Robot localization in water pipes using acoustic signals and pose graph optimization

One of the most fundamental tasks for robots inspecting water distribution pipes is localization, which allows for autonomous navigation, for faults to be communicated, and for interventions to be instigated. Pose-graph optimization using spatially varying information is used to enable localization within a feature-sparse length of pipe. We present a novel method for improving estimation of a robot’s trajectory using the measured acoustic field, which is applicable to other measurements such as magnetic field sensing. Experimental results show that the use of acoustic information in pose-graph optimization reduces errors by 39% compared to the use of typical pose-graph optimization using landmark features only. High location accuracy is essential to efficiently and effectively target investment to maximise the use of our aging pipe infrastructure

Technology 2003: Conference Proceedings from the Fourth National Technology Transfer Conference and Exposition, Volume 1

Proceedings from symposia of the Technology 2003 Conference and Exposition, December 7-9, I993, Anaheim, CA. Volume 1 features the Plenary Session and the Plenary Workshop, plus papers presented in Advanced Manufacturing, Biotechnology/Medical Technology, Environmental Technology, Materials Science, and Power and Energy

5th Annual NASA Ames Space Science and Astrobiology Jamboree

No abstract availabl

IKUWA6. Shared Heritage

Celebrating the theme ‘Shared heritage’, IKUWA6 (the 6th International Congress for Underwater Archaeology), was the first such major conference to be held in the Asia-Pacific region, and the first IKUWA meeting hosted outside Europe since the organisation’s inception in Germany in the 1990s. A primary objective of holding IKUWA6 in Australia was to give greater voice to practitioners and emerging researchers across the Asia and Pacific regions who are often not well represented in northern hemisphere scientific gatherings of this scale; and, to focus on the areas of overlap in our mutual heritage, techniques and technology. Drawing together peer-reviewed presentations by delegates from across the world who converged in Fremantle in 2016 to participate, this volume covers a stimulating diversity of themes and niche topics of value to maritime archaeology practitioners, researchers, students, historians and museum professionals across the world

Time Localization of Abrupt Changes in Cutting Process using Hilbert Huang Transform

Cutting process is extremely dynamical process influenced by different phenomena such as chip formation, dynamical responses and condition of machining system elements. Different phenomena in cutting zone have signatures in different frequency bands in signal acquired during process monitoring. The time localization of signal’s frequency content is very important. An emerging technique for simultaneous analysis of the signal in time and frequency domain that can be used for time localization of frequency is Hilbert Huang Transform (HHT). It is based on empirical mode decomposition (EMD) of the signal into intrinsic mode functions (IMFs) as simple oscillatory modes. IMFs obtained using EMD can be processed using Hilbert Transform and instantaneous frequency of the signal can be computed. This paper gives a methodology for time localization of cutting process stop during intermittent turning. Cutting process stop leads to abrupt changes in acquired signal correlated to certain frequency band. The frequency band related to abrupt changes is localized in time using HHT. The potentials and limitations of HHT application in machining process monitoring are shown

Evolution: From Big Bang to Nanorobots

The present volume is the fourth issue of the Yearbook series entitled ‘Evolution’. The title of the present volume is ‘From Big Bang to Nanorobots’. In this way we demonstrate that all phases of evolution and Big History are covered in the articles of the present Yearbook. Several articles also present the forecasts about future development. The main objective of our Yearbook as well as of the previous issues is the creation of a unified interdisciplinary field of research in which the scientists specializing in different disciplines could work within the framework of unified or similar paradigms, using the common terminology and searching for common rules, tendencies and regularities. At the same time for the formation of such an integrated field one should use all available opportunities: theories, laws and methods. In the present volume, a number of such approaches are used

Evolution: From Big Bang to Nanorobots

The present volume is the fourth issue of the Yearbook series entitled ‘Evolution’. The title of the present volume is ‘From Big Bang to Nanorobots’. In this way we demonstrate that all phases of evolution and Big History are covered in the articles of the present Yearbook. Several articles also present the forecasts about future development. The main objective of our Yearbook as well as of the previous issues is the creation of a unified interdisciplinary field of research in which the scientists specializing in different disciplines could work within the framework of unified or similar paradigms, using the common terminology and searching for common rules, tendencies and regularities. At the same time for the formation of such an integrated field one should use all available opportunities: theories, laws and methods. In the present volume, a number of such approaches are used

Proceedings of the 8th International Conference on Civil Engineering

This open access book is a collection of accepted papers from the 8th International Conference on Civil Engineering (ICCE2021). Researchers and engineers have discussed and presented around three major topics, i.e., construction and structural mechanics, building materials, and transportation and traffic. The content provide new ideas and practical experiences for both scientists and professionals