הנדסת מכונות

Wednesday, November 15, 2006

שתף אותנו בקישורים לספרים וסיכומי הרצאות שמצאת ברשת

מכונות
אתר זה מציע קישורים לספרי לימוד, סיכומי הרצאות וטקסטים ללא תשלום בתחומי ההנדסה והמדעים הנמצאים ברשת האינטרנט תוכל לספר לנו על קישורים נוספים שמצאת באמצעות ההערות שבסוף ההודעה הנוכחית, הקלד את כתובת האינטרנט של הספר ואם תרצה תוכל להוסיף פרטים כמו: שם הספר, שם המחבר ואת הערותיך לתוכן הספר

Sunday, November 13, 2005

Core Historical Literature of Agriculture

Mechanics of the Household

Monday, November 22, 2004

Nat'l Academies Press, Motion, Control, and Geometry: (1997), Table of Contents

Nat'l Academies Press, Assessment of Research Needs for Wind Turbine Rotor Materials Technology (1991), Table of Contents

Sunday, November 21, 2004

Nat'l Academies Press, Large-Scale Structures in Acoustics and Electromagnetics: (1996), Table of Contents

Nat'l Academies Press, Large-Scale Structures in Acoustics and Electromagnetics: (1996), Table of Contents

-viii

CONTENTS
ix-xii

OPENING REMARKS
1-3 (skim)

INTRODUCTION
4-4 (skim)

1 HIGH-ORDER, MULTILEVEL, ADAPTIVE TIME-DOMAIN METHODS FOR STRUCTURAL ACOUSTICS SIMULATIONS
5-49 (skim)

2 DISTRIBUTED FEEDBACK RESONATORS
50-71 (skim)

3 ACOUSTIC, ELASTODYNAMIC, AND ELECTROMAGNETIC WAVEFIELD COMPUTATION - A STRUCTURED APPROACH BASED ON RECIPROCITY
72-88 (skim)

4 NUMERICAL MODELING OF THE INTERACTIONS OF ULTRAFAST OPTICAL PULSES WITH NONRESONANT AND RESONANT MATERIALS AND STRUCTURES
89-102 (skim)

5 ALGORITHMIC ASPECTS AND SUPERCOMPUTING TRENDS IN COMPUTATIONAL ELECTROMAGNETICS
103-121 (skim)

6 ADAPTIVE FINITE ELEMENT METHODS FOR THE HELMHOLTZ EQUATION IN EXTERIOR DOMAINS
122-142 (skim)

7 MODELING OF OPTICALLY 'ASSISTED' PHASED ARRAY RADAR
143-161 (skim)

8 SYNTHESIS AND ANALYSIS OF LARGE-SCALE INTEGRATED PHOTONIC DEVICES AND CICUITS
162-182 (skim)

9 DESIGN AND ANALYSIS OF FINITE ELEMENT METHODS FOR TRANSIENT AND TIME-HARMONIC STRUCTURAL ACOUSTICS
183-203 (skim)

10 AN OVERVIEW OF THE APPLICATION OF THE METHOD OF MOMENTS TO LARGE BODIES IN ELECTROMAGNETICS
204-220 (skim)

11 DISCUSSION
221-240 (skim)

APPENDICES
241-242 (skim)

A SYMPOSIUM AGENDA
243-245 (skim)

B SPEAKERS
246-249 (skim)

C SYMPOSIUM PARTICIPANTS
250-252 (skim)

Nat'l Academies Press, Intermetallic Alloy Development: (1997), Table of Contents

Nat'l Academies Press, Intermetallic Alloy Development: (1997), Table of Contents

EXECUTIVE SUMMARY
1-6 (skim)

1 INTRODUCTION
7-9 (skim)

2 OAK RIDGE NATIONAL LABORATORY INTERMETALLICS PROGRAM
10-31 (skim)

3 PROGRAM STATEGIES
32-38 (skim)

4 CONCLUSIONS AND RECOMMENDATIONS
39-44 (skim)

APPENDICES
45-46 (skim)

