Model-based vehicle detection and classification using orthographic approximations

This paper reports the current state of work to simplify our previous model-based methods for visual tracking of vehicles for use in a real-time system intended to provide continuous monitoring and classification of traffic from a fixed camera on a busy multi-lane motorway. The main constraints of the system design were: (i) all low level processing to be carried out by low-cost auxiliary hardware, (ii) all 3-D reasoning to be carried out automatically off-line, at set-up time. The system developed uses three main stages: (i) pose and model hypothesis using 1-D templates, (ii) hypothesis tracking, and (iii) hypothesis verification, using 2-D templates. Stages (i) & (iii) have radically different computing performance and computational costs, and need to be carefully balanced for efficiency. Together, they provide an effective way to locate, track and classify vehicles.

Modelled soil organic carbon stocks and changes in the Indo-Gangetic Plains, India from 1980 to 2030

The Global Environment Facility co-financed Soil Organic Carbon (GEFSOC) Project developed a comprehensive modelling system for predicting soil organic carbon (SOC) stocks and changes over time. This research is an effort to predict SOC stocks and changes for the Indian, Indo-Gangetic Plains (IGP), an area with a predominantly rice (Oryza sativa) - wheat (Triticum aestivum) cropping system, using the GEFSOC Modelling System and to compare output with stocks generated using mapping approaches based on soil survey data. The GEFSOC Modelling System predicts an estimated SOC stock for the IGP, India of 1.27, 1.32 and 1.27 Pg for 1990, 2000 and 2030, respectively, in the top 20 cm of soil. The SOC stock using a mapping approach based on soil survey data was 0.66 and 0.88 Pg for 1980 and 2000, respectively. The SOC stock estimated using the GEFSOC Modelling System is higher than the stock estimated using the mapping approach. This is due to the fact that while the GEFSOC System accounts for variation in crop input data (crop management), the soil mapping approach only considers regional variation in soil texture and wetness. The trend of overall change in the modelled SOC stock estimates shows that the IGP, India may have reached an equilibrium following 30-40 years of the Green Revolution. This can be seen in the SOC stock change rates. Various different estimation methods show SOC stocks of 0.57-1.44 Pg C for the study area. The trend of overall change in C stock assessed from the soil survey data indicates that the soils of the IGP, India may store a projected 1.1 Pg of C in 2030. (C) 2007 Elsevier B.V. All rights reserved.

Potential for clean yam minisett production by resource-poor farmers in the middle-belt of Nigeria

Yarn minisett technique (YMT) has been promoted throughout West Africa since the 1980s as a sustainable means of producing clean yarn planting material, but adoption of the technique is Often reported as being patchy at best. While there has been much research Oil the factors that influence adoption of the technique, there have been no attempts to assess its economic viability under 'farmer-managed' as distinct from 'on station' conditions. The present paper describes the results of farmer-managed trials employing the YMT (white yarn: Dioscorea rotundata) at two villages in Igalaland, Kogi State, Nigeria. One of the villages (Edeke) is on the banks of the River Niger and represents it specialist yarn environment, whereas the other village (Ekwuloko) is inland, where farmers employ a more general cropping system. Four farmers were selected in each of the two villages and asked to plant a trial comprising two varieties of yam, their popular local variety its well its another variety grown in other parts of Igalaland, and to treat yarn setts (80-100 g) with either woodash or insecticide/nematicide + fungicide mix (chemical treatment). Results suggest that while chemical sett treatment increased yield and hence gross margin compared with woodash, if household labour is costed then YMT is not economically viable. However, the specialist yarn growers of Edeke were far more positive about the use of YMT as they tended to keep the yarn seed tubers for planting rather than sell them. Thus, great care needs to be taken with planning adoption surveys on the assumption that all farmers should adopt a technology.

