Vision-based global localization using a visual vocabular

This paper presents a novel coarse-to-fine global localization approach that is inspired by object recognition and text retrieval techniques. Harris-Laplace interest points characterized by SIFT descriptors are used as natural land-marks. These descriptors are indexed into two databases: an inverted index and a location database. The inverted index is built based on a visual vocabulary learned from the feature descriptors. In the location database, each location is directly represented by a set of scale invariant descriptors. The localization process consists of two stages: coarse localization and fine localization. Coarse localization from the inverted index is fast but not accurate enough; whereas localization from the location database using voting algorithm is relatively slow but more accurate. The combination of coarse and fine stages makes fast and reliable localization possible. In addition, if necessary, the localization result can be verified by epipolar geometry between the representative view in database and the view to be localized. Experimental results show that our approach is efficient and reliable. ©2005 IEEE.

Quantifying the limits of HANPP and carbon emissions which prolong total species well-being

Anthropogenic climate and land-use change are leading to irreversible losses of global biodiversity, upon which ecosystem functioning depends. Since total species' well-being depends on ecosystem goods and services, man must determine how much net primary productivity (NPP) may be appropriated and carbon emitted so as to not adversely impact this and future generations. In 2005, man ought to have only appropriated 9.72 Pg C of NPP, representing a factor 2.50, or 59.93%, reduction in human-appropriated NPP in that year. Concurrently, the carbon cycle would have been balanced with a factor 1.26, or 20.84%, reduction from 7.60 Gt C/year to 5.70 Gt C/year, representing a return to the 1986 levels. This limit is in keeping with the category III stabilization scenario of the Intergovernmental Panel for Climate Change. Projecting population growth to 2030 and its associated basic food requirements, the maximum HANPP remains at 9.74 ± 0.02 Pg C/year. This time-invariant HANPP may only provide for the current global population of 6.51 billion equitably at the current average consumption of 1.49 t C per capita, calling into question the sustainability of developing countries striving for high-consuming country levels of 5.85 t C per capita and its impacts on equitable resource distribution. © Springer Science+Business Media B.V. 2009.

Development and validation of a new method for measuring friction between skin and nonwoven materials.

A new method for measuring the coefficient of friction between nonwoven materials and the curved surface of the volar forearm has been developed and validated. The method was used to measure the coefficient of static friction for three different nonwoven materials on the normal (dry) and over-hydrated volar forearms of five female volunteers (ages 18-44). The method proved simple to run and had good repeatability: the coefficient of variation (standard deviation expressed as a percentage of the mean) for triplets of repeat measurements was usually (80 per cent of the time) less than 10 per cent. Measurements involving the geometrically simpler configuration of pulling a weighted fabric sample horizontally across a quasi-planar area of volar forearm skin proved experimentally more difficult and had poorer repeatability. However, correlations between values of coefficient of static friction derived using the two methods were good (R = 0.81 for normal (dry) skin, and 0.91 for over-hydrated skin). Measurements of the coefficient of static friction for the three nonwovens for normal (dry) and for over-hydrated skin varied in the ranges of about 0.3-0.5 and 0.9-1.3, respectively. In agreement with Amontons' law, coefficients of friction were invariant with normal pressure over the entire experimental range (0.1-8.2 kPa).

Optimal H2 order-one reduction by solving eigenproblems for polynomial equations

A method is given for solving an optimal H2 approximation problem for SISO linear time-invariant stable systems. The method, based on constructive algebra, guarantees that the global optimum is found; it does not involve any gradient-based search, and hence avoids the usual problems of local minima. We examine mostly the case when the model order is reduced by one, and when the original system has distinct poles. This case exhibits special structure which allows us to provide a complete solution. The problem is converted into linear algebra by exhibiting a finite-dimensional basis for a certain space, and can then be solved by eigenvalue calculations, following the methods developed by Stetter and Moeller. The use of Buchberger's algorithm is avoided by writing the first-order optimality conditions in a special form, from which a Groebner basis is immediately available. Compared with our previous work the method presented here has much smaller time and memory requirements, and can therefore be applied to systems of significantly higher McMillan degree. In addition, some hypotheses which were required in the previous work have been removed. Some examples are included.

Designing MPC controllers by reverse-engineering existing LTI controllers

This technical report presents a method for designing a constrained output-feedback model predictive controller (MPC) that behaves in the same way as an existing baseline stabilising linear time invariant output-feedback controller when constraints are inactive. The baseline controller is cast into an observer-compensator form and an inverse-optimal cost function is used as the basis of the MPC controller. The available degrees of design freedom are explored, and some guidelines provided for the selection of an appropriate observer-compensator realisation that will best allow exploitation of the constraint-handling and redundancy management capabilities of MPC. Consideration is given to output setpoint tracking, and the method is demonstrated with three different multivariable plants of varying complexity.

Asymptotic Recovery for Discrete-Time Systems

An asymptotic recovery design procedure is proposed for square, discrete-time, linear, time-invariant multivariable systems, which allows a state-feedback design to be approximately recovered by a dynamic output feedback scheme. Both the case of negligible processing time (compared to the sampling interval) and of significant processing time are discussed. In the former case, it is possible to obtain perfect. © 1985 IEEE.

