(Table 1) Summary statistics of in situ sea-ice characteristics of Ice Station Belgica sites Fabra, Patria/Liège and Brussels in October 2007

Three ice type regimes at Ice Station Belgica (ISB), during the 2007 International Polar Year SIMBA (Sea Ice Mass Balance in Antarctica) expedition, were characterized and assessed for elevation, snow depth, ice freeboard and thickness. Analyses of the probability distribution functions showed great potential for satellite-based altimetry for estimating ice thickness. In question is the required altimeter sampling density for reasonably accurate estimation of snow surface elevation given inherent spatial averaging. This study assesses an effort to determine the number of laser altimeter 'hits' of the ISB floe, as a representative Antarctic floe of mixed first- and multi-year ice types, for the purpose of statistically recreating the in situ-determined ice-thickness and snow depth distribution based on the fractional coverage of each ice type. Estimates of the fractional coverage and spatial distribution of the ice types, referred to as ice 'towns', for the 5 km**2 floe were assessed by in situ mapping and photo-visual documentation. Simulated ICESat altimeter tracks, with spot size ~70 m and spacing ~170 m, sampled the floe's towns, generating a buoyancy-derived ice thickness distribution. 115 altimeter hits were required to statistically recreate the regional thickness mean and distribution for a three-town assemblage of mixed first- and multi-year ice, and 85 hits for a two-town assemblage of first-year ice only: equivalent to 19.5 and 14.5 km respectively of continuous altimeter track over a floe region of similar structure. Results have significant implications toward model development of sea-ice sampling performance of the ICESat laser altimeter record as well as maximizing sampling characteristics of satellite/airborne laser and radar altimetry missions for sea-ice thickness.

Understanding long-term hunting statistics: the case of Spain (1972-2007)

Hunting is assuming a growing role in the current European forestry and agroforestry landscape. However, consistent statistical sources that provide quantitative information for policy-making, planning and management of game resources are often lacking. In addition, in many instances statistical information can be used without sufficient evaluation or criticism. Recently, the European Commission has declared the importance of high quality hunting statistics and the need to set up a common scheme in Europe for their collection, interpretation and proper use. This work aims to contribute to this current debate on hunting statistics in Europe by exploring data from the last 35 years of Spanish hunting statistics. The analysis focuses on the three major pillars underpinning hunting activity: hunters, hunting grounds and game animals. First, the study aims to provide a better understanding of official hunting statistics for use by researchers, game managers and other potential users. Second, the study highlights the major strengths and weaknesses of the statistical information that was collected. The results of the analysis indicate that official hunting statistics can be incomplete, dispersed and not always homogeneous over a long period of time. This is an issue of which one should be aware when using official hunting data for scientific or technical work. To improve statistical deficiencies associated with hunting data in Spain, our main suggestion is the adoption of a common protocol on data collection to which different regions agree. This protocol should be in accordance with future European hunting statistics and based on robust and well-informed data collection methods. Also it should expand the range of biological, ecological and economic concepts currently included to take account of the profound transformations experienced by the hunting sector in recent years. As much as possible, any future changes in the selection of hunting statistics should allow for comparisons between new variables with the previous ones.

Grapevine Yield and Leaf Area Estimation Using Supervised Classification Methodology on RGB Images Taken under Field Conditions

The aim of this research was to implement a methodology through the generation of a supervised classifier based on the Mahalanobis distance to characterize the grapevine canopy and assess leaf area and yield using RGB images. The method automatically processes sets of images, and calculates the areas (number of pixels) corresponding to seven different classes (Grapes, Wood, Background, and four classes of Leaf, of increasing leaf age). Each one is initialized by the user, who selects a set of representative pixels for every class in order to induce the clustering around them. The proposed methodology was evaluated with 70 grapevine (V. vinifera L. cv. Tempranillo) images, acquired in a commercial vineyard located in La Rioja (Spain), after several defoliation and de-fruiting events on 10 vines, with a conventional RGB camera and no artificial illumination. The segmentation results showed a performance of 92% for leaves and 98% for clusters, and allowed to assess the grapevine’s leaf area and yield with R2 values of 0.81 (p < 0.001) and 0.73 (p = 0.002), respectively. This methodology, which operates with a simple image acquisition setup and guarantees the right number and kind of pixel classes, has shown to be suitable and robust enough to provide valuable information for vineyard management.

