Evaluation of off-road terrain with static stereo and monoscopic displays

The National Aeronautics and Space Administration is currently funding research into the design of a Mars rover vehicle. This unmanned rover will be used to explore a number of scientific and geologic sites on the Martian surface. Since the rover can not be driven from Earth in real-time, due to lengthy communication time delays, a locomotion strategy that optimizes vehicle range and minimizes potential risk must be developed. In order to assess the degree of on-board artificial intelligence (AI) required for a rover to carry out its' mission, researchers conducted an experiment to define a no AI baseline. In the experiment 24 subjects, divided into stereo and monoscopic groups, were shown video snapshots of four terrain scenes. The subjects' task was to choose a suitable path for the vehicle through each of the four scenes. Paths were scored based on distance travelled and hazard avoidance. Study results are presented with respect to: (1) risk versus range; (2) stereo versus monocular video; (3) vehicle camera height; and (4) camera field-of-view

Robust visual odometry using uncertainty models

In dense, urban environments, GPS by itself cannot be relied on to provide accurate positioning information. Signal reception issues (e.g. occlusion, multi-path effects) often prevent the GPS receiver from getting a positional lock, causing holes in the absolute positioning data. In order to keep assisting the driver, other sensors are required to track the vehicle motion during these periods of GPS disturbance. In this paper, we propose a novel method to use a single on-board consumer-grade camera to estimate the relative vehicle motion. The method is based on the tracking of ground plane features, taking into account the uncertainty on their backprojection as well as the uncertainty on the vehicle motion. A Hough-like parameter space vote is employed to extract motion parameters from the uncertainty models. The method is easy to calibrate and designed to be robust to outliers and bad feature quality. Preliminary testing shows good accuracy and reliability, with a positional estimate within 2 metres for a 400 metre elapsed distance. The effects of inaccurate calibration are examined using artificial datasets, suggesting a self-calibrating system may be possible in future work

The impact of SPARC on age-related cardiac dysfunction and fibrosis in Drosophila

Tissue fibrosis, an accumulation of extracellular matrix proteins such as collagen, accompanies cardiac ageing in humans and this is linked to an increased risk of cardiac failure. The mechanisms driving age-related tissue fibrosis and cardiac dysfunction are unclear, yet clinically important. Drosophila is amenable to the study of cardiac ageing as well as collagen deposition; however it is unclear whether collagen accumulates in the ageing Drosophila heart. This work examined collagen deposition and cardiac function in ageing Drosophila, in the context of reduced expression of collagen-interacting protein SPARC (Secreted Protein Acidic and Rich in Cysteine) an evolutionarily conserved protein linked with fibrosis. Heart function was measured using high frame rate videomicroscopy. Collagen deposition was monitored using a fluorescently-tagged collagen IV reporter (encoded by the Viking gene) and staining of the cardiac collagen, Pericardin. The Drosophila heart accumulated collagen IV and Pericardin as flies aged. Associated with this was a decline in cardiac function. SPARC heterozygous flies lived longer than controls and showed little to no age-related cardiac dysfunction. As flies of both genotypes aged, cardiac levels of collagen IV (Viking) and Pericardin increased similarly. Over-expression of SPARC caused cardiomyopathy and increased Pericardin deposition. The findings demonstrate that, like humans, the Drosophila heart develops a fibrosis-like phenotype as it ages. Although having no gross impact on collagen accumulation, reduced SPARC expression extended Drosophila lifespan and cardiac health span. It is proposed that cardiac fibrosis in humans may develop due to the activation of conserved mechanisms and that SPARC may mediate cardiac ageing by mechanisms more subtle than gross accumulation of collagen

Confidence regions for variance ratios in variance components models

Statistical mechanics for constructing confidence intervals for variance ratios in balanced and unbalanced experimental design

Uranium distribution as a proxy for basin-scale fluid flow in distributive fluvial systems

This work was supported by the Fluvial Systems Research Group sponsors BG Group, BP, Chevron, ConocoPhilips, and Total. We thank reviews from Martin Stokes, an anonymous reviewer and Editor Stuart Jones.Peer reviewedPostprin

Modeling and Optimization of Woody Biomass Harvest and Logistics in the Northeastern United States

