Calibration of a Rotating Laser Range Finder using Intensity Features

© 2018 IEEE. This paper presents an algorithm for calibrating a '3D range sensor' constructed using a two-dimensional laser range finder (LRF), that is rotated about an axis using a motor to obtain a three-dimensional point cloud. The sensor assembly is modelled as a two degree of freedom open kinematic chain, with one joint corresponding to the axis of the internal mirror in the LRF and the other joint set along the axis of the motor used to rotate the body of the LRF. In the application described in this paper, the sensor unit is mounted on a robot arm used for infrastructure inspection. The objective of the calibration process is to obtain the coordinate transform required to compute the locations of the 3D points with respect to the robot coordinate frame. Proposed strategy uses observations of a set of markers arbitrarily placed in the environment. Distances between these markers are measured and a metric multidimensional scaling is used to obtain the coordinates of the markers with respect to a local coordinate frame. Intensity associated with each beam point of a laser scan is used to locate the reflective markers in the 3D point cloud and a least squares problem is formulated to compute the relationship between the robot coordinate frame, LRF coordinate frame and the marker coordinate frame. Results from experiments using the robot, LRF combination to map a cavity inside a steel bridge structure are presented to demonstrate the effectiveness of the calibration process

Informed finite element modelling for wire and arc additively manufactured metallics—a case study on modular building connections

The use of 3D printing in modular building connections is a novel and promising technique. However, the performance of 3D printed steel modular building connections has not been investigated adequately to date. Therefore, this paper presents a three-dimensional finite element model (FEM), using the multi-purpose software Abaqus, to study the effect of different geometrical and material parameters on the ultimate behaviour of modular building connections (herein named 3DMBC) using a wire and arc additive manufacturing (WAAM) method, as part of the UK’s 3DMBC (3D Modular Building Connections) project. The proposed model considers material and geometrical non-linearities, initial imperfections, and the contact between adjacent surfaces. The finite element results are compared with the currently available experimental results and validated to ensure developed FEM can be used to analyse the behaviour of 3DMBC with some adjustments. Case studies were investigated using the validated model to analyse the ultimate behaviour with different nominal and WAAM-produced materials under various loading arrangements. Based on the results, it is recommended to conservatively use the treated or untreated WAAM material properties obtained in θ = 90◦ print orientation in the finite element modelling of 3DMBCs considering the complex component arrangements and multi-directional loading in the modular connections. It is also noted that the thickness of beams and columns of fully 3D printed connections can be increased to achieve the same level of performance as traditional modular connections. For the 3DMBCs printed using untreated WAAM, the thickness increment was found to be 50% in this study

Climbing Robot for Steel Bridge Inspection: Design Challenges

Inspection of bridges often requires high risk operations such as working at heights, in confined spaces, in hazardous environments; or sites inaccessible by humans. There is significant motivation for robotic solutions which can carry out these inspection tasks. When inspection robots are deployed in real world inspection scenarios, it is inevitable that unforeseen challenges will be encountered. Since 2011, the New South Wales Roads & Maritime Services and the Centre of Excellence for Autonomous Systems at the University of Technology, Sydney, have been working together to develop an innovative climbing robot to inspect high risk locations on the Sydney Harbour Bridge. Many engineering challenges have been faced throughout the development of several prototype climbing robots, and through field trials in the archways of the Sydney Harbour Bridge. This paper will highlight some of the key challenges faced in designing a climbing robot for inspection, and then present an inchworm inspired robot which addresses many of these challenges