Estimation of daily global solar radiation from measured temperatures at Cañada de Luque, Córdoba, Argentina

Solar radiation is the most important source of renewable energy in the planet; it's important to solar engineers, designers and architects, and it's also fundamental for efficiently determining irrigation water needs and potential yield of crops, among others. Complete and accurate solar radiation data at a specific region are indispensable. For locations where measured values are not available, several models have been developed to estimate solar radiation. The objective of this paper was to calibrate, validate and compare five representative models to predict global solar radiation, adjusting the empirical coefficients to increase the local applicability and to develop a linear model. All models were based on easily available meteorological variables, without sunshine hours as input, and were used to estimate the daily solar radiation at Cañada de Luque (Córdoba, Argentina). As validation, measured and estimated solar radiation data were analyzed using several statistic coefficients. The results showed that all the analyzed models were robust and accurate (R2 and RMSE values between 0.87 to 0.89 and 2.05 to 2.14, respectively), so global radiation can be estimated properly with easily available meteorological variables when only temperature data are available. Hargreaves-Samani, Allen and Bristow-Campbell models could be used with typical values to estimate solar radiation while Samani and Almorox models should be applied with calibrated coefficients. Although a new linear model presented the smallest R2 value (R2 = 0.87), it could be considered useful for its easy application. The daily global solar radiation values produced for these models can be used to estimate missing daily values, when only temperature data are available, and in hydrologic or agricultural applications.

Visual Tracking, Pose Estimation, and Control for Aerial Vehicles

El principal objetivo de esta tesis es dotar a los vehículos aéreos no tripulados (UAVs, por sus siglas en inglés) de una fuente de información adicional basada en visión. Esta fuente de información proviene de cámaras ubicadas a bordo de los vehículos o en el suelo. Con ella se busca que los UAVs realicen tareas de aterrizaje o inspección guiados por visión, especialmente en aquellas situaciones en las que no haya disponibilidad de estimar la posición del vehículo con base en GPS, cuando las estimaciones de GPS no tengan la suficiente precisión requerida por las tareas a realizar, o cuando restricciones de carga de pago impidan añadir sensores a bordo de los vehículos. Esta tesis trata con tres de las principales áreas de la visión por computador: seguimiento visual y estimación visual de la pose (posición y orientación), que a su vez constituyen la base de la tercera, denominada control servo visual, que en nuestra aplicación se enfoca en el empleo de información visual para controlar los UAVs. Al respecto, esta tesis se ocupa de presentar propuestas novedosas que permitan solucionar problemas relativos al seguimiento de objetos mediante cámaras ubicadas a bordo de los UAVs, se ocupa de la estimación de la pose de los UAVs basada en información visual obtenida por cámaras ubicadas en el suelo o a bordo, y también se ocupa de la aplicación de las técnicas propuestas para solucionar diferentes problemas, como aquellos concernientes al seguimiento visual para tareas de reabastecimiento autónomo en vuelo o al aterrizaje basado en visión, entre otros. Las diversas técnicas de visión por computador presentadas en esta tesis se proponen con el fin de solucionar dificultades que suelen presentarse cuando se realizan tareas basadas en visión con UAVs, como las relativas a la obtención, en tiempo real, de estimaciones robustas, o como problemas generados por vibraciones. Los algoritmos propuestos en esta tesis han sido probados con información de imágenes reales obtenidas realizando pruebas on-line y off-line. Diversos mecanismos de evaluación han sido empleados con el propósito de analizar el desempeño de los algoritmos propuestos, entre los que se incluyen datos simulados, imágenes de vuelos reales, estimaciones precisas de posición empleando el sistema VICON y comparaciones con algoritmos del estado del arte. Los resultados obtenidos indican que los algoritmos de visión por computador propuestos tienen un desempeño que es comparable e incluso mejor al de algoritmos que se encuentran en el estado del arte. Los algoritmos propuestos permiten la obtención de estimaciones robustas en tiempo real, lo cual permite su uso en tareas de control visual. El desempeño de estos algoritmos es apropiado para las exigencias de las distintas aplicaciones examinadas: reabastecimiento autónomo en vuelo, aterrizaje y estimación del estado del UAV. Abstract The main objective of this thesis is to provide Unmanned Aerial Vehicles (UAVs) with an additional vision-based source of information extracted by cameras located either on-board or on the ground, in order to allow UAVs to develop visually guided tasks, such as landing or inspection, especially in situations where GPS information is not available, where GPS-based position estimation is not accurate enough for the task to develop, or where payload restrictions do not allow the incorporation of additional sensors on-board. This thesis covers three of the main computer vision areas: visual tracking and visual pose estimation, which are the bases the third one called visual servoing, which, in this work, focuses on using visual information to control UAVs. In this sense, the thesis focuses on presenting novel solutions for solving the tracking problem of objects when using cameras on-board UAVs, on estimating the pose of the UAVs based on the visual information collected by cameras located either on the ground or on-board, and also focuses on applying these proposed techniques for solving different problems, such as visual tracking for aerial refuelling or vision-based landing, among others. The different computer vision techniques presented in this thesis are proposed to solve some of the frequently problems found when addressing vision-based tasks in UAVs, such as obtaining robust vision-based estimations at real-time frame rates, and problems caused by vibrations, or 3D motion. All the proposed algorithms have been tested with real-image data in on-line and off-line tests. Different evaluation mechanisms have been used to analyze the performance of the proposed algorithms, such as simulated data, images from real-flight tests, publicly available datasets, manually generated ground truth data, accurate position estimations using a VICON system and a robotic cell, and comparison with state of the art algorithms. Results show that the proposed computer vision algorithms obtain performances that are comparable to, or even better than, state of the art algorithms, obtaining robust estimations at real-time frame rates. This proves that the proposed techniques are fast enough for vision-based control tasks. Therefore, the performance of the proposed vision algorithms has shown to be of a standard appropriate to the different explored applications: aerial refuelling and landing, and state estimation. It is noteworthy that they have low computational overheads for vision systems.

