Real-time on-board obstacle avoidance for UAVs based on embedded stereo vision

In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect obstacles in the flight path in order to avoid collisions. Since a large number of consumer UAVs suffer from tight weight and power constraints, our work focuses on obstacle avoidance based on a lightweight stereo camera setup. We use disparity maps, which are computed from the camera images, to locate obstacles and to automatically steer the UAV around them. For disparity map computation we optimize the well-known semi-global matching (SGM) approach for the deployment on an embedded FPGA. The disparity maps are then converted into simpler representations, the so called U-/V-Maps, which are used for obstacle detection. Obstacle avoidance is based on a reactive approach which finds the shortest path around the obstacles as soon as they have a critical distance to the UAV. One of the fundamental goals of our work was the reduction of development costs by closing the gap between application development and hardware optimization. Hence, we aimed at using high-level synthesis (HLS) for porting our algorithms, which are written in C/C++, to the embedded FPGA. We evaluated our implementation of the disparity estimation on the KITTI Stereo 2015 benchmark. The integrity of the overall realtime reactive obstacle avoidance algorithm has been evaluated by using Hardware-in-the-Loop testing in conjunction with two flight simulators.Comment: Accepted in the International Archives of the Photogrammetry, Remote Sensing and Spatial Information Scienc

Optimal Sobolev type inequalities in Lorentz spaces

It is well known that the classical Sobolev embeddings may be improved within the framework of Lorentz spaces L p,q : the space D 1,p (R n ) , 1\u2009<\u2009p\u2009<\u2009n, embeds into L p 17 ,q (R n ) , p\u2009 64\u2009q\u2009 64\u2009 1e. However, the value of the best possible embedding constants in the corresponding inequalities is known just in the case L p 17 ,p (R n ) . Here, we determine optimal constants for the embedding of the space D 1,p (R n ) , 1\u2009<\u2009p\u2009<\u2009n, into the whole Lorentz space scale L p 17 ,q (R n ) , p\u2009 64\u2009q\u2009 64\u2009 1e, including the limiting case q\u2009=\u2009p of which we give a new proof. We also exhibit extremal functions for these embedding inequalities by solving related elliptic problems

Critical sets of nonlinear Sturm-Liouville operators of Ambrosetti-Prodi type

The critical set C of the operator F:H^2_D([0,pi]) -> L^2([0,pi]) defined by F(u)=-u''+f(u) is studied. Here X:=H^2_D([0,pi]) stands for the set of functions that satisfy the Dirichlet boundary conditions and whose derivatives are in L^2([0,pi]). For generic nonlinearities f, C=\cup C_k decomposes into manifolds of codimension 1 in X. If f''0, the set C_j is shown to be non-empty if, and only if, -j^2 (the j-th eigenvalue of u -> u'') is in the range of f'. The critical components C_k are (topological) hyperplanes.Comment: 6 pages, no figure

CO2\mathrm{CO_2} exploding clusters dynamics probed by XUV fluorescence

Clusters excited by intense laser pulses are a unique source of warm dense matter, that has been the subject of intensive experimental studies. The majority of those investigations concerns atomic clusters, whereas the evolution of molecular clusters excited by intense laser pulses is less explored. In this work we trace the dynamics of $\mathrm{CO_2}$ clusters triggered by a few-cycle 1.45-$\mu$m driving pulse through the detection of XUV fluorescence induced by a delayed 800-nm ignition pulse. Striking differences among fluorescence dynamics from different ionic species are observed

Pair production in laser fields oscillating in space and time

The production of electron-positron pairs from vacuum by counterpropagating laser beams of linear polarization is calculated. In contrast to the usual approximate approach, the spatial dependence and magnetic component of the laser field are taken into account. We show that the latter strongly affects the creation process at high laser frequency: the production probability is reduced, the kinematics is fundamentally modified, the resonant Rabi-oscillation pattern is distorted and the resonance positions are shifted, multiplied and split.Comment: 5 pages, 5 figure

