| 1. |
- Kleiner, Alexander, et al.
(författare)
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RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany)
- 2005
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Ingår i: RoboCup 2005 (CDROM Proceedings), Team Description Paper, Rescue Robot League.
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Konferensbidrag (refereegranskat)abstract
- This paper describes the approach of the RescueRobots Freiburg team. RescueRobots Freiburg is a team of students from the university of Freiburg, that originates from the former CS Freiburg team (RoboCupSoccer) and the ResQ Freiburg team (RoboCupRescue Simulation). Due to the high versatility of the RoboCupRescue competition we tackle the three arenas by a a twofold approach: On the one hand we want to introduce robust vehicles that can safely be teleoperated through rubble and building debris while constructing three-dimensional maps of the environment. On the other hand we want to introduce a team of autonomous robots that quickly explore a large terrain while building a two-dimensional map. This two solutions are particularly well-suited for the red and yellow arena, respectively. Our solution for the orange arena will finally be decided between these two, depending on the capabilities of both approaches at the venue. In this paper, we introduce some preliminary results that we achieved so far from map building, localization, and autonomous victim identification. Furthermore we introduce a custom made 3D Laser Range Finder (LRF) and a novel mechanism for the active distribution of RFID tags.
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| 2. |
- Losada, Illa Rivero, et al.
(författare)
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A new look at sunspot formation using theory and observations
- 2016
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Ingår i: Proceedings of the International Astronomical Union. - : Cambridge University Press. ; , s. 46-59
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Konferensbidrag (refereegranskat)abstract
- Sunspots are of basic interest in the study of the Sun. Their relevance ranges from them being an activity indicator of magnetic fields to being the place where coronal mass ejections and flares erupt. They are therefore also an important ingredient of space weather. Their formation, however, is still an unresolved problem in solar physics. Observations utilize just 2D surface information near the spot, but it is debatable how to infer deep structures and properties from local helioseismology. For a long time, it was believed that flux tubes rising from the bottom of the convection zone are the origin of the bipolar sunspot structure seen on the solar surface. However, this theory has been challenged, in particular recently by new surface observation, helioseismic inversions, and numerical models of convective dynamos. In this article we discuss another theoretical approach to the formation of sunspots: the negative effective magnetic pressure instability. This is a large-scale instability, in which the total (kinetic plus magnetic) turbulent pressure can be suppressed in the presence of a weak large-scale magnetic field, leading to a converging downflow, which eventually concentrates the magnetic field within it. Numerical simulations of forced stratified turbulence have been able to produce strong superequipartition flux concentrations, similar to sunspots at the solar surface. In this framework, sunspots would only form close to the surface due to the instability constraints on stratification and rotation. Additionally, we present some ideas from local helioseismology, where we plan to use the Hankel analysis to study the pre-emergence phase of a sunspot and to constrain its deep structure and formation mechanism.
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