An intelligent real time 3D vision system for robotic welding tasks

MARWIN is a top-level robot control system that has been designed for automatic robot welding tasks. It extracts welding parameters and calculates robot trajectories directly from CAD models which are then verified by real-time 3D scanning and registration. MARWIN's 3D computer vision provides a user-centred robot environment in which a task is specified by the user by simply confirming and/or adjusting suggested parameters and welding sequences. The focus of this paper is on describing a mathematical formulation for fast 3D reconstruction using structured light together with the mechanical design and testing of the 3D vision system and show how such technologies can be exploited in robot welding tasks

Robot trajectory planning using OLP and structured light 3D machine vision

This paper proposes a new methodology for robotic offline programming (OLP) addressing the issue of automatic program generation directly from 3D CAD models and verification through online 3D reconstruction. Limitations of current OLP include manufacturing tolerances between CAD and workpieces and inaccuracies in workpiece placement and modelled work cell. These issues are addressed and demonstrated through surface scanning, registration, and global and local error estimation. The method allows the robot to adjust the welding path designed from the CAD model to the actual workpiece. Alternatively, for non-repetitive tasks and where a CAD model is not available, it is possible to interactively define the path online over the scanned surface

Modeling of water balance response to an extreme future scenario in the Ötztal catchment, Austria

The aim of the study was to investigate the impact of climate change on the water balance of the Ötztaler Ache catchment in Tyrol, Austria. For this purpose the conceptual hydrological model HBV-D REG was applied. First, the model was calibrated and validated using current observed climate and discharge data. Second, the calibrated model was applied with reanalysis data. Third, downscaled climate scenarios from 2010 to 2099 served as input data to the HBV-D REG. Thereby two extreme land cover scenarios were considered: for water balance modeling a constant glacier coverage from today and additionally for runoff simulations a complete loss of glaciered area. The downscaled climate data were generated with the expanded downscaling method. Scenario simulations indicated an increase in annual areal temperature by 3.4 °C and a slight decrease in annual areal precipitation by 89 mm in the next one hundred years. According to the hydrological modeling, these climate changes caused an increase in evapotranspiration and a decrease in snow coverage. Furthermore model simulations showed an increase in winter and spring runoff, whereas summer runoff was highly sensitive to glacier coverage and decreased with complete loss of glacier coverage

CX3CR1 Polymorphisms are associated with atopy but not asthma in German children

Chemokines and their receptors are involved in many aspects of immunity. Chemokine CX3CL1, acting via its receptor CX3CR1, regulates monocyte migration and macrophage differentiation as well as T cell-dependent inflammation. Two common, nonsynonymous polymorphisms in CX3CR1 have previously been shown to alter the function of the CX3CL1/CX3CR1 pathway and were suggested to modify the risk for asthma. Using matrix-assisted laser desorption/ionization time-of-flight technology, we genotyped polymorphisms Val249Ile and Thr280Met in a cross-sectional population of German children from Munich (n = 1,159) and Dresden ( n = 1,940). For 249Ile an odds ratio of 0.77 (95% confidence interval 0.63-0.96; p = 0.017) and for 280Met an odds ratio of 0.71 ( 95% confidence interval 0.56-0.89; p = 0.004) were found with atopy in Dresden but not in Munich. Neither polymorphism was associated with asthma. Thus, amino acid changes in CX3CR1 may influence the development of atopy but not asthma in German children. Potentially, other factors such as environmental effects may modify the role of CX3CR1 polymorphisms. Copyright (c) 2007 S. Karger AG, Basel

Probing Dark Matter Substructure in Lens Galaxies

We investigate the effects of numerous dark matter subhalos in a galaxy-sized halo on the events of strong lensing, to assess their presence as expected from the cold dark matter scenario. Lens galaxies are represented by a smooth ellipsoid in an external shear field and additional cold dark matter subhalos taken from Monte Carlo realizations which accord with recent N-body results. We also consider other possible perturbers, globular clusters and luminous dwarf satellites, for comparison. We then apply the models to the particular lens systems with four images, B1422+231 and PG1115+080, for which smooth lens models are unable to reproduce both the positions of the images and their radio flux ratios or dust-free optical flux ratios simultaneously. We show that the perturbations by both globular clusters and dwarf satellites are too small to change the flux ratios, whereas cold dark matter subhalos are most likely perturbers to reproduce the observed flux ratios in a statistically significant manner. This result suggests us the presence of numerous subhalos in lens galaxies, which is consistent with the results of cosmological N-body simulations.Comment: 19 pages, including 5 figures, ApJ in pres

