Torsion system for creep testing with multiple stress reversals

Torsion system proves exploratory data on accelerated creep due to multiple stress reversals. Torsional testing of tubular specimens is best suited for reversed stress creep tests since large strains are obtainable while maintaining specimen geometry

Incremental spectral clustering and its application to topological mapping

This paper presents a novel use of spectral clustering algorithms to support cases where the entries in the affinity matrix are costly to compute. The method is incremental – the spectral clustering algorithm is applied to the affinity matrix after each row/column is added – which makes it possible to inspect the clusters as new data points are added. The method is well suited to the problem of appearance-based, on-line topological mapping for mobile robots. In this problem domain, we show that we can reduce environment-dependent parameters of the clustering algorithm to just a single, intuitive parameter. Experimental results in large outdoor and indoor environments show that we can close loops correctly by computing only a fraction of the entries in the affinity matrix. The accompanying video clip shows how an example map is produced by the algorithm

A minimalistic approach to appearance-based visual SLAM

This paper presents a vision-based approach to SLAM in indoor / outdoor environments with minimalistic sensing and computational requirements. The approach is based on a graph representation of robot poses, using a relaxation algorithm to obtain a globally consistent map. Each link corresponds to a relative measurement of the spatial relation between the two nodes it connects. The links describe the likelihood distribution of the relative pose as a Gaussian distribution. To estimate the covariance matrix for links obtained from an omni-directional vision sensor, a novel method is introduced based on the relative similarity of neighbouring images. This new method does not require determining distances to image features using multiple view geometry, for example. Combined indoor and outdoor experiments demonstrate that the approach can handle qualitatively different environments (without modification of the parameters), that it can cope with violations of the “flat floor assumption” to some degree, and that it scales well with increasing size of the environment, producing topologically correct and geometrically accurate maps at low computational cost. Further experiments demonstrate that the approach is also suitable for combining multiple overlapping maps, e.g. for solving the multi-robot SLAM problem with unknown initial poses

Improved data association and occlusion handling for vision-based people tracking by mobile robots

This paper presents an approach for tracking multiple persons using a combination of colour and thermal vision sensors on a mobile robot. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (classifying which one is in front of the other). Third, explicit occlusion handling is then incorporated into the tracker

On Oliver's p-group conjecture

Let S be a p-group for an odd prime p. Bob Oliver conjectures that a certain characteristic subgroup X(S) always contains the Thompson subgroup J(S). We obtain a reformulation of the conjecture as a statement about modular representations of p-groups. Using this we verify Oliver's conjecture for groups where S/X(S) has nilpotence class at most two.Comment: 9 pages; terminology altered to conform to current usag

Brückenschlag zwischen Hirnforschung und Psychologie : exemplarisch verknüpft Gerald Kreft Geschichte der Neurowissenschaften mit deutsch-jüdischer Historiographie

Rezension zu: Gerald Kreft : Deutsch-jüdische Geschichte und Hirnforschung. Ludwig Edingers Neurologisches Institut in Frankfurt am Main, Mabuse-Verlag, Frankfurt am Main, 2005, ISBN 3-935964-72-2, 469 Seiten, 44 Euro