Reduced height (Rht) and photoperiod insensitivity (Ppd) allele associations with establishment and early growth of wheat in contrasting production systems

Near isogenic lines (NILs) varying for genes for reduced height (Rht) and photoperiod insensitivity (Ppd-D1a) in a cv. Mercia background (rht (tall), Rht-B1b, Rht-D1b, Rht-B1c, Rht8c + Ppd-D1a, Rht-D1c, Rht12) were compared at one field site but within contrasting ('organic' vs. 'conventional') rotational and agronomic contexts, in each of 3 years. In the final year, further NILs (rht (tall), Rht-B1b, Rht-D1b, Rht-B1c, Rht-B1b + Rht-D1b, Rht-D1b + Rht-B1c) in both Maris Huntsman and Maris Widgeon backgrounds were added together with 64 lines of a doubled haploid (DH) population [Savannah (Rht-D1b) x Renesansa (Rht-8c + Ppd-D1a)]. Assessments included laboratory tests of germination and coleoptile length, and various field measurements of crop growth between emergence and pre jointing [plant population, tillering, leaf length, ground cover (GC), interception of photosynthetically active radiation (PAR), crop dry matter (DM) and nitrogen accumulation (N), far red: red reflectance ratio (FR:R), crop height, and weed dry matter]. All of the dwarfing alleles except Rht12 in the Mercia background and Rht8c in the DHs were associated with reduced coleoptile length. Most of the dwarfing alleles (depending on background) reduced seed viability. Severe dwarfing alleles (Rht-B1c, Rht-D1c and Rht12) were routinely associated with fewer plant numbers and reduced early crop growth (GC, PAR, DM, N, FR:R), and in 1 year, increased weed DM. In the Mercia background and the DHs the semi-dwarfing allele Rht-D1b was also sometimes associated with reductions in early crop growth; no such negative effects were associated with the marker for Rht8c. When significant interactions between cropping system and genotype did occur it was because differences between lines were more exaggerated in the organic system than in the conventional system. Ppd-D1a was associated positively with plant numbers surviving the winter and early crop growth (GC, FR:R, DM, N, PAR, height), and was the most significant locus in a QTL analysis. We conclude that, within these environmental and system contexts, genes moderating development are likely to be more important in influencing early resource capture than using Rht8c as an alternative semi-dwarfing gene to Rht-D1b.

Solving complex optimal control problems at no cost with PSOPT

This paper introduces PSOPT, an open source optimal control solver written in C++. PSOPT uses pseudospectral and local discretizations, sparse nonlinear programming, automatic differentiation, and it incorporates automatic scaling and mesh refinement facilities. The software is able to solve complex optimal control problems including multiple phases, delayed differential equations, nonlinear path constraints, interior point constraints, integral constraints, and free initial and/or final times. The software does not require any non-free platform to run, not even the operating system, as it is able to run under Linux. Additionally, the software generates plots as well as LATEX code so that its results can easily be included in publications. An illustrative example is provided.

Improving mW/MHz ratio in FPGAs pipelined designs

This paper presents a simple clocking technique to migrate classical synchronous pipelined designs to a synchronous functional-equivalent alternative system in the context of FPGAs. When the new pipelined design runs at the same throughput of the original design, around 30% better mW/MHz ratio was observed in Virtex-based FPGA circuits. The evaluation is done using a simple but representative and practical systolic design as an example. The technique in essence is a simple replacement of the clocking mechanism for the pipe-storage elements; however no extra design effort is needed. The results show that the proposed technique allows immediate power and area-time savings of existing designs rather than exploring potential benefits by a new logic design to the problem using the classic pipeline clocking mechanism.

Head-controlled assistive telerobot with extended physiological proprioception capability

People with disabilities such as quadriplegia can use mouth-sticks and head-sticks as extension devices to perform desired manipulations. These extensions provide extended proprioception which allows users to directly feel forces and other perceptual cues such as texture present at the tip of the mouth-stick. Such devices are effective for two principle reasons: because of their close contact with the user's tactile and proprioceptive sensing abilities; and because they tend to be lightweight and very stiff, and can thus convey tactile and kinesthetic information with high-bandwidth. Unfortunately, traditional mouth-sticks and head-sticks are limited in workspace and in the mechanical power that can be transferred because of user mobility and strength limitations. We describe an alternative implementation of the head-stick device using the idea of a virtual head-stick: a head-controlled bilateral force-reflecting telerobot. In this system the end-effector of the slave robot moves as if it were at the tip of an imaginary extension of the user's head. The design goal is for the system is to have the same intuitive operation and extended proprioception as a regular mouth-stick effector but with augmentation of workspace volume and mechanical power. The input is through a specially modified six DOF master robot (a PerForceTM hand-controller) whose joints can be back-driven to apply forces at the user's head. The manipulation tasks in the environment are performed by a six degree-of-freedom slave robot (the Zebra-ZEROTM) with a built-in force sensor. We describe the prototype hardware/software implementation of the system, control system design, safety/disability issues, and initial evaluation tasks.

