10,752 research outputs found
Viewfinder: final activity report
The VIEW-FINDER project (2006-2009) is an 'Advanced Robotics' project that seeks to apply a semi-autonomous robotic system to inspect ground safety in the event of a fire. Its primary aim is to gather data (visual and chemical) in order to assist rescue personnel. A base station combines the gathered information with information retrieved from off-site sources.
The project addresses key issues related to map building and reconstruction, interfacing local command information with external sources, human-robot interfaces and semi-autonomous robot navigation.
The VIEW-FINDER system is a semi-autonomous; the individual robot-sensors operate autonomously within the limits of the task assigned to them, that is, they will autonomously navigate through and inspect an area. Human operators monitor their operations and send high level task requests as well as low level commands through the interface to any nodes in the entire system. The human interface has to ensure the human supervisor and human interveners are provided a reduced but good and relevant overview of the ground and the robots and human rescue workers therein
The Fluorescence Detector of the Pierre Auger Observatory
The Pierre Auger Observatory is a hybrid detector for ultra-high energy
cosmic rays. It combines a surface array to measure secondary particles at
ground level together with a fluorescence detector to measure the development
of air showers in the atmosphere above the array. The fluorescence detector
comprises 24 large telescopes specialized for measuring the nitrogen
fluorescence caused by charged particles of cosmic ray air showers. In this
paper we describe the components of the fluorescence detector including its
optical system, the design of the camera, the electronics, and the systems for
relative and absolute calibration. We also discuss the operation and the
monitoring of the detector. Finally, we evaluate the detector performance and
precision of shower reconstructions.Comment: 53 pages. Submitted to Nuclear Instruments and Methods in Physics
Research Section
A study of model deflection measurement techniques applicable within the national transonic facility
Moire contouring, scanning interferometry, and holographic contouring were examined to determine their practicality and potential to meet performance requirements for a model deflection sensor. The system envisioned is to be nonintrusive, and is to be capable of mapping or contouring the surface of a 1-meter by 1-meter model with a resolution of 50 to 100 points. The available literature was surveyed, and computations and analyses were performed to establish specific performance requirements, as well as the capabilities and limitations of such a sensor within the geometry of the NTF section test section. Of the three systems examined, holographic contouring offers the most promise. Unlike Moire, it is not hampered by limited contour spacing and extraneous fringes. Its transverse resolution can far exceed the limited point sampling resolution of scanning heterodyne interferometry. The availability of the ruby laser as a high power, pulsed, multiple wavelength source makes such a system feasible within the NTF
Proton tracking in a high-granularity Digital Tracking Calorimeter for proton CT purposes
Radiation therapy with protons as of today utilizes information from x-ray CT
in order to estimate the proton stopping power of the traversed tissue in a
patient. The conversion from x-ray attenuation to proton stopping power in
tissue introduces range uncertainties of the order of 2-3% of the range,
uncertainties that are contributing to an increase of the necessary planning
margins added to the target volume in a patient. Imaging methods and
modalities, such as Dual Energy CT and proton CT, have come into consideration
in the pursuit of obtaining an as good as possible estimate of the proton
stopping power. In this study, a Digital Tracking Calorimeter is benchmarked
for proof-of-concept for proton CT purposes. The Digital Tracking Calorimeteris
applied for reconstruction of the tracks and energies of individual high energy
protons. The presented prototype forms the basis for a proton CT system using a
single technology for tracking and calorimetry. This advantage simplifies the
setup and reduces the cost of a proton CT system assembly, and it is a unique
feature of the Digital Tracking Calorimeter. Data from the AGORFIRM beamline at
KVI-CART in Groningen in the Netherlands and Monte Carlo simulation results are
used to in order to develop a tracking algorithm for the estimation of the
residual ranges of a high number of concurrent proton tracks. The range of the
individual protons can at present be estimated with a resolution of 4%. The
