Planar-Based Visual Inertial Navigation: Observability Analysis and Motion Estimation

In this paper, we address the problem of ego-motion estimation by fusing visual and inertial information. The hardware consists of an inertial measurement unit (IMU) and a monocular camera. The camera provides visual observations in the form of features on a horizontal plane. Exploiting the geometric constraint of features on the plane into visual and inertial data, we propose a novel closed form measurement model for this system. Our first contribution in this paper is an observability analysis of the proposed planar-based visual inertial navigation system (VINS). In particular, we prove that the system has only three unobservable states corresponding to global translations parallel to the plane, and rotation around the gravity vector. Hence, compared to general VINS, an advantage of using features on the horizontal plane is that the vertical translation along the normal of the plane becomes observable. As the second contribution, we present a state-space formulation for the pose estimation in the analyzed system and solve it via a modified unscented Kalman filter (UKF). Finally, the findings of the theoretical analysis and 6-DoF motion estimation are validated by simulations as well as using experimental data.     

Comparative Analysis of Ti,Ni,and Au Electrodes on Characteristics of TiO2 Nanofibers for Humidity Sensor Application

The effect of metal（Ti,Ni,and Au） electrodes on humidity sensing properties of electrospun TiO₂ nanofibers was investigated in this work.The devices were fabricated by evaporating metal contacts on SiO₂ layer thermally grown on silicon substrate.The separation between the electrodes was 90μm for all sensors.The sensors were tested from 40%to 90%relative humidity（RH） by AC electrical characterization at room temperature. When sensors are switched between 40%and 90%RH,the corresponding response and recovery time are 3 s and 5 s for Ti-electrode sensor,4 s and 7 s for Ni-electrode sensor,and 7 s and 13 s for Au-electrode sensor.The hysteresis was 3%,5%and 15%for Ti-,Ni-,and Au-electrode sensor,respectively.The sensitivity of Ti,Ni,and Au-electrode sensors are 7.53 MΩ/%RH,5.29 MΩ/%RH and 4.01 MΩ/%RH respectively at 100 Hz.Therefore Ti-electrode sensor is found to have linear response,fast response and recovery time and higher sensitivity as compared with those of Ni- and Au-electrode sensors.Comparison of humidity sensing properties of sensors with different electrode material may propose a compelling route for designing and optimizing humidity sensors.     

Ilmenite with addition of NiO as oxygen carrier for chemical-looping combustion

The naturally occurring mineral ilmenite, FeTiO₃, has been examined as oxygen carrier for chemical-looping combustion. NiO-based particles have been used as an additive, in order to examine if it is possible to utilize the catalytic properties of metallic Ni to facilitate decomposition of hydrocarbons into more reactive combustion intermediates such as CO and H₂. Firstly, ilmenite was examined by oxidation and reduction experiments in a batch fluidized-bed reactor. These experiments indicated moderate reactivity between ilmenite and CH₄, which was used as reducing gas. However, adding 5 wt.% of NiO-based particles to the ilmenite improved the conversion of CH₄ greatly, resulting in an increase in combustion efficiency with a factor of 3. Secondly, 83 h of chemical-looping combustion experiments were conducted in a small circulating fluidized-bed reactor, using ilmenite as oxygen carrier and natural gas as fuel. A wide range of process parameters and different levels of NiO addition were examined. Occasionally, there were problems with the circulation of solids between the air reactor and fuel reactor, but most of the time the experiments worked well. The products were mostly CO₂, H₂O and unconverted CH₄. Adding small amounts of NiO-based particles to the reactor increased the conversion of the fuel considerably. For the base case conducted at 900°, the combustion efficiency was 76% for pure ilmenite and 90% for the corresponding experiments with 1 wt.% NiO-based particles added to the reactor. The properties of ilmenite were found to change considerably during operation. Used particles had lower density, were more reactive and more porous than fresh particles. These changes appear to have been physical, and no unexpected chemical phases could be identified.     

Kinetic modeling of Fe‐BEA as NH3‐SCR catalyst—effect of phosphorous

The focus of this work is to investigate whether a previously developed microkinetic deactivation model for hydrothermally treated Fe‐BEA as NH₃‐SCR catalyst can be applied to describe chemical deactivation of Fe‐BEA due to phosphorous exposure. The model describes the experiments well for Fe‐BEA before and after phosphorous exposure by decreasing the site density, representing deactivation of sites due to formation of metaphosphates blocking the active iron sites, while the kinetic parameters are kept constant. Furthermore, the results show that the activity for low‐temperature selective catalytic reduction (SCR) is very sensitive to loss of active monomeric iron species due to phosphorous poisoning compared to high‐temperature SCR. Finally, the ammonia inhibition simulations show that exposure to phosphorous may affect the internal transport of ammonia between ammonia storage sites buffering the active iron sites, which results in a lower SCR performance during transient conditions. © 2014 American Institute of Chemical Engineers AIChE J, 61: 215–223, 2015     

Associations between driving under the influence of alcohol or drugs,speeding and seatbelt use among fatally injured car drivers in Norway

Since 2005, all fatal road traffic crashes in Norway have been analyzed in-depth by multidisciplinary investigation teams organized by the Norwegian Public Roads Administration (NPRA). During the period 2005–2010, 608 drivers of cars or vans were killed in road traffic crashes. Blood samples were collected from 372 (61%) of the drivers and analyzed for alcohol and a large number of psychoactive drugs at the Norwegian Institute of Public Health (NIPH). After coupling the analytical results with the NPRA crash database, 369 drivers with a fatal outcome were identified and included. Alcohol or drug concentrations in blood above the legal limits were found in 39.8% of the drivers who were investigated for alcohol or drug impairment; 33.9% had blood alcohol concentrations above 0.5 g/L or concentrations of drugs above the equivalent Norwegian legal impairment limits or concentrations of amphetamines above 200 μg/L. Among drivers with a fatal outcome who had been impaired by alcohol or drugs, 64.6% were unbelted and 71.7% were speeding when the crash occurred; whereas 24.2% and 33.2% of the sober drivers were unbelted or speeding, respectively. Statistically significant associations were found between impairment by alcohol or amphetamines and driving unbelted or speeding. Excessive speeding is one of the main reasons for road traffic crashes and together with being unbelted the main reasons for a fatal outcome. This behavior might in many cases be due to increased risk-taking or negligence of safety measures as a result of alcohol or drug use.