692 research outputs found
Voyages dans les Alpes de la Savoie et les autres parties de la chaîne Pennine, avec des observations sur les phénomènes que présentent les glaciers
A Christian Apologetic to a Buddhist Christ
This is a paper that expands on the concept that Jesus may have been a Buddhist bodhisattva . It then gives a Christian apologetic as to why this cannot be true. This is accomplished by referencing the historical origins of Christianity and the differences between the lives of a bodhisattva and Jesus Christ
Rolling Stability of a Power-Generating Tumbleweed Rover
Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/140405/1/1.a32883.pd
Magnetic Navigation using Attitude-Invariant Magnetic Field Information for Loop Closure Detection
Indoor magnetic fields are a combination of Earth's magnetic field and
disruptions induced by ferromagnetic objects, such as steel structural
components in buildings. As a result of these disruptions, pervasive in indoor
spaces, magnetic field data is often omitted from navigation algorithms in
indoor environments. This paper leverages the spatially-varying disruptions to
Earth's magnetic field to extract positional information for use in indoor
navigation algorithms. The algorithm uses a rate gyro and an array of four
magnetometers to estimate the robot's pose. Additionally, the magnetometer
array is used to compute attitude-invariant measurements associated with the
magnetic field and its gradient. These measurements are used to detect loop
closure points. Experimental results indicate that the proposed approach can
estimate the pose of a ground robot in an indoor environment within meter
accuracy
On-manifold Decentralized State Estimation using Pseudomeasurements and Preintegration
This paper addresses the problem of decentralized, collaborative state
estimation in robotic teams. In particular, this paper considers problems where
individual robots estimate similar physical quantities, such as each other's
position relative to themselves. The use of \emph{pseudomeasurements} is
introduced as a means of modelling such relationships between robots' state
estimates, and is shown to be a tractable way to approach the decentralized
state estimation problem. Moreover, this formulation easily leads to a
general-purpose observability test that simultaneously accounts for
measurements that robots collect from their own sensors, as well as the
communication structure within the team. Finally, input preintegration is
proposed as a communication-efficient way of sharing odometry information
between robots, and the entire theory is appropriate for both vector-space and
Lie-group state definitions. The proposed framework is evaluated on three
different simulated problems, and one experiment involving three quadcopters.Comment: 15 pages, 13 figures, submitted to IEE
Lagrangian Derivation of Variable-Mass Equations of Motion using an Arbitrary Attitude Parameterization
Lagrange’s equation is a popular method of deriving equations of motion due to the ability to choose a variety of generalized coordinates and implement constraints. When using a Lagrangian formulation, part of the generalized coordinates may describe the attitude. This paper presents a means of deriving the dynamics of variable-mass systems using Lagrange’s equation while using an arbitrary constrained attitude parameterization. The equivalence to well-known forms of the equations of motion is shown
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