Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots

Mandow, A; Cantador, T.J.; Reina, A.J.; Martínez, J.L.; Morales, J.; García-Cerezo, A. "Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots," Robot2015: Second Iberian Robotics Conference, Advances in Robotics, (2016) Advances in Intelligent Systems and Computing, vol. 418. This is a self-archiving copy of the author’s accepted manuscript. The final publication is available at Springer via http://link.springer.com/book/10.1007/978-3-319-27149-1.The paper addresses terrain modeling for mobile robots with fuzzy elevation maps by improving computational speed and performance over previous work on fuzzy terrain identification from a three-dimensional (3D) scan. To this end, spherical sub-sampling of the raw scan is proposed to select training data that does not filter out salient obstacles. Besides, rule structure is systematically defined by considering triangular sets with an unevenly distributed standard fuzzy partition and zero order Sugeno-type consequents. This structure, which favors a faster training time and reduces the number of rule parameters, also serves to compute a fuzzy reliability mask for the continuous fuzzy surface. The paper offers a case study using a Hokuyo-based 3D rangefinder to model terrain with and without outstanding obstacles. Performance regarding error and model size is compared favorably with respect to a solution that uses quadric-based surface simplification (QSlim).This work was partially supported by the Spanish CICYT project DPI 2011-22443, the Andalusian project PE-2010 TEP-6101, and Universidad de Málaga-Andalucía Tech

Robust aircraft conceptual design using automatic differentiation in Matlab

The need for robust optimisation in aircraft conceptual design, for which the design parameters are assumed stochastic, is introduced. We highlight two approaches, first-order method of moments and Sigma-Point reduced quadrature, to estimate the mean and variance of the design’s outputs. The method of moments requires the design model’s differentiation and here, since the model is implemented in Matlab, is performed using the AD tool MAD. Gradient-based constrained optimisation of the stochastic model is shown to be more efficient using AD-obtained gradients than finite-differencing. A post-optimality analysis, performed using ADenabled third-order method of moments and Monte-Carlo analysis, confirms the attractiveness of the Sigma-Point technique for uncertainty propagation

Measurement of azimuthal asymmetries in inclusive charged dipion production in e+e−e^+e^- annihilations at s\sqrt{s} = 3.65 GeV

We present a measurement of the azimuthal asymmetries of two charged pions in the inclusive process $e^+e^-\rightarrow \pi\pi X$ based on a data set of 62 $\rm{pb}^{-1}$ at the center-of-mass energy $\sqrt{s}=3.65$ GeV collected with the BESIII detector. These asymmetries can be attributed to the Collins fragmentation function. We observe a nonzero asymmetry, which increases with increasing pion momentum. As our energy scale is close to that of the existing semi-inclusive deep inelastic scattering experimental data, the measured asymmetries are important inputs for the global analysis of extracting the quark transversity distribution inside the nucleon and are valuable to explore the energy evolution of the spin-dependent fragmentation function.Comment: 7 pages, 5 figure

Study of D+→K−π+e+νeD^{+} \to K^{-} \pi^+ e^+ \nu_e

We present an analysis of the decay $D^{+} \to K^{-} \pi^+ e^+ \nu_e$ based on data collected by the BESIII experiment at the $\psi(3770)$ resonance. Using a nearly background-free sample of 18262 events, we measure the branching fraction $\mathcal{B}(D^{+} \to K^{-} \pi^+ e^+ \nu_e) = (3.71 \pm 0.03 \pm 0.08)\%$. For $0.8<m_{K\pi}<1.0$ GeV/$c^{2}$ the partial branching fraction is $\mathcal{B}(D^{+} \to K^{-} \pi^+ e^+ \nu_e)_{[0.8,1]} = (3.33 \pm 0.03 \pm 0.07)\%$. A partial wave analysis shows that the dominant $\bar K^{*}(892)^{0}$ component is accompanied by an \emph{S}-wave contribution accounting for $(6.05\pm0.22\pm0.18)\%$ of the total rate and that other components are negligible. The parameters of the $\bar K^{*}(892)^{0}$ resonance and of the form factors based on the spectroscopic pole dominance predictions are also measured. We also present a measurement of the $\bar K^{*}(892)^{0}$ helicity basis form factors in a model-independent way.Comment: 17 pages, 6 figure

