On computations of the integrated space shuttle flowfield using overset grids

Numerical simulations using the thin-layer Navier-Stokes equations and chimera (overset) grid approach were carried out for flows around the integrated space shuttle vehicle over a range of Mach numbers. Body-conforming grids were used for all the component grids. Testcases include a three-component overset grid - the external tank (ET), the solid rocket booster (SRB) and the orbiter (ORB), and a five-component overset grid - the ET, SRB, ORB, forward and aft attach hardware, configurations. The results were compared with the wind tunnel and flight data. In addition, a Poisson solution procedure (a special case of the vorticity-velocity formulation) using primitive variables was developed to solve three-dimensional, irrotational, inviscid flows for single as well as overset grids. The solutions were validated by comparisons with other analytical or numerical solution, and/or experimental results for various geometries. The Poisson solution was also used as an initial guess for the thin-layer Navier-Stokes solution procedure to improve the efficiency of the numerical flow simulations. It was found that this approach resulted in roughly a 30 percent CPU time savings as compared with the procedure solving the thin-layer Navier-Stokes equations from a uniform free stream flowfield

Parallel Tracking and Mapping for Manipulation Applications with Golem Krang

Implementing a simultaneous localization and mapping system and an image semantic segmentation method on a mobile manipulation. The application of the SLAM is working towards navigating among obstacles in unknown environments. The object detection method will be integrated for future manipulation tasks such as grasping. This work will be demonstrated on a real robotics hardware system in the lab.Outgoin

Real-Time Multi-Fisheye Camera Self-Localization and Egomotion Estimation in Complex Indoor Environments

In this work a real-time capable multi-fisheye camera self-localization and egomotion estimation framework is developed. The thesis covers all aspects ranging from omnidirectional camera calibration to the development of a complete multi-fisheye camera SLAM system based on a generic multi-camera bundle adjustment method

Automated PCB identification and defect-detection system (APIDS)

Ever growing PCB industry requires automation during manufacturing process to produce defect free products. Machine Vision is widely used as popular means of inspection to find defects in PCBs. However, it is still largely dependent on user input to select algorithm set for the PCB under inspection prior to the beginning of the process. Continuous increase in computation power of computers and image quality of image acquisition devices demands new methods for further automation. This paper proposes a new method to achieve further automation by identifying the type of PCB under inspection prior to begin defect inspection process. Identification of PCB is achieved by using local feature detectors SURF and ORB and using the orientation data acquired to transform the PCB image to the reference image for inspection of defects. A close-loop system is produced as a prototype to reflect the practicality of the idea. A Graphical User Interface was developed using MATLAB to present the proposed system. Test data contained 29 PCBs. Each PCB was tested 5 times for camera acquired images and 3 times for database images. The identification accuracy is 98.66% for database images and 100% for images acquired from the camera. The time taken to detect the model of PCB is recorded and is significantly lower for ORB based identification than SURF based. The system is also a close loop system which detects defects in PCB units. The detection of defects has highest accuracy of 92.3% for best controlled environment scenario. With controlled environment, the system could detect defects in PCB pertaining to smallest of components such as SMDs