京都大学 / 0048 / 新制・課程博士 / 博士(工学) / 甲第21270号 / 工博第4498号 / 新制||工||1700(附属図書館) / 京都大学大学院工学研究科電子工学専攻 / (主査)教授 野田 進, 教授 藤田 静雄, 教授 川上 養一 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DGAM

The field of robotics has advanced to the point where robots are being developed for use in fire environments to perform firefighting tasks. These environments contain varying levels of fire and smoke, both of which obstruct robotic perception sensors. In order to effectively use robots in fire environments, the issue of perception in the presence of smoke and fire needs to be addressed. The goal of this research was to address the problem of perception, specifically rangefinding, in fire smoke environments. A series of tests were performed in fire smoke filled environments to evaluate the performance of different commercial rangefinders and cameras as well as a long-wavelength infrared (LWIR) stereo vision system developed in this research. The smoke was varied from dense, low temperature smoke to light, high temperature smoke for evaluation in a range of conditions. Through small-scale experiments on eleven different sensors, radar and LWIR cameras outperformed other perception sensors within both smoke environments. A LWIR stereo vision system was developed for rangefinding and compared to radar, LIDAR, and visual stereo vision in large-scale testing, demonstrating the ability of LWIR stereo vision to rangefind in dense smoke when LIDAR and visual stereo vision fail. LWIR stereo vision was further developed for improved rangefinding in fire environments. Intensity misalignment between cameras and stereo image filtering were addressed quantitatively. Tests were performed with approximately isothermal scenes and thermally diverse scenes to select subsystem methods. In addition, the effects of image filtering on feature distortion were assessed. Rangefinding improvements were quantified with comparisons to ground truth data. Improved perception in varying levels of clear and smoke conditions was developed through sensor fusion of LWIR stereo vision and a spinning LIDAR. The data were fused in a multi-resolution 3D voxel domain using evidential theory to model occupied and free space states. A heuristic method was presented to separate significantly attenuated LIDAR returns from low-attenuation returns. Sensor models were developed for both return types and LWIR stereo vision. The fusion system was tested in a range of conditions to demonstrate its ability for improved performance over individual sensor use in fire environments. / Ph. D.

Approved for public release; distribution in unlimited. / Silicon Blocked Impurity Band (BIB) detectors are highly efficient, radiation-hardened photodetectors that operate in the range of 5-40 æm. To further extend BIB coverage to 40-350 æm, Ge and GaAs BIB detectors are under development; however, these new detectors face fabrication issues that have delayed their introduction. This thesis will describe the use of a numerical model to examine alternate operating modes for GaAs BIB detectors in order to bypass current fabrication issues. The numerical simulations provide an understanding of the fundamental physics that governs detector transport. The proposed alternatives to standard operation are created by reversing the detector's bias and varying the blocking layer thickness. Modeling indicates that reversing the bias on these detectors provides a larger signal current than standard configurations, while preserving the principal benefits gained from a multilayered device. At the same time, the alternate bias configuration allows for the use of thicker blocking layers, while preserving overall detector responsivity and reducing shot noise. This proposed new model of operation should allow for the relaxation of fabrication constraints without sacrificing the inherent benefits associated with BIB detectors. These devices are of potential interest for missile defense and terahertz surveillance applications. / Lieutenant Commander, United States Navy

Thermography is a non-destructive technique which uses infrared radiation to obtain the temperature distribution of an object. The technique is increasingly used in the pulp and paper industry. To convert the detected infrared radiation to a temperature, the emittance of the material must be known. For several influencing parameters the emittance of paper and board has not previously been studied in detail. This is partly due to the lack of emittance measurement methods that allow for studying the influence of these parameters. An angle-resolved goniometric method for measuring the infrared emittance of a material was developed in this thesis. The method is based on the reference emitter methodology, and uses commercial infrared cameras to determine the emittance. The method was applied to study the dependence on wavelength range, temperature, observation angle, moisture ratio, sample composition, and sample structure of the emittance of paper and board samples. It was found that the emittance varied significantly with wavelength range, observation angle and moisture ratio. The emittance was significantly higher in the LWIR (Long-Wavelength Infrared) range than in the MWIR (Mid-Wavelength Infrared) range. The emittance was approximately constant up to an observation angle of 60° in the MWIR range and 70° in the LWIR range, respectively. After that it started to decrease. The emittance of moist samples was significantly higher than that of dry samples. The influence of moisture ratio on the emittance could be estimated based on the moisture ratio of the sample, and the emittance of pure water and dry material, respectively. The applicability of measured emittance values was demonstrated in an investigation of the mechanical properties of sack paper samples. An infrared camera was applied to monitor the generation of heat during a tensile test of a paper sample. It was found that the observed increase in thermal energy at the time of rupture corresponded well to the value of the elastic energy stored in the sample just prior to rupture. The measured emittance value provided an increased accuracy in the thermal energy calculation based on the infrared images. / <p>QC 20121121</p>

