Weather Forecasts using the data collected from I-RAWS were carried out. This I-RAWS was mounted on board oceanographic research vessel Sagar Nidhi during a cruise across three oceanic regimes, namely, the tropical Indian Ocean, the extratropical Indian Ocean, and the Southern Ocean. The results obtained from such a validation and intercomparison, and its implications with special reference to the usage of atmospheric model data for forcing ocean model, are discussed in detail. It is noticed that the performance of analysis products from both atmospheric models is similar and good; however, European Centre for Medium-Range Weather Forecasts air temperature over the extratropical Indian Ocean and wind speed in the Southern Ocean are marginally better.

Closed-form solutions for non-uniform Euler-Bernoulli free-free beams

In this paper, the free vibration of a non-uniform free-free Euler-Bernoulli beam is studied using an inverse problem approach. It is found that the fourth-order governing differential equation for such beams possess a fundamental closed-form solution for certain polynomial variations of the mass and stiffness. An infinite number of non-uniform free-free beams exist, with different mass and stiffness variations, but sharing the same fundamental frequency. A detailed study is conducted for linear, quadratic and cubic variations of mass, and on how to pre-select the internal nodes such that the closed-form solutions exist for the three cases. A special case is also considered where, at the internal nodes, external elastic constraints are present. The derived results are provided as benchmark solutions for the validation of non-uniform free-free beam numerical codes. (C) 2013 Elsevier Ltd. All rights reserved.

Feshbach resonance in a synthetic non-Abelian gauge field

We study the Feshbach resonance of spin-1/2 particles in a uniform synthetic non-Abelian gauge field that produces spin-orbit coupling and constant spin potentials. We develop a renormalizable quantum field theory including the closed-channel boson which engenders the resonance. We show that the gauge field shifts the Feshbach field where the low-energy scattering length diverges. In addition the Feshbach field is shown to depend on the center-of-mass momentum of the particles. For high-symmetry gauge fields which produce a Rashba spin coupling, we show that the system supports two bound states over a regime of magnetic fields when the background scattering length is negative and the resonance width is comparable to the energy scale of the spin-orbit coupling. We discuss interesting consequences useful for future theoretical and experimental studies, even while our predictions are in agreement with recent experiments.

Fermions in Synthetic Non-Abelian Gauge Fields

Quantum emulation property of the cold atoms has generated a lot of interest in studying systems with synthetic gauge fields. In this article, we describe the physics of two component Fermi gas in the presence of synthetic non-Abelian SU(2) gauge fields. Even for the non-interacting system with the gauge fields, there is an interesting change in the topology of the Fermi surface by tuning only the gauge field strength. When a trapping potential is used in conjunction with the gauge fields, the non-interacting system has the ability to produce novel Hamiltonians and show characteristic change in the density profile of the cloud. Without trap, the gauge fields act as an attractive interaction amplifier and for special kinds of gauge field configurations, there are two-body bound states for any attraction even in three dimensions. For a many body system, the gauge fields can induce a crossover from a weak superfluid to a strong superfluid with transition temperature as high as the Fermi temperature. The superfluid state obtained for a very large gauge field strength is a superfluid of new kind of bosons, called ``rashbons'', the properties of which are independent of its constituent two component fermions and are solely determined by the gauge field strength. We also discuss the collective excitations over the superfluid ground states and the experimental relevance of the physics.

Modal tailoring and closed-form solutions for rotating non-uniform Euler-Bernoulli beams

In this paper, the free vibration of a rotating Euler-Bernoulli beam is studied using an inverse problem approach. We assume a polynomial mode shape function for a particular mode, which satisfies all the four boundary conditions of a rotating beam, along with the internal nodes. Using this assumed mode shape function, we determine the linear mass and fifth order stiffness variations of the beam which are typical of helicopter blades. Thus, it is found that an infinite number of such beams exist whose fourth order governing differential equation possess a closed form solution for certain polynomial variations of the mass and stiffness, for both cantilever and pinned-free boundary conditions corresponding to hingeless and articulated rotors, respectively. A detailed study is conducted for the first, second and third modes of a rotating cantilever beam and the first and second elastic modes of a rotating pinned-free beam, and on how to pre-select the internal nodes such that the closed-form solutions exist for these cases. The derived results can be used as benchmark solutions for the validation of rotating beam numerical methods and may also guide nodal tailoring. (C) 2014 Elsevier Ltd. All rights reserved.

