Minimum spanning trees for valley and ridge characterization in digital elevation maps

Texture synthesis employs neighbourhood matching to generate appropriate new content. Terrain synthesis has the added constraint that new content must be geographically plausible. The profile recognition and polygon breaking algorithm (PPA) [Chang et al. 1998] provides a robust mechanism for characterizing terrain as systems of valley and ridge lines in digital elevation maps. We exploit this to create a terrain characterization metric that is robust, efficient to compute and is sensitive to terrain properties.

Terrain regions are characterized as a minimum spanning tree derived from a graph created from the sample points of the elevation map which are encoded as weights in the edges of the graph. This formulation allows us to provide a single consistent feature definition that is sensitive to the pattern of ridges and valleys in the terrain Alternative formulations of these weights provide richer characteristicmeasures and we provide examples of alternate definitions based on curvature and contour measures.

We show that the measure is robust, with a significant portion derived directly from information local to the terrain sample. Global terrain characteristics introduce the issue of over- and underconnected valley/ridge lines when working with sub-regions. This is addressed by providing two graph construction strategies, which respectively provide an upper bound on connectivity as a single spanning tree, and a lower bound as a forest of trees.

Efficient minimum spanning tree algorithms are adapted to the context of terrain data and are shown to provide substantially better performance than previous PPA implementations. In particular, these are able to characterize valley and ridge behaviour at every point even in large elevation maps, providing a measure sensitive to terrain features at all scales.

The resulting graph based formulation provides an efficient and elegant algorithm for characterizing terrain features. The measure can be calculated efficiently, is robust under changes of neighbourhood position, size and resolution and the hybrid measure is sensitive to terrain features both locally and globally.

Late Middle Permian (Guadalupian) fusuline fauna from the Gyanyima area of Burang County, Tibet, China and its paleobiogeographic implications

Numerous Permian limestone blocks exposed along the Yarlung-Zangbo Suture Zone have been named Tibetan facies exotic limestone blocks or Chitichun-type Permian deposits.The Gyanyima limestone block,one of those limestone blocks,is located in Burang County,southwestern Tibet.Fusulines are abundant in the Gyanyima limestone block especially for Middle Permian Xilanta Formation.The fusuline fauna comprises 10 genera,respectively Neoschwagerina, Yangchienia, Armenina, Verbeekina, Paraverbeekina, Kahlerina, Lantschichites, Codonofusiella,Chusenella, Nankinella.This fauna indicates a Midian age(Late Guadalupian or Lengwuan age of South China) in terms of the coexistence of Kahlerina, Lantschichites, Codonofusiella and Neoschwagerina.

Late Guadalupian (Middle Permian) Fusuline fauna from the Xiala formation in Xainza county, central Tibet : implication of the rifting time of the Lhasa Block

A fusuline fauna consisting of 9 species of 4 genera from the Xiala Formation of the Mujiucuo section, Xainza County, Tibet, China is described. The fusuline fauna is dominated by Nankinella and Chusenella and indicates a Midian (Late Guadalupian) age. The earliest record of fusuline fauna during the Midian in the Lhasa Block suggests that the block rifted later than the Qiangtang Block to the north and the Baoshan and Tengchong blocks to the east, all of which yield much earlier fusuline faunas of Yakhtashian (Artinskian) age, but had drifted away from Gondwana to a relatively warm temperate zone in the Late Guadalupian (Middle Permian).

Discovery of the Early Ordovician strata in Xianza County, Tibet and its significance

There is no any sediments contain fossils which formed earlier than Middle Ordovician in northern Tibet yet. It is very important whether have developed the Cambrian to Early Ordovician sedimentary strata. During geological mapping of Xainza County in 2000, Tetragraptus approximatus, the typical one of graptolite belts which cosmepolitically distributed in the Arenigian of Early Ordovician, was collected from the so-call Pre-Sinian Nianqingtanggula Group. So there is developped the Early Ordovician sediments and we have established Zakang Formation and Taduo Formation which perfected the Plaeozoic sequences in northern Tibet. According to these, we can realize tectonic control, palaeogeographrc pattern as well as palaeobiogeographic distribution of the Qinghai-Tibet Plateau in the early Paleozoic and also provided the materials to the cosmepolitical biostratigraphic contrast.