World energy consumption is at an all-time high and is projected to continue growing for the foreseeable future. Currently, much of the energy that is produced comes from non-renewable fossil energy sources, which includes the burden of increased greenhouse gas emissions and the fear of energy insecurity. Woody biomass is being considered as a material that can be utilized to reduce the burden caused by fossil energy. While the technical capability to convert woody biomass to energy has been known for a long period of time, the cost of the feedstock has been considered too costly to be implemented in a large commercial scale. Increasing the use of woody biomass as an energy source requires that the supply chains are setup in a way that minimizes cost, the locational factors that lead to development are understood, the facilities are located in the most favorable locations and local resource assessments can be made.;A mixed integer linear programming model to efficiently configure woody biomass supply chain configurations and optimize the harvest, extraction, transport, storage and preprocessing of the woody biomass resources to provide the lowest possible delivered price. The characteristics of woody biomass, such as spatial distribution and low bulk density, tend to make collection and transport difficult as compared to traditional energy sources. These factors, as well as others, have an adverse effect on the cost of the feedstock. The average delivered cost was found to be between {dollar}64.69-98.31 dry Mg for an annual demand of 180,000 dry Mg. The effect of resource availability and required demand was examined to determine the impact that each would have on the total cost.;The use of woody biomass for energy has been suggested as a way to improve rural economies through job creation, reduction of energy costs and regional development. This study examined existing wood using bio-energy facilities in the northeastern United States to define the drivers of establishment of bio-energy projects. Using a spatial econometric framework, a spatial autoregressive probit model was estimated based on the Bayesian methods to define the factors that impact the location of wood using bio-energy facilities in the United States. Through the analysis it was found that the energy policy of the state is the biggest driver of the choice of location for bioenergy facilities.;The choice of site is of great importance when trying to meet the goal of producing cost-effective biofuels, due to the spatial dispersion of the biofuels and the high proportion of total cost that is incurred by transportation to the processing facility. The proximity to the fuel supply and the resulting transportation cost are the primary concern of the operators of the facilities, although this is not the primary driver that leads to the development of these projects. In order to make these endeavors successful, there must also be buy-in from the local community and its government. Previous studies have found that in addition to the environmental benefits and improved energy security, the impact that the facilities have on the local economy, in terms of job creation, improved industrial competitiveness and regional development are key drivers of bioenergy projects. A two-stage site selection approach is developed for the siting of woody biomass facilities, which combines multi-criteria analysis with mixed integer linear programming to rank potential development sites. This approach was then applied to the siting of a Coal/Biomass to liquids plant, and was able to objectively identify the optimal location of the facility.;Finally, a simulation model was developed to assess the locally available quantities and prices for biomass feedstocks. The simulation uses machine tractability in conjunction with graph theory to assess machine productivity and harvesting cost. The model was then applied to a demonstration project in which a 10,000 bbl per day Coal/Biomass to Liquid plant is being used to examine if there are sufficient feedstocks available to warrant the project. It was found that within the proposed three county procurement area that there were approximately 34% less material available than was assumed to be available from large scale feedstock data. Also, the simulation model was able to determine that the total feedstock requirement could be met at a price of {dollar}66 per dry Mg

Assessing the effect of friction on compression split Hopkinson pressure bar tests

An enhanced understanding of material behaviour during rapid loading allows designers to improve the safety and efficiency of industrial processes and commercial products. These improvements are due, in part, to the use of increasingly powerful and sophisticated numerical simulation codes, which in tum, depend on accurate high strain rate material data. A Split Hopkinson Pressure Bar (SHPB) facility had previously been developed at the University of Cape Town to allow high strain rate testing of materials in compression. However, uncertainties regarding aspects of the test method that can affect the accuracy of the results, such as interface friction and specimen inertia, still required further clarification. This report details a thorough experimental and numerical investigation into the effect of friction on SHPB test data. The objectives are to assess the magnitude of the effect of friction under various conditions and to suggest strategies for reducing friction error in SHPB tests to an acceptable level. The ring compression test was used to obtain experimental friction factors. The effect of surface finish, lubricant, and strain rate on the friction experienced by mild steel, copper and aluminium samples was investigated. Numerical simulation was used to assess an energy-based analytical solution by Avitzur [1], and in particular to establish the effect of neglecting barrelling. Avitzur's analytical solution [l] Was then used to interpret the experimental results. The tested specimen microstructure was examined and used to estimate the stress distribution in the specimen during deformation. Uneven deformation and fold-over diminished at higher strain rates. Optimal surface finish and lubricant conditions were found for which experimentally measured coulomb friction coefficients lay between J.l = 0.04 and 0.08, with copper samples exhibiting marginally higher friction. By Avitzur's analytical solution [1] the error in SHPB tests under these recommended conditions was estimated to lie between 1% and 2%. The results show that roughened compression and specimen surfaces, lubricated with a suitable grease containing molybdenum disulphide, are useful in effectively reducing the error in SHPB tests due to friction effects

Why Do Granular Materials Stiffen with Shear Rate? : Test of Novel Stress-Based Statistics

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