GNSS/LiDAR-Based Navigation of an Aerial Robot in Sparse Forests

Autonomous navigation of unmanned vehicles in forests is a challenging task. In such environments, due to the canopies of the trees, information from Global Navigation Satellite Systems (GNSS) can be degraded or even unavailable. Also, because of the large number of obstacles, a previous detailed map of the environment is not practical. In this paper, we solve the complete navigation problem of an aerial robot in a sparse forest, where there is enough space for the flight and the GNSS signals can be sporadically detected. For localization, we propose a state estimator that merges information from GNSS, Attitude and Heading Reference Systems (AHRS), and odometry based on Light Detection and Ranging (LiDAR) sensors. In our LiDAR-based odometry solution, the trunks of the trees are used in a feature-based scan matching algorithm to estimate the relative movement of the vehicle. Our method employs a robust adaptive fusion algorithm based on the unscented Kalman filter. For motion control, we adopt a strategy that integrates a vector field, used to impose the main direction of the movement for the robot, with an optimal probabilistic planner, which is responsible for obstacle avoidance. Experiments with a quadrotor equipped with a planar LiDAR in an actual forest environment is used to illustrate the effectiveness of our approach

Search for direct production of charginos and neutralinos in events with three leptons and missing transverse momentum in √s = 7 TeV pp collisions with the ATLAS detector

A search for the direct production of charginos and neutralinos in final states with three electrons or muons and missing transverse momentum is presented. The analysis is based on 4.7 fb−1 of proton–proton collision data delivered by the Large Hadron Collider and recorded with the ATLAS detector. Observations are consistent with Standard Model expectations in three signal regions that are either depleted or enriched in Z-boson decays. Upper limits at 95% confidence level are set in R-parity conserving phenomenological minimal supersymmetric models and in simplified models, significantly extending previous results

Jet size dependence of single jet suppression in lead-lead collisions at sqrt(s(NN)) = 2.76 TeV with the ATLAS detector at the LHC

Measurements of inclusive jet suppression in heavy ion collisions at the LHC provide direct sensitivity to the physics of jet quenching. In a sample of lead-lead collisions at sqrt(s) = 2.76 TeV corresponding to an integrated luminosity of approximately 7 inverse microbarns, ATLAS has measured jets with a calorimeter over the pseudorapidity interval |eta| < 2.1 and over the transverse momentum range 38 < pT < 210 GeV. Jets were reconstructed using the anti-kt algorithm with values for the distance parameter that determines the nominal jet radius of R = 0.2, 0.3, 0.4 and 0.5. The centrality dependence of the jet yield is characterized by the jet "central-to-peripheral ratio," Rcp. Jet production is found to be suppressed by approximately a factor of two in the 10% most central collisions relative to peripheral collisions. Rcp varies smoothly with centrality as characterized by the number of participating nucleons. The observed suppression is only weakly dependent on jet radius and transverse momentum. These results provide the first direct measurement of inclusive jet suppression in heavy ion collisions and complement previous measurements of dijet transverse energy imbalance at the LHC.Comment: 15 pages plus author list (30 pages total), 8 figures, 2 tables, submitted to Physics Letters B. All figures including auxiliary figures are available at http://atlas.web.cern.ch/Atlas/GROUPS/PHYSICS/PAPERS/HION-2011-02

Tectonic evolution of the southern margin of the Amazonian craton in the late Mesoproterozoic based on field relationships and zircon U-Pb geochronology

New U-Pb zircon geochronological data integrated with field relationships and an airborne geophysical survey suggest that the Nova Brasilândia and Aguapeí belts are part of the same monocyclic, metaigneous and metasedimentary belt formed in the late Mesoproterozoic (1150 Ma-1110 Ma). This geological history is very similar to the within-plate origin of the Sunsás belt, in eastern Bolivia. Thus, we propose that the Nova Brasilândia, Aguapeí and Sunsás belts represent a unique geotectonic unit (here termed the Western Amazon belt) that became amalgamated at the end of the Mesoproterozoic and originated through the reactivation of a paleo-suture (Guaporé suture zone) in an intracontinental rift environment. Therefore, its geological history involves a short, complete Wilson cycle of ca. 40 Ma. Globally, this tectonic evolution may be related with the final breakup of the supercontinent Columbia. Mafic rocks and trondhjemites in the northernmost portion of the belt yielded U-Pb zircon ages ca. 1110 Ma, which dates the high-grade metamorphism and the closure of the rift. This indicates that the breakup of supercontinent Columbia was followed in short sequence by the assembly of supercontinent Rodinia at ca. 1.1-1.0 Ga and that the Western Amazon belt was formed during the accretion of the Arequipa-Antofalla basement to the Amazonian craton

Measurement of the cross section of high transverse momentum Z→bb̄ production in proton–proton collisions at √s = 8 TeV with the ATLAS detector

This Letter reports the observation of a high transverse momentum Z→bb̄ signal in proton–proton collisions at √s=8 TeV and the measurement of its production cross section. The data analysed were collected in 2012 with the ATLAS detector at the LHC and correspond to an integrated luminosity of 19.5 fb−¹. The Z→bb̄ decay is reconstructed from a pair of b -tagged jets, clustered with the anti-ktkt jet algorithm with R=0.4R=0.4, that have low angular separation and form a dijet with pT>200 GeVpT>200 GeV. The signal yield is extracted from a fit to the dijet invariant mass distribution, with the dominant, multi-jet background mass shape estimated by employing a fully data-driven technique that reduces the dependence of the analysis on simulation. The fiducial cross section is determined to be σZ→bb¯fid=2.02±0.20 (stat.) ±0.25 (syst.)±0.06 (lumi.) pb=2.02±0.33 pb, in good agreement with next-to-leading-order theoretical predictions

Measurement of the branching ratio Γ(Λb⁰ → ψ(2S)Λ0)/Γ(Λb⁰ → J/ψΛ0) with the ATLAS detector

An observation of the $\Lambda_b^0 \rightarrow \psi(2S) \Lambda^0$ decay and a comparison of its branching fraction with that of the $\Lambda_b^0 \rightarrow J/\psi \Lambda^0$ decay has been made with the ATLAS detector in proton--proton collisions at $\sqrt{s}=8\,$TeV at the LHC using an integrated luminosity of $20.6\,$fb$^{-1}$. The $J/\psi$ and $\psi(2S)$ mesons are reconstructed in their decays to a muon pair, while the $\Lambda^0\rightarrow p\pi^-$ decay is exploited for the $\Lambda^0$ baryon reconstruction. The $\Lambda_b^0$ baryons are reconstructed with transverse momentum $p_{\rm T}>10\,$GeV and pseudorapidity $|\eta|<2.1$. The measured branching ratio of the $\Lambda_b^0 \rightarrow \psi(2S) \Lambda^0$ and $\Lambda_b^0 \rightarrow J/\psi \Lambda^0$ decays is $\Gamma(\Lambda_b^0 \rightarrow \psi(2S)\Lambda^0)/\Gamma(\Lambda_b^0 \rightarrow J/\psi\Lambda^0) = 0.501\pm 0.033 ({\rm stat})\pm 0.019({\rm syst})$, lower than the expectation from the covariant quark model.Comment: 12 pages plus author list (28 pages total), 5 figures, 1 table, published on Physics Letters B 751 (2015) 63-80. All figures are available at https://atlas.web.cern.ch/Atlas/GROUPS/PHYSICS/PAPERS/BPHY-2013-08