A MEETING AGENDA
47-49 (skim)

B BIOGRAPHICAL SKETCHES OF PANEL MEMBERS
50-51 (skim)

Nat'l Academies Press, Computer-Aided Materials Selection During Structural Design (1995), Table of Contents

Nat'l Academies Press, Computer-Aided Materials Selection During Structural Design (1995), Table of Contents

Advanced PLC Ladder Logic Functions 204K Advanced PLC Ladder Logic Functions, based on Allen Bradley PLC.
The True Cost of Downtime 964k Time management, project management and lean manufacturing enabler.
Reliability and Maintainability (R&M) 328K Planning, developing and managing an effective reliability and maintainability (R&M) program by NASA.
Facilities PM Guide 443K Standardized Facilities Preventive Maintenance Work Task Guide by NASA.
Agile Manufacturing 271K Agile Manufacturing ֲ An Enabling Technology for Competing in Changing Markets.
Manufacturing Strategy 243K The Government's Manufacturing Strategy (UK).
Lean Manufacturing (SME) 53K Transferring Lean Manufacturing to Small Manufacturers.
True Downtime Cost Article 353K 8 page article exploring just the "True" labor cost factor. (TDC)
Sept. Downtime Survey 388K 66 page report from BIN95 DT survey.
Information Systems in Fault Diagnosis 132K Research on effectiveness of maintenance information systems to support activities during machine breakdown.
Power Planner 79K Power Planner by Fabick Power Systems.

Applications of the calculus to mechanics

The Cornell Library Historical Mathematics Monographs

Wednesday, November 17, 2004

A Catalog of Radiation Heat Transfer Configuration Factors

A Catalog of Radiation Heat Transfer Configuration Factors

SECTION A
Differential area to differential area
I. Differential element to....
II. Differential strip to....
III. Differential ring to....

SECTION B
Differential area to finite area
I. Differential element to....
II. Differential strip to....
III. Differential ring to....
IV. Differential sphere to....

SECTION C
Finite area to finite area
I. Planes and rectangles to....
II. Disk to....
III. Cylinder to....
IV. Cone to....
V. Sphere to....
VI. Hemisphere to....

VII. Other

Wednesday, November 10, 2004

Nat'l Academies Press, Assessment of Research Needs for Wind Turbine Rotor Materials Technology (1991), Table of Contents

Nat'l Academies Press, Assessment of Research Needs for Wind Turbine Rotor Materials Technology (1991), Table of Contents

FRONT MATTER
i-vi
CONTENTS
vii-viii
LIST OF FIGURES
ix-ix
LIST OF TABLES
x-x
EXECUTIVE SUMMARY
1-4 (skim)
1 INTRODUCTION
5-24 (skim)
2 STRUCTURAL LOADING CHARACTERISTICS
25-34 (skim)
3 MATERIALS PROPERTIES AND LIFE PREDICTION
35-66 (skim)
4 WIND TURBINE ROTOR DESIGN ISSUES
67-80 (skim)
5 MANUFACTURING PROCESSES FOR ROTOR BLADES
81-90 (skim)
6 ACTIVE CONTROL IN WIND TURBINES
91-100 (skim)
7 CONCLUSIONS AND RECOMMENDATIONS
101-104 (skim)
APPENDIX A: STATEMENT OF TASK
105-106 (skim)
APPENDIX B: COMMITTEE MEETINGS AND ACTIVITIES
107-108 (skim)

A HEAT TRANSFER TEXTBOOK

A HEAT TRANSFER TEXTBOOK
John H. Lienhard IV, Professor, University of Houston
John H. Lienhard V, Professor, Massachusetts Institute of Technology
Copyright (c) 2000-2004, John H. Lienhard IV and John H. Lienhard V. All rights reserved.

