Frame Shift/warp Compensation for the ARID Robot System

The Automatic Radiator Inspection Device (ARID) is a system aimed at automating the tedious task of inspecting orbiter radiator panels. The ARID must have the ability to aim a camera accurately at the desired inspection points, which are in the order of 13,000. The ideal inspection points are known; however, the panel may be relocated due to inaccurate parking and warpage. A method of determining the mathematical description of a translated as well as a warped surface by accurate measurement of only a few points on this surface is developed here. The method uses a linear warp model whose effect is superimposed on the rigid body translation. Due to the angles involved, small angle approximations are possible, which greatly reduces the computational complexity. Given an accurate linear warp model, all the desired translation and warp parameters can be obtained by knowledge of the ideal locations of four fiducial points and the corresponding measurements of these points on the actual radiator surface. The method uses three of the fiducials to define a plane and the fourth to define the warp. Given this information, it is possible to determine a transformation that will enable the ARID system to translate any desired inspection point on the ideal surface to its corresponding value on the actual surface

Critical behaviour of the Random--Bond Ashkin--Teller Model, a Monte-Carlo study

The critical behaviour of a bond-disordered Ashkin-Teller model on a square lattice is investigated by intensive Monte-Carlo simulations. A duality transformation is used to locate a critical plane of the disordered model. This critical plane corresponds to the line of critical points of the pure model, along which critical exponents vary continuously. Along this line the scaling exponent corresponding to randomness $\phi=(\alpha/\nu)$ varies continuously and is positive so that randomness is relevant and different critical behaviour is expected for the disordered model. We use a cluster algorithm for the Monte Carlo simulations based on the Wolff embedding idea, and perform a finite size scaling study of several critical models, extrapolating between the critical bond-disordered Ising and bond-disordered four state Potts models. The critical behaviour of the disordered model is compared with the critical behaviour of an anisotropic Ashkin-Teller model which is used as a refference pure model. We find no essential change in the order parameters' critical exponents with respect to those of the pure model. The divergence of the specific heat $C$ is changed dramatically. Our results favor a logarithmic type divergence at $T_{c}$, $C\sim \log L$ for the random bond Ashkin-Teller and four state Potts models and $C\sim \log \log L$ for the random bond Ising model.Comment: RevTex, 14 figures in tar compressed form included, Submitted to Phys. Rev.

Hypergraph Modelling for Geometric Model Fitting

In this paper, we propose a novel hypergraph based method (called HF) to fit and segment multi-structural data. The proposed HF formulates the geometric model fitting problem as a hypergraph partition problem based on a novel hypergraph model. In the hypergraph model, vertices represent data points and hyperedges denote model hypotheses. The hypergraph, with large and "data-determined" degrees of hyperedges, can express the complex relationships between model hypotheses and data points. In addition, we develop a robust hypergraph partition algorithm to detect sub-hypergraphs for model fitting. HF can effectively and efficiently estimate the number of, and the parameters of, model instances in multi-structural data heavily corrupted with outliers simultaneously. Experimental results show the advantages of the proposed method over previous methods on both synthetic data and real images.Comment: Pattern Recognition, 201

Finite Density QCD: a New Approach

We introduce a new approach to analyze the phase diagram of QCD at finite chemical potential and temperature, test it in the Gross-Neveu model at finite baryon density, and apply it to the study of the chemical potential-temperature phase diagram of QCD with four degenerate flavors of Kogut-Susskind type.Comment: 21 pages, 9 figures. Some comments and references adde

Probabilistic RGB-D Odometry based on Points, Lines and Planes Under Depth Uncertainty

This work proposes a robust visual odometry method for structured environments that combines point features with line and plane segments, extracted through an RGB-D camera. Noisy depth maps are processed by a probabilistic depth fusion framework based on Mixtures of Gaussians to denoise and derive the depth uncertainty, which is then propagated throughout the visual odometry pipeline. Probabilistic 3D plane and line fitting solutions are used to model the uncertainties of the feature parameters and pose is estimated by combining the three types of primitives based on their uncertainties. Performance evaluation on RGB-D sequences collected in this work and two public RGB-D datasets: TUM and ICL-NUIM show the benefit of using the proposed depth fusion framework and combining the three feature-types, particularly in scenes with low-textured surfaces, dynamic objects and missing depth measurements.Comment: Major update: more results, depth filter released as opensource, 34 page

On electrostatic and Casimir force measurements between conducting surfaces in a sphere-plane configuration

We report on measurements of forces acting between two conducting surfaces in a spherical-plane configuration in the 35 nm-1 micrometer separation range. The measurements are obtained by performing electrostatic calibrations followed by a residual analysis after subtracting the electrostatic-dependent component. We find in all runs optimal fitting of the calibrations for exponents smaller than the one predicted by electrostatics for an ideal sphere-plane geometry. We also find that the external bias potential necessary to minimize the electrostatic contribution depends on the sphere-plane distance. In spite of these anomalies, by implementing a parametrixation-dependent subtraction of the electrostatic contribution we have found evidence for short-distance attractive forces of magnitude comparable to the expected Casimir-Lifshitz force. We finally discuss the relevance of our findings in the more general context of Casimir-Lifshitz force measurements, with particular regard to the critical issues of the electrical and geometrical characterization of the involved surfaces.Comment: 22 pages, 15 figure