Les sources lasers à impulsions ultracourtes de forte puissance dans la région spectrale du proche à moyen infrarouge sont très demandées pour la physique des champs forts dans les atomes, les molécules et la matière condensée. D’après le modèle en trois étapes [1], l’énergie coupée des harmoniques élevées générées varie comme I×λ2. Cela favorise les longueurs d’onde plus longues pour générer des photons XUV plus énergétiques, et potentiellement des impulsions attosecondes plus courtes. Malheureusement, l’extension de l’énergie des photons se fait au prix d’une diminution de l’efficacité en λ−5,5 [2]. La disponibilité d’un système laser à haute cadence est un atout majeur pour palier aux problèmes d’efficacité et produire des flux de photons élevés. Même s’il existe quelques matériaux de gain laser adaptés à la génération d’impulsions femtoseconde intense dans la région spectrale infrarouge intermédiaire, l’amélioration globale du taux de répétition, de la durée et de la puissance des impulsions sont encore des défis [3, 4]. Ainsi, les systèmes paramétriques basés sur un mélange non linéaire à trois ondes sont une alternative intéressante pour générer les impulsions ultracourtes requises pour ce type d’expériences. Actuellement, les systèmes paramétriques à haute puissance dans l’infrarouge moyen ne peuvent pas atteindre les intensités requises pour générer des harmoniques dans le gaz. Cependant, ces sources sont des moteurs intéressants pour la génération d’harmonique (HHG) dans les solides, qui nécessitent des intensités sur cible plus faibles. Par ailleurs, les systèmes à haute énergie, mais à taux de répétition plus bas, sont capables de générer des impulsions suffisamment énergétiques pour les expériences HHG dans le gaz. Cependant, l’efficacité globale de ces sources est encore faible. En fonction de l’énergie harmonique requise, le rayonnement peut être généré efficacement par des lasers NIR post-comprimés.Cette thèse décrit le développement des sources MWIR et leurs applications en physique des champs forts. Nous avons choisi d’étudier des sources paramétriques pilotées par un laser à pompe CPA de puissance moyenne élevée et par un système laser à grande énergie Yb: CaF2. Les impulsions MWIR générées sont ensuite utilisées pour sonder l’interaction du matériau laser à travers HHG dans les solides et les gaz. / Ultrashort pulse light sources in the near- to mid-wavelength infrared spectral region are in high demand for strong field physics in atoms, molecules and condensed matter. According to the three step model [1], the energy cut off of generated high harmonics scales as I×λ2, which favors longer driving wavelengths in order to generate more energetic XUV photons, and potentially shorter attosecond, soft X-ray pulses. Unfortunately, photon energy extensionis at the cost of an efficiency drop scaling as λ−5.5 [2]. The availability of a high-repetitionrate laser system is paramount to mitigate the efficiency issues and still produce high photon fluxes. Even though there are only a few laser gain media suitable for intense femtosecond pulse generation in the mid-IR spectral region, the overall scalability of the pulse repetition rate, the duration and power are still a challenge [3, 4]. Thus, parametric systems based on a nonlinear three wave-mixing, are an attractive alternative to generate the required ultrashort pulses for those experiments. Currently high power middle infrared parametric systems can’t reach the required intensities to reliably drive high harmonic generation (HHG) in gas. However, these sources are attractive drivers for HHG in solids, which requires lower intensities on the target. On the other hand, high energy, but lower repetition rate systems arecapable of generating energetic pulses for HHG experiments in gas. However, the overall efficiency of those drivers is still low. Depending on the required harmonics energy, the XUV could be efficiently generated by post-compressed NIR lasers.This thesis describes the development of MWIR sources and their applications in strong field physics. We have chosen to investigate parametric sources driven by high average power fiber CPA pump laser and by high energy Yb:CaF2 bulk laser system. The generated MWIR few cycle pulses are then used to probe laser material interaction through HHG in solids and gas.

Photos captured in the shortwave infrared (SWIR) spectrum are interesting in military applications because they are independent of what time of day the pic- ture is captured because the sun, moon, stars and night glow illuminate the earth with short-wave infrared radiation constantly. A major problem with today’s SWIR cameras is that they are very expensive to produce and hence not broadly available either within the military or to civilians. Using a relatively new tech- nology called compressive sensing (CS), enables a new type of camera with only a single pixel sensor in the sensor (a SPC). This new type of camera only needs a fraction of measurements relative to the number of pixels to be reconstructed and reduces the cost of a short-wave infrared camera with a factor of 20. The camera uses a micromirror array (DMD) to select which mirrors (pixels) to be measured in the scene, thus creating an underdetermined linear equation system that can be solved using the techniques described in CS to reconstruct the im- age. Given the new technology, it is in the Swedish Defence Research Agency (FOI) interest to evaluate the potential of a single pixel camera. With a SPC ar- chitecture developed by FOI, the goal of this thesis was to develop methods for sampling, reconstructing images and evaluating their quality. This thesis shows that structured random matrices and fast transforms have to be used to enable high resolution images and speed up the process of reconstructing images signifi- cantly. The evaluation of the images could be done with standard measurements associated with camera evaluation and showed that the camera can reproduce high resolution images with relative high image quality in daylight.