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...Espaֳ±ol

Where am I? Sensors and Methods for Mobile Robot Positioning

Sensors and Methods for
Mobile Robot Positioning
J. Borenstein , H. R. Everett , and L. Feng

Table of Contents
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
PART I SENSORS FOR MOBILE ROBOT POSITIONING
Chapter 1 Sensors for Dead Reckoning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1 Optical Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1.1 Incremental Optical Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.1.2 Absolute Optical Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.2 Doppler Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.2.1 Micro-Trak Trak-Star Ultrasonic Speed Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.2.2 Other Doppler-Effect Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3 Typical Mobility Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3.1 Differential Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3.2 Tricycle Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.3.3 Ackerman Steering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.3.4 Synchro Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.3.5 Omnidirectional Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.3.6 Multi-Degree-of-Freedom Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1.3.7 MDOF Vehicle with Compliant Linkage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.3.8 Tracked Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Chapter 2 Heading Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.1 Mechanical Gyroscopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.1.1 Space-Stable Gyroscopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.1.2 Gyrocompasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.1.3 Commercially Available Mechanical Gyroscopes . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.1.3.1 Futaba Model Helicopter Gyro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.1.3.2 Gyration, Inc. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.2 Piezoelectric Gyroscopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.3 Optical Gyroscopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.3.1 Active Ring Laser Gyros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.3.2 Passive Ring Resonator Gyros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.3.3 Open-Loop Interferometric Fiber Optic Gyros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.3.4 Closed-Loop Interferometric Fiber Optic Gyros . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.3.5 Resonant Fiber Optic Gyros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.3.6 Commercially Available Optical Gyroscopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.3.6.1 The Andrew ג€�Autogyro" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.3.6.2 Hitachi Cable Ltd. OFG-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.4 Geomagnetic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.4.1 Mechanical Magnetic Compasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
2.4.2 Fluxgate Compasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.4.2.1 Zemco Fluxgate Compasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
6
123
2.4.2.2 Watson Gyrocompass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
2.4.2.3 KVH Fluxgate Compasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
2.4.3 Hall-Effect Compasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
2.4.4 Magnetoresistive Compasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
2.4.4.1 Philips AMR Compass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
2.4.5 Magnetoelastic Compasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Chapter 3 Ground-Based RF-Beacons and GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.1 Ground-Based RF Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.1.1 Loran . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.1.2 Kaman Sciences Radio Frequency Navigation Grid . . . . . . . . . . . . . . . . . . . . . . . 66
3.1.3 Precision Location Tracking and Telemetry System . . . . . . . . . . . . . . . . . . . . . . . . . 67
3.1.4 Motorola Mini-Ranger Falcon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
3.1.5 Harris Infogeometric System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
3.2 Overview of Global Positioning Systems (GPSs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
3.3 Evaluation of Five GPS Receivers by Byrne [1993] . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3.3.1 Project Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3.3.2 Test Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3.3.2.1 Parameters tested . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
3.3.2.2 Test hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
3.3.2.3 Data post processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
3.3.3 Test Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
3.3.3.1 Static test results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
3.3.3.2 Dynamic test results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
3.3.3.3 Summary of test results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
3.3.4 Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
3.3.4.1 Summary of problems encountered with the tested GPS receivers . . . . . . . . . . 92
3.3.4.2 Summary of critical integration issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Chapter 4 Sensors for Map-Based Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
4.1 Time-of-Flight Range Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
4.1.1 Ultrasonic TOF Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.1.1.1 Massa Products Ultrasonic Ranging Module Subsystems . . . . . . . . . . . . . . . . . 97
4.1.1.2 Polaroid Ultrasonic Ranging Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.1.2 Laser-Based TOF Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
4.1.2.1 Schwartz Electro-Optics Laser Rangefinders . . . . . . . . . . . . . . . . . . . . . . . . . 101
4.1.2.2 RIEGL Laser Measurement Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.1.2.3 RVSI Long Optical Ranging and Detection System . . . . . . . . . . . . . . . . . . . . 109
4.2 Phase-Shift Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
4.2.1 Odetics Scanning Laser Imaging System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
4.2.2 ESP Optical Ranging System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
4.2.3 Acuity Research AccuRange 3000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
4.2.4 TRC Light Direction and Ranging System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
4.2.5 Swiss Federal Institute of Technology's ג€�3-D Imaging Scannerג€� . . . . . . . . . . . . . . 120
4.2.6 Improving Lidar Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
4.3 Frequency Modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
4.3.1 Eaton VORAD Vehicle Detection and Driver Alert System . . . . . . . . . . . . . . . . . 125
4.3.2 Safety First Systems Vehicular Obstacle Detection and Warning System . . . . . . . 127
PART II SYSTEMS AND METHODS FOR MOBILE ROBOT POSITIONING
Chapter 5 Odometry and Other Dead-Reckoning Methods . . . . . . . . . . . . . . . . . . . . . . . 130
5.1 Systematic and Non-Systematic Odometry Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
