An improvement of a SLAM RGB-D method with movement prediction derived from a study of visual features

This paper presents a method for the fast calculation of a robot’s egomotion using visual features. The method is part of a complete system for automatic map building and Simultaneous Location and Mapping (SLAM). The method uses optical flow to determine whether the robot has undergone a movement. If so, some visual features that do not satisfy several criteria are deleted, and then egomotion is calculated. Thus, the proposed method improves the efficiency of the whole process because not all the data is processed. We use a state-of-the-art algorithm (TORO) to rectify the map and solve the SLAM problem. Additionally, a study of different visual detectors and descriptors has been conducted to identify which of them are more suitable for the SLAM problem. Finally, a navigation method is described using the map obtained from the SLAM solution.

A Novel Prediction Method for Early Recognition of Global Human Behaviour in Image Sequences

Human behaviour recognition has been, and still remains, a challenging problem that involves different areas of computational intelligence. The automated understanding of people activities from video sequences is an open research topic in which the computer vision and pattern recognition areas have made big efforts. In this paper, the problem is studied from a prediction point of view. We propose a novel method able to early detect behaviour using a small portion of the input, in addition to the capabilities of it to predict behaviour from new inputs. Specifically, we propose a predictive method based on a simple representation of trajectories of a person in the scene which allows a high level understanding of the global human behaviour. The representation of the trajectory is used as a descriptor of the activity of the individual. The descriptors are used as a cue of a classification stage for pattern recognition purposes. Classifiers are trained using the trajectory representation of the complete sequence. However, partial sequences are processed to evaluate the early prediction capabilities having a specific observation time of the scene. The experiments have been carried out using the three different dataset of the CAVIAR database taken into account the behaviour of an individual. Additionally, different classic classifiers have been used for experimentation in order to evaluate the robustness of the proposal. Results confirm the high accuracy of the proposal on the early recognition of people behaviours.

Effects of method of error interruption on student performance at interactive terminals /

Originally presented as the author's thesis (M.A.), University of Illinois at Urbana-Champaign.

A priori prediction of roundoff error accumulation in the solution of a super-large geodetic normal equation system /

"June 1980."

Evaluating zero error noise thresholds by replica method for Gallager code ensembles

The replica method, developed in statistical physics, is employed in conjunction with Gallager's methodology to accurately evaluate zero error noise thresholds for Gallager code ensembles. Our approach generally provides more optimistic evaluations than those reported in the information theory literature for sparse matrices; the difference vanishes as the parity check matrix becomes dense.

Laser-induced breakdown spectroscopy quantitative analysis method via adaptive analytical line selection and relevance vector machine regression model

Abstract A new LIBS quantitative analysis method based on analytical line adaptive selection and Relevance Vector Machine (RVM) regression model is proposed. First, a scheme of adaptively selecting analytical line is put forward in order to overcome the drawback of high dependency on a priori knowledge. The candidate analytical lines are automatically selected based on the built-in characteristics of spectral lines, such as spectral intensity, wavelength and width at half height. The analytical lines which will be used as input variables of regression model are determined adaptively according to the samples for both training and testing. Second, an LIBS quantitative analysis method based on RVM is presented. The intensities of analytical lines and the elemental concentrations of certified standard samples are used to train the RVM regression model. The predicted elemental concentration analysis results will be given with a form of confidence interval of probabilistic distribution, which is helpful for evaluating the uncertainness contained in the measured spectra. Chromium concentration analysis experiments of 23 certified standard high-alloy steel samples have been carried out. The multiple correlation coefficient of the prediction was up to 98.85%, and the average relative error of the prediction was 4.01%. The experiment results showed that the proposed LIBS quantitative analysis method achieved better prediction accuracy and better modeling robustness compared with the methods based on partial least squares regression, artificial neural network and standard support vector machine.

Application of the Multivariate Prediction Method to Time Series

* This work was financially supported by RFBR-04-01-00858.