readout system for this prototype is able to handle an effective proton
frequency of 1 MHz by using 500 concurrent proton tracks in each readout frame,
which is at the high end range of present similar prototypes. A future further
optimized prototype will enable a high-speed and more accurate determination of
the ranges of individual protons in a therapeutic beam.Comment: 21 pages, 8 figure
Extreme flood-driven fluvial bank erosion and sediment loads: direct process measurements using integrated Mobile Laser Scanning (MLS) and hydro-acoustic techniques: Direct measurement of flood-driven erosion using MLS and MBES
Copyright © 2016 John Wiley & Sons, Ltd. This methods paper details the first attempt at monitoring bank erosion, flow and suspended sediment at a site during flooding on the Mekong River induced by the passage of tropical cyclones. We deployed integrated mobile laser scanning (MLS) and multibeam echo sounding (MBES), alongside acoustic Doppler current profiling (aDcp), to directly measure changes in river bank and bed at high (~0.05 m) spatial resolution, in conjunction with measurements of flow and suspended sediment dynamics. We outline the methodological steps used to collect and process this complex point cloud data, and detail the procedures used to process and calibrate the aDcp flow and sediment flux data. A comparison with conventional remote sensing methods of estimating bank erosion, using aerial images and Landsat imagery, reveals that traditional techniques are error prone at the high temporal resolutions required to quantify the patterns and volumes of bank erosion induced by the passage of individual flood events. Our analysis reveals the importance of cyclone-driven flood events in causing high rates of erosion and suspended sediment transport, with a c. twofold increase in bank erosion volumes and a fourfold increase in suspended sediment volumes in the cyclone-affected wet season. Copyright © 2016 John Wiley & Sons, Ltd
Autonomous 3D mapping and surveillance of mines with MAVs
A dissertation Submitted to the Faculty of Science, University of the
Witwatersrand, Johannesburg, for the degree of Master of Science.
12 July 2017.The mapping of mines, both operational and abandoned, is a long, di cult and occasionally
dangerous task especially in the latter case. Recent developments in active and passive consumer
grade sensors, as well as quadcopter drones present the opportunity to automate these
challenging tasks providing cost and safety bene ts. The goal of this research is to develop an
autonomous vision-based mapping system that employs quadrotor drones to explore and map
sections of mine tunnels. The system is equipped with inexpensive, structured light, depth cameras
in place of traditional laser scanners, making the quadrotor setup more viable to produce in
bulk. A modi ed version of Microsoft's Kinect Fusion algorithm is used to construct 3D point
clouds in real-time as the agents traverse the scene. Finally, the generated and merged point
clouds from the system are compared with those produced by current Lidar scanners.LG201
Automated 3D model generation for urban environments [online]
Abstract
In this thesis, we present a fast approach to automated
generation of textured 3D city models with both high details at
ground level and complete coverage for birds-eye view.
A ground-based facade model is acquired by driving a vehicle
equipped with two 2D laser scanners and a digital camera under
normal traffic conditions on public roads. One scanner is
mounted horizontally and is used to determine the approximate
component of relative motion along the movement of the
acquisition vehicle via scan matching; the obtained relative
motion estimates are concatenated to form an initial path.
Assuming that features such as buildings are visible from both
ground-based and airborne view, this initial path is globally
corrected by Monte-Carlo Localization techniques using an aerial
photograph or a Digital Surface Model as a global map. The
second scanner is mounted vertically and is used to capture the
3D shape of the building facades. Applying a series of automated
processing steps, a texture-mapped 3D facade model is
reconstructed from the vertical laser scans and the camera
images. In order to obtain an airborne model containing the roof
and terrain shape complementary to the facade model, a Digital
Surface Model is created from airborne laser scans, then
triangulated, and finally texturemapped with aerial imagery.
Finally, the facade model and the airborne model are fused
to one single model usable for both walk- and fly-thrus. The
developed algorithms are evaluated on a large data set acquired
in downtown Berkeley, and the results are shown and discussed
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