3D Reconstruction of Building Rooftop and Power Line Models in Right-of-Ways Using Airborne LiDAR Data

The research objectives aimed to achieve thorough the thesis are to develop methods for reconstructing models of building and PL objects of interest in the power line (PL) corridor area from airborne LiDAR data. For this, it is mainly concerned with the model selection problem for which model is more optimal in representing the given data set. This means that the parametric relations and geometry of object shapes are unknowns and optimally determined by the verification of hypothetical models. Therefore, the proposed method achieves high adaptability to the complex geometric forms of building and PL objects. For the building modeling, the method of implicit geometric regularization is proposed to rectify noisy building outline vectors which are due to noisy data. A cost function for the regularization process is designed based on Minimum Description Length (MDL) theory, which favours smaller deviation between a model and observation as well as orthogonal and parallel properties between polylines. Next, a new approach, called Piecewise Model Growing (PMG), is proposed for 3D PL model reconstruction using a catenary curve model. It piece-wisely grows to capture all PL points of interest and thus produces a full PL 3D model. However, the proposed method is limited to the PL scene complexity, which causes PL modeling errors such as partial, under- and over-modeling errors. To correct the incompletion of PL models, the inner and across span analysis are carried out, which leads to replace erroneous PL segments by precise PL models. The inner span analysis is performed based on the MDL theory to correct under- and over-modeling errors. The across span analysis is subsequently carried out to correct partial-modeling errors by finding start and end positions of PLs which denotes Point Of Attachment (POA). As a result, this thesis addresses not only geometrically describing building and PL objects but also dealing with noisy data which causes the incompletion of models. In the practical aspects, the results of building and PL modeling should be essential to effectively analyze a PL scene and quickly alleviate the potentially hazardous scenarios jeopardizing the PL system

Atomar aufgelöste Dynamik von korrelierten Quantensystemen

In this thesis ultra-fast phenomena are investigated with a scanning tunneling microscope (STM). The real space influence of atomic sized defects on ultra-fast dynamics in correlated systems is one of the great mysteries in experimental research of solid states and is investigated in this thesis using two different approaches. In the first part an artificially built few atom magnet is investigated whose dynamic prop-erties are slowed down by placing it on a decoupling layer. The dynamic properties have a direct impact on spin-dependent transport and lead to the appearance of negative dif-ferential resistance. The effects can be astonishingly well described by a rate equation model which allows a deep insight into the processes occurring. The dynamics investigated in the first part are in the microsecond to nanosecond regime, as much faster processes cannot be measured by a conventional STM. To break this barri-er, in the second part of the thesis the development of a new unconventional STM is pre-sented. By coupling picosecond free-space terahertz (THz) laser pulses into the tunnel junction and inducing ultra-fast voltage pulses this new instrument enables pump-probe experiments with femtosecond time resolution on the atomic scale. In the last part of the thesis the dynamics of the charge density wave (CDW) system 2H-NbSe2 are investigated with the new THz-STM. A complex dynamic response is thereby observed consisting of a 600 fs decay and oscillating features with THz frequencies. The data can be explained by the excitation of the electronic system by a strong screening cur-rent which leads to the launch of collective modes of the CDW system. Further spatial resolved measurements indicate a clear link of the dynamic response with atomic defects.In dieser Arbeit werden ultra-schnelle Phänomene mit einem Rastertunnelmikro-skop (STM) untersucht. Der lokale Einfluss von atomaren Defekten auf ultra-schnelle Phänomene in korrelierten Systemen ist eines der großen Mysterien der experimentellen Erforschung von Festkörpern. Diesem Thema wird sich in Rahmen dieser Arbeit aus zwei unterschiedlichen Richtungen angenähert. Im ersten Teil wird ein aus wenigen Atomen künstlich gebauter Magnet untersucht, des-sen dynamische Eigenschaften durch das Platzieren auf einer Entkopplungsschicht ver-langsamt wurden. Die dynamischen Eigenschaften haben einen direkten Einfluss auf die elektrischen Transport Eigenschaften und führen zu einem negativen differentiellen Wie-derstand. Die auftretenden Effekte können außergewöhnlich präzise mit einem Model basierend auf einer Raten-Gleichung beschrieben werden, das einen tiefen Einblick in die auftretenden Prozesse erlaubt. Während die dynamischen Prozesse des ersten Teils sich im Mikrosekunden bis in das Nanosekunden Regime abspielen, lassen sich schnellere Prozesse nicht mehr mit konven-tionellen STM messen. Um diese Barriere zu durchbrechen, wird im zweiten Teil die Ent-wicklung eines neuen unkonventionellen STM vorgestellt. Durch die Kopplung von Piko-sekunden Freiraum Terahertz Pulsen in den Tunnel Kontakt und dem induzieren von ultra-schnellen Spannungspulsen erlaubt das neue Instrument auf der atomaren Skala stroboskopische Messungen mit einer Zeitauflösung kleiner als Pikosekunden. Mit dem neuen Instrument wird im letzten Kapitel das Ladungsträgerdichtewellen-(CDW)-system 2H-NbSe2 untersucht. Dabei wird eine dynamische Antwort bestehend aus einem 600 fs Abklingen und Schwingung mit THz Frequenzen beobachtet. Die Mes-sungen können durch eine elektronische Anregung erklärt werden, die durch einen star-ken Schirmungsstrom hervorgerufen wird, und zur Anregung von kollektiven Moden der CDW führt. Die Verbindung zwischen der dynamischen Antwort und atomaren Defekten wird in weiteren räumlich aufgelösten Messungen deutlich gezeigt