CFHT AO Imaging of the CLASS Gravitational Lens System B1359+154

We present adaptive optics imaging of the CLASS gravitational lens system B1359+154 obtained with the Canada-France-Hawaii Telescope (CFHT) in the infrared K band. The observations show at least three brightness peaks within the ring of lensed images, which we identify as emission from multiple lensing galaxies. The results confirm the suspected compound nature of the lens, as deduced from preliminary mass modeling. The detection of several additional nearby galaxies suggests that B1359+154 is lensed by the compact core of a small galaxy group. We attempted to produce an updated lens model based on the CFHT observations and new 5-GHz radio data obtained with the MERLIN array, but there are too few constraints to construct a realistic model at this time. The uncertainties inherent with modeling compound lenses make B1359+154 a challenging target for Hubble constant determination through the measurement of differential time delays. However, time delays will offer additional constraints to help pin down the mass model. This lens system therefore presents a unique opportunity to directly measure the mass distribution of a galaxy group at intermediate redshift.Comment: 12 pages including 3 figures; ApJL accepte

Gravitational Lensing by Power-Law Mass Distributions: A Fast and Exact Series Approach

We present an analytical formulation of gravitational lensing using familiar triaxial power-law mass distributions, where the 3-dimensional mass density is given by $\rho(X,Y,Z) = \rho_0 [1 + (\frac{X}{a})^2 + (\frac{Y}{b})^2 + (\frac{Z}{c})^2]^{-\nu/2}$. The deflection angle and magnification factor are obtained analytically as Fourier series. We give the exact expressions for the deflection angle and magnification factor. The formulae for the deflection angle and magnification factor given in this paper will be useful for numerical studies of observed lens systems. An application of our results to the Einstein Cross can be found in Chae, Turnshek, & Khersonsky (1998). Our series approach can be viewed as a user-friendly and efficient method to calculate lensing properties that is better than the more conventional approaches, e.g., numerical integrations, multipole expansions.Comment: 24 pages, 3 Postscript figures, ApJ in press (October 10th

New Modeling of the Lensing Galaxy and Cluster of Q0957+561: Implications for the Global Value of the Hubble Constant

The gravitational lens 0957+561 is modeled utilizing recent observations of the galaxy and the cluster as well as previous VLBI radio data which have been re-analyzed recently. The galaxy is modeled by a power-law elliptical mass density with a small core while the cluster is modeled by a non-singular power-law sphere as indicated by recent observations. Using all of the current available data, the best-fit model has a reduced chi-squared of approximately 6 where the chi-squared value is dominated by a small portion of the observational constraints used; this value of the reduced chi-squared is similar to that of the recent FGSE best-fit model by Barkana et al. However, the derived value of the Hubble constant is significantly different from the value derived from the FGSE model. We find that the value of the Hubble constant is given by H_0 = 69 +18/-12 (1-K) and 74 +18/-17 (1-K) km/s/Mpc with and without a constraint on the cluster's mass, respectively, where K is the convergence of the cluster at the position of the galaxy and the range for each value is defined by Delta chi-squared = reduced chi-squared. Presently, the best achievable fit for this system is not as good as for PG 1115+080, which also has recently been used to constrain the Hubble constant, and the degeneracy is large. Possibilities for improving the fit and reducing the degeneracy are discussed.Comment: 22 pages in aaspp style including 6 tables and 5 figures, ApJ in press (Nov. 1st issue

A determination of H_0 with the CLASS gravitational lens B1608+656: II. Mass models and the Hubble constant from lensing

EDITED FROM PAPER: We present mass models of the four-image gravitational lens system B1608+656. A mass model for the lens galaxies has been determined that reproduces the image positions, two out of three flux-density ratios and the model time delays. Using the time delays determined by Fassnacht et al. (1999a), we find that the best isothermal mass model gives H_0=59^{+7}_{-6} km/s/Mpc for Omega_m=1 and Omega_l=0.0, or H_0=(65-63)^{+7}_{-6} km/s/Mpc for Omega_m=0.3 and Omega_l = 0.0-0.7 (95.4% statistical confidence). A systematic error of +/-15 km/s/Mpc is estimated. This cosmological determination of H_0 agrees well with determinations from three other gravitational lens systems (i.e. B0218+357, Q0957+561 and PKS1830-211), SNe Ia, the S-Z effect and local determinations. The current agreement on H_0 from four out of five gravitational lens systems (i) emphasizes the reliability of its determination from isolated gravitational lens systems and (ii) suggests that a close-to-isothermal mass profile can describe disk galaxies, ellipticals and central cluster ellipticals. The average of H_0 from B0218+357, Q0957+561, B1608+656 and PKS1830-211, gives H_0(GL)=69 +/-7 km/s/Mpc for a flat universe with Omega_m=1 or H_0(GL)=74 +/-8 km/s/Mpc for Omega_m=0.3 and Omega_l=0.0-0.7. When including PG1115+080, these values decrease to 64 +/-11 km/s/Mpc and 68 +/-13 km/s/Mpc (2-sigma errors), respectively.Comment: Accepted for publication in ApJ. 34 pages, 4 figure