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In this paper, we present a novel method for integrating 3D LiDAR depth measurements into the existing ORB-SLAM3 by building upon the RGB-D mode. We propose and compare two methods of depth map generation: conventional computer vision methods, namely an inverse dilation operation, and a supervised deep learning-based approach. We integrate the former directly into the ORB-SLAM3 framework by adding a so-called RGB-L (LiDAR) mode that directly reads LiDAR point clouds. The proposed methods are evaluated on the KITTI Odometry dataset and compared to each other and the standard ORB-SLAM3 stereo method. We demonstrate that, depending on the environment, advantages in trajectory accuracy and robustness can be achieved. Furthermore, we demonstrate that the runtime of the ORB-SLAM3 algorithm can be reduced by more than 40 % compared to the stereo mode. The related code for the ORB-SLAM3 RGB-L mode will be available as open-source software under https://github.com/TUMFTM/ORB SLAM3 RGBL., Comment: Accepted at ICCCR 2023

Publisher Copyright: © 2022 Elsevier Ltd Spent lithium-ion batteries (LIBs) contain critical raw materials that need to be recovered and recirculated into the battery supply chain. This work proposes the joint recovery of graphite and lithium metal oxides (LMOs) from pyrolyzed black mass of spent LIBs using froth flotation. Since flotation is a water-intensive process, the quality of the aqueous phase directly impacts its performance. In pursuit of an improved water-management strategy, the effect of process water recirculation on black mass flotation is also investigated. The fine fraction (

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The ProTAU project is an internal cooperation between several DLR institutes to advance the independent DLR expertise in modelling rocket propulsion systems and their components. The focus is on the development and validation of the DLR in-house CFD code TAU. The project began in early 2014 after an initial two-year phase of collaborative work between multiple DLR institutes. The project unifies the complementary code development, validation, simulation, and experimental work conducted by the various institutes. The collaboration facilitates a continuous exchange between developers and end-users allowing developers to respond more rapidly to user requirements and a more efficient development progress. In this paper, a brief overview of the ProTAU project structure is given. ProTAU is organized into four research topics: combustion chamber, nozzles, test facilities, and cooling. Highlights of the progress achieved will be shown for each main work package.

Systems with strong spin-orbit coupling are of particular interest in solid state physics as an avenue for observing and manipulating spin physics using standard electrical techniques. This dissertation focuses on the characteristics of elemental bismuth (Bi), which exhibits some of the strongest intrinsic spin-orbit coupling of all elements, and InSb, which exhibits some of the strongest intrinsic spin-orbit coupling of all compound semiconductors. The experiments performed study the quantum transport signatures of nano- and micron-scale lithographically defined devices as well as spin-orbit coupled material/ferromagnet interfaces. All Bi structures are fabricated from Bi thin "films, and hence a detailed analysis ofthe characteristics of Bi "film growth by thermal evaporation is provided. Morphologically and electrically high quality "films are grown using a two stage deposition procedure. The phase and spin coherence of Bi geometries constrained in one, two, and three dimensions are systematically studied by analysis of the weak antilocalization transport signature, a quantum interference phenomenon sensitive to spin-orbit coupling. The "findings indicate that the phase coherence scales proportionally to the limiting dimension of the structure for sizes less than 500 nm. Specifically, in Bi wires, the phase coherence length is approximately as long as the wire width. Dephasing due to quantum confinement e"ffects limit the phase coherence in small Bi structures, impairing the observation of controlled interference phenomena in nano-scale Bi rings. The spin coherence length is independent of dimensional constraint by the film thickness, but increases significantly as the lateral dimensions, such as wire width, are constrained. This is a consequence of the quantum transport contribution from the strongly spin-orbit coupled Bi(001) surface state. To probe the Bi surface state further, Bi/CoFe junctions are fabricated. The anisotropic magnetoresistance of the CoFe is modifi"ed when carriers tunnel into the CoFe from Bi, possibly due to a spin dependent tunneling process or an interaction between the spin polarized density of states in CoFe and the anisotropic spin-orbit coupled density of states in Bi. InSb/CoFe junctions are studied as InSb "films are a simpler spin-orbit coupled system compared to Bi "films. For temperatures below 3.5 K, a large, symmetric, and abrupt negative magnetoresistance is observed. The low-"field high resistance state has similar temperature and magnetic "field dependences as the superconducting phase, but a superconducting component in the device measurements seems absent. A differential conductance measurement of the InSb/CoFe interface during spin injection indicates a quasiparticle gap present at the Fermi energy, coinciding with the large magnetoresistance. Ph. D.

In pursuance of the rectification of perceived shortcomings in the common law duties of directors, including inter alia the confusion and uncertainty among prospective and current directors concerning the degree of skill expected of them while carrying out their functions, the Department of Trade and Industry prepared a discussion draft of a proposed new Companies Act for South Africa, which, in contrast with the previous Companies Act, spelled out the duties of corporate directors. Following the discussion draft, a new Companies Bill was introduced in June 2008 in the spirit of the February 2007 bill regarding directors’ duties. In this article I shall attempt to outline the new statutory duties and other relevant sections and explain these duties as they are found in the Companies Bill. It should be stated that since the following discussion concerns proposed law not yet in force, no court decisions and very few academic articles are available to aid the interpretation thereof. The following interpretations are thus purely speculative and may differ from the ultimate interpretation that the court may give to these sections when applied. The interpretation of these sections can further not be aided by English statutory law, as the English statutory law only refers to fiduciary duties of directors and does not contain any specific criteria of care and skill by which a director’s conduct can be measured.

Hydrocarbon traps are customarily subdivided into two main classes: structural and stratigraphic. A third important class, hitherto not considered separately, includes hydrocarbons trapped in buried hills, ancient sandstone-filled valleys, fossil reefs, and other primarily geomorphological phenomena. These are termed as paleogeomorphic traps. The analysis of and prospecting for this type of trap must proceed along purely geomorphological lines of reasoning. These include both form and process: the form creates the trap, but the process shapes the form. Trapping may be below or above the paleogeomorphological surface, and be either direct or indirect. Paleogeomorphology includes all geomorphic phenomena recognized in subsurface geology, i.e., all buried-relief features, whether formed on land or under water. Geomorphic processes may be divided into "constructive" and "destructive." Constructive forms of interest to petroleum geologists are dunes, barrier beaches, organic reefs, etc. Destructive processes create hills and valleys, underground drainage in carbonates, submarine canyons, etc., and create or destroy porosity by weathering. End_Page 1567------------------------------ Fossil organic reefs have a multitude of morphological characteristics which may be explained in terms of hydraulics, rate of subsidence, influence of deep-seated faulting, and other factors not of a strictly stratigraphical nature. The interpretation of buried landscapes presents many problems still unresolved among geomorphologists and also high lights several lesser-known geomorphological phenomena. Subsurface data reveal that many landscapes exposed for millions of years, although technically "peneplains," still have sufficient relief for the accumulation of sizable hydrocarbon reserves. The solution of paleogeomorphological problems is aided greatly by applying quantitative geomorphological principles. The geological aspects of paleogeomorphology concern primarily the identification of erosion-resistant and less resistant horizons and the influence of structure (folding and faulting) on ancient drainage systems. Sandstone bodies filling buried valleys commonly are dissected by river meanders and thus exhibit shapes that are different from the shape of the valley. The analysis of a drainage system from headwaters to delta can help to relate sandstone reservoirs to source areas. End_of_Article - Last_Page 1568

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