1. |
- Özkahraman, Özer, 1992-, et al.
(författare)
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Efficient Navigation Aware Seabed Coverage using AUVs
- 2021
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Ingår i: Proceedings of 2021 IEEE International Conference on Safety, Security, and Rescue Robotics (SSRR), October 25-27 2021, New York, USA..
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Konferensbidrag (refereegranskat)abstract
- Area coverage and robot navigation are two important research fields within robotics. However, their intersection has received limited attention. In coverage problems, perfect navigation is often assumed, and in robot navigation, the focus is often to minimize the localization error while traveling a given trajectory.The need for integration of the two becomes clear in environments with very sparse features or landmarks, for example when an Autonomous Underwater Vehicle (AUV) is to search the seafloor for dangerous objects, such as mines.The potential consequences of missing a mine due to navigation errors can be catastrophic.If the localization error is large, a trajectory that was designed to guarantee complete coverage might have missed significant parts of the area. Thus, the coverage trajectory must be planned with the navigation performance in mind, applying a combination of using large enough planned overlaps of sensor footprints to account for the position uncertainty, and reducing this uncertainty by re-visiting the known sparse landmarks.In this paper we compute trajectories that guarantee coverage for a given area under assumptions on worst case localization error growth.We further more compute upper bounds for how large areas can be covered using common coverage patterns and a single landmark, which leads to bounds on how sparse the landmarks can be in the regions to be covered.
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2. |
- Schaefer, A., et al.
(författare)
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Chemistry of thin film formation and stability during praseodymium oxide deposition on Si(111) under oxygen-deficient conditions
- 2010
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Ingår i: Surface Science. - : Elsevier BV. - 0039-6028 .- 1879-2758. ; 604:15-16, s. 1287-1293
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Tidskriftsartikel (refereegranskat)abstract
- The growth of thin praseodymium oxide films on silicon (111) using small deposition rates under oxygen-deficient conditions was investigated in the range from submonolayer up to six monolayers coverage by transmission electron microscopy (TEM) and photoemission spectroscopy (PES). A detailed analysis of the silicon 2p and oxygen 1 s core level and valence band spectra reveals chemical reactions between deposited species, substrate, and the growing film. Silicate, silicide and oxide species are coexisting over the entire range of coverages investigated. Cross sectional TEM shows silicide inclusions extending from the surface several nanometers into the substrate and affecting the substrate band bending at the interface. The reactivity of the praseodymia overlayer leads to reactions in the as-deposited film even at room temperature and render it unstable. The article aims at providing a coherent picture of the chemistry proceeding during interface formation and film growth at low rates of deposition (0.06 nm/min). The results will be discussed in comparison to studies using higher rates, emphasizing the possibility of growth rate dependent reactions between substrate and deposited material and, consequently, distinctly different film compositions and structures for different rates of deposition. (C) 2010 Elsevier B.V. All rights reserved.
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3. |
- Schaeder, Ulrika
(författare)
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Karin Björquist : shaping a thought
- 2022
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Ingår i: Art Bulletin of Nationalmuseum Stockholm. - Stockholm : Nationalmuseum. - 2001-9238. ; 27:2:2020, s. 77-82
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Tidskriftsartikel (övrigt vetenskapligt/konstnärligt)
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4. |
- Aad, G., et al.
(författare)
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- 2013
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Ingår i: Journal of High Energy Physics. - 1029-8479 .- 1126-6708. ; :10
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Tidskriftsartikel (refereegranskat)
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5. |
- Aad, G., et al.
(författare)
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- 2013
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Ingår i: Journal of High Energy Physics. - 1029-8479 .- 1126-6708. ; :6
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Tidskriftsartikel (refereegranskat)
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6. |
- Aad, G., et al.
(författare)
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- 2011
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Tidskriftsartikel (refereegranskat)
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7. |
- Aad, G., et al.
(författare)
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- 2015
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Ingår i: Journal of High Energy Physics. - : Springer. - 1029-8479 .- 1126-6708. ; :11
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Tidskriftsartikel (refereegranskat)
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8. |
- Aad, G., et al.
(författare)
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- 2011
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swepub:Mat__t (refereegranskat)
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9. |
- Aad, G., et al.
(författare)
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- 2015
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Ingår i: Physical Review D (Particles, Fields, Gravitation and Cosmology). - 1550-2368 .- 1550-7998. ; 92:9
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Tidskriftsartikel (refereegranskat)
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10. |
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