Middle Permian (Guadalupian) Fusulines from the Xilanta formation in the Gyanyima area of Burang County, southwestern Tibet, China

This paper reports a diversified fusuline fauna from the Middle Permian (Guadalupian) Xilanta Formation in the Gyanyima area, Burang County, southwestern Tibet, China. Nine genera, Lantschichites, Kahlerina, Nankinella, Yangchienia, Chusenella, Verbeekina, Armenina, Paraverbeekina and Neoschwagerina are recognized.Anew species Yangchienia gyanyimaensis n. sp. is established. This fauna indicates a Midian age in terms of the coexistence of Kahlerina, Lantschichites and Neoschwagerina. Paleobiogeographically, the fauna closely resembles that from the Lasaila exotic limestone block of Tibet, both resemble the fusuline assemblages known from the western Cimmerian continents in the Western Tethys Province. However, the absence of Afghanella and Sumatrina in the fauna suggests that the Gyanyima limestone block as well as the Lasaila exotic limestone block, the Batain plain of Oman and the Salt Range of Pakistan, were affected by relatively cool water during the Middle Permian.

A unified formalism for landmark based representation of maps and navigation plans

We present a unified formalism for representing maps and using them for constructing plans of navigation for an autonomous agent. The foundation of this work lies in addressing key questions that an agent is confronted with when navigating. That is, besides the main task of how to reach the intended destination from the current position, the agent faces other questions like: where am I? what landmarks can I see? where is my destination relative to me and the landmarks I am seeing? Fundamental to this representation is the use of visual landmarks, which are used as pivotal points in the landscape being described. Further, in the representation of spatial information and navigation there are three different viewpoints: first, the localized representation from the viewpoint of a sighted, mobile agent; second, the static representation seen by the map-maker; and third, the view of an external agent giving directions on the basis of his own experience/knowledge. The major contribution of this map model and the associated navigation method lies in the framework which unifies these three different points of view. This unification enables the agent to make no distinction in terms of following implicit instructions contained in a map and the directions given by external agents.

Reliability maps and probabilistic guarantee of task motion for robotic manipulators

There are many applications for which reliable and safe robots are desired. For example, assistant robots for disabled or elderly people and surgical robots are required to be safe and reliable to prevent human injury and task failure. However, different levels of safety and reliability are required for different tasks so that understanding the reliability of robots is paramount. Currently, it is possible to guarantee the completion of a task when the robot is fault tolerant and the task remains in the fault-tolerant workspace (FTW). The traditional definition of FTW does not consider different reliabilities for the robotic manipulator's different joints. The aim of this paper is to extend the concept of a FTW to address the reliability of different joints. Such an extension can offer a wider FTW while maintaining the required level of reliability. This is achieved by associating a probability with every part of the workspace to extend the FTW. As a result, reliable fault-tolerant workspaces (RFTWs) are introduced by using the novel concept of conditional reliability maps. Such a RFTW can be used to improve the performance of assistant robots while providing the confidence that the robot remains reliable for completion of its assigned tasks. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan.

Quantitative experimental comparison of single-beam, sidescan, and multibeam benthic habitat maps

Map comparison is a relatively uncommon practice in acoustic seabed classification to date, contrary to the field of land remote sensing, where it has been developed extensively over recent decades. The aim here is to illustrate the benefits of map comparison in the underwater realm with a case study of three maps independently describing the seabed habitats of the Te Matuku Marine Reserve (Hauraki Gulf, New Zealand). The maps are obtained from a QTC View classification of a single-beam echosounder (SBES) dataset, manual segmentation of a sidescan sonar (SSS) mosaic, and automatic classification of a backscatter dataset from a multibeam echosounder (MBES). The maps are compared using pixel-to-pixel similarity measures derived from the literature in land remote sensing. All measures agree in presenting the MBES and SSS maps as the most similar, and the SBES and SSS maps as the least similar. The results are discussed with reference to the potential of MBES backscatter as an alternative to SSS mosaic for imagery segmentation and to the potential of joint SBES–SSS survey for improved habitat mapping. Other applications of map-similarity measures in acoustic classification of the seabed are suggested.