Developing a person guidance module for hospital robots

This dissertation describes the design and implementation of the Person Guidance Module (PGM) that enables the IWARD (Intelligent Robot Swarm for attendance, Recognition, Cleaning and delivery) base robot to offer route guidance service to the patients or visitors inside the hospital arena. One of the common problems encountered in huge hospital buildings today is foreigners not being able to find their way around in the hospital. Although there are a variety of guide robots currently existing on the market and offering a wide range of guidance and related activities, they do not fit into the modular concept of the IWARD project. The PGM features a robust and foolproof non-hierarchical sensor fusion approach of an active RFID, stereovision and cricket mote sensor for guiding a patient to the X-ray room, or a visitor to a patient’s ward in every possible scenario in a complex, dynamic and crowded hospital environment. Moreover, the speed of the robot can be adjusted automatically according to the pace of the follower for physical comfort using this system. Furthermore, the module performs these tasks in any unconstructed environment solely from a robot’s onboard perceptual resources in order to limit the hardware installation costs and therefore the indoor setting support. Similar comprehensive solution in one single platform has remained elusive in existing literature. The finished module can be connected to any IWARD base robot using quick-change mechanical connections and standard electrical connections. The PGM module box is equipped with a Gumstix embedded computer for all module computing which is powered up automatically once the module box is inserted into the robot. In line with the general software architecture of the IWARD project, all software modules are developed as Orca2 components and cross-complied for Gumstix’s XScale processor. To support standardized communication between different software components, Internet Communications Engine (Ice) has been used as middleware. Additionally, plug-and-play capabilities have been developed and incorporated so that swarm system is aware at all times of which robot is equipped with PGM. Finally, in several field trials in hospital environments, the person guidance module has shown its suitability for a challenging real-world application as well as the necessary user acceptance

Spin-scanning Cameras for Planetary Exploration: Imager Analysis and Simulation

In this thesis, a novel approach to spaceborne imaging is investigated, building upon the scan imaging technique in which camera motion is used to construct an image. This thesis investigates its use with wide-angle (≥90° field of view) optics mounted on spin stabilised probes for large-coverage imaging of planetary environments, and focusses on two instruments. Firstly, a descent camera concept for a planetary penetrator. The imaging geometry of the instrument is analysed. Image resolution is highest at the penetrator’s nadir and lowest at the horizon, whilst any point on the surface is imaged with highest possible resolution when the camera’s altitude is equal to that point’s radius from nadir. Image simulation is used to demonstrate the camera’s images and investigate analysis techniques. A study of stereophotogrammetric measurement of surface topography using pairs of descent images is conducted. Measurement accuracies and optimum stereo geometries are presented. Secondly, the thesis investigates the EnVisS (Entire Visible Sky) instrument, under development for the Comet Interceptor mission. The camera’s imaging geometry, coverage and exposure times are calculated, and used to model the expected signal and noise in EnVisS observations. It is found that the camera’s images will suffer from low signal, and four methods for mitigating this – binning, coaddition, time-delay integration and repeat sampling – are investigated and described. Use of these methods will be essential if images of sufficient signal are to be acquired, particularly for conducting polarimetry, the performance of which is modelled using Monte Carlo simulation. Methods of simulating planetary cameras’ images are developed to facilitate the study of both cameras. These methods enable the accurate simulation of planetary surfaces and cometary atmospheres, are based on Python libraries commonly used in planetary science, and are intended to be readily modified and expanded for facilitating the study of a variety of planetary cameras

