Improved 3D sparse maps for high-performance SFM with low-cost omnidirectional robots

We consider the use of low-budget omnidirectional platforms for 3D mapping and self-localisation. These robots specifically permit rotational motion in the plane around a central axis, with negligible displacement. In addition, low resolution and compressed imagery, typical of the platform used, results in high level of image noise (_ ∽ 10). We observe highly sparse image feature matches over narrow inter-image baselines. This particular configuration poses a challenge for epipolar geometry extraction and accurate 3D point triangulation, upon which a standard structure from motion formulation is based. We propose a novel technique for both feature filtering and tracking that solves these problems, via a novel approach to the management of feature bundles. Noisy matches are efficiently trimmed, and the scarcity of the remaining image features is adequately overcome, generating densely populated maps of highly accurate and robust 3D image features. The effectiveness of the approach is demonstrated under a variety of scenarios in experiments conducted with low-budget commercial robots

Nanoindentation of the a and c domains in a tetragonal BaTiO3 single crystal

Nanoindentation in conjunction with piezoresponse force microscopy was used to study domain switching and to measure the mechanical properties of individual ferroelectric domains in a tetragonal BaTiO3 single crystal. It was found that nanoindentation has induced local domain switching; the a and c domains of BaTiO3 have different elastic moduli but similar hardness. Nanoindentation modulus mapping on the a and c domains further confirmed such difference in elasticity. Finite element modeling was used to simulate the von Mises stress and plastic strain profiles of the indentations on both a and c domains, which introduces a much higher stress level than the critical value for domain nucleation

Gait Recognition By Walking and Running: A Model-Based Approach

Gait is an emerging biometric for which some techniques, mainly holistic, have been developed to recognise people by their walking patterns. However, the possibility of recognising people by the way they run remains largely unexplored. The new analytical model presented in this paper is based on the biomechanics of walking and running, and will serve as the foundation of an automatic person recognition system that is invariant to these distinct gaits. A bilateral and dynamically coupled oscillator is the key concept underlying this work. Analysis shows that this new model can be used to automatically describe walking and running subjects without parameter selection. Temporal template matching that takes into account the whole sequence of a gait cycle is applied to extract the angles of thigh and lower leg rotation. The phase-weighted magnitudes of the lower order Fourier components of these rotations form the gait signature. Classification of walking and running subjects is performed using the k-nearest-neighbour classifier. Recognition rates are similar to that achieved by other techniques with a similarly sized database. Future work will investigate feature set selection to improve the recognition rate and will determine the invariance attributes, for inter- and intra- class, of both walking and running

One-step deposition of nano-to-micron-scalable, high-quality digital image correlation patterns for high-strain in-situ multi-microscopy testing

Digital Image Correlation (DIC) is of vital importance in the field of experimental mechanics, yet, producing suitable DIC patterns for demanding in-situ mechanical tests remains challenging, especially for ultra-fine patterns, despite the large number of patterning techniques in the literature. Therefore, we propose a simple, flexible, one-step technique (only requiring a conventional deposition machine) to obtain scalable, high-quality, robust DIC patterns, suitable for a range of microscopic techniques, by deposition of a low melting temperature solder alloy in so-called 'island growth' mode, without elevating the substrate temperature. Proof of principle is shown by (near-)room-temperature deposition of InSn patterns, yielding highly dense, homogeneous DIC patterns over large areas with a feature size that can be tuned from as small as 10nm to 2um and with control over the feature shape and density by changing the deposition parameters. Pattern optimization, in terms of feature size, density, and contrast, is demonstrated for imaging with atomic force microscopy, scanning electron microscopy (SEM), optical microscopy and profilometry. Moreover, the performance of the InSn DIC patterns and their robustness to large deformations is validated in two challenging case studies of in-situ micro-mechanical testing: (i) self-adaptive isogeometric digital height correlation of optical surface height profiles of a coarse, bimodal InSn pattern providing microscopic 3D deformation fields (illustrated for delamination of aluminum interconnects on a polyimide substrate) and (ii) DIC on SEM images of a much finer InSn pattern allowing quantification of high strains near fracture locations (illustrated for rupture of a Fe foil). As such, the high controllability, performance and scalability of the DIC patterns offers a promising step towards more routine DIC-based in-situ micro-mechanical testing.Comment: Accepted for publication in Strai