Learning Ground Traversability from Simulations

Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a convolutional neural network that, given an image representing the heightmap of a terrain patch, predicts whether the robot will be able to traverse such patch from left to right. The classifier is trained for a specific robot model (wheeled, tracked, legged, snake-like) using simulation data on procedurally generated training terrains; the trained classifier can be applied to unseen large heightmaps to yield oriented traversability maps, and then plan traversable paths. We extensively evaluate the approach in simulation on six real-world elevation datasets, and run a real-robot validation in one indoor and one outdoor environment.Comment: Webpage: http://romarcg.xyz/traversability_estimation

Bidirectional link mock-up for avionics applications

Copper-based networks have been extensively employed on aircraft to ensure the avionics data-communications. Since the Airbus A380 development, Avionic Data Communication Network (ADCN) has been implemented to ensure transmissions between avionic equipment. This system is based on the Avionic Full Duplex Ethernet (AFDX), and transfers data at rates up to 100 Mb/s. The need of faster communications systems, up to 1Gb/s, has led to great interest in fiber optic based networks. Beyond higher data rates capabilities, the fiber optics have additional benefits, compared to electrical cables, in terms of weight saving and electromagnetic interference immunity which is strongly needed at gigahertz bandwidths. Multimode fibers (MMF) are becoming increasingly attractive for short-haul (<300m) high-speed interconnections. Besides, Vertical Cavity Surface Emitting Lasers (VCSELs) present interesting performances in comparison to edge-emitting lasers, cost effective and are widely chosen in this type of applications. We aim at achieving an entirely optical fiber Gigabit Ethernet (GbE) link based on 850nm VCSELs to interconnect avionic equipments. To meet IEEE 802.3 standards [1] and ADCN requirements [2], the fiber optic link must be full-duplex, bi-directional, on a single wavelength, and on the same fiber on up to 100m-distance. We have used, at each side of the link, a transceiver module developed for harsh environment applications. Also, there are multiple connections due to production breaks. These connections give birth to return loss (RL) and consequently crosstalk. One might pay attention to the impact of the RL on the link. We present the characterization of a mock-up and the comparison of experimental results with the GbE requirements

Handling Constraints in Combinatorial Interaction Testing in the presence of Multi Objective Particle Swarm and Multithreading

Context: Combinatorial testing strategies have lately received a lot of attention as a result of their diverse applications. In its simple form, a combinatorial strategy can reduce several input parameters (configurations) of a system into a small set based on their interaction (or combination). In practice, the input configurations of software systems are subjected to constraints, especially in case of highly configurable systems. To implement this feature within a strategy, many difficulties arise for construction. While there are many combinatorial interaction testing strategies nowadays, few of them support constraints. Objective: This paper presents a new strategy, to construct combinatorial interaction test suites in the presence of constraints. Method: The design and algorithms are provided in detail. To overcome the multi-judgment criteria for an optimal solution, the multi-objective particle swarm optimization and multithreading are used. The strategy and its associated algorithms are evaluated extensively using different benchmarks and comparisons. Results: Our results are promising as the evaluation results showed the efficiency and performance of each algorithm in the strategy. The benchmarking results also showed that the strategy can generate constrained test suites efficiently as compared to state-of-the-art strategies. Conclusion: The proposed strategy can form a new way for constructing of constrained combinatorial interaction test suites. The strategy can form a new and effective base for future implementations.Comment: 35 page

Magneto-Optical Detection of the Spin Hall Effect in Pt and W Thin Films

Here we report the measurement of the interfacial spin accumulation induced by the spin Hall effect in Pt and W thin films using magneto-optical Kerr microscopy. We show that the Kerr rotation has opposite sign in Pt and W and scales linearly with current density. By comparing the experimental results with ab-initio calculations of the spin Hall and magneto-optical Kerr effects, we quantitatively determine the current-induced spin accumulation at the Pt interface as $5*10^{-12} \mu_B$A$^{-1}$cm$^2$ per atom. From thickness-dependent measurements, we determine the spin diffusion length in a single Pt film to be $11 \pm 3$ nm, which is significantly larger compared to that of Pt adjacent to a magnetic layer.Comment: 16 pages including Supplemental Materia

Electronic phase separation near the superconductor-insulator transition of Nd1+xBa2−xCu3O7−δ thin films studied by an electric-field-induced doping effect

We report a detailed study of the transport properties of Nd(1+x)Ba(2-x)Cu(3)O(7-delta) thin films with doping changed by field effect. The data cover the whole superconducting to insulating transition and show remarkable Similarities with the effect of chemical doping in high critical temperature superconductors. The results suggest that the add-on of carriers is accompanied by an electronic phase separation, independent on the details of the doping mechanism