Design and integration of a dynamic IPT system for automotive applications

Inductive power transmission (IPT) for electric vehicles (EVs) is a promising emergent technology that seems able to improve the electric mobility acceptance. In the last two decades many researchers have proved its feasibility and the possibility to use it to replace the common conductive systems for the charge of the on-board battery. Many efforts are currently aimed to extend the IPT technology towards its use for the charge during the vehicle motion. This application, commonly indicated as dynamic IPT, is aimed to overcome the limit represented by the long stops needed for the recharge introducing also the possibility of reducing the battery capacity installed on vehicle. An IPT system is essentially based on the resonance of two magnetically coupled inductors, the transmitter, placed on or under the ground, and the receiver, placed under the vehicle floor. The typical operating frequency range for the EVs application goes from 20 kHz to approximately 100 kHz. The coupling between the two inductors takes place through a large air-gap, usually about 10-30 cm. This thesis presents the results of the research activities aimed to the creation of a prototype for the dynamic IPT oriented to the private transport. Starting from an analysis of the state of the art and the current research projects on this domain, this work presents the development of a circuit model able to describe the electromagnetic phenomena at the base of the power transfer and the interface with the power electronics. This model provides the information at the base of the design and the implementation of a dedicated low cost-high effciency H-bridge converter for the supply of the transmitter side. A general architecture of the power electronics that manages the receiver side is proposed together with the additional protection circuits. A methodology for the integrated design of the magnetic structure is illustrated covering the aspects of the matching with the power electronics, the integration on an existing vehicle and the installation on the road infrastructure. A series of activities aimed to the implementation of a dedicated test site are presented and discussed. In particular, the activities related to the creation of the electrical infrastructure and the issues and methods for the embedding of the transmitters in the road pavement are presented. The final goal is the creation of a dedicated IPT charging line one hundred meters long. Finally, a methodology for the assessment of the human exposure is presented and applied to the developed solution

Earth Resources: A continuing bibliography with indexes, issue 36

This bibliography lists 576 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System between October 1 and December 31, 1982. Emphasis is placed on the use of remote sensing and geophysical instrumentation in spacecraft and aircraft to survey and inventory natural resources and urban areas. Subject matter is grouped according to agriculture and forestry, environmental changes and cultural resources, geodesy and cartography, geology and mineral resources, hydrology and water management, data processing and distribution systems, instrumentation and sensors, and economic analysis

Overview of the JET results in support to ITER

The 2014–2016 JET results are reviewed in the light of their significance for optimising the ITER research plan for the active and non-active operation. More than 60 h of plasma operation with ITER first wall materials successfully took place since its installation in 2011. New multi-machine scaling of the type I-ELM divertor energy flux density to ITER is supported by first principle modelling. ITER relevant disruption experiments and first principle modelling are reported with a set of three disruption mitigation valves mimicking the ITER setup. Insights of the L–H power threshold in Deuterium and Hydrogen are given, stressing the importance of the magnetic configurations and the recent measurements of fine-scale structures in the edge radial electric. Dimensionless scans of the core and pedestal confinement provide new information to elucidate the importance of the first wall material on the fusion performance. H-mode plasmas at ITER triangularity (H = 1 at βN ~ 1.8 and n/nGW ~ 0.6) have been sustained at 2 MA during 5 s. The ITER neutronics codes have been validated on high performance experiments. Prospects for the coming D–T campaign and 14 MeV neutron calibration strategy are reviewed.European Commission (EUROfusion 633053

Advanced Theoretical and Computational Methods for Complex Materials and Structures

The broad use of composite materials and shell structural members with complex geometries in technologies related to various branches of engineering has gained increased attention from scientists and engineers for the development of even more refined approaches and investigation of their mechanical behavior. It is well known that composite materials are able to provide higher values of strength stiffness, and thermal properties, together with conferring reduced weight, which can affect the mechanical behavior of beams, plates, and shells, in terms of static response, vibrations, and buckling loads. At the same time, enhanced structures made of composite materials can feature internal length scales and non-local behaviors, with great sensitivity to different staking sequences, ply orientations, agglomeration of nanoparticles, volume fractions of constituents, and porosity levels, among others. In addition to fiber-reinforced composites and laminates, increased attention has been paid in literature to the study of innovative components such as functionally graded materials (FGMs), carbon nanotubes (CNTs), graphene nanoplatelets, and smart constituents. Some examples of smart applications involve large stroke smart actuators, piezoelectric sensors, shape memory alloys, magnetostrictive and electrostrictive materials, as well as auxetic components and angle-tow laminates. These constituents can be included in the lamination schemes of smart structures to control and monitor the vibrational behavior or the static deflection of several composites. The development of advanced theoretical and computational models for composite materials and structures is a subject of active research and this is explored here for different complex systems, including their static, dynamic, and buckling responses; fracture mechanics at different scales; the adhesion, cohesion, and delamination of materials and interfaces