5.2 Measurement of Odometry Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
5.2.1 Measurement of Systematic Odometry Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
5.2.1.1 The Unidirectional Square-Path Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
5.2.1.2 The Bidirectional Square-Path Experiment . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
5.2.2 Measurement of Non-Systematic Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
5.3 Reduction of Odometry Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
5.3.1 Reduction of Systematic Odometry Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
5.3.1.1 Auxiliary Wheels and Basic Encoder Trailer . . . . . . . . . . . . . . . . . . . . . . . . . 138
5.3.1.2 The Basic Encoder Trailer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
5.3.1.3 Systematic Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
5.3.2 Reducing Non-Systematic Odometry Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
5.3.2.1 Mutual Referencing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
5.3.2.2 Internal Position Error Correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
5.4 Inertial Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
5.4.1 Accelerometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
5.4.2 Gyros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
5.4.2.1 Barshan and Durrant-Whyte [1993; 1994; 1995] . . . . . . . . . . . . . . . . . . . . . . 147
5.4.2.2 Komoriya and Oyama [1994] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
5.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Chapter 6 Active Beacon Navigation Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
6.1 Discussion on Triangulation Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
6.1.1 Three-Point Triangulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
6.1.2 Triangulation with More Than Three Landmarks . . . . . . . . . . . . . . . . . . . . . . . . . . 153
6.2 Ultrasonic Transponder Trilateration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
6.2.1 IS Robotics 2-D Location System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
6.2.2 Tulane University 3-D Location System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
6.3 Optical Positioning Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
6.3.1 Cybermotion Docking Beacon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
6.3.2 Hilare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
6.3.3 NAMCO LASERNET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
6.3.3.1 U.S. Bureau of Mines' application of the LaserNet sensor . . . . . . . . . . . . . . . 161
6.3.4 Denning Branch International Robotics LaserNav Position Sensor . . . . . . . . . . . 163
6.3.5 TRC Beacon Navigation System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
6.3.6 Siman Sensors and Intelligent Machines Ltd., ROBOSENSE . . . . . . . . . . . . . . . . . 164
6.3.7 Imperial College Beacon Navigation System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
6.3.8 MTI Research CONAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 TM
6.3.9 Spatial Positioning Systems, inc.: Odyssey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
6.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Chapter 7 Landmark Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
7.1 Natural Landmarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
7.2 Artificial Landmarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
7.2.1 Global Vision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
7.3 Artificial Landmark Navigation Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
7.3.1 MDARS Lateral-Post Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
7.3.2 Caterpillar Self Guided Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
7.3.3 Komatsu Ltd, Z-shaped landmark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
7.4 Line Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
7.4.1 Thermal Navigational Marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
7.4.2 Volatile Chemicals Navigational Marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
7.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Chapter 8 Map-based Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
8.1 Map Building . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
8.1.1 Map-Building and Sensor Fusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
8.1.2 Phenomenological vs. Geometric Representation, Engelson & McDermott [1992] 186
8.2 Map Matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
8.2.1 Schiele and Crowley [1994] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.2.2 Hinkel and Knieriemen [1988] ג€” The Angle Histogram . . . . . . . . . . . . . . . . . . . . 189
8.2.3 Weiֳ�, Wetzler, and Puttkamer ג€” More on the Angle Histogram . . . . . . . . . . . . . 191
8.2.4 Siemens' Roamer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
8.2.5 Bauer and Rencken: Path Planning for Feature-based Navigation . . . . . . . . . . . . . 194
8.3 Geometric and Topological Maps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
8.3.1 Geometric Maps for Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
8.3.1.1 Cox [1991] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
8.3.1.2 Crowley [1989] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
8.3.1.3 Adams and von Flֳ¼e . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
8.3.2 Topological Maps for Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
8.3.2.1 Taylor [1991] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
8.3.2.2 Courtney and Jain [1994] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
8.3.2.3 Kortenkamp and Weymouth [1993] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
8.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Chapter 9 Vision-Based Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
9.1 Camera Model and Localization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
9.2 Landmark-Based Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
9.2.1 Two-Dimensional Positioning Using a Single Camera . . . . . . . . . . . . . . . . . . . . . 209
9.2.2 Two-Dimensional Positioning Using Stereo Cameras . . . . . . . . . . . . . . . . . . . . . . 211
9.3 Camera-Calibration Approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
9.4 Model-Based Approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
9.4.1 Three-Dimensional Geometric Model-Based Positioning . . . . . . . . . . . . . . . . . . . 214
9.4.2 Digital Elevation Map-Based Localization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
9.5 Feature-Based Visual Map Building . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
9.6 Summary and Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Appendix A A Word on Kalman Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Appendix B Unit Conversions and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Appendix C Systems-at-a-Glance Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Subject Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
Company Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Bookmark Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Video Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Full-length Papers Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281

