Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability
                        
                    - PAR ID:
- 10535771
- Publisher / Repository:
- IEEE
- Date Published:
- ISBN:
- 979-8-3503-7770-5
- Page Range / eLocation ID:
- 11264 to 11271
- Format(s):
- Medium: X
- Location:
- Abu Dhabi, United Arab Emirates
- Sponsoring Org:
- National Science Foundation
More Like this
- 
            Terrains are visually prominent and commonly needed objects in many computer graphics applications. While there are many algorithms for synthetic terrain generation, it is rather difficult to assess the realism of a generated output. This article presents a first step toward the direction of perceptual evaluation for terrain models. We gathered and categorized several classes of real terrains, and we generated synthetic terrain models using computer graphics methods. The terrain geometries were rendered by using the same texturing, lighting, and camera position. Two studies on these image sets were conducted, ranking the terrains perceptually, and showing that the synthetic terrains are perceived as lacking realism compared to the real ones. We provide insight into the features that affect the perceived realism by a quantitative evaluation based on localized geomorphology-based landform features (geomorphons) that categorize terrain structures such as valleys, ridges, hollows, and so forth. We show that the presence or absence of certain features has a significant perceptual effect. The importance and presence of the terrain features were confirmed by using a generative deep neural network that transferred the features between the geometric models of the real terrains and the synthetic ones. The feature transfer was followed by another perceptual experiment that further showed their importance and effect on perceived realism. We then introduce Perceived Terrain Realism Metrics (PTRM), which estimates human-perceived realism of a terrain represented as a digital elevation map by relating the distribution of terrain features with their perceived realism. This metric can be used on a synthetic terrain, and it will output an estimated level of perceived realism. We validated the proposed metrics on real and synthetic data and compared them to the perceptual studies.more » « less
- 
            Abstract New particle formation (NPF) is a complex atmospheric phenomenon defined by the gas‐to‐particle conversion that leads to the sudden burst and growth in aerosol particles. Although chemical mechanisms for aerosol nucleation and growth are well established, the role of physical processes, such as turbulent mixing, within the atmospheric boundary layer (ABL) is beginning to emerge with recent studies. This study, based on the observations from the 2022 CFACT (Cold Fog Amongst Complex Terrain) field study in the Heber Valley of northern Utah, demonstrates an interconnection between turbulence and the occurrence of NPF. Using a spatially distributed boundary layer instrumentation, a novel feature of CFACT, three case studies depict unique boundary layer conditions that modulate the development of NPF characterized by sustained turbulence and weak intermittent turbulence. Quantitative analysis using in situ measurements and derived variables demonstrate that periods of weak intermittent turbulence hinder particle growth, whereas sustained turbulence helps modulate NPF. These findings provide new insights into the physical drivers of NPF, underscoring the role of turbulence in impacting particle formation with the ABL.more » « less
 An official website of the United States government
An official website of the United States government 
				
			 
					 
					
 
                                    