Tight triangulations of closed 3-manifolds

A triangulation of a closed 2-manifold is tight with respect to a field of characteristic two if and only if it is neighbourly; and it is tight with respect to a field of odd characteristic if and only if it is neighbourly and orientable. No such characterization of tightness was previously known for higher dimensional manifolds. In this paper, we prove that a triangulation of a closed 3-manifold is tight with respect to a field of odd characteristic if and only if it is neighbourly, orientable and stacked. In consequence, the Kuhnel-Lutz conjecture is valid in dimension three for fields of odd characteristic. Next let F be a field of characteristic two. It is known that, in this case, any neighbourly and stacked triangulation of a closed 3-manifold is F-tight. For closed, triangulated 3-manifolds with at most 71 vertices or with first Betti number at most 188, we show that the converse is true. But the possibility of the existence of an F-tight, non-stacked triangulation on a larger number of vertices remains open. We prove the following upper bound theorem on such triangulations. If an F-tight triangulation of a closed 3-manifold has n vertices and first Betti number beta(1), then (n - 4) (617n - 3861) <= 15444 beta(1). Equality holds here if and only if all the vertex links of the triangulation are connected sums of boundary complexes of icosahedra. (C) 2015 Elsevier Ltd. All rights reserved.

Real-Time Measurement on Deformation Fields of Hole-Excavated Samples under Impact Tension

In this paper, the real-time deformation fields are observed in two different kinds of hole-excavated dog-bone samples loaded by an SHTB, including single hole sample and dual holes sample with the aperture size of 0.8mm. The testing system consists of a high-speed camera, a He-Ne laser, a frame grabber and a synchronization device with the controlling accuracy of I microsecond. Both the single hole expanding process and the interaction of the two holes are recorded with the time interval of 10 mu s. The observed images on the sample surface are analyzed by newly developed software based on digital correlation theory and a modified image processing method. The 2-D displacement fields in plane are obtained with a resolution of 50 mu m and an accuracy of 0.5 mu m. Experimental results obtained in this paper are proofed, by compared with FEM numerical simulations.

Real-Time Measurement on Deformation Fields of Notched Samples Under Impact Tension

In this paper, a real-time and in situ optical measuring system is reported to observe high-velocity deformations of samples subjected to impact loading. The system consists of a high-speed camera, a He-Ne laser, a frame grabber, a synchronization device and analysis software based on digital correlation theory. The optical system has been adapted to investigate the dynamic deformation field and its evolution in notched samples loaded by an split Hopkinson tension bar, with a resolution of 50 pin and an accuracy of 0.5 mum. Results obtained in experiments are discussed and compared with numerical simulations. It is shown that the measuring system is effective and valid.

Real-Time Measurement on Deformation Fields of Hole-Excavated Samples under Impact Tension

In this paper, the real-time deformation fields are observed in two different kinds of hole-excavated dog-bone samples loaded by an SHTB, including single hole sample and dual holes sample with the aperture size of 0.8mm. The testing system consists of a high-speed camera, a He-Ne laser, a frame grabber and a synchronization device with the controlling accuracy of I microsecond. Both the single hole expanding process and the interaction of the two holes are recorded with the time interval of 10 mu s. The observed images on the sample surface are analyzed by newly developed software based on digital correlation theory and a modified image processing method. The 2-D displacement fields in plane are obtained with a resolution of 50 mu m and an accuracy of 0.5 mu m. Experimental results obtained in this paper are proofed, by compared with FEM numerical simulations.