A global vision system for a robot soccer team

This paper describes the real time global vision system for the robot soccer team the RoboRoos. It has a highly optimised pipeline that includes thresholding, segmenting, colour normalising, object recognition and perspective and lens correction. It has a fast ‘paint’ colour calibration system that can calibrate in any face of the YUV or HSI cube. It also autonomously selects both an appropriate camera gain and colour gains robot regions across the field to achieve colour uniformity. Camera geometry calibration is performed automatically from selection of keypoints on the field. The system acheives a position accuracy of better than 15mm over a 4m × 5.5m field, and orientation accuracy to within 1°. It processes 614 × 480 pixels at 60Hz on a 2.0GHz Pentium 4 microprocessor.

Moomba - A collaborative environment for supporting distributed extreme programming in global software development

Global Software Development (GSD) is an emerging distributive software engineering practice, in which a higher communication overhead due to temporal and geographical separation among developers is traded with gains in reduced development cost, improved flexibility and mobility for developers, increased access to skilled resource-pools and convenience of customer involvements. However, due to its distributive nature, GSD faces many fresh challenges in aspects relating to project coordination, awareness, collaborative coding and effective communication. New software engineering methodologies and processes are required to address these issues. Research has shown that, with adequate support tools, Distributed Extreme Programming (DXP) – a distributive variant of an agile methodology – Extreme Programming (XP) can be both efficient and beneficial to GDS projects. In this paper, we present the design and realization of a collaborative environment, called Moomba, which assists a distributed team in both instantiation and execution of a DXP process in GSD projects.

The relative impact of scar and viable tissue in predicting global left ventricular remodeling in medically treated patients

We sought to determine the relative impact of myocardial scar and viability on post-infarct left ventricular (LV) remodeling in medically-treated patients with LV dysfunction. Forty patients with chronic ischemic heart disease (age 64±9, EF 40±11%) underwent rest-redistribution Tl201 SPECT (scar = 50% transmural extent), A global index of scarring for each patient (CMR scar score) was calculated as the sum of transmural extent scores in all segts. LV end diastolic volumes (LVEDV) and LV end systolic volumes (LVESV) were measured by real-time threedimensional echo at baseline and median of 12 months follow-up. There was a significant positive correlation between change in LVEDV with number of scar segts by all three imaging techniques (LVEDV: SPECT scar, r = 0.62, p < 0.001; DbE scar, r = 0.57, p < 0.001; CMR scar, r = 0.52, p < 0.001) but change in LV volumes did not the correlate with number of viable segments. ROC curve analysis showed that remodeling (LVEDV> 15%) was predicted bySPECTscars(AUC= 0.79),DbEscars(AUC= 0.76),CMR scars (AUC= 0.70), and CMR scar score (AUC 0.72). There were no significant differences between any of the ROC curves (Z score