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1.
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
2.
3.
This paper proposes a novel optimization algorithm inspired by the ions motion in nature. In fact, the proposed algorithm mimics the attraction and repulsion of anions and cations to perform optimization. The proposed algorithm is designed in such a way to have the least tuning parameters, low computational complexity, fast convergence, and high local optima avoidance. The performance of this algorithm is benchmarked on 10 standard test functions and compared to four well-known algorithms in the literature. The results demonstrate that the proposed algorithm is able to show very competitive results and has merits in solving challenging optimization problems. 相似文献
4.
Differences between oculomotor and perceptual artifacts for temporally limited head mounted displays
Alexander Goettker Kevin J. MacKenzie T. Scott Murdison 《Journal of the Society for Information Display》2020,28(6):509-519
We used perceptual and oculomotor measures to understand the negative impacts of low (phantom array) and high (motion blur) duty cycles with a high‐speed, AR‐likehead‐mounted display prototype. We observed large intersubject variability for the detection of phantom array artifacts but a highly consistent and systematic effect on saccadic eye movement targeting during low duty cycle presentations. This adverse effect on saccade endpoints was also related to an increased error rate in a perceptual discrimination task, showing a direct effect of display duty cycle on the perceptual quality. For high duty cycles, the probability of detecting motion blur increased during head movements, and this effect was elevated at lower refresh rates. We did not find an impact of the temporal display characteristics on compensatory eye movements during head motion (e.g., VOR). Together, our results allow us to quantify the tradeoff of different negative spatiotemporal impacts of user movements and make subsequent recommendations for optimized temporal HMD parameters. 相似文献
5.
6.
The scale along the coordinate axes in the equations of motion hitherto used for an H-maser (in relative units) is shown to depend on Q as the quality factor for an H-maser. This hinders both analysis of the operation of the H-maser and optimization of its parameters. The modified equations of motion proposed here do not have that shortcoming. We determine the atomic flux into the bulb that gives the H-maser the best metrological characteristics. 相似文献
7.
S V Bhat 《Bulletin of Materials Science》1994,17(7):1271-1285
When examined using continuous wave electron paramagnetic resonance and nuclear magnetic resonance spectrometers, the highT
c superconductors give rise to intense, low field, ‘non-resonant’ absorption signals in the superconducting state. This phenomenon
can be used as a highly sensitive, contactless technique for the detection and characterization of superconductivity even
in samples containing only minute amounts of the superconducting phase. Further, it can also be applied to the determination
of material parameters of interest such asJ
c andH
c2 in addition to being a powerful way of distinguishing between weak-link superconductivity and bulk superconductivity. The
details of these aspects are discussed. 相似文献
8.
G. M. Kulikov S. V. Plotnikova 《International journal for numerical methods in engineering》2002,55(10):1167-1183
The precise representation of rigid body motions in the displacement patterns of curved Timoshenko–Mindlin (TM) shell elements is considered. This consideration requires the development of the strain–displacement relationships of the TM shell theory with regard to their consistency with the rigid body motions. For this purpose a refined TM theory of multilayered anisotropic shells is elaborated. The effects of transverse shear deformation and bending‐extension coupling are included. The fundamental unknowns consist of five displacements and eight strains of the face surfaces of the shell, and eight stress resultants. On the basis of this theory the simple and efficient mixed models are developed. The elemental arrays are derived using the Hu–Washizu mixed variational principle. Numerical results are presented to demonstrate the high accuracy and effectiveness of the developed 4‐node shell elements and to compare their performance with other finite elements reported in the literature. Copyright © 2002 John Wiley & Sons, Ltd. 相似文献
9.
Gyeong-Ho Kim 《Computer Methods in Applied Mechanics and Engineering》2008,198(2):234-244
A continuum-based modeling of coupled electrostatics-structure interactions is presented for the frequency computations of MEMS devices. The present general formulation of electrostatics accounting for free space is validated first by specializing it to one-dimensional uniform motion of conducting surfaces and comparing the resulting electrostatics to conventional lumped models. The general coupled electrostatics-structure interactions are then applied for the prediction of resonant frequencies of MEMS devices due to bias-voltage changes and temperature variations. Comparisons of predicted resonant frequencies obtained by the present coupled electrostatics-structure interaction models with experimental results available in the literature demonstrate that the proposed continuum-based interaction modeling yields high-confidence predictions of resonant frequencies of MEMS devices. 相似文献
10.
Sebastián López Gustavo M. Callicó Félix Tobajas Valentín de Armas José F. López Roberto Sarmiento 《ETRI Journal》2008,30(6):862-864
This letter presents a novel approach for organizing computational resources into groups within H.264/AVC motion estimation architectures, leading to reductions of up to 75% in the equivalent gate count with respect to state‐of‐the‐art designs. 相似文献