Fast Monte-Carlo Localization on Aerial Vehicles using Approximate Continuous Belief Representations

Size, weight, and power constrained platforms impose constraints on computational resources that introduce unique challenges in implementing localization algorithms. We present a framework to perform fast localization on such platforms enabled by the compressive capabilities of Gaussian Mixture Model representations of point cloud data. Given raw structural data from a depth sensor and pitch and roll estimates from an on-board attitude reference system, a multi-hypothesis particle filter localizes the vehicle by exploiting the likelihood of the data originating from the mixture model. We demonstrate analysis of this likelihood in the vicinity of the ground truth pose and detail its utilization in a particle filter-based vehicle localization strategy, and later present results of real-time implementations on a desktop system and an off-the-shelf embedded platform that outperform localization results from running a state-of-the-art algorithm on the same environment

Effect of Welding Parameters on the Mechanical Properties and Microstructure of BQ Plateastm SA 516 – 60 Grade

A detailed study on the microstructure, phase analysis and mechanical properties, HAZ width of BQ PLATE ASME SA 516 – 60 GRADE weld metal V- joint and heat-affected zone of 10 mm thick BQ plate was carried out using metallurgical microscopy, with olimpus inverted metallurgical microscope projection system including mega pixel camera and image analysis software. The various sub-zones in the microstructure were observed in the HAZ of weld, base metal and weld pool are spheroidized, partially transformed, grain refined and grain coarsened. The main purpose of present work is to investigation and correlate the relationship between the various parameters; mechanical properties and microstructure of single “V” butt joint of Boiler Quality plate