Control of Redundant Joint Structures Using Image Information During the Tracking of Non-Smooth Trajectories

Visual information is increasingly being used in a great number of applications in order to perform the guidance of joint structures. This paper proposes an image-based controller which allows the joint structure guidance when its number of degrees of freedom is greater than the required for the developed task. In this case, the controller solves the redundancy combining two different tasks: the primary task allows the correct guidance using image information, and the secondary task determines the most adequate joint structure posture solving the possible joint redundancy regarding the performed task in the image space. The method proposed to guide the joint structure also employs a smoothing Kalman filter not only to determine the moment when abrupt changes occur in the tracked trajectory, but also to estimate and compensate these changes using the proposed filter. Furthermore, a direct visual control approach is proposed which integrates the visual information provided by this smoothing Kalman filter. This last aspect permits the correct tracking when noisy measurements are obtained. All the contributions are integrated in an application which requires the tracking of the faces of Asperger children.

Targetless image-based method for measuring displacements and strains on concrete surfaces with a consumer camera

Measurement of concrete strain through non-invasive methods is of great importance in civil engineering and structural analysis. Traditional methods use laser speckle and high quality cameras that may result too expensive for many applications. Here we present a method for measuring concrete deformations with a standard reflex camera and image processing for tracking objects in the concretes surface. Two different approaches are presented here. In the first one, on-purpose objects are drawn on the surface, while on the second one we track small defects on the surface due to air bubbles in the hardening process. The method has been tested on a concrete sample under several loading/unloading cycles. A stop-motion sequence of the process has been captured and analyzed. Results have been successfully compared with the values given by a strain gauge. Accuracy of our methods in tracking objects is below 8 μm, in the order of more expensive commercial devices.

In situ pore water oxygen microprofiles from the Polar Front, Southern South Atlantic Ocean

Without doubt, global climate change is directly linked to the anthropogenic release of greenhouse gases such as carbon dioxide (CO2) and methane (UN IPCC-Report 2007). Therefore, research efforts to comprehend the global carbon cycle have increased during the last years. In the context of the observed changes, it is of particular interest to decipher the role of the hydro-, bio- and atmospheres and how the different compartments of the earth system are affected by the increase of atmospheric CO2. Due to its huge carbon inventory, the marine carbon cycle represents the most important component in this respect. Numerous findings suggest that the Southern Ocean plays a key role in terms of oceanic CO2 uptake. However, an exact quantification of such fluxes of material is hard to achieve for large areas, not least on account of the inaccessibility of this remote region. In particular, there exist so far only few accurate data for benthic carbon fluxes. The latter can be derived from high resolution pore water oxygen profiles, as one possible method. However the ex situ flux determinations carried out on sediment cores, tend to suffer from temperature and pressure artefacts. Alternatively, oxygen microprofiles can be measured in situ, i.e. at the seafloor. Until now, no such data have been published for the Southern Ocean. During the Antarctic Expedition ANT-XXI/4, within the framework of this thesis, in situ and ex situ oxygen profiles were measured and used to derive benthic organic carbon fluxes. Having both types of measurements from the same locations, it was possible to establish a depth-related correction function which was applied subsequently to revise published and additional unpublished carbon fluxes to the seafloor. This resulted in a consistent data base of benthic carbon inputs covering many important sub-regions of the Southern Ocean including the Amundsen and Bellingshausen Seas (southern Pacific), Scotia and Weddell Seas (southern South Atlantic) as well as the Crozet Basin (southern Indian Ocean). Including additional locations on the Antarctic Shelf, there are now 134 new and revised measurement locations, covering almost 180° of the Southern Ocean, for which benthic organic carbon fluxes and sedimentary oxygen penetration depth values are available. Further, benthic carbon fluxes were empirically related to dominant diatom distributions in surface sediments as well as to long-term remotely sensed chlorophyll-a estimates. The comparison of these results with benthic carbon fluxes of the entire Atlantic Ocean reveals significantly higher export efficiencies for the Southern Ocean than have previously been assumed, especially for the area of the opal belt.

A compendium of the anatomy of the human body : intended principally for the use of students ... This edition is prefixed with A compendious history of anatomy, and The Ruyschian art and method of making preparations to exhibit the structure of the human body, illustrated with a representation of the quicksilver tray and its appendages, which is not in the London edition.

"A compendious history of anatomy" and "The Ruyschian art and method of making preparations to exhibit the structure of the human body" (32 p. at front of v. 1) are by Robert Hooper, and are reprinted, with slight changes in text, from his The anatomist's vade-mecum, 4th ed., London, 1802.

Method for determining reaction rate of mild steel containers during melting of magnesium-aluminium alloys and effect of aluminium content on directionally solidified microstructures

A magnesium alloy of eutectic composition (33 wt-'%Al) was directionally solidified in mild steel tubes at two growth rates, 32 and 580 mum s(-1,) in a temperature gradient between 10 and 20 K mm(-1). After directional solidification, the composition of each specimen varied dramatically, from 32'%Al in the region that had remained solid to 18%Al (32 mum s(-1) specimen) and 13%Al (580 mum s(-1) specimen) at the plane that had been quenched from the eutectic temperature. As the aluminium content decreased, the microstructure contained an increasing volume fraction of primary magnesium dendrites and the eutectic morphology gradually changed from lamellar to partially divorced. The reduction in aluminium content was caused by the growth of an Al-Fe phase ahead of the Mg-Al growth front. Most of the growth of the Al-Fe phase occurred during the remelting period before directional solidification. The thickness of the Al-Fe phase increased with increased temperature and time of contact with the molten Mg-Al alloy. (C) 2003 Maney Publishing.

Tracking the states of a nonlinear and nonstationary system in the weight-space of artificial neural networks

We propose a novel interpretation and usage of Neural Network (NN) in modeling physiological signals, which are allowed to be nonlinear and/or nonstationary. The method consists of training a NN for the k-step prediction of a physiological signal, and then examining the connection-weight-space (CWS) of the NN to extract information about the signal generator mechanism. We de. ne a novel feature, Normalized Vector Separation (gamma(ij)), to measure the separation of two arbitrary states i and j in the CWS and use it to track the state changes of the generating system. The performance of the method is examined via synthetic signals and clinical EEG. Synthetic data indicates that gamma(ij) can track the system down to a SNR of 3.5 dB. Clinical data obtained from three patients undergoing carotid endarterectomy of the brain showed that EEG could be modeled (within a root-means-squared-error of 0.01) by the proposed method, and the blood perfusion state of the brain could be monitored via gamma(ij), with small NNs having no more than 21 connection weight altogether.

A modified particle filter for simultaneous robot localization and landmark tracking in an indoor environment

This paper presents the implementation of a modified particle filter for vision-based simultaneous localization and mapping of an autonomous robot in a structured indoor environment. Through this method, artificial landmarks such as multi-coloured cylinders can be tracked with a camera mounted on the robot, and the position of the robot can be estimated at the same time. Experimental results in simulation and in real environments show that this approach has advantages over the extended Kalman filter with ambiguous data association and various levels of odometric noise.

Incorporating level set methods in Geographical Information Systems (GIS) for land-surface process modelling

Land-surface processes include a broad class of models that operate at a landscape scale. Current modelling approaches tend to be specialised towards one type of process, yet it is the interaction of processes that is increasing seen as important to obtain a more integrated approach to land management. This paper presents a technique and a tool that may be applied generically to landscape processes. The technique tracks moving interfaces across landscapes for processes such as water flow, biochemