KemptenCity - Semantic Segmentation of Urban Areas for Simulation

Autonomous driving and traffic flow simulation requires a realistic and accurate representation of the environment. Therefore, this research focuses on the semantic segmentation of aerial images for simulation purposes. Initially, a dataset was created based on true orthophotos from 2019 and Kempten’s street cadaster, with true orthophotos being fully rectified aerial images. The chosen classes were oriented towards the subsequent conversion and usage in simulation. The proposed labeling workflow used cadaster data and demonstrated significant time efficiency compared to state-of-the-art datasets. Subsequently, a neural network was implemented that was trained and tested on the dataset. In addition, the network was also trained only on the lane markings to compare the network’s performance. Both cases demonstrated excellent segmentation results. The generalizability was then tested on true orthophotos from 2021. The results indicated a solid generalizability, but still needs to be improved. Finally, the aerial information was converted into a 3D environment, that can be used in simulations. Our results confirm the usage of aerial imagery and street cadaster data as a basis for the simulations

A Landmark Selection Method for Object-Based Visual Outdoor Localization Approaches of Automated Ground Vehicles

Autonomous vehicles must navigate independently in an outdoor environment using features or objects. However, some objects may be more or less suitable for localization due to their attributes. Therefore, this work investigates the suitability of landmarks for camera- and object-based outdoor localization methods. First, object attributes are methodically derived from the requirements of object-based localization. The physical representation on the camera image plane, probability of occurrence, and persistence were identified as influencing the object localization suitability. The influence of the object’s camera image plane representation regarding object recognition algorithms is not considered or discussed, but advice on the minimum object pixel size is provided. The first milestone was the creation of an equation for object localization suitability calculation by normalizing and multiplying the identified attributes. Simultaneously, potential objects from the outdoor environment were identified, resulting in a structured object catalog. The results of the equation and catalog are a ranked according to the object localization suitability in a comparison table. Our comparison demonstrates that objects such as buildings or trees are more suitable than street lane markings for self-localization. However, most current datasets do not include the proposed instantiated objects. The paper addresses this issue, assists in the object selection for outdoor localization methods and provides input for the creation of future-oriented datasets and autonomous driving maps

Inter- and Intragranular Effects in Superconducting Compacted Platinum Powders

Compacted platinum powders exhibit a sharp onset of diamagnetic screening at $T \simeq 1.9$ mK in zero magnetic field in all samples investigated. This sharp onset is interpreted in terms of the intragranular transition into the superconducting state. At lower temperatures, the magnetic ac susceptibility strongly depends on the ac field amplitude and reflects the small intergranular critical current density $j_{c}$. This critical current density shows a strong dependence on the packing fraction f of the granular samples. Surprisingly, $j_{c}$ increases significantly with decreasing f ($j_{c}(B=0, T=0) \simeq 0.07$ A/cm$^{2}$ for f = 0.67 and $j_{c}(B=0, T=0) \simeq 0.8$ A/cm$^{2}$ for f = 0.50). The temperature dependence of $j_{c}$ shows strong positive curvature over a wide temperature range for both samples. The phase diagrams of inter- and intragranular superconductivity for different samples indicate that the granular structure might play the key role for an understanding of the origin of superconductivity in the platinum compacts.Comment: 11 pages including 9 figures. To appear in Phys. Rev. B in Nov. 0

Superconducting properties of Nb thin films deposited on porous silicon templates

Porous silicon, obtained by electrochemical etching, has been used as a substrate for the growth of nanoperforated Nb thin films. The films, deposited by UHV magnetron sputtering on the porous Si substrates, inherited their structure made of holes of 5 or 10 nm diameter and of 10 to 40 nm spacing, which provide an artificial pinning structure. The superconducting properties were investigated by transport measurements performed in the presence of magnetic field for different film thickness and substrates with different interpore spacing. Perpendicular upper critical fields measurements present peculiar features such as a change in the H_c2(T) curvature and oscillations in the field dependence of the superconducting resistive transition width at H=1 Tesla. This field value is much higher than typical matching fields in perforated superconductors, as a consequence of the small interpore distance.Comment: accepted for publication on Journal of Applied Physic

Origin of complex crystal structures of elements at pressure

We present a unifying theory for the observed complex structures of the sp-bonded elements under pressure based on nearly free electron picture (NFE). In the intermediate pressure regime the dominant contribution to crystal structure arises from Fermi-surface Brillouin zone (FSBZ) interactions - structures which allow this are favoured. This simple theory explains the observed crystal structures, transport properties, the evolution of internal and unit cell parameters with pressure. We illustrate it with experimental data for these elements and ab initio calculation for Li.Comment: 4 pages 5 figure

