Robots for Exploration, Digital Preservation and Visualization of Archeological Sites

Monitoring and conservation of archaeological sites are important activities necessary to prevent damage or to perform restoration on cultural heritage. Standard techniques, like mapping and digitizing, are typically used to document the status of such sites. While these task are normally accomplished manually by humans, this is not possible when dealing with hard-to-access areas. For example, due to the possibility of structural collapses, underground tunnels like catacombs are considered highly unstable environments. Moreover, they are full of radioactive gas radon that limits the presence of people only for few minutes. The progress recently made in the artificial intelligence and robotics field opened new possibilities for mobile robots to be used in locations where humans are not allowed to enter. The ROVINA project aims at developing autonomous mobile robots to make faster, cheaper and safer the monitoring of archaeological sites. ROVINA will be evaluated on the catacombs of Priscilla (in Rome) and S. Gennaro (in Naples)

A pseudo-spectral approach to inverse problems in interface dynamics

An improved scheme for computing coupling parameters of the Kardar-Parisi-Zhang equation from a collection of successive interface profiles, is presented. The approach hinges on a spectral representation of this equation. An appropriate discretization based on a Fourier representation, is discussed as a by-product of the above scheme. Our method is first tested on profiles generated by a one-dimensional Kardar-Parisi-Zhang equation where it is shown to reproduce the input parameters very accurately. When applied to microscopic models of growth, it provides the values of the coupling parameters associated with the corresponding continuum equations. This technique favorably compares with previous methods based on real space schemes.Comment: 12 pages, 9 figures, revtex 3.0 with epsf style, to appear in Phys. Rev.

Review of the mathematical foundations of data fusion techniques in surface metrology

The recent proliferation of engineered surfaces, including freeform and structured surfaces, is challenging current metrology techniques. Measurement using multiple sensors has been proposed to achieve enhanced benefits, mainly in terms of spatial frequency bandwidth, which a single sensor cannot provide. When using data from different sensors, a process of data fusion is required and there is much active research in this area. In this paper, current data fusion methods and applications are reviewed, with a focus on the mathematical foundations of the subject. Common research questions in the fusion of surface metrology data are raised and potential fusion algorithms are discussed

Design, implementation and deployment of the Saclay muon reconstruction algorithms (Muonbox/y) in the Athena software framework of the ATLAS experiment

This paper gives an overview of a reconstruction algorithm for muon events in ATLAS experiment at CERN. After a short introduction on ATLAS Muon Spectrometer, we will describe the procedure performed by the algorithms Muonbox and Muonboy (last version) in order to achieve correctly the reconstruction task. These algorithms have been developed in Fortran language and are working in the official C++ framework Athena, as well as in stand alone mode. A description of the interaction between Muonboy and Athena will be given, together with the reconstruction performances (efficiency and momentum resolution) obtained with MonteCarlo data.Comment: 4 pages, 8 figures, CHEP2003 conferenc

The 3D nature of a real un-dismantled electrical contact interface

AbstractA 3D contact analysis and modeling suite of tools are developed and introduced in this work. The “3D Contact Map” of an electrical contact interface is presented demonstrating the 3D nature of the contact. It gives information on where the electrical contact spots in a 3D surface profile are located. An X-ray Computer Tomography (CT) technique is used to collect the 3D data to a resolution of around 5μm of a real un-dismantled contact interface for analysis. Previous work by Lalechos and Swingler presented “2D Contact Map” on a 2D contact profile from collected 3D data to a resolution of around 8μm. The main advantages of both 3D and 2D mapping techniques focus on the fact that they are non-destructive and there is no need to dismantle the component of interest. This current work focuses on the 3D mapping technique showing its advantages over the 2D mapping technique. For test purposes, a 16A rated AC single pole switch is scanned after two different current loading tests (0A and 16A). A comparison for the total mechanical area of contact, the number of contact spots and the total contact resistance is conducted using both the 2D and 3D mapping techniques to a resolution of around 5μm

From on-line sketching to 2D and 3D geometry: A fuzzy knowledge based system

The paper describes the development of a fuzzy knowledge based prototype system for conceptual design. This real time system is designed to infer user’s sketching intentions, to segment sketched input and generate corresponding geometric primitives: straight lines, circles, arcs, ellipses, elliptical arcs, and B-spline curves. Topology information (connectivity, unitary constraints and pairwise constraints) is received dynamically from 2D sketched input and primitives. From the 2D topology information, a more accurate 2D geometry can be built up by applying a 2D geometric constraint solver. Subsequently, 3D geometry can be received feature by feature incrementally. Each feature can be recognised by inference knowledge in terms of matching its 2D primitive configurations and connection relationships. The system accepts not only sketched input, working as an automatic design tools, but also accepts user’s interactive input of both 2D primitives and special positional 3D primitives. This makes it easy and friendly to use. The system has been tested with a number of sketched inputs of 2D and 3D geometry