Monte-Carlo simulations of the recombination dynamics in porous silicon

A simple lattice model describing the recombination dynamics in visible light emitting porous Silicon is presented. In the model, each occupied lattice site represents a Si crystal of nanometer size. The disordered structure of porous Silicon is modeled by modified random percolation networks in two and three dimensions. Both correlated (excitons) and uncorrelated electron-hole pairs have been studied. Radiative and non-radiative processes as well as hopping between nearest neighbor occupied sites are taken into account. By means of extensive Monte-Carlo simulations, we show that the recombination dynamics in porous Silicon is due to a dispersive diffusion of excitons in a disordered arrangement of interconnected Si quantum dots. The simulated luminescence decay for the excitons shows a stretched exponential lineshape while for uncorrelated electron-hole pairs a power law decay is suggested. Our results successfully account for the recombination dynamics recently observed in the experiments. The present model is a prototype for a larger class of models describing diffusion of particles in a complex disordered system.Comment: 33 pages, RevTeX, 19 figures available on request to [email protected]

Electrochemical integration of graphene with light absorbing copper-based thin films

We present an electrochemical route for the integration of graphene with light sensitive copper-based alloys used in optoelectronic applications. Graphene grown using chemical vapor deposition (CVD) transferred to glass is found to be a robust substrate on which photoconductive Cu_{x}S films of 1-2 um thickness can be deposited. The effect of growth parameters on the morphology and photoconductivity of Cu_{x}S films is presented. Current-voltage characterization and photoconductivity decay experiments are performed with graphene as one contact and silver epoxy as the other

Dilemmas of Development and The Reconstruction of Fashion

Sustainable development by its nature appears elusive. It seems the more we try to capture and pin it down the more it moves away from us leading us into murkier waters and all manner of contradictions. No more is this felt than in the fashion industry where we are presented with a number of oppositions. The fashion cycle renders styles obsolete before they have worn out generating waste and over-consumptive practices. But it can also bring into the fore practices that have resonance to sustainable development in terms of their location, orientation and consideration for the environment. As studies emerge considering the detrimental environmental impacts of the manufacture and consumption of new clothes, second-hand clothes have become a focus for research endeavours considering how they can be reincorporated into the fashion system and have resonance to an ever ‘fashion’ hungry consumer. This chapter discusses methods for the processing of second-hand clothes into fashionable items and, by drawing on the wealth of ‘waste’ materials through reselling, restyling and remanufacturing, argues that ways of re-appropriating them into a more environmentally focused fashion industry is possible and necessary. It sets out as it hypothesis that the global fashion system has value in its transformative powers but that damaging and exploitative forces are still preventing it from being a force for good. This is due to the nature of the items being produced, the way they are manufactured and how they are ultimately consumed and disposed of

Provenance report regarding Singalees kanon of Lewuke’s kanon

Colonial and Global Histor

Humoral immune response to filarial antigens in chyluria

Humoral immune parameters like total immunoglobulins and specific antibody levels in serum were studied in filarial chyluria patients. Mean serum IgG was significantly reduced in this group compared to normal controls, while IgA and IgM levels remained comparable to controls. Anti-filarial antibody titre as measured by enzyme-linked immunosorbent assay also was significantly reduced. However, the total and specific IgE antibody titre was similar to that of controls. Specific IgE contents of the patients’ sera could be related to their microfilaraemic status

Progress in operational modeling in support of oil spill response

Following the 2010 Deepwater Horizon accident of a massive blow-out in the Gulf of Mexico, scientists from government, industry, and academia collaborated to advance oil spill modeling and share best practices in model algorithms, parameterizations, and application protocols. This synergy was greatly enhanced by research funded under the Gulf of Mexico Research Initiative (GoMRI), a 10-year enterprise that allowed unprecedented collection of observations and data products, novel experiments, and international collaborations that focused on the Gulf of Mexico, but resulted in the generation of scientific findings and tools of broader value. Operational oil spill modeling greatly benefited from research during the GoMRI decade. This paper provides a comprehensive synthesis of the related scientific advances, remaining challenges, and future outlook. Two main modeling components are discussed: Ocean circulation and oil spill models, to provide details on all attributes that contribute to the success and limitations of the integrated oil spill forecasts. These forecasts are discussed in tandem with uncertainty factors and methods to mitigate them. The paper focuses on operational aspects of oil spill modeling and forecasting, including examples of international operational center practices, observational needs, communication protocols, and promising new methodologies