Spectroscopic evidence for an all-ferrous [4Fe–4S]0 cluster in the superreduced activator of 2-hydroxyglutaryl-CoA dehydratase from Acidaminococcus fermentans

The key enzyme of the fermentation of glutamate by Acidaminococcus fermentans, 2-hydroxyglutarylcoenzyme A dehydratase, catalyzes the reversible syn-elimination of water from (R)-2-hydroxyglutaryl-coenzyme A, resulting in (E)-glutaconylcoenzyme A. The dehydratase system consists of two oxygen-sensitive protein components, the activator (HgdC) and the actual dehydratase (HgdAB). Previous biochemical and spectroscopic studies revealed that the reduced [4Fe–4S]+ cluster containing activator transfers one electron to the dehydratase driven by ATP hydrolysis, which activates the enzyme. With a tenfold excess of titanium(III) citrate at pH 8.0 the activator can be further reduced, yielding about 50% of a superreduced [4Fe–4S]0 cluster in the all-ferrous state. This is inferred from the appearance of a new Mössbauer spectrum with parameters δ = 0.65 mm/s and ΔEQ = 1.51–2.19 mm/s at 140 K, which are typical of Fe(II)S4 sites. Parallel-mode electron paramagnetic resonance (EPR) spectroscopy performed at temperatures between 3 and 20 K showed two sharp signals at g = 16 and 12, indicating an integer-spin system. The X-band EPR spectra and magnetic Mössbauer spectra could be consistently simulated by adopting a total spin St = 4 for the all-ferrous cluster with weak zero-field splitting parameters D = −0.66 cm−1 and E/D = 0.17. The superreduced cluster has apparent spectroscopic similarities with the corresponding [4Fe–4S]0 cluster described for the nitrogenase Fe-protein, but in detail their properties differ. While the all-ferrous Fe-protein is capable of transferring electrons to the MoFe-protein for dinitrogen reduction, a similar physiological role is elusive for the superreduced activator. This finding supports our model that only one-electron transfer steps are involved in dehydratase catalysis. Nevertheless we discuss a common basic mechanism of the two diverse systems, which are so far the only described examples of the all-ferrous [4Fe–4S]0 cluster found in biology

Effect of granularity on the insulator-superconductor transition in ultrathin Bi films

We have studied the insulator-superconductor transition (IST) by tuning the thickness in quench-condensed $Bi$ films. The resistive transitions of the superconducting films are smooth and can be considered to represent "homogeneous" films. The observation of an IST very close to the quantum resistance for pairs, $R_{\Box}^N \sim h/4e^2$ on several substrates supports this idea. The relevant length scales here are the localization length, and the coherence length. However, at the transition, the localization length is much higher than the superconducting coherence length, contrary to expectation for a "homogeneous" transition. This suggests the invalidity of a purely fermionic model for the transition. Furthermore, the current-voltage characteristics of the superconducting films are hysteretic, and show the films to be granular. The relevant energy scales here are the Josephson coupling energy and the charging energy. However, Josephson coupling energies ($E_J$) and the charging energies ($E_c$) at the IST, they are found to obey the relation $E_J < E_c$. This is again contrary to expectation, for the IST in a granular or inhomogeneous, system. Hence, a purely bosonic picture of the transition is also inconsistent with our observations. We conclude that the IST observed in our experiments may be either an intermediate case between the fermioinc and bosonic mechanisms, or in a regime of charge and vortex dynamics for which a quantitative analysis has not yet been done.Comment: accepted in Physical Review

Possible robust insulator-superconductor transition on solid inert gas and other substrates

We present observations of the insulator-superconductor transition in ultrathin films of Bi on amorphous quartz, quartz coated with Ge, and for the first time, solid xenon condensed on quartz. The relative permeability $\epsilon_r$ ranges from 1.5 for Xe to 15 for Ge. Though we find screening effects as expected, the I-S transition is robust, and unmodified by the substrate. The resistance separatrix is found to be close to h/4e^2 and the crossover thickness close to $\rm 25 \AA$ for all substrates. I-V studies and Aslamazov-Larkin analyses indicate superconductivity is inhomogeneous. The transition can be understood in terms of a percolation model.Comment: accepted in Physical Review