Vision Based UAV Attitude Estimation: Progress and Insights

Unmanned aerial vehicles (UAVs) are increasingly replacing manned systems in situations that are dangerous, remote, or difficult for manned aircraft to access. Its control tasks are empowered by computer vision technology. Visual sensors are robustly used for stabilization as primary or at least secondary sensors. Hence, UAV stabilization by attitude estimation from visual sensors is a very active research area. Vision based techniques are proving their effectiveness and robustness in handling this problem. In this work a comprehensive review of UAV vision based attitude estimation approaches is covered, starting from horizon based methods and passing by vanishing points, optical flow, and stereoscopic based techniques. A novel segmentation approach for UAV attitude estimation based on polarization is proposed. Our future insightes for attitude estimation from uncalibrated catadioptric sensors are also discussed.     

Finite Volume Time Domain modelling of microwave breakdown and plasma formation in a metallic aperture

The modelling of plasma formation during microwave breakdown is a difficult task because of the strong non-linear coupling between Maxwell?s equations and plasma equations, and of the large plasma density gradients that form during breakdown. An original Finite Volume Time Domain (FVTD) method has been developed to solve Maxwell?s equations coupled with a simplified fluid plasma model and is described in this paper. This method is illustrated with the study of the shielding of a metallic aperture by the plasma generated by an incident high power electromagnetic wave. Typical results obtained with the FVTD method for this shielding problem are shown.     

Force Curve Measurements with the AFM: Application to the In Situ Determination of Grafted Silicon-Wafer Surface Energies

The atomic force microscope (AFM) can be used to perform surface force measurements in the quasi-static mode (cantilever is not oscillating) to investigate nanoscale surface properties. Nevertheless, there is still a lack of literature proposing a complete systematic and rigorous experimental procedure that enables one to obtain reproducible and significant quantitative data. This article focuses on the fundamental experimental difficulties arising when making force curve measurements with the AFM in air. On the basis of this AFM calibration procedure, quantitative assessment values were used to determine, in situ, SAM (or Self Assembled Monolayer)-tip thermodynamic work of adhesion at a local scale, which have been found to be in good agreement with quoted values. Finally, determination of surface energies of functionalised silicon wafers (as received, CH₃, OH functionalised silicon wafers) with the AFM (at a local scale) is also proposed and compared with the values obtained by wettability (at a macroscopic scale). In particular, the effect of the capillary forces is discussed.     

SiO2(am)在FoCa粘土和MX-80粘土中扩散实验的模拟

不定形二氧化硅[Amorphous Silica，简称SiO2（am）]是高放废物玻璃固化体在处置后，发生降解的主要产物。对SiO2（am）在FbCa粘土和MX-80粘土柱中的扩散迁移进行了实验研究，结果显示：在粘土柱中有大量的SiO2（am）沉淀产生；土柱中总Si增加量与时间的关系基本为线性正相关关系。采用CRUNCH程序对上述扩散迁移实验进行了模拟，模拟内容包括：溶液和岩相中Si浓度变化、总的筋增加量与时间的关系以及实验期间孔隙率的变化；同时分析了有效扩散系数对结果的影响。结果说明，使用CRUNCH程序进行反应迁移模拟是可行的；但是实验中pH值测量时机不适当；另外由于土样本身Si含量较高，易对土柱总Si的分析结果产生影响，这些因素需进一步实验时改进。     

Note on winning positions on pushdown games with ω-regular conditions

We consider infinite two-player games on pushdown graphs. For parity winning conditions, we show that the set of winning positions of each player is regular and we give an effective construction of an alternating automaton recognizing it. This provides a DEXPTIME procedure to decide whether a position is winning for a given player. Finally, using the same methods, we show, for any ω-regular winning condition, that the set of winning positions for a given player is regular and effective.     

Reconstructing (h,v)-convex 2-dimensional patterns of objects from approximate horizontal and vertical projections

The problem of reconstructing a pattern of an object from its approximate discrete orthogonal projections in a 2-dimensional grid, may have no solution because the inaccuracy in the measurements of the projections may generate an inconsistent problem. To attempt to overcome this difficulty, one seeks to reconstruct a pattern with projection values having possibly some bounded differences with the given projection values and minimizing the sum of the absolute differences.

This paper addresses the problem of reconstructing a pattern with a difference at most equal to +1 or −1 between each of its projection values and the corresponding given projection value. We deal with the case of patterns which have to be horizontally and vertically convex and the case of patterns which have to be moreover connected, the so-called convex polyominoes. We show that in both cases, the problem of reconstructing a pattern can be transformed into a Satisfiability (SAT) Problem. This is done in order to take advantage of the recent advances in the design of solvers for the SAT Problem. We show, experimentally, that by adding two important features to CSAT (an efficient SAT solver), optimal patterns can be found if there exist feasible ones. These two features are: first, a method that extracts in linear time an optimal pattern from a set of feasible patterns grouped in a generic pattern (obtaining a generic pattern may be exponential in the worst case) and second, a method that computes actively a lower bound of the sum of absolute differences that can be obtained from a partially defined pattern. This allows to prune the search tree if this lower bound exceeds the best sum of absolute differences found so far.     

An Implicit Multistage Integration Method Including Projection for the Numerical Simulation of Constrained Multibody Systems

To be efficient, the simulation of multibody system dynamics requires fast and robust numerical algorithms for the time integration of the motion equations usually described by Differential Algebraic Equations (DAEs). Firstly, multistep schemes especially built up for second-order differential equations are developed. Some of them exhibit superior accuracy and stability properties than standard schemes for first-order equations. However, if unconditional stability is required, one must be satisfied with second-order accurate methods, like one-step schemes from the Newmark family.Multistage methods for which high accuracy is not contradictory with stringent stability requirements are then addressed. More precisely, a two-stage, third-order accurate Implicit Runge–Kutta (IRK) method which possesses the desirable properties of unconditional stability combined with high-frequency dissipation is proposed.Projection methods which correct the integrated estimates of positions, velocities and accelerations are suggested to keep the constraint equations satisfied during the numerical integration. The resulting time integration algorithm can be easily implemented in existing incremental/iterative codes. Numerical results indicate that this approach compares favourably with classical methods.     

Editorial

Higher-Order and Symbolic Computation -