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Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations. 相似文献
3.
Kazuaki Katagiri Shinya Honda Sayaka Minami Daiki Kimu Shimpei Yamaguchi Takuya Ehiro 《先进材料力学与结构力学》2020,27(18):1541-1550
Abstract The I-shaped cross-sectional beam of CFRP (CFRP I-beam) is usually manufactured by the continuous protrusion method. Carbon fibers can only be arranged in the longitudinal direction. The CFRP I-beam with arbitrary arrangement of carbon fiber was manufactured with applying the electro-activated deposition molding method. The carbon fiber fabric was immersed in the deposition solution and energized, epoxy resin precipitated around carbon fiber and impregnated. The resin-impregnated fabric was installed to the mold, and the CFRP I-beam was fabricated. The CFRP I-beam was subjected to three-point bending tests, and the relationship between load-deflection was simulated by finite-element analysis. 相似文献
4.
Masami Ikeda Susumu Fukumoto Hiroshi Takao Shinya Ohtsuka Eiichi Haginomori Masayuki Hikita 《Electrical Engineering in Japan》2002,141(4):16-24
This paper describes the dielectric breakdown characteristics of oil and oil‐impregnated paper for very fast transient (VFT) voltages. Blumlein circuits generate VFT voltages of 60 and 300 ns in a pulse width that simulates disconnecting switching surges in gas‐insulated switch gears. We measured the breakdown voltages of needle‐to‐plane, plane‐to‐plane oil gaps and several pieces of paper between plane electrodes for VFT and lightning impulse voltages. The measured data were formulated in V‐t characteristics and Weibull probability distributions. The inclination n of V‐t characteristics of insulating paper is 150, which is less than n = 13.7 of the plane‐to‐plane oil gap in the VFT time range. The shape parameters of Weibull distribution obtained in this study show that the scattering of breakdown voltages of paper is much less than that of oil. © 2002 Wiley Periodicals, Inc. Electr Eng Jpn, 141(4): 16–24, 2002; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10043 相似文献
5.
Shinya Yamakawa Shela Aboud Marco Saraniti Stephen M. Goodnick 《Journal of Computational Electronics》2003,2(2-4):481-485
A fast full-band device simulator for wurtzite and zincblende GaN using a Cellular Monte Carlo (CMC) approach is reported for wurtzite and zincblende GaN. The full-phonon dispersion relationship including anisotropic polar-optical phonon scattering is taken into account for the wurtzite GaN calculation. In the bulk simulation, the CMC model is about 30–100 times faster than the conventional Ensemble Monte Carlo model at high electric field region. This CMC model is applied to the simulator of MESFET devices, and the calculation speed is significantly improved. 相似文献
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For asphaltene obtained from vacuum residue of Khafji crude oil, the energy-minimum conformation calculated by molecular mechanics-dynamics simulations showed that aggregated structures of asphaltene molecules through noncovalent interactions are more stable. Changes induced in aggregated structures by pretreatment with solvents were investigated using molecular dynamics calculations. The simulation showed that in quinolin at 573 K, some staking interactions could be disrupted, while, in 1-methylnaphthalene it was not observed. Autoclave experiments showed that the coke yield after pyrolysis at 713 K was decreased when the asphaltene was pretreated with quinoline at 573 K for 1 h, compared to the yield without the pretreatment. While, in the case of pretreatment in 1-methylnaphthalene, the coke yield did not change significantly. The simulation's results above can be related to the difference in coke yield between two solvents; in quinoline some aromatic-aromatic stacking interactions could be disrupted and mobility of molecules was increased. This resulted in prevention of the asphaltenes from polymerizing, as in condensation reactions among aromatic rings. Consequently, the coke yield after the pretreatment with quinoline was decreased. 相似文献
8.
A different newly designed cationic exchange polymer membrane and anionic exchange polymer membrane were introduced, and also the transport properties of these polymeric membranes were investigated in this study. The transport properties of these polymer membranes in contact with ferrocene redox derivatives were estimated by using electrochemical techniques such as cyclicvoltammetry, chronopotentiometry, and chronoamperometry techniques, respectively. The used ferrocene redox substances, which have different functional groups, were (Ferrocenylmethyl) trimethylamonium iodide, FcMA, Ferrocenedimethanol, FcDM, and Ferrocene carboxylic acid, FcCA. It indicated that the performance of a membrane depended on the content of polymer gel, anionic exchange polymer site (20 wt % and 50 wt %) or cationic polymer exchange site (20 wt % and 50 wt %), and the efficiency of the functional groups of cationic and anionic exchange polymer site as well. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci, 2008 相似文献
9.
Recently, progress has been made in the Generalized Multi-Protocol Label Switching (GMPLS) and Automatic Switched Optical
Networks (ASON) standardizations. These technologies realize construction of large-scaled optical networks, interconnections
among single-domain Wavelength Division Multiplexing (WDM) networks, and direct communication over multi-domain WDM networks.
Meanwhile, it is known that the topology of the Internet exhibits the power-law attribute. Since the topology of the Internet,
which is constructed by interconnecting ASs, exhibits the power-law, there is a possibility that large-scale WDM networks,
which are constructed by interconnecting WDM networks, will also exhibit the power-law attribute. One of the structural properties
of a topology that adheres to the power-law is that most nodes have just a few links, although some have a tremendous number
of them. Another property is that the average distance between nodes is smaller than in a mesh-like network. A natural question
is how such a structural property performs in WDM networks. In this paper, we first investigate the property of the power-law
attribute of physical topologies for WDM networks. We compare the performance of WDM networks with mesh-like and power-law
topologies, and show that links connected to high-degree nodes are bottlenecks in power-law topologies. To relax this, we
introduce a concept of virtual fiber, which consists of two or more fibers, and propose its configuration method to utilize
wavelength resources more effectively. We compare performances of power-law networks with and without our method by computer
simulations. The results show that our method reduces the blocking probabilities by more than one order of magnitude. 相似文献
10.
Crack extension behavior and fracture toughness of ductile cast iron were examined by three-point bend tests, where various
detection methods of crack initiation under static and dynamic loading conditions were adopted. Loading on the specimens was
interrupted at various displacement points, and the final fracture surfaces of the specimen were observed via scanning electron
microscopy (SEM). Crack-tip opening displacement (CTOD) obtained under the dynamic loading condition was smaller than that
under the static loading condition in ferritic ductile cast iron, and CTOD additionally decreased with increasing pearlite
content in the matrix. The relationship between J (ΔC) obtained by the compliance changing rate method and J(R) established
by the intersection of the crack extension resistance curve and the theoretical blunting line varied with pearlite content.
The average value of .J(ΔC) and J(R), that is J (mid), was proposed to define the fracture toughness of ductile cast iron;
J (mid) was considered to be a reasonable measure for the fracture toughness of ductile cast iron, irrespective of loading
condition and the pearlite content in the matrix. 相似文献