An Extended Kalman Filter for Magnetic Field SLAM Using Gaussian Process Regression.

We present a computationally efficient algorithm for using variations in the ambient magnetic field to compensate for position drift in integrated odometry measurements (dead-reckoning estimates) through simultaneous localization and mapping (SLAM). When the magnetic field map is represented with a reduced-rank Gaussian process (GP) using Laplace basis functions defined in a cubical domain, analytic expressions of the gradient of the learned magnetic field become available. An existing approach for magnetic field SLAM with reduced-rank GP regression uses a Rao-Blackwellized particle filter (RBPF).

Pin-on-Disc Modelling with Mesh Deformation Using Discrete Element Method.

The pin-on-disc test is a standard sliding wear test used to analyse sliding properties, including wear contour and wear volume. In this study, long-term laboratory test performance is compared with a short-term numerical model. A discrete element method (DEM) approach combined with an Archard wear model and a deformable geometry technique is used.