Hog Shelters and Equipment

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DeepFactors: Real-time probabilistic dense monocular SLAM

The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry representation (sparse landmarks, dense maps), the consistency metric used for optimising the multi-view problem, and the use of learned priors. We present a SLAM system that unifies these methods in a probabilistic framework while still maintaining real-time performance. This is achieved through the use of a learned compact depth map representation and reformulating three different types of errors: photometric, reprojection and geometric, which we make use of within standard factor graph software. We evaluate our system on trajectory estimation and depth reconstruction on real-world sequences and present various examples of estimated dense geometry

Following microscopic motion in a two dimensional glass-forming binary fluid

The dynamics of a binary mixture of large and small discs are studied at temperatures approaching the glass transition using an analysis based on the topology of the Voronoi polygon surrounding each atom. At higher temperatures we find that dynamics is dominated by fluid-like motion that involves particles entering and exiting the nearest-neighbour shells of nearby particles. As the temperature is lowered, the rate of topological moves decreases and motion becomes localised to regions of mixed pentagons and heptagons. In addition we find that in the low temperature state particles may translate significant distances without undergoing changes in their nearest neig hbour shell. These results have implications for dynamical heterogeneities in glass forming liquids.Comment: 12 pages, 7 figure

Geodesics on the Ellipsoid and Monodromy

The equations for geodesic flow on the ellipsoid are well known, and were first solved by Jacobi in 1838 by separating the variables of the Hamilton-Jacobi equation. In 1979 Moser investigated the case of the general ellipsoid with distinct semi-axes and described a set of integrals which weren't know classically. After reviewing the properties of geodesic flow on the three dimensional ellipsoid with distinct semi-axes, we investigate the three dimensional ellipsoid with the two middle semi-axes being equal, corresponding to a Hamiltonian invariant under rotations. The system is Liouville-integrable and thus the invariant manifolds corresponding to regular points of the energy momentum map are 3-dimensional tori. An analysis of the critical points of the energy momentum maps gives the bifurcation diagram. We find the fibres of the critical values of the energy momentum map, and carry out an analysis of the action variables. We show that the obstruction to the existence of single valued globally smooth action variables is monodromy.Comment: 24 pages, 7 figure

Cold water aquifer storage

A working prototype system is described in which water is pumped from an aquifer at 70 F in the winter time, chilled to a temperature of less than 50 F, injected into a ground-water aquifer, stored for a period of several months, pumped back to the surface in the summer time. A total of 8.1 million gallons of chilled water at an average temperature of 48 F were injected. This was followed by a storage period of 100 days. The recovery cycle was completed a year later with a total of 8.1 million gallons recovered. Approximately 20 percent of the chill energy was recovered

Phase equilibrium modeling for high temperature metallization on GaAs solar cells

Recent trends in performance specifications and functional requirements have brought about the need for high temperature metallization technology to be developed for survivable DOD space systems and to enhance solar cell reliability. The temperature constitution phase diagrams of selected binary and ternary systems were reviewed to determine the temperature and type of phase transformation present in the alloy systems. Of paramount interest are the liquid-solid and solid-solid transformations. Data are being utilized to aid in the selection of electrical contact materials to gallium arsenide solar cells. Published data on the phase diagrams for binary systems is readily available. However, information for ternary systems is limited. A computer model is being developed which will enable the phase equilibrium predictions for ternary systems where experimental data is lacking