Methodology based on registration techniques for representing subjects and their deformations acquired from general purpose 3D sensors

In this thesis a methodology for representing 3D subjects and their deformations in adverse situations is studied. The study is focused in providing methods based on registration techniques to improve the data in situations where the sensor is working in the limit of its sensitivity. In order to do this, it is proposed two methods to overcome the problems which can difficult the process in these conditions. First a rigid registration based on model registration is presented, where the model of 3D planar markers is used. This model is estimated using a proposed method which improves its quality by taking into account prior knowledge of the marker. To study the deformations, it is proposed a framework to combine multiple spaces in a non-rigid registration technique. This proposal improves the quality of the alignment with a more robust matching process that makes use of all available input data. Moreover, this framework allows the registration of multiple spaces simultaneously providing a more general technique. Concretely, it is instantiated using colour and location in the matching process for 3D location registration.

Controlled Complete Suppression of Single-Atom Inelastic Spin and Orbital Cotunneling

The inelastic portion of the tunnel current through an individual magnetic atom grants unique access to read out and change the atom’s spin state, but it also provides a path for spontaneous relaxation and decoherence. Controlled closure of the inelastic channel would allow for the latter to be switched off at will, paving the way to coherent spin manipulation in single atoms. Here, we demonstrate complete closure of the inelastic channels for both spin and orbital transitions due to a controlled geometric modification of the atom’s environment, using scanning tunneling microscopy (STM). The observed suppression of the excitation signal, which occurs for Co atoms assembled into chains on a Cu2N substrate, indicates a structural transition affecting the dz2 orbital, effectively cutting off the STM tip from the spin-flip cotunneling path.

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Production of Λ -hyperons in inelastic p+p interactions at 158 GeV/c

Inclusive production of Λ-hyperons was measured with the large acceptance NA61/SHINE spectrometer at the CERN SPS in inelastic p+p interactions at beam momentum of 158 GeV/c. Spectra of transverse momentum and transverse mass as well as distributions of rapidity and xF are presented. The mean multiplicity was estimated to be 0.120 ± 0.006 (stat.) ± 0.010 (sys.). The results are compared with previous measurements and predictions of the EPOS, UrQMD and FRITIOF models.

Partial wave analysis of elastic and inelastic scattering of Dirac particles,

Vita.

Analysis of deformations of viscoelastic bodies due to gravitational forces.

Mode of access: Internet.

A study of matrix analysis methods for inelastic structures. Project no. 1467, Task no. 146701, prepared under Contract no. AF 33 (657)-8717 by Massachusetts Institute of Technology, Aeroelastic and Structures Research Laboratory.

Cover title.

Calculations of energy loss, range, pathlength, straggling, multiple scattering, and the probability of inelastic collisions for 0.1- to 1000-Mev protons.

Mode of access: Internet.

Performance of 1/3-scale model precast concrete beam-column connections subjected to cyclic inelastic loads : report no. 4 /

Mode of access: Internet.

On the possibility of elastic strain localisation in a fault

The phenomenon of strain localisation is often observed in shear deformation of particulate materials, e.g., fault gouge. This phenomenon is usually attributed to special types of plastic behaviour of the material (e.g., strain softening or mismatch between dilatancy and pressure sensitivity or both). Observations of strain localisation in situ or in experiments are usually based on displacement measurements and subsequent computation of the displacement gradient. While in conventional continua the symmetric part of the displacement gradient is equal to the strain, it is no longer the case in the more realistic descriptions within the framework of generalised continua. In such models the rotations of the gouge particles are considered as independent degrees of freedom the values of which usually differ from the rotation of an infinitesimal volume element of the continuum, the latter being described for infinitesimal deformations by the non-symmetric part of the displacement gradient. As a model for gouge material we propose a continuum description for an assembly of spherical particles of equal radius in which the particle rotation is treated as an independent degree of freedom. Based on this model we consider simple shear deformations of the fault gouge. We show that there exist values of the model parameters for which the displacement gradient exhibits a pronounced localisation at the mid-layers of the fault, even in the absence of inelasticity. Inelastic effects are neglected in order to highlight the role of the independent rotations and the associated additional parameters. The localisation-like behaviour occurs if (a) the particle rotations on the boundary of the shear layer are constrained (this type of boundary condition does not exist in a standard continuum) and (b) the contact moment-or bending stiffness is much smaller than the product of the effective shear modulus of the granulate and the square of the width of the gouge layer. It should be noted however that the virtual work functional is positive definite over the range of physically meaningful parameters (here: contact stiffnesses, solid volume fraction and coordination number) so that strictly speaking we are not dealing with a material instability.

Deformations of the pneumatic tyre

A mathematical model is developed for the general pneumatic tyre. The model will permit the investigations of tyre deformations produced by arbitrary external loading, and will enable estimates to be made of the distributions of applied and reactive forces. The principle of Finite Elements is used to idealise the composite tyre structure, each element consisting of a triangle of double curvature with varying thickness. Large deflections of' the structure are accomodated by the use of an iterative sequence of small incremental steps, each of' which obeys the laws of linear mechanics. The theoretical results are found to compare favourably with the experimental test data obtained from two different types of ttye construction. However, limitations in the discretisation process has prohibited accurate assessments to be made of stress distributions in the regions of high stress gradients ..

Elastic and inelastic scattering of fast neutrons in fusion reactor materials

In this work, the angular distributions for elastic and. inelastic scattering of fast neutrons in fusion .reactor materials have been studied. Lithium and lead material are likely to be common components of fusion reactor wall configuration design. The measurements were performed using an associated particle time-of- flight technique. The 14 and 14.44 Mev neutrons were produced by the T(d,n} 4He reaction with deuterons being accelerated in a 150kev SAMES type J accelerator at ASTON and in.the 3. Mev DYNAMITRON at the Joint Radiation Centre, Birmingham respectively. The associated alpha-particles and fast. neutrons were detected.by means of a plastic scintillator mounted on a fast focused photomultiplier tube. The samples used were extended flat plates of thicknesses up to 0.9 mean-free-path for Lithium and 1.562 mean-free-path for Lead. The differential elastic scattering cross-sections were measured for 14 Mev neutrons for various thicknesses of Lithium and Lead in the angular range from zero to; 90º. In addition, the angular distributions of elastically scattered 14,.44 Mev .neutrons from Lithium samples were studied in the same angular range. Inelastic scattering to the 4.63 Mev state in 7Li and the 2.6 Mev state, and 4.1 Mev state in 208Pb have:been :measured.The results are compared to ENDF/B-IV data files and to previous measurements. For the Lead samples the differential neutron scattering:cross-sections for discrete 3 Mev ranges and the angular distributions were measured. The increase in effective cross-section due to multiple scattering effects,as the sample thickness increased:was found to be predicted by the empirical .relation ....... A good fit to the exoerimental data was obtained using the universal constant............ The differential elastic scattering cross-section data for thin samples of Lithium and Lead were analyzed in terms of optical model calculations using the. computer code. RAROMP. Parameter search procedures produced good fits to the·cross-sections. For the case of thick samples of Lithium and Lead, the measured angular distributions of :the scattered neutrons were compared to the predictions of the continuous slowing down model.