12 research outputs found

    6D Pose Uncertainty in Robotic Perception

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    Expressing Crystallographic Textures through the Orientation Distribution Function: Conversion between the Generalized Spherical Harmonic and Hyperspherical Harmonic Expansions

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    In the analysis of crystallographic texture, the orientation distribution function (ODF) of the grains is generally expressed as a linear combination of the generalized spherical harmonics. Recently, an alternative expansion of the ODF, as a linear combination of the hyperspherical harmonics, has been proposed, with the advantage that this is a function of the angles that directly describe the axis and angle of each grain rotation, rather than of the Euler angles. This article provides the formulas required to convert between the generalized spherical harmonics and the hyperspherical harmonics, and between the coefficients appearing in their respective expansions of the ODF. A short discussion of the phase conventions surrounding these expansions is also presented.National Science Foundation (U.S.) (contract DMR- 0346848)National Science Foundation (U.S.) (contract DMR-0855402

    Théorie géométriquement exacte des coques en rotations finies et son implantation éléments finis

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    Made to Fit: How Practices Vary As They Diffuse

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    We extend research on the diffusion of corporate practices by providing a framework for studying practice variation during diffusion processes. Specifically, we theorize about how population-level mechanisms of diffusion link with organization-level mechanisms of implementation that lead to the adaptation of practices. We also identify technical, cultural, and political elements of fit (or misfit) between diffusing practices and adopters and analyze how the process of attaining fit across these elements can trigger different patterns of adaptation

    Constitutive and geometric nonlinear models for the seismic analysis of RC structures with energy dissipators

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    Nowadays, the use of energy dissipating devices to improve the seismic response of RC structures constitutes a mature branch of the innovative procedures in earthquake engineering. However, even though the benefits derived from this technique are well known and widely accepted, the numerical methods for the simulation of the nonlinear seismic response of RC structures with passive control devices is a field in which new developments are continuously preformed both in computational mechanics and earthquake engineering. In this work, a state of the art of the advanced models for the numerical simulation of the nonlinear dynamic response of RC structures with passive energy dissipating devices subjected to seismic loading is made. The most commonly used passive energy dissipating devices are described, together with their dissipative mechanisms as well as with the numerical procedures used in modeling RC structures provided with such devices. The most important approaches for the formulation of beam models for RC structures are reviewed, with emphasis on the theory and numerics of formulations that consider both geometric and constitutive sources on nonlinearity. In the same manner, a more complete treatment is given to the constitutive nonlinearity in the context of fiber-like approaches including the corresponding cross sectional analysis. Special attention is paid to the use of damage indices able of estimating the remaining load carrying capacity of structures after a seismic action. Finally, nonlinear constitutive and geometric formulations for RC beam elements are examined, together with energy dissipating devices formulated as simpler beams with adequate constitutive laws. Numerical examples allow to illustrate the capacities of the presented formulations.Postprint (published version
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