A method for stereo-vision-based tracking for robotic applications

Vision-based tracking of an object using perspective projection inherently results in non-linear measurement equations in the Cartesian coordinates. The underlying object kinematics can be modelled by a linear system. In this paper we introduce a measurement conversion technique that analytically transforms the non-linear measurement equations obtained from a stereo-vision system into a system of linear measurement equations.We then design a robust linear filter around the converted measurement system. The state estimation error of the proposed filter is bounded and we provide a rigorous theoretical analysis of this result. The performance of the robust filter developed in this paper is demonstrated via computer simulation and via practical experimentation using a robotic manipulator as a target. The proposed filter is shown to outperform the extended Kalman filter (EKF).

Ultraviolet-sensitive vision in long-lived birds

Long-term exposure to ultraviolet (UV) light generates substantial damage, and in mammals, visual sensitivity to UV is restricted to short-lived diurnal rodents and certain marsupials. In humans, the cornea and lens absorb all UV-A and most of the terrestrial UV-B radiation, preventing the reactive and damaging shorter wavelengths from reaching the retina. This is not the case in certain species of long-lived diurnal birds, which possess UV-sensitive (UVS) visual pigments, maximally sensitive below 400 nm. The Order Psittaciformes contains some of the longest lived bird species, and the two species examined so far have been shown to possess UVS pigments. The objective of this study was to investigate the prevalence of UVS pigments across long-lived parrots, macaws and cockatoos, and therefore assess whether they need to cope with the accumulated effects of exposure to UV-A and UV-B over a long period of time. Sequences from the SWS1 opsin gene revealed that all 14 species investigated possess a key substitution that has been shown to determine a UVS pigment. Furthermore, in vitro regeneration data, and lens transparency, corroborate the molecular findings of UV sensitivity. Our findings thus support the claim that the Psittaciformes are the only avian Order in which UVS pigments are ubiquitous, and indicate that these long-lived birds have UV sensitivity, despite the risks of photodamage.

A new vision of management : full potential management model

This paper establishes the Full Potential Management (FPM) Model based upon the social model of disabilities coupled with principles of diversity management and disability-oriented human resource management. Despite the fact that the concept of management was once envisioned as having 'value to society ' by improving the quality of life through efficient practices (Rimler, 1976), management literature has narrowly defined management as a means to gain increased productivity and achieve organizational goals, thus overlooking the social formation and implementation design for a better life (Diener & Seligman, 2004; Small, 2004; Whitley 1989). Based upon the diversity literature, we propose that social-oriented diversity management principles and practices are the key to transforming management concepts from achieving organizational potential to achieving social aims that maximize the potential and quality of life of each person.

Energy-efficient management of data center resources for cloud computing : a vision, architectural elements, and open challenges

Cloud computing is offering utility-oriented IT services to users worldwide. Based on a pay-as-you-go model, it enables hosting of pervasive applications from consumer, scientific, and business domains. However, data centers hosting Cloud applications consume huge amounts of energy, contributing to high operational costs and carbon footprints to the environment. Therefore, we need Green Cloud computing solutions that can not only save energy for the environment but also reduce operational costs. This paper presents vision, challenges, and architectural elements for energy-efficient management of Cloud computing environments. We focus on the development of dynamic resource provisioning and allocation algorithms that consider the synergy between various data center infrastructures (i.e., the hardware, power units, cooling and software), and holistically work to boost data center energy efficiency and performance. In particular, this paper proposes (a) architectural principles for energy-efficient management of Clouds; (b) energy-efficient resource allocation policies and scheduling algorithms considering quality-of-service expectations, and devices power usage characteristics; and (c) a novel software technology for energy-efficient management of Clouds. We have validated our approach by conducting a set of rigorous performance evaluation study using the CloudSim toolkit. The results demonstrate that Cloud computing model has immense potential as it offers significant performance gains as regards to response time and cost saving under dynamic workload scenarios.

You have to be pleasing and co-operative : Australia’s vision splendid for post-world war II migrants

This article examines the ‘vision splendid’ that existed for Australian migration following World War II. That vision (championed by the then Minister for Immigration, Arthur Calwell) was myopic, but is still pertinent to current debates on Australian Migration, particularly in the way that migrants were placed in categories of the desirable. This paper uses a particular migrant group, the Temple Society, to illustrate the concerns of 1940s immigration policy. This group was interned in Australia during World War II and underwent postwar investigations by the then newly formed Department of Immigration.