A laser induced breakdown spectroscopy quantitative analysis method based on the robust least squares support vector machine regression model

Data fluctuation in multiple measurements of Laser Induced Breakdown Spectroscopy (LIBS) greatly affects the accuracy of quantitative analysis. A new LIBS quantitative analysis method based on the Robust Least Squares Support Vector Machine (RLS-SVM) regression model is proposed. The usual way to enhance the analysis accuracy is to improve the quality and consistency of the emission signal, such as by averaging the spectral signals or spectrum standardization over a number of laser shots. The proposed method focuses more on how to enhance the robustness of the quantitative analysis regression model. The proposed RLS-SVM regression model originates from the Weighted Least Squares Support Vector Machine (WLS-SVM) but has an improved segmented weighting function and residual error calculation according to the statistical distribution of measured spectral data. Through the improved segmented weighting function, the information on the spectral data in the normal distribution will be retained in the regression model while the information on the outliers will be restrained or removed. Copper elemental concentration analysis experiments of 16 certified standard brass samples were carried out. The average value of relative standard deviation obtained from the RLS-SVM model was 3.06% and the root mean square error was 1.537%. The experimental results showed that the proposed method achieved better prediction accuracy and better modeling robustness compared with the quantitative analysis methods based on Partial Least Squares (PLS) regression, standard Support Vector Machine (SVM) and WLS-SVM. It was also demonstrated that the improved weighting function had better comprehensive performance in model robustness and convergence speed, compared with the four known weighting functions.

Intraoperative prediction of refractive error using a prototype surgical aberrometer

Purpose: To ascertain the agreement level between intra-operative refraction using a prototype surgical Hartmann-Shack aberrometer and subjective refraction a month later. Methods: Fifty-four consecutive patients had their pseudophakic refractive measured with the aberrometer intra-operatively at the end of their cataract surgery. A masked optometrist performed subjective refraction 4 weeks later. The two sets of data were then analysed for correlation. Results: The mean spherical equivalent was −0.14 ± 0.37 D (Range: −1.41 to +1.72 D) with the prototype aberrometer and −0.34 ± 0.32 (−1.64 to +1.88 D) with subjective refraction. The measurements positively correlated to a very high degree (r =+0.81, p < 0.01). In 84.3% of cases the two measurements were within 0.50D of each other. Conclusion: The aberrometer can verify the aimed refractive status of the eye intraoperatively to avoid a refractive surprise. The aberrometer is a useful tool for real time assessment of the ocular refractive status.

A low overhead error confinement method based on application statistical characteristics

Reliability has emerged as a critical design constraint especially in memories. Designers are going to great lengths to guarantee fault free operation of the underlying silicon by adopting redundancy-based techniques, which essentially try to detect and correct every single error. However, such techniques come at a cost of large area, power and performance overheads which making many researchers to doubt their efficiency especially for error resilient systems where 100% accuracy is not always required. In this paper, we present an alternative method focusing on the confinement of the resulting output error induced by any reliability issues. By focusing on memory faults, rather than correcting every single error the proposed method exploits the statistical characteristics of any target application and replaces any erroneous data with the best available estimate of that data. To realize the proposed method a RISC processor is augmented with custom instructions and special-purpose functional units. We apply the method on the proposed enhanced processor by studying the statistical characteristics of the various algorithms involved in a popular multimedia application. Our experimental results show that in contrast to state-of-the-art fault tolerance approaches, we are able to reduce runtime and area overhead by 71.3% and 83.3% respectively.

An energy based force prediction method for UD-CFRP orthogonal machining

The machining of carbon fiber reinforced polymer (CFRP) composite presents a significant challenge to the industry, and a better understanding of machining mechanism is the essential fundament to enhance the machining quality. In this study, a new energy based analytical method was developed to predict the cutting forces in orthogonal machining of unidirectional CFRP with fiber orientations ranging from 0° to 75°. The subsurface damage in cutting was also considered. Thus, the total specific energy for cutting has been estimated along with the energy consumed for forming new surfaces, friction, fracture in chip formation and subsurface debonding. Experiments were conducted to verify the validity of the proposed model.