Study of J/ψJ/\psi and ψ(3686)→Σ(1385)0Σˉ(1385)0\psi(3686)\rightarrow\Sigma(1385)^{0}\bar\Sigma(1385)^{0} and Ξ0Ξˉ0\Xi^0\bar\Xi^{0}

We study the decays of $J/\psi$ and $\psi(3686)$ to the final states $\Sigma(1385)^{0}\bar\Sigma(1385)^{0}$ and $\Xi^0\bar\Xi^{0}$ based on a single baryon tag method using data samples of $(1310.6 \pm 7.0) \times 10^{6}$ $J/\psi$ and $(447.9 \pm 2.9) \times 10^{6}$ $\psi(3686)$ events collected with the BESIII detector at the BEPCII collider. The decays to $\Sigma(1385)^{0}\bar\Sigma(1385)^{0}$ are observed for the first time. The measured branching fractions of $J/\psi$ and $\psi(3686)\rightarrow\Xi^0\bar\Xi^{0}$ are in good agreement with, and much more precise, than the previously published results. The angular parameters for these decays are also measured for the first time. The measured angular decay parameter for $J/\psi\rightarrow\Sigma(1385)^{0}\bar\Sigma(1385)^{0}$, $\alpha =-0.64 \pm 0.03 \pm 0.10$, is found to be negative, different to the other decay processes in this measurement. In addition, the "12\% rule" and isospin symmetry in the $J/\psi$ and $\psi(3686)\rightarrow\Xi\bar\Xi$ and $\Sigma(1385)\bar{\Sigma}(1385)$ systems are tested.Comment: 11 pages, 7 figures. This version is consistent with paper published in Phys.Lett. B770 (2017) 217-22

Measurement of the e+e−→π+π−\mathrm e^+\mathrm e^-\rightarrow\mathrm\pi^+\mathrm\pi^- Cross Section between 600 and 900 MeV Using Initial State Radiation

We extract the $e^+e^-\rightarrow \pi^+\pi^-$ cross section in the energy range between 600 and 900 MeV, exploiting the method of initial state radiation. A data set with an integrated luminosity of 2.93 fb$^{-1}$ taken at a center-of-mass energy of 3.773 GeV with the BESIII detector at the BEPCII collider is used. The cross section is measured with a systematic uncertainty of 0.9%. We extract the pion form factor $|F_\pi|^2$ as well as the contribution of the measured cross section to the leading order hadronic vacuum polarization contribution to $(g-2)_\mu$. We find this value to be $a_\mu^{\pi\pi,\rm LO}(600-900\;\rm MeV) = (368.2 \pm 2.5_{\rm stat} \pm 3.3_{\rm sys})\cdot 10^{-10}$.Comment: 14 pages, 7 figures, accepted by PL

Measurements of absolute hadronic branching fractions of Λc+\Lambda_{c}^{+} baryon

Using $567\rm{pb}^{-1}$ of $e^+e^-$ collisions recorded at $\sqrt{s}=4.599\rm{GeV}$ with the BESIII detector, we report first measurements of absolute hadronic branching fractions of Cabibbo-favored decays of the $\Lambda_{c}^{+}$ baryon with a double-tag technique. A global least-square fitter is utilized to improve the measured precision. Among the measurements for twelve $\Lambda_{c}^{+}$ decay modes, the branching fraction for $\Lambda_{c}^{+} \rightarrow pK^-\pi^+$ is determined to be $(5.84\pm0.27\pm0.23)\%$, where the first uncertainty is statistical and the second is systematic. In addition, the measurements of the branching fractions of the other eleven Cabbibo-favored hadronic decay modes are significantly improved