The efficient computation of viewpoints while considering various system and process constraints is a common challenge that any robot vision system is confronted with when trying to execute a vision task. Although fundamental research has provided solid and sound solutions for tackling this problem, a holistic framework that poses its formal description, considers the heterogeneity of robot vision systems, and offers an integrated solution remains unaddressed. Hence, this publication outlines the generation of viewpoints as a geometrical problem and introduces a generalized theoretical framework based on Feature-Based Constrained Spaces (C-spaces) as the backbone for solving it. A C-space can be understood as the topological space that a viewpoint constraint spans, where the sensor can be positioned for acquiring a feature while fulfilling the constraint. The present study demonstrates that many viewpoint constraints can be efficiently formulated as C-spaces, providing geometric, deterministic, and closed solutions. The introduced C-spaces are characterized based on generic domain and viewpoint constraints models to ease the transferability of the present framework to different applications and robot vision systems. The effectiveness and efficiency of the concepts introduced are verified on a simulation-based scenario and validated on a real robot vision system comprising two different sensors.
Electrooxidation of CO in CO-saturated sulfuric acid electrolyte solutions with controlled mass transport is investigated with spatially resolved attenuated total reflection Fourier transform infrared (ATR-FTIR) spectroscopy under galvanostatic and potentiostatic conditions. The reaction conditions are chosen such that steady states with intermediate current densities and intermediate average CO coverages are accessible. We demonstrate that under these conditions the reaction never proceeds uniformly on the electrode surface. Instead, macroscopic domains form spontaneously, composed of areas with high CO coverage and areas essentially free of adsorbed CO molecules. The average coverage within the CO-covered domains depends on the electrolyte concentration and the applied potential and can vary between saturation coverage and a few tenths of a monolayer. However, the absence of a red-shift of the CO vibrational band points to a further substructuring of the domains in densely packed CO microislands. These microislands most likely also form in the boundary layer between the CO-rich and CO-free electrode domains. This hierarchical patterning of the electrode surface is attributed to the interplay of autocatalytic reaction steps, spatial coupling through migration or the galvanostatic control of the experiment, and molecular interactions between molecules co-adsorbed on the electrode surface.
In the present work, a novel burner capable of complete pre-vaporization and stationary combustion of diesel fuel in a laminar diffusion flame has been developed to investigate the effect of the chemical composition of diesel fuel on soot formation. For the characterization of soot formation during diesel combustion we performed a comprehensive morphological characterization of the soot and determined its concentration by coupling elastic light scattering (ELS) and laser-induced incandescence (LII) measurements. With ELS, radii of gyration of aggregates were measured within a point-wise measurement volume, LII was employed in an imaging approach for a 2D-analysis of the soot volume fraction. We carried out LII and ELS measurements at different positions in the flame for two different fuel types, revealing the effects of small modifications of the fuel composition on soot emission during diesel combustion.
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