620 research outputs found
Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots
Mandow, A; Cantador, T.J.; Reina, A.J.; MartÃnez, J.L.; Morales, J.; GarcÃa-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-AndalucÃa 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
Self-Decoration of PtNi Alloy Nanoparticles on Multiwalled Carbon Nanotubes for Highly Efficient Methanol Electro-Oxidation
Measurement of azimuthal asymmetries in inclusive charged dipion production in annihilations at = 3.65 GeV
We present a measurement of the azimuthal asymmetries of two charged pions in
the inclusive process based on a data set of 62
at the center-of-mass energy 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
We present an analysis of the decay based
on data collected by the BESIII experiment at the resonance. Using
a nearly background-free sample of 18262 events, we measure the branching
fraction . For GeV/ the partial branching fraction is
. A partial wave analysis shows that the dominant
component is accompanied by an \emph{S}-wave contribution accounting for
of the total rate and that other components are
negligible. The parameters of the resonance and of the
form factors based on the spectroscopic pole dominance predictions are also
measured. We also present a measurement of the helicity
basis form factors in a model-independent way.Comment: 17 pages, 6 figure
Study of and and
We study the decays of and to the final states
and based on a single
baryon tag method using data samples of
and events collected with
the BESIII detector at the BEPCII collider. The decays to
are observed for the first time. The
measured branching fractions of and
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 , , is found to be negative, different to the other
decay processes in this measurement. In addition, the "12\% rule" and isospin
symmetry in the and and
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 Cross Section between 600 and 900 MeV Using Initial State Radiation
We extract the 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 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 as well as the
contribution of the measured cross section to the leading order hadronic vacuum
polarization contribution to . We find this value to be
.Comment: 14 pages, 7 figures, accepted by PL
Measurements of absolute hadronic branching fractions of baryon
Using of collisions recorded at
with the BESIII detector, we report first measurements
of absolute hadronic branching fractions of Cabibbo-favored decays of the
baryon with a double-tag technique. A global least-square
fitter is utilized to improve the measured precision. Among the measurements
for twelve decay modes, the branching fraction for
is determined to be
, 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
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