Global ETD Search

1	Global Urban Localization Of An Outdoor Mobile Robot Using Satellite Images Dogruer, Can Ulas 01 February 2009 (has links) (PDF) In this dissertation, the mapping of outdoor environments and localization of a mobile robot in that setting is considered. It is well known that in the absence of a map or precise pose estimates, localization and mapping is a coupled problem. However, in this dissertation this problem is decoupled in to two disjoint steps / mapping and localization on the acquired map. First the images of the outdoor environment is downloaded from a website such as Google Earth and then these images are processed by utilizing several artificial neural network topologies to create maps. Once these maps are obtained, the localization is done by using Monte Carlo localization. This dissertation addresses a solution for the information which is most of the time taken for granted in most studies / a prior map of environment. Mapping is solved by using a novel approach / the map of the environment is created by processing satellite images. Several global localization techniques are developed and evaluated to be used with these map so as to localize a mobile robot globally. The outcome of this novel approach presented here may serve as a virtual GPS. Mobile phone applications can localize a user within a circle of uncertainty without GPS. This crude localization may be used to download relevant satellite images of the local environment. Once the mobile robot is localized on the map created from the satellite images by using available techniques in the literature i.e. Monte Carlo localization, it may be claimed that it is localized on Earth. TJ Mechanical Engineering. 1-1570
2	Microstructural and Mechanical Property Characterization of Laser Additive Manufactured (LAM) Rhenium January 2012 (has links) abstract: This report will review the mechanical and microstructural properties of the refractory element rhenium (Re) deposited using Laser Additive Manufacturing (LAM). With useable structural strength over 2200 °C, existing applications up to 2760 °C, very high strength, ductility and chemical resistance, interest in Re is understandable. This study includes data about tensile properties including tensile data up to 1925 °C, fracture modes, fatigue and microstructure including deformation systems and potential applications of that information. The bulk mechanical test data will be correlated with nanoindentation and crystallographic examination. LAM properties are compared to the existing properties found in the literature for other manufacturing processes. The literature indicates that Re has three significant slip systems but also twins as part of its deformation mechanisms. While it follows the hcp metal characteristics for deformation, it has interesting and valuable extremes such as high work hardening, potentially high strength, excellent wear resistance and superior elevated temperature strength. These characteristics are discussed in detail. / Dissertation/Thesis / Ph.D. Materials Science and Engineering 2012 Materials Science Engineering electron backscattered diffraction mechanical properties nanoindentation orientation image mapping refractory metal rhenium
3	Field Theoretic Lagrangian From Off-shell Supermultiplet Gauge Quotients Katona, Gregory 01 January 2013 (has links) Recent efforts to classify off-shell representations of supersymmetry without a central charge have focused upon directed, supermultiplet graphs of hypercubic topology known as Adinkras. These encodings of Super Poincare algebras, depict every generator of a chosen supersymmetry as a node-pair transformtion between fermionic bosonic component fields. This research thesis is a culmination of investigating novel diagrammatic sums of gauge-quotients by supersymmetric images of other Adinkras, and the correlated building of field theoretic worldline Lagrangians to accommodate both classical and quantum venues. We find Ref [40], that such gauge quotients do not yield other stand alone or "proper" Adinkras as afore sighted, nor can they be decomposed into supermultiplet sums, but are rather a connected "Adinkraic network". Their iteration, analogous to Weyl's construction for producing all finite-dimensional unitary representations in Lie algebras, sets off chains of algebraic paradigms in discrete-graph and continuous-field variables, the links of which feature distinct, supersymmetric Lagrangian templates. Collectively, these Adiankraic series air new symbolic genera for equation to phase moments in Feynman path integrals. Guided in this light, we proceed by constructing Lagrangians actions for the N = 3 supermultiplet YI /(iDI X) for I = 1, 2, 3, where YI and X are standard, Salam-Strathdee superfields: YI fermionic and X bosonic. The system, bilinear in the component fields exhibits a total of thirteen free parameters, seven of which specify Zeeman-like coupling to external background (magnetic) fluxes. All but special subsets of this parameter space describe aperiodic oscillatory responses, some of which are found to be surprisingly controlled by the golden ratio, [phi] = 1.61803, Ref [52]. It is further determined that these Lagrangians allow an N = 3 - > 4 supersymmetric extension to the Chiral-Chiral and Chiral-twistedChiral multiplet, while a subset admits two inequivalent such extensions. In a natural proiii gression, a continuum of observably and usefully inequivalent, finite-dimensional off-shell representations of worldline N = 4 extended supersymmetry are explored, that are variate from one another but in the value of a tuning parameter, Ref [53]. Their dynamics turns out to be nontrivial already when restricting to just bilinear Lagrangians. In particular, we find a 34-parameter family of bilinear Lagrangians that couple two differently tuned supermultiplets to each other and to external magnetic fluxes, where the explicit parameter dependence is unremovable by any field redefinition and is therefore observable. This offers the evaluation of X-phase sensitive, off-shell path integrals with promising correlations to group product decompositions and to deriving source emergences of higher-order background flux-forms on 2-dimensional manifolds, the stacks of which comprise space-time volumes. Application to nonlinear sigma models would naturally follow, having potential use in M- and F- string theories. Supersymmetry superspace supermultiplet adinkra automata adiankraic tensor product decomposition group theoretic lorentz group su(2) so(3) gauge quotient isomorphism surjective bijective image mapping indefinite adiankraic network sequence super poincare group haag lopuszanski sohnius theorem string theory m theory f theory nonlinear sigma model (numerical) algebraic geometry algebraic paradigms worldsheet worldsheet stacks supersymmetric lagrangians ansatz templates super potentials quantum mechanics field theory fermionic bosonic (super) zeeman background flux fields supergravity superfields young tableaux susy tableaux controlled chaos supercharge continuum chiral chiral twisted chiral Physics

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