Bubble concentration on spheres for supercritical elliptic problems

We consider the supercritical Lane-Emden problem (P_\eps)\qquad -\Delta v= |v|^{p_\eps-1} v \ \hbox{in}\ \mathcal{A} ,\quad u=0\ \hbox{on}\ \partial\mathcal{A} where $\mathcal A$ is an annulus in \rr^{2m}, $m\ge2$ and p_\eps={(m+1)+2\over(m+1)-2}-\eps, \eps>0. We prove the existence of positive and sign changing solutions of (P_\eps) concentrating and blowing-up, as \eps\to0, on $(m-1)-$dimensional spheres. Using a reduction method (see Ruf-Srikanth (2010) J. Eur. Math. Soc. and Pacella-Srikanth (2012) arXiv:1210.0782)we transform problem (P_\eps) into a nonhomogeneous problem in an annulus \mathcal D\subset \rr^{m+1} which can be solved by a Ljapunov-Schmidt finite dimensional reduction

Flow Separation Side Loads Excitation of Rocket Nozzle FEM

Modern rocket nozzles are designed to operate over a wide range of altitudes, and are also built with large aspect ratios to enable high efficiencies. Nozzles designed to operate over specific regions of a trajectory are being replaced in modern launch vehicles by those that are designed to operate from earth to orbit. This is happening in parallel with modern manufacturing and wall cooling techniques allowing for larger aspect ratio nozzles to be produced. Such nozzles, though operating over a large range of altitudes and ambient pressures, are typically designed for one specific altitude. Above that altitude the nozzle flow is 'underexpanded' and below that altitude, the nozzle flow is 'overexpanded'. In both conditions the nozzle produces less than the maximum possible thrust at that altitude. Usually the nozzle design altitude is well above sea level, leaving the nozzle flow in an overexpanded state for its start up as well as for its ground testing where, if it is a reusable nozzle such as the Space Shuttle Main Engine (SSME), the nozzle will operate for the majority of its life. Overexpansion in a rocket nozzle presents the critical, and sometimes design driving, problem of flow separation induced side loads. To increase their understanding of nozzle side loads, engineers at MSFC began an investigation in 2000 into the phenomenon through a task entitled "Characterization and Accurate Modeling of Rocket Engine Nozzle Side Loads", led by A. Brown. The stated objective of this study was to develop a methodology to accurately predict the character and magnitude of nozzle side loads. The study included further hot-fire testing of the MC-l engine, cold flow testing of subscale nozzles, CFD analyses of both hot-fire and cold flow nozzle testing, and finite element (fe.) analysis of the MC-1 engine and cold flow tested nozzles. A follow on task included an effort to formulate a simplified methodology for modeling a side load during a two nodal diameter fluid/structure interaction for a single moment in time

Improved limits on nuebar emission from mu+ decay

We investigated mu+ decays at rest produced at the ISIS beam stop target. Lepton flavor (LF) conservation has been tested by searching for \nueb via the detection reaction p(\nueb,e+)n. No \nueb signal from LF violating mu+ decays was identified. We extract upper limits of the branching ratio for the LF violating decay mu+ -> e+ \nueb \nu compared to the Standard Model (SM) mu+ -> e+ nue numub decay: BR < 0.9(1.7)x10^{-3} (90%CL) depending on the spectral distribution of \nueb characterized by the Michel parameter rho=0.75 (0.0). These results improve earlier limits by one order of magnitude and restrict extensions of the SM in which \nueb emission from mu+ decay is allowed with considerable strength. The decay \mupdeb as source for the \nueb signal observed in the LSND experiment can be excluded.Comment: 10 pages, including 1 figure, 1 tabl

Interplay of Spin-Orbit Interactions, Dimensionality, and Octahedral Rotations in Semimetallic SrIrO3_3

We employ reactive molecular-beam epitaxy to synthesize the metastable perovskite SrIrO$_{3}$ and utilize {\it in situ} angle-resolved photoemission to reveal its electronic structure as an exotic narrow-band semimetal. We discover remarkably narrow bands which originate from a confluence of strong spin-orbit interactions, dimensionality, and both in- and out-of-plane IrO$_6$ octahedral rotations. The partial occupation of numerous bands with strongly mixed orbital characters signals the breakdown of the single-band Mott picture that characterizes its insulating two-dimensional counterpart, Sr$_{2}$IrO$_{4}$, illustrating the power of structure-property relations for manipulating the subtle balance between spin-orbit interactions and electron-electron interactions