High-Level Job Planning for Automated Earthmoving

High-level job planning strategies were developed which enable pile transfer and area clearing jobs to be performed autonomously by a robotic wheel loader. A job is first planned on a 3D surface model of a worksite by positioning graphical tools representing areas and approach directions for scooping, dumping and clearing material. The ground model can be from a recently-acquired surface scan, allowing the job to be configured ad-hoc without the prior need of a global map. Algorithms interpret the high-level plan and, based on an updated ground model, generate commands which ideally guide the job to completion with no further human input. Lower-level plans such as driving points are also represented graphically, allowing a remote supervisor to stay in-the-loop by monitoring the intentions of the machine and modifying the plans if necessary. Fully automated jobs were demonstrated in an earthmoving simulation environment developed using Matlab. The algorithms and search parameters for finding clearing paths and filling locations which worked in the simulator were also found to correctly generate commands using ground models obtained from manually-performed area clearing and filling tests using snow and gravel. As proofs-of-concept, a snow clearing test and two pile transfer tests with gravel demonstrated semi-automated work cycles with a robotic loader, whereby driving and joint actuation were computer-controlled, with transitions between separate actions commanded manually. The snow clearing test demonstrated updated paths being generated based on the changing state of the worksite. The planning tools and algorithms were also extended to jobs including dump trucks and multiple loaders, and applied to a large-scale simulated hillside excavation. Additional simulations evaluated the proposed alternative High Point (HP) method for generating scooping commands, which orients the loader towards the highest point in the pile or slope section from an adjacent stage point. This was compared with a Zero Contour (ZC) method which selects perpendicular scooping approaches along the bottom contour of the slope. Various excavation jobs with truck loading showed that assuming the same bucket filling efficiency, the HP method offers the advantage of a higher excavation rate due to its more limited driving pattern. For the larger plateau excavation jobs, the workspace was subdivided by scanning with the smaller rectangular Scoop Area (SA). It was found that compared with the ZC method, the HP method tends to achieve its maximum excavation rate with SAs which are narrower and longer. Factors which increased the amount of material to excavate per area, including a higher plateau and more surrounding slope collapse, were found to generally result in smaller SAs achieving higher excavation rates

Measurement of the temperature of an ultracold ion source using time-dependent electric fields

We report on a measurement of the characteristic temperature of an ultracold rubidium ion source, in which a cloud of laser-cooled atoms is converted to ions by photo-ionization. Extracted ion pulses are focused on a detector with a pulsed-field technique. The resulting experimental spot sizes are compared to particle-tracking simulations, from which a source temperature $T = (1 \pm 2)$ mK and the corresponding transversal reduced emittance $\epsilon_r = 7.9 X 10^{-9}$ m rad $\sqrt{\rm{eV}}$ are determined. We find that this result is likely limited by space charge forces even though the average number of ions per bunch is 0.022.Comment: 8 pages, 11 figure

Portable inhalation systemfor a dosed insulin supply

Интенсивная инсулинотерапия необходима для контроля состояния пациентов с диабетом.Несмотря на постоянное усовершенствование инсулинотерапии, все ещ? существует проблема неудобства режимов многократных инъекций инсулина. Целью данной работы является создание системы, позволяющей осуществлять ингаляцию инсулина.Intensive insulin therapy is necessary for the control of a condition diabetic patients. Despite the constant improvement of insulin therapy, there is still the problem of discomfort repeated regimes of insulin injections. The objective of this work is to create a system that allows the inhalation of insulin

Modal Ω-Logic: Automata, Neo-Logicism, and Set-Theoretic Realism

This essay examines the philosophical significance of $\Omega$-logic in Zermelo-Fraenkel set theory with choice (ZFC). The duality between coalgebra and algebra permits Boolean-valued algebraic models of ZFC to be interpreted as coalgebras. The modal profile of $\Omega$-logical validity can then be countenanced within a coalgebraic logic, and $\Omega$-logical validity can be defined via deterministic automata. I argue that the philosophical significance of the foregoing is two-fold. First, because the epistemic and modal profiles of $\Omega$-logical validity correspond to those of second-order logical consequence, $\Omega$-logical validity is genuinely logical, and thus vindicates a neo-logicist conception of mathematical truth in the set-theoretic multiverse. Second, the foregoing provides a modal-computational account of the interpretation of mathematical vocabulary, adducing in favor of a realist conception of the cumulative hierarchy of sets

Is a Trapped One-Dimensional Bose Gas a Luttinger Liquid?

The low-energy fluctuations of a trapped, interacting quasi one-dimensional Bose gas are studied. Our considerations apply to experiments with highly anisotropic traps. We show that under suitable experimental conditions the system can be described as a Luttinger liquid. This implies that the correlation function of the bosons decays algebraically preventing Bose-Einstein condensation. At significantly lower temperatures a finite size gap destroys the Luttinger liquid picture and Bose-Einstein condensation is again possible.Comment: 4 pages (revtex), 1 figure (eps file

Quantum gates using electronic and nuclear spins of Yb+^{+} in a magnetic field gradient

An efficient scheme is proposed to carry out gate operations on an array of trapped Yb$^+$ ions, based on a previous proposal using both electronic and nuclear degrees of freedom in a magnetic field gradient. For this purpose we consider the Paschen-Back regime (strong magnetic field) and employ a high-field approximation in this treatment. We show the possibility to suppress the unwanted coupling between the electron spins by appropriately swapping states between electronic and nuclear spins. The feasibility of generating the required high magnetic field is discussed

Modeling Eddy Current Losses in HTS Tapes Using Multiharmonic Method

Due to the highly nonlinear electrical resistivity of high temperature superconducting (HTS) materials, computing the steady-state eddy current losses in HTS tapes, under time-periodic alternating current excitation, can be time consuming when using a time-transient method (TTM). The computation can require several periods to be solved with a small time-step. One alternative to the TTM is the multiharmonic method (MHM) where the Fourier basis is used to approximate the Maxwell fields in time. The method allows obtaining the steady-state solution to the problem with one resolution of the nonlinear problem. In this work, using the finite element method with the H−φ formulation, the capabilities of the MHM in the computational eddy current loss modeling of HTS tapes are scrutinized and compared against the TTM.publishedVersionPeer reviewe

Characterization and Tuning of Ultra High Gradient Permanent Magnet Quadrupoles

The application of quadrupole-devices with high field gradients and small apertures requires precise control over higher order multipole field components. We present a new scheme for performance control and tuning, which allows the illumination of most of the quadrupole-device aperture because of the reduction of higher order field components. Consequently, the size of the aperture can be minimized to match the beam size achieving field gradients of up to 500 T/m at good imaging quality. The characterization method based on a Hall probe measurement and a Fourier analysis was confirmed using the high quality electron beam at the Mainz Microtron MAMI