Posterior representation with a multi‐modal likelihood using the gaussian sum filter for localization in a known map

A Gaussian sum filter (GSF) with component extended Kalman filters (EKF) is proposed as an approach to localizing an autonomous vehicle in an urban environment with limited GPS availability. The GSF uses vehicle‐relative vision‐based measurements of known map features coupled with inertial navigation solutions to accomplish localization in the absence of GPS. The vision‐based measurements have multimodal measurement likelihood functions that are well represented as weighted sums of Gaussian densities. The GSF is used because of its ability to represent the posterior distribution of the vehicle pose with better efficiency (fewer terms, less computational complexity) than a corresponding bootstrap particle filter with various numbers of particles because of the interaction with measurement hypothesis tests. The expectation‐maximization algorithm is used off line to determine the representational efficiency of the particle filter in terms of an effective number of Gaussian densities. In comparison, the GSF, which uses an iterative condensation procedure after each iteration of the filter to maintain real‐time capabilities, is shown through a series of in‐depth empirical studies to more accurately maintain a representation of the posterior distribution than the particle filter using 37 min of recorded data from Cornell University's autonomous vehicle driven in an urban environment, including a 32 min GPS blackout. © 2012 Wiley Periodicals, Inc.     

Three-dimensional display in nuclear medicine

Several surface and volume rendering techniques are compared using nuclear medicine data including several new methods developed by the authors specifically for scintigraphic data. The techniques examined are summed projection, thresholded projection, threshold-based surface illumination, volumetric compositing, maximum-activity projection, sun-weighted maximum-activity projection, and variable attenuation. The advantages and disadvantages of each method are discussed in relation to the goals of three-dimensional display, which are defined herein. Selected images are shown to illustrate the usefulness of the methods.     

Quantitative real-time imaging of myocardium based on ultrasonic integrated backscatter

The integrated backscatter calculation over the full, two-dimensional echocardiographic sector is implemented to produce images from closed-chest dogs. This new real-time integrated backscatter measurement system allows a continuous determination of integrated backscatter from all myocardial regions in the ultrasonic view. By replacing the conventional video processor in a commercial two-dimensional echocardiographic imager with this new real-time backscatter measurement system, it is possible to produce real-time two-dimensional images based on integrated backscatter.     

Small blaze angle gratings with various surface treatments for use in the extreme ultraviolet

Three replica gratings were made from a single master; two were epoxy overcoated with different thicknesses of gold, and one was replicated directly in gold. Their performance in EUV light at grazing incidence angles was measured and compared.     

Simultaneous chromizing-aluminizing coating of austenitic stainless steels

Chromium and aluminum were simultaneously co-deposited by diffusion into austenitic stainless steel substrates, by a single-step, pack-cementation process. The mechanism for the formation of diffusion-coated products on 304 and 316 stainless steels and on Incoloy 800 is discussed. The morphologies of the phases formed at the surface, i.e., an external beta layer and an underlying multiphase interdiffusion zone, are presented. The formation of the brittle, , outer layer was minimized by variations in the pack composition and activator. The coated 304 and 316 steels exhibited excellent scaling resistance upon oxidation in air at 1000°C.     

Interactive digital filtering of gated cardiac studies during cine display

The use of a novel class of image processing hardware, the image computer, is illustrated by application to gated cardiac studies. Digital filtering of a nine-view study consisting of 144 frames, each 64x64 pixels in size, is performed using the Wiener filter. During image display the operator can change the filter parameters. Refiltering is then performed essentially instantaneously, permitting truly interactive filter selection. Comparable digital filtering using a fast conventional computer and display hardware is shown to be too slow to permit interactive filter modification. Image computers incorporate very large image memories with very tightly coupled, fast arithmetic processors and video display devices and allow very computation-intensive calculations to be performed interactively.     

The incorporation of yield surface distortion into a unified constitutive model,part 2: Predictive capabilities

Summary The MATMOD-4V-DISTORTION model has been derived [1] with the intent of improving the MATMOD-4V model by adding the capability to predict distortions of small strain offset yield surfaces. This model is compared against a variety of experimental data to verify its behavior. Model simulations are compared with experimental data for proportional and nonproportional prestress histories and the effect of yield definition is also investigated. Finally, the same model which predicts a flattening of the yield surface in space is used to predict a rotation of the yield surface in ₁-₂ coordinates.With 9 Figures     

Causes of accidents with post-drivers and their remedies

An investigation was carried out into the causes of accidents to farm workers operating post-driver fencing machines. The approach included analysis of HSE accident reports plus observation of post-drivers in action followed by discussions with the operators. A number of causes of accidents were highlighted, the main ones being the need to hold the post and poor communication between the man operating the controls and the man on the ground manipulating the post. A number of recommendations are made for improvements both to machine design and working practices.     