Journal of the Brazilian Society of Mechanical Sciences - Home page

Journal of the Brazilian Society of Mechanical Sciences - Home page

Publication of the
The Brazilian Society of Mechanical Sciences

Mission
Is to publish articles of permanent interest dealing with research, development and design related to science and technology in Mechanical Engineering, encompassing interfaces with other branches of engineering, as well as with Physics and Applied Mathematics

CIVE1400: Fluid Mechanics.

הנדסת מכונות

Wednesday, November 15, 2006

שתף אותנו בקישורים לספרים וסיכומי הרצאות שמצאת ברשת

Sunday, November 13, 2005

Core Historical Literature of Agriculture

Monday, November 22, 2004

Nat'l Academies Press, Motion, Control, and Geometry: (1997), Table of Contents

Nat'l Academies Press, Assessment of Research Needs for Wind Turbine Rotor Materials Technology (1991), Table of Contents

Sunday, November 21, 2004

Nat'l Academies Press, Large-Scale Structures in Acoustics and Electromagnetics: (1996), Table of Contents

Nat'l Academies Press, Intermetallic Alloy Development: (1997), Table of Contents

Nat'l Academies Press, Computer-Aided Materials Selection During Structural Design (1995), Table of Contents

Applications of the calculus to mechanics

Wednesday, November 17, 2004

A Catalog of Radiation Heat Transfer Configuration Factors

Wednesday, November 10, 2004

Nat'l Academies Press, Assessment of Research Needs for Wind Turbine Rotor Materials Technology (1991), Table of Contents

A HEAT TRANSFER TEXTBOOK

Where am I? Sensors and Methods for Mobile Robot Positioning

Journal of the Brazilian Society of Mechanical Sciences - Home page

CIVE1400: Fluid Mechanics.

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