H∞ sampled-data synthesis and related numerical issues

In this paper we present a new, compact derivation of state-space formulae for the so-called discretisation-based solution of the H∞ sampled-data control problem. Our approach is based on the established technique of continuous time-lifting, which is used to isometrically map the continuous-time, linear, periodically time-varying, sampled-data problem to a discretetime, linear, time-invariant problem. State-space formulae are derived for the equivalent, discrete-time problem by solving a set of two-point, boundary-value problems. The formulae accommodate a direct feed-through term from the disturbance inputs to the controlled outputs of the original plant and are simple, requiring the computation of only a single matrix exponential. It is also shown that the resultant formulae can be easily re-structured to give a numerically robust algorithm for computing the state-space matrices. © 1997 Elsevier Science Ltd. All rights reserved.

Holographic memory with correlator based readout

The investigation of an inverted hybrid digital/ optical VanderLugt type correlator based on a holographic memory is reported in this paper. A set of reference templates is stored in a photorefractive crystal (PRC) by angular hologram multiplexing. In the filter plane, a phase-modulating liquid crystal television (LCTV) serves as a phase-only input device. During the recognition process, which is based on the pure phase correlation, the reference templates are correlated sequentially with the input object. This correlator shows high sensitivity to object rotation, sharp correlation peaks, high light efficiency, and is fully shift-invariant in spite of the PRC thickness. The influences of the LCTV on the performance of the system are discussed and experimental results are shown.

APPROXIMATE GAUSS-MARKOV REALISATION OF MULTIVARIATE STOCHASTIC PROCESSES.

Given a spectral density matrix or, equivalently, a real autocovariance sequence, the author seeks to determine a finite-dimensional linear time-invariant system which, when driven by white noise, will produce an output whose spectral density is approximately PHI ( omega ), and an approximate spectral factor of PHI ( omega ). The author employs the Anderson-Faurre theory in his analysis.

Reconstruction of surfaces of revolution from single uncalibrated views

This paper addresses the problem of recovering the 3D shape of a surface of revolution from a single uncalibrated perspective view. The algorithm introduced here makes use of the invariant properties of a surface of revolution and its silhouette to locate the image of the revolution axis, and to calibrate the focal length of the camera. The image is then normalized and rectified such that the resulting silhouette exhibits bilateral symmetry. Such a rectification leads to a simpler differential analysis of the silhouette, and yields a simple equation for depth recovery. It is shown that under a general camera configuration, there will be a 2-parameter family of solutions for the reconstruction. The first parameter corresponds to an unknown scale, whereas the second one corresponds to an unknown attitude of the object. By identifying the image of a latitude circle, the ambiguity due to the unknown attitude can be resolved. Experimental results on real images are presented, which demonstrate the quality of the reconstruction. © 2004 Elsevier B.V. All rights reserved.

Physiological modelling for improved reliability in silhouette-driven gradient-based hand tracking

We present a gradient-based motion capture system that robustly tracks a human hand, based on abstracted visual information - silhouettes. Despite the ambiguity in the visual data and despite the vulnerability of gradient-based methods in the face of such ambiguity, we minimise problems related to misfit by using a model of the hand's physiology, which is entirely non-visual, subject-invariant, and assumed to be known a priori. By modelling seven distinct aspects of the hand's physiology we derive prior densities which are incorporated into the tracking system within a Bayesian framework. We demonstrate how the posterior is formed, and how our formulation leads to the extraction of the maximum a posteriori estimate using a gradient-based search. Our results demonstrate an enormous improvement in tracking precision and reliability, while also achieving near real-time performance. © 2009 IEEE.

Impact response of polyethylene nanocomposites

The quasi-static and dynamic behaviour of Linear Low Density Polyethylene (LLDPE) and two LLDPE nanocomposites were studied. Nanocomposites consisting of LLDPE filled with 1% carbon black and 0.5% nanoclay fillers, by weight, were considered. Under quasi-static tensile loading, an improvement in the energy absorbing capability was achieved by adding 1% carbon black fillers. However, during quasi-static puncture and dynamic impact loading, the advantage provided by the fillers was lost. Thermal softening due to adiabatic heating under high strain rate deformation and difference s in the state of stress are considered as reasons for this reduction. © 2011 Published by Elsevier Ltd.

Coarse-level object recognition using interlevel products of complex wavelets

This paper introduces the Interlevel Product (ILP) which is a transform based upon the Dual-Tree Complex Wavelet. Coefficients of the ILP have complex values whose magnitudes indicate the amplitude of multilevel features, and whose phases indicate the nature of these features (e.g. ridges vs. edges). In particular, the phases of ILP coefficients are approximately invariant to small shifts in the original images. We accordingly introduce this transform as a solution to coarse scale template matching, where alignment concerns between decimation of a target and decimation of a larger search image can be mitigated, and computational efficiency can be maintained. Furthermore, template matching with ILP coefficients can provide several intuitive "near-matches" that may be of interest in image retrieval applications. © 2005 IEEE.

Multiscale object features from clustered complex wavelet coefficients

This paper introduces a method by which intuitive feature entities can be created from ILP (InterLevel Product) coefficients. The ILP transform is a pyramid of decimated complex-valued coefficients at multiple scales, derived from dual-tree complex wavelets, whose phases indicate the presence of different feature types (edges and ridges). We use an Expectation-Maximization algorithm to cluster large ILP coefficients that are spatially adjacent and similar in phase. We then demonstrate the relationship that these clusters possess with respect to observable image content, and conclude with a look at potential applications of these clusters, such as rotation- and scale-invariant object recognition. © 2005 IEEE.