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V-Slam And Sensor Fusion For Ground Robots, Ejup Hoxha
V-Slam And Sensor Fusion For Ground Robots, Ejup Hoxha
Dissertations and Theses
In underground, underwater and indoor environments, a robot has to rely solely on its on-board sensors to sense and understand its surroundings. This is the main reason why SLAM gained the popularity it has today. In recent years, we have seen excellent improvement on accuracy of localization using cameras and combinations of different sensors, especially camera-IMU (VIO) fusion. Incorporating more sensors leads to improvement of accuracy,but also robustness of SLAM. However, while testing SLAM in our ground robots, we have seen a decrease in performance quality when using the same algorithms on flying vehicles.We have an additional sensor for ground …
Elucidating The Properties And Mechanism For Cellulose Dissolution In Tetrabutylphosphonium-Based Ionic Liquids Using High Concentrations Of Water, Brad Crawford
Graduate Theses, Dissertations, and Problem Reports
The structural, transport, and thermodynamic properties related to cellulose dissolution by tetrabutylphosphonium chloride (TBPCl) and tetrabutylphosphonium hydroxide (TBPH)-water mixtures have been calculated via molecular dynamics simulations. For both ionic liquid (IL)-water solutions, water veins begin to form between the TBPs interlocking arms at 80 mol % water, opening a pathway for the diffusion of the anions, cations, and water. The water veins allow for a diffusion regime shift in the concentration region from 80 to 92.5 mol % water, providing a higher probability of solvent interaction with the dissolving cellulose strand. The hydrogen bonding was compared between small and large …