Estimation of a probability in inverse binomial sampling under normalized linear-linear and inverse-linear loss

Sequential estimation of the success probability $p$ in inverse binomial sampling is considered in this paper. For any estimator $\hatvap$, its quality is measured by the risk associated with normalized loss functions of linear-linear or inverse-linear form. These functions are possibly asymmetric, with arbitrary slope parameters $a$ and $b$ for $\hatvap < p$ and $\hatvap > p$ respectively. Interest in these functions is motivated by their significance and potential uses, which are briefly discussed. Estimators are given for which the risk has an asymptotic value as $p \rightarrow 0$, and which guarantee that, for any $p \in (0,1)$, the risk is lower than its asymptotic value. This allows selecting the required number of successes, $\nnum$, to meet a prescribed quality irrespective of the unknown $p$. In addition, the proposed estimators are shown to be approximately minimax when $a/b$ does not deviate too much from $1$, and asymptotically minimax as $\nnum \rightarrow \infty$ when $a=b$.

Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers

This article describes the design of a linear observer–linear controller-based robust output feedback scheme for output reference trajectory tracking tasks in the case of nonlinear, multivariable, nonholonomic underactuated mobile manipulators. The proposed linear feedback scheme is based on the use of a classical linear feedback controller and suitably extended, high-gain, linear Generalized Proportional Integral (GPI) observers, thus aiding the linear feedback controllers to provide an accurate simultaneous estimation of each flat output associated phase variables and of the exogenous and perturbation inputs. This information is used in the proposed feedback controller in (a) approximate, yet close, cancelations, as lumped unstructured time-varying terms, of the influence of the highly coupled nonlinearities, and (b) the devising of proper linear output feedback control laws based on the approximate estimates of the string of phase variables associated with the flat outputs simultaneously provided by the disturbance observers. Simulations reveal the effectiveness of the proposed approach.

Traffic sign detection and tracking using robust 3D analysis

In this paper we present an innovative technique to tackle the problem of automatic road sign detection and tracking using an on-board stereo camera. It involves a continuous 3D analysis of the road sign during the whole tracking process. Firstly, a color and appearance based model is applied to generate road sign candidates in both stereo images. A sparse disparity map between the left and right images is then created for each candidate by using contour-based and SURF-based matching in the far and short range, respectively. Once the map has been computed, the correspondences are back-projected to generate a cloud of 3D points, and the best-fit plane is computed through RANSAC, ensuring robustness to outliers. Temporal consistency is enforced by means of a Kalman filter, which exploits the intrinsic smoothness of the 3D camera motion in traffic environments. Additionally, the estimation of the plane allows to correct deformations due to perspective, thus easing further sign classification.

Robust thermal face recognition using region classifiers

This paper presents a robust approach for recognition of thermal face images based on decision level fusion of 34 different region classifiers. The region classifiers concentrate on local variations. They use singular value decomposition (SVD) for feature extraction. Fusion of decisions of the region classifier is done by using majority voting technique. The algorithm is tolerant against false exclusion of thermal information produced by the presence of inconsistent distribution of temperature statistics which generally make the identification process difficult. The algorithm is extensively evaluated on UGC-JU thermal face database, and Terravic facial infrared database and the recognition performance are found to be 95.83% and 100%, respectively. A comparative study has also been made with the existing works in the literature.

Measurement of genetic structure within populations using Moran's spatial autocorrelation statistics.

Spatial structure of genetic variation within populations, an important interacting influence on evolutionary and ecological processes, can be analyzed in detail by using spatial autocorrelation statistics. This paper characterizes the statistical properties of spatial autocorrelation statistics in this context and develops estimators of gene dispersal based on data on standing patterns of genetic variation. Large numbers of Monte Carlo simulations and a wide variety of sampling strategies are utilized. The results show that spatial autocorrelation statistics are highly predictable and informative. Thus, strong hypothesis tests for neutral theory can be formulated. Most strikingly, robust estimators of gene dispersal can be obtained with practical sample sizes. Details about optimal sampling strategies are also described.

Influence analysis of robust Wald-type tests

We consider a robust version of the classical Wald test statistics for testing simple and composite null hypotheses for general parametric models. These test statistics are based on the minimum density power divergence estimators instead of the maximum likelihood estimators. An extensive study of their robustness properties is given though the influence functions as well as the chi-square inflation factors. It is theoretically established that the level and power of these robust tests are stable against outliers, whereas the classical Wald test breaks down. Some numerical examples confirm the validity of the theoretical results.

Deformable templates for plaque thickness estimation of intravascular ultrasound sequences

Comunicación presentada en el VII Symposium Nacional de Reconocimiento de Formas y Análisis de Imágenes, SNRFAI, Barcelona, abril 1997.

Coltan from Central Africa, International Trade and Implications for Any Certification. Bruges European Economic Policy (BEEP) 23/2012

The exploitation of coltan in Central Africa can be considered a case of conflict minerals due to its nature. Many international organizations and bodies, national governments and private sector organizations seek to address this conflict, in particular via transparency, certification and accountability along the material supply chain. This paper analyses the international trade dimension of coltan and gives evidence on the dimension of illicit trade of coltan. The authors start from the hypothesis that illicit trade of coltan sooner or later will enter the market and will be reflected in the statistics. The paper is structured in the following manner: first, a short section gives a profile of coltan production and markets; second, an overview of the mining situation in the Democratic Republic of Congo (DRC) and related actors. The third section addresses mechanisms, actors and measurement issues involved in the international trade of coltan. The final part draws lessons for certification and conflict analysis and offers some guidance for future research. The paper identifies two main possible gateways to trace illegal trade in coltan: the neighbouring countries, especially Rwanda, and the importing countries for downstream production, in particular China. Our estimation is that the value of such illicit trade comes close to $ 27 million annually (2009), roughly one fifth of the world market volume for tantalum production. With regard to any certification the paper concludes that this will become challenging for business and policy: (a) Central Africa currently is the largest supplier of coltan on the world market, many actors profit from the current situation and possess abilities to hide responsibility; (b) China will need to accept more responsibility, a first step would be the acceptance of the OECD guidelines on due diligence; (c) better regional governance in Central Africa comprises of resource taxation, a resource fund and fiscal coordination. An international task force may provide more robust data, however more research will also be needed.

1993-94 schools and staffing survey : sample design and estimation /

"NCES 96-089."