A review of vision-based gait recognition methods for human identification

Human identification by gait has created a great deal of interest in computer vision community due to its advantage of inconspicuous recognition at a relatively far distance. This paper provides a comprehensive survey of recent developments on gait recognition approaches. The survey emphasizes on three major issues involved in a general gait recognition system, namely gait image representation, feature dimensionality reduction and gait classification. Also, a review of the available public gait datasets is presented. The concluding discussions outline a number of research challenges and provide promising future directions for the field.

Managing depression in patients with vision impairment : a descriptive study of practitioners' beliefs and confidence

Aim: Depression is common in older adults with vision impairment yet it often remains unidentified and untreated.
Eye health professionals (EHPs) and rehabilitation workers (RWs) may be able to assist in detecting depression. This study identified EHPs’ and RWs’ beliefs about depression and confidence in working with patients with vision
impairment and depression.
Methods: A self-administered cross-sectional survey of 94 EHPs and RWs assessed beliefs about the symptoms and treatment for depression, and confidence in working with depressed people with vision impairment.
Results: Participants showed awareness of both the symptoms and treatment options for depression. However,
some important misconceptions were identified and many symptoms of depression were commonly attributed to
vision loss. Participants lacked confidence in communicating about depression with patients and their families.
Conclusions: Training programs are needed to enable EHPs and RWs to confidently identify depression and
discuss appropriate treatment and referral options with their patients.

A robust solution to the stereo-vision-based simultaneous localization and mapping problem with steady and moving landmarks

The problem of visual simultaneous localization and mapping (SLAM) is examined in this paper using recently developed ideas and algorithms from modern robust control and estimation theory. A nonlinear model for a stereo-vision-based sensor is derived that leads to nonlinear measurements of the landmark coordinates along with optical flow-based measurements of the relative robot-landmark velocity. Using a novel analytical measurement transformation, the nonlinear SLAM problem is converted into the linear domain and solved using a robust linear filter. Actually, the linear filter is guaranteed stable and the SLAM state estimation error is bounded within an ellipsoidal set. A mathematically rigorous stability proof is given that holds true even when the landmarks move in accordance with an unknown control input. No similar results are available for the commonly employed extended Kalman filter, which is known to exhibit divergence and inconsistency characteristics in practice. A number of illustrative examples are given using both simulated and real vision data that further validate the proposed method.

Doubling and convergence : novel models of vision and sense of space

Re-photography is considered in this paper as a synthesis of the processes of seeing, to develop an aesthetic of space.

This practice deals with being (noun and verb) in space and the perception of space and depiction of space; space at the intersection of landscape and human. A key to the conundrum of the figure and the ground arises out of practical photographic investigations to convey the very human sensations of being on the ground, in the confounding landscape of the Central Victorian (Australian) ironbark forests and goldfields.

What is revealed is that what we see, what we attend to, actually appears concentrated at the nodes of a series of vortices. Each vortex is a moiré interference of converging views of the same scene. Attention is a convergence on particulars. Like a magnetic field, the vortex remains invisible in our everyday vision, but it appears in these images. It is imprinted from individual perspectives at particular places; a new perspective with a point of apparition rather than of vanishing.

The impression that I get : educational inclusion explored through the voices of young people with vision impairment

Despite the notion of educational inclusion of students with disabilities increasing in popularity, the day-to-day reality of its effectiveness remains mostly unknown. This paper reports key findings of a small-scale qualitative study that was conducted with a group of young people with vision impairment who attended an inclusive secondary school. The aim of the research was to ascertain their voiced experiences of their inclusion. Relevant to the study was the researcher’s insider status, which allowed for his unique insight and shared experiences with participants to influence data collection and analysis. The students reported a constant trade off that occurred between their aspirations for access and autonomy and practices of other stakeholders in the school that both facilitated and inhibited their inclusion. In sum, the students’ inclusion was ineffective because of habitual inhibiting actions of others. Recommendations are made based on Slee’s (2001) call for altered teaching and learning realities to promote educational inclusion, and a model of social justice that could bring about increased student agency (Higgins, Macarthur & Kelly, 2009).