Cereal-based wholecrop silages: a potential conservation measure for farmland birds in pastoral landscapes

Declines of farmland birds have been pronounced in landscapes dominated by lowland livestock production and densities of seed-eating birds are particularly low in such areas. Modern livestock production often entails a simple cropping system dominated by ley grassland and maize grown for animal feed. These crops often lack invertebrate and seed resources for foraging birds and can be hostile nesting environments. Cereal-based wholecrop silages (CBWCS) offer potential benefits for farmland birds because they can be grown with minimal herbicide applications and can be spring-sown with following winter stubbles. We compared the biodiversity benefits and agronomic yields of winter-sown wheat and spring-sown barley as alternatives to grass and maize silage in intensive dairy livestock systems. Seed-eating birds foraged mainly in CBWCS fields during summer, and mainly on barley stubbles during winter and this reflected the higher densities of seed-bearing plants therein. Maize and grass fields lacked seed-bearing vegetation and were strongly avoided by most seed-eating birds. Production costs of CBWCS are similar to those of maize and lower than those of grass silage. Selective (rather than broad-spectrum) herbicide application on spring barley crops increased forb cover, reduced yields (by 11%) but caused only a small (<4%) increase in production costs. CBWCS grown with selective herbicide and with following winter stubbles offer a practical conservation measure for seed-eating farmland birds in landscapes dominated by intensively-managed grassland and maize. However, the relatively early harvesting of CBWCS could destroy a significant proportion of breeding attempts of late-nesting species like corn bunting (Emberiza calandra) or yellow wagtail (Motocilla flava). Where late-breeding species are likely to nest in CBWCS fields, harvesting should be delayed until most nesting attempts have been completed (e.g. until after 1st August in southern Britain). (C) 2010 Elsevier Ltd. All rights reserved.

Investigation of the accuracy of historical irradiance products and interannual variability of solar irradiance using Met Office ground data

Met Office station data from 1980 to 2012 has been used to characterise the interannual variability of incident solar irradiance across the UK. The same data are used to evaluate four popular historical irradiance products to determine which are most suitable for use by the UK PV industry for site selection and system design. The study confirmed previous findings that interannual variability is typically 3–6% and weighted average probability of a particular percentage deviation from the mean at an average site in the UK was calculated. This weighted average showed that fewer than 2% of site-years could be expected to fall below 90% of the long-term site mean. The historical irradiance products were compared against Met Office station data from the input years of each product. This investigation has found that all products perform well. No products have a strong spatial trend. Meteonorm 7 is most conservative (MBE = −2.5%), CMSAF is most optimistic (MBE = +3.4%) and an average of all four products performs better than any one individual product (MBE = 0.3%)

Aspects of designing and evaluating seasonal-to-interannual Arctic sea-ice prediction systems

Using lessons from idealised predictability experiments, we discuss some issues and perspectives on the design of operational seasonal to inter-annual Arctic sea-ice prediction systems. We first review the opportunities to use a hierarchy of different types of experiment to learn about the predictability of Arctic climate. We also examine key issues for ensemble system design, such as: measuring skill, the role of ensemble size and generation of ensemble members. When assessing the potential skill of a set of prediction experiments, using more than one metric is essential as different choices can significantly alter conclusions about the presence or lack of skill. We find that increasing both the number of hindcasts and ensemble size is important for reliably assessing the correlation and expected error in forecasts. For other metrics, such as dispersion, increasing ensemble size is most important. Probabilistic measures of skill can also provide useful information about the reliability of forecasts. In addition, various methods for generating the different ensemble members are tested. The range of techniques can produce surprisingly different ensemble spread characteristics. The lessons learnt should help inform the design of future operational prediction systems.

Design, implementation and characterisation of a contactless power transfer system for rotating applications

This paper describes the design, implementation and characterisation of a contactless power transfer system for rotating applications. The power transfer system is based upon a zero-voltage-switched, full-bridge, DC-DC converter, but utilises a non-standard transformer. This transformer allows power transfer between its primary and secondary windings while also allowing free rotation between these windings. The aim of this research is to develop a solution that could replace mechanical slip-rings in certain applications where a non-contacting system would be advantageous. Based upon the design method presented in this paper, a 2 kW prototype system is constructed. Results obtained from testing the 2 kW prototype are presented and discussed. This discussion considers how the performance of the transformer varies with rotation and also the overall efficiency of the system