Methods and strategies of object localization

An important property of an intelligent robot is to be able to determine the location of an object in 3-D space. A general object localization system structure is proposed, some important issues on localization discussed, and an overview given for current available object localization algorithms and systems. The algorithms reviewed are characterized by their feature extracting and matching strategies; the range finding methods; the types of locatable objects; and the mathematical formulating methods

Imaging and Nulling with the Space Interferometry Mission

We present numerical simulations for a possible synthesis imaging mode of the Space Interferometer Mission (SIM). We summarize the general techniques that SIM offers to perform imaging of high surface brightness sources, and discuss their strengths and weaknesses. We describe an interactive software package that is used to provide realistic, photometrically correct estimates of SIM performance for various classes of astronomical objects. In particular, we simulate the cases of gaseous disks around black holes in the nuclei of galaxies, and zodiacal dust disks around young stellar objects. Regarding the first, we show that a Keplerian velocity gradient of the line-emitting gaseous disk -- and thus the mass of the putative black hole -- can be determined with SIM to unprecedented accuracy in about 5 hours of integration time for objects with H_alpha surface brigthness comparable to the prototype M 87. Detections and observations of exo-zodiacal dust disks depend critically on the disk properties and the nulling capabilities of SIM. Systems with similar disk size and at least one tenth of the dust content of beta Pic can be detected by SIM at distances between 100 pc and a few kpc, if a nulling efficiency of 1/10000 is achieved. Possible inner clear regions indicative of the presence of massive planets can also be detected and imaged. On the other hand, exo-zodiacal disks with properties more similar to the solar system will not be found in reasonable integration times with SIM.Comment: 28 pages, incl. 8 postscript figures, excl. 10 gif-figures Submitted to Ap

Supersymmetric Vertex Models with Domain Wall Boundary Conditions

By means of the Drinfeld twists, we derive the determinant representations of the partition functions for the $gl(1|1)$ and $gl(2|1)$ supersymmetric vertex models with domain wall boundary conditions. In the homogenous limit, these determinants degenerate to simple functions.Comment: 19 pages, 4 figures, to be published in J. Math. Phy

Normal approximation under local dependence

We establish both uniform and nonuniform error bounds of the Berry-Esseen type in normal approximation under local dependence. These results are of an order close to the best possible if not best possible. They are more general or sharper than many existing ones in the literature. The proofs couple Stein's method with the concentration inequality approach.Comment: Published by the Institute of Mathematical Statistics (http://www.imstat.org) in the Annals of Probability (http://www.imstat.org/aop/) at http://dx.doi.org/10.1214/00911790400000045

Motor current signal analysis using a modified bispectrum for machine fault diagnosis

This paper presents the use of the induction motor current to identify and quantify common faults within a two-stage reciprocating compressor. The theoretical basis is studied to understand current signal characteristics when the motor undertakes a varying load under faulty conditions. Although conventional bispectrum representation of current signal allows the inclusion of phase information and the elimination of Gaussian noise, it produces unstable results due to random phase variation of the sideband components in the current signal. A modified bispectrum based on the amplitude modulation feature of the current signal is thus proposed to combine both lower sidebands and higher sidebands simultaneously and hence describe the current signal more accurately. Based on this new bispectrum a more effective diagnostic feature namely normalised bispectral peak is developed for fault classification. In association with the kurtosis of the raw current signal, the bispectrum feature gives rise to reliable fault classification results. In particular, the low feature values can differentiate the belt looseness from other fault cases and discharge valve leakage and intercooler leakage can be separated easily using two linear classifiers. This work provides a novel approach to the analysis of stator current for the diagnosis of motor drive faults from downstream driving equipment

The Occurrence Rate of Earth Analog Planets Orbiting Sunlike Stars

Kepler is a space telescope that searches Sun-like stars for planets. Its major goal is to determine {\eta}_Earth, the fraction of Sunlike stars that have planets like Earth. When a planet 'transits' or moves in front of a star, Kepler can measure the concomitant dimming of the starlight. From analysis of the first four months of those measurements for over 150,000 stars, Kepler's science team has determined sizes, surface temperatures, orbit sizes and periods for over a thousand new planet candidates. In this paper, we characterize the period probability distribution function of the super-Earth and Neptune planet candidates with periods up to 132 days, and find three distinct period regimes. For candidates with periods below 3 days the density increases sharply with increasing period; for periods between 3 and 30 days the density rises more gradually with increasing period, and for periods longer than 30 days, the density drops gradually with increasing period. We estimate that 1% to 3% of stars like the Sun are expected to have Earth analog planets, based on the Kepler data release of Feb 2011. This estimate of is based on extrapolation from a fiducial subsample of the Kepler planet candidates that we chose to be nominally 'complete' (i.e., no missed detections) to the realm of the Earth-like planets, by means of simple power law models. The accuracy of the extrapolation will improve as more data from the Kepler mission is folded in. Accurate knowledge of {\eta}_Earth is essential for the planning of future missions that will image and take spectra of Earthlike planets. Our result that Earths are relatively scarce means that a substantial effort will be needed to identify suitable target stars prior to these future missions.Comment: Accepted for publication in the Astrophysical Journal. 19 pages, 8 figures. Minor text revisions, as requested by the scientific editor. Included an additional figure. No changes in the scientific result

Gearbox fault diagnosis under different operating conditions based on time synchronous average and ensemble empirical mode decomposition

In this paper, a new method is proposed by combining ensemble empirical mode decomposition (EEMD) with order tracking techniques to analyse the vibration signals from a two stage helical gearbox. The method improves EEMD results in that it overcomes the potential deficiencies and achieves better order spectrum representation for fault diagnosis. Based on the analysis, a diagnostic feature is designed based on the order spectra of extracted IFMs for detection and separation of gearbox faults. Experimental results show this feature is sensitive to different fault severities and robust to the influences from operating conditions and remote sensor locations