A Multiresolution Image Alignment Technique Based on Direct Methods for Pose Estimation of Aerial Vehicles

In this paper, we seek to expand the use of direct methods in real-time applications by proposing a vision-based strategy for pose estimation of aerial vehicles. The vast majority of approaches make use of features to estimate motion. Conversely, the strategy we propose is based on a MR (Multi-Resolution) implementation of an image registration technique (Inverse Compositional Image Alignment ICIA) using direct methods. An on-board camera in a downwards-looking configuration, and the assumption of planar scenes, are the bases of the algorithm. The motion between frames (rotation and translation) is recovered by decomposing the frame-to-frame homography obtained by the ICIA algorithm applied to a patch that covers around the 80% of the image. When the visual estimation is required (e.g. GPS drop-out), this motion is integrated with the previous known estimation of the vehicles' state, obtained from the on-board sensors (GPS/IMU), and the subsequent estimations are based only on the vision-based motion estimations. The proposed strategy is tested with real flight data in representative stages of a flight: cruise, landing, and take-off, being two of those stages considered critical: take-off and landing. The performance of the pose estimation strategy is analyzed by comparing it with the GPS/IMU estimations. Results show correlation between the visual estimation obtained with the MR-ICIA and the GPS/IMU data, that demonstrate that the visual estimation can be used to provide a good approximation of the vehicle's state when it is required (e.g. GPS drop-outs). In terms of performance, the proposed strategy is able to maintain an estimation of the vehicle's state for more than one minute, at real-time frame rates based, only on visual information.

Validation of a CFD wake model based on the actuator disk technique and the thrust coefficient. Preliminary results

A simplified CFD wake model based on the actuator-disk concept is used to simulate the wind turbine, represented by an actuator disk upon which a distribution of forces, defined as axial momentum sources, are applied on the incoming flow. The rotor is supposed to be uniformly loaded, with the exerted forces as a function of the incident wind speed, the thrust coefficient and the rotor diameter. The model is validated through experimental measurements downwind of a wind turbine in terms of wind speed deficit. Validation on turbulence intensity will also be made in the near future.

Análisis cuantitativo y cualitativo de los momentos críticos en baloncesto = Quantitative and qualitative analysis of the critical moments in basketball

El MC en baloncesto es aquel fenómeno relacionado con el juego que presenta unas características particulares determinadas por la idiosincrasia de un equipo y puede afectar a los protagonistas y por ende al devenir del juego. En la presente Tesis se ha estudiado la incidencia del MC en Liga A.C.B. de baloncesto y para su desarrollo en profundidad se ha planteado dos investigaciones una cuantitativa y otra cualitativa cuya metodología se detalla a continuación: La investigación cuantitativa se ha basado en la técnica de estudio del “Performance analysis”, para ello se han estudiado cuatro temporadas de la Liga A.C.B. (del 2007/08 al 2010/11), tal y como refleja en la bibliografía consultada se han tomado como momentos críticos del juego a los últimos cinco minutos de partidos donde la diferencia de puntos fue de seis puntos y todos los Tiempos Extras disputados, de tal manera que se han estudiado 197 momentos críticos. La contextualización del estudio se ha hecho en función de la variables situacionales “game location” (local o visitante), “team quality” (mejores o peores clasificados) y “competition” (fases de LR y Playoff). Para la interpretación de los resultados se han realizado los siguientes análisis descriptivos: 1) Análisis Discriminante, 2) Regresión Lineal Múltiple; y 3) Análisis del Modelo Lineal General Multivariante. La investigación cualitativa se ha basado en la técnica de investigación de la entrevista semiestructurada. Se entrevistaron a 12 entrenadores que militaban en la Liga A.C.B. durante la temporada 2011/12, cuyo objetivo ha sido conocer el punto de vista que tiene el entrenador sobre el concepto del MC y que de esta forma pudiera dar un enfoque más práctico basado en su conocimiento y experiencia acerca de cómo actuar ante el MC en el baloncesto. Los resultados de ambas investigaciones coinciden en señalar la importancia del MC sobre el resultado final del juego. De igual forma, el concepto en sí entraña una gran complejidad por lo que se considera fundamental la visión científica de la observación del juego y la percepción subjetiva que presenta el entrenador ante el fenómeno, para la cual los aspectos psicológicos de sus protagonistas (jugadores y entrenadores) son determinantes. ABSTRACT The Critical Moment (CM) in basketball is a related phenomenon with the game that has particular features determined by the idiosyncrasies of a team and can affect the players and therefore the future of the game. In this Thesis we have studied the impact of CM in the A.C.B. League and from a profound development two investigations have been raised, quantitative and qualitative whose methodology is as follows: The quantitative research is based on the technique of study "Performance analysis", for this we have studied four seasons in the A.C.B. League (2007/08 to 2010/11), and as reflected in the literature the Critical Moments of the games were taken from the last five minutes of games where the point spread was six points and all overtimes disputed, such that 197 critical moments have been studied. The contextualization of the study has been based on the situational variables "game location" (home or away), "team quality" (better or lower classified) and "competition" (LR and Playoff phases). For the interpretation of the results the following descriptive analyzes were performed: 1) Discriminant Analysis, 2) Multiple Linear Regression Analysis; and 3) Analysis of Multivariate General Linear Model. Qualitative research is based on the technique of investigation of a semi-structured interview. 12 coaches who belonged to the A.C.B. League were interviewed in seasons 2011/12, which aimed to determine the point of view that the coach has on the CM concept and thus could give a more practical approach based on their knowledge and experience about how to deal with the CM in basketball. The results of both studies agree on the importance of the CM on the final outcome of the game. Similarly, the concept itself is highly complex so the scientific view of the observation of the game is considered essential as well as the subjective perception the coach presents before the phenomenon, for which the psychological aspects of their characters (players and coaches) are crucial.