The need and prospects for improved fusion reactors

Conceptual fusion reactor studies over the past 10–15 yr have projected systems that may be too large, complex, and costly to be of commercial interest. One main direction for improved fusion reactors points toward smaller, higher-power-density approaches. First-order economic issues (i.e., unit direct cost and cost of electricity) are used to support the need for more compact fusion reactors. The results of a number of recent conceptual designs of reversed-field pinch, spheromak, and tokamak fusion reactors are summarized as examples of more compact approaches. While a focus has been placed on increasing the fusion-power-core mass power density beyond the minimum economic threshold of 100–200 kWe/tonne, other means by which the overall attractiveness of fusion as a long-term energy source are also addressed.Nomenclature a Plasma minor radius at outboard equatorial plane (m) - A Plasma aspect ratioR _T /a - AC Annual charges ($/yr) - b Plasma minor radius in vertical direction (m) - B Magentic field at plasma or blanket (T) - B _c Magnetic field at the coil (T) - B Toroidal magnetic field (T) - B Poloidal magnetic field (T) - BOP Balance of plant - C Coil - COE Cost of electricity (mills/kWeh) - CRFPR Compact RFP reactor - CT Compact torus (FRC or spheromak) - c _FPC Unit cost of fusion power core ($/kg) - DC Direct cost ($) - DZP Dense Z-pinch - E Escalation rate (1/yr) - EDC Escalation during construction ($) - ET Elongated tokamak - F Annual fuel charges ($/yr) - FC Component of UDC not strongly dependent or FPC size ($/kWe) - FW First wall - FPC Fusion power core - f _Aux Fraction of gross electric power recirculated to BOP - f ₁ (IC+IDC+EDC)/DC - f ₂ (O&M + SCR + F)/AC - IC Indirect cost ($) - IDC Interest during construction ($) - I _w Neutron first-wall loading (MW/m²) - i Toroidal plasma current (MA) - j Plasma current density, I/a² - k _B Boltzmann constant, 1.602(10)^–16 (J/keV) - LWR Light-water (fission) reactor - MPD Mass power density 1000P_E/M_FPC (kWe/tonne) - M _N Blanket energy multiplication of 14.1-MeV neutron energy - M _FPC Mass of fusion power core (tonne) - n Plasma density (m^–3) or toroidal MHD mode number - O&M Annual operating and maintenance cost ($/yr) - p _f Plant availability factor - PFD Poloidal field dominated (CTs, RFP, DZP) - P Construction time (yr) - P_TH Thermal power (MWt) - P _E Net electric power (1-)P _ET (MWe) - P_ET Total gross electric power (MWe) - p_f Fusion power (MW) - q Tokamak safety factor (B /B _gq )(a/R _T ) - q _e EngineeringQ value, 1/e - R _T Major toroidal radius (m) - RFP Reversed-field pinch - RPE Reactor plant equipment (Account 22) - S Shield - SCR Annual spare component cost ($/yr) - SSR Second stability region for the tokamak - S/T/H Stellarator/torsatron/heliotron - ST Spherical tokamak or spherical torus - T Plasma temperature (keV) - TDC Total direct cost ($) - TOC Total overnight cost ($) - UDC Unit direct cost,TDC/10 ³ P _E ($/kWe) - V _p Plasma volume (m³) - W _p Plasma energy (GJ) - W _B Magnetic field energy (GJ) - Magnetic utilization efficiency, 2nk_BT/(B ²/2₀) - ₀ Permeability of free space, 4(10)^–7 H/m - XE Plasma confinement efficiency, a²/4_E - _e Plasma energy confinement time - _p Overall plant efficiency, _TH(1-) - _TH Thermal conversion efficiency - _FPC AverageFPC mass density (tonne/m³) - Plasma vertical elongation factor,b/a - Thickness of allFPC engineering structure surround plasma (m) - Total recirculating power fraction, (P _ET-P _E)/P _ET, or inverse aspect ratioa/R _T This work was performed under the auspices of USDOE, Office of Fusion Energy.