Designing for User-facing Uncertainty in Everyday Sensing and Prediction

Thesis (Ph.D.)--University of Washington, 2016-07

Wind wave prediction in the Caspian Sea

In this thesis, wind wave prediction and analysis in the Southern Caspian Sea are surveyed. Because of very much importance and application of this matter in reducing vital and financial damages or marine activities, such as monitoring marine pollution, designing marine structure, shipping, fishing, offshore industry, tourism and etc, gave attention by some marine activities. In this study are used the Caspian Sea topography data that are extracted from the Caspian Sea Hydrography map of Iran Armed Forces Geographical Organization and the I 0 meter wind field data that are extracted from the transmitted GTS synoptic data of regional centers to Forecasting Center of Iran Meteorological Organization for wave prediction and is used the 20012 wave are recorded by the oil company's buoy that was located at distance 28 Kilometers from Neka shore for wave analysis. The results of this research are as follows: - Because of disagreement between the prediction results of SMB method in the Caspian sea and wave data of the Anzali and Neka buoys. The SMB method isn't able to Predict wave characteristics in the Southern Caspian Sea. - Because of good relativity agreement between the WAM model output in the Caspian Sea and wave data of the Anzali buoy. The WAM model is able to predict wave characteristics in the southern Caspian Sea with high relativity accuracy. The extreme wave height distribution function for fitting to the Southern Caspian Sea wave data is obtained by determining free parameters of Poisson-Gumbel function through moment method. These parameters are as below: A=2.41, B=0.33. The maximum relative error between the estimated 4-year return value of the Southern Caspian Sea significant wave height by above function with the wave data of Neka buoy is about %35. The 100-year return value of the Southern Caspian Sea significant height wave is about 4.97 meter. The maximum relative error between the estimated 4-year return value of the Southern Caspian Sea significant wave height by statistical model of peak over threshold with the wave data of Neka buoy is about %2.28. The parametric relation for fitting to the Southern Caspian Sea frequency spectra is obtained by determining free parameters of the Strekalov, Massel and Krylov etal_ multipeak spectra through mathematical method. These parameters are as below: A = 2.9 B=26.26, C=0.0016 m=0.19 and n=3.69. The maximum relative error between calculated free parameters of the Southern Caspian Sea multipeak spectrum with the proposed free parameters of double-peaked spectrum by Massel and Strekalov on the experimental data from the Caspian Sea is about 36.1 % in spectrum energetic part and is about 74M% in spectrum high frequency part. The peak over threshold waverose of the Southern Caspian Sea shows that maximum occurrence probability of wave height is relevant to waves with 2-2.5 meters wave fhe error sources in the statistical analysis are mainly due to: l) the missing wave data in 2 years duration through battery discharge of Neka buoy. 2) the deportation %15 of significant height annual mean in single year than long period average value that is caused by lack of adequate measurement on oceanic waves, and the error sources in the spectral analysis are mainly due to above- mentioned items and low accurate of the proposed free parameters of double-peaked spectrum on the experimental data from the Caspian Sea.

PCA-ANFIS based prediction for water Injection effectiveness cycle in oil fields.

By proposing a numerical based method on PCA-ANFIS(Adaptive Neuro-Fuzzy Inference System), this paper is focusing on solving the problem of uncertain cycle of water injection in the oilfield. As the dimension of original data is reduced by PCA, ANFIS can be applied for training and testing the new data proposed by this paper. The correctness of PCA-ANFIS models are verified by the injection statistics data collected from 116 wells inside an oilfield, the average absolute error of testing is 1.80 months. With comparison by non-PCA based models which average error is 4.33 months largely ahead of PCA-ANFIS based models, it shows that the testing accuracy has been greatly enhanced by our approach. With the conclusion of the above testing, the PCA-ANFIS method is robust in predicting the effectiveness cycle of water injection which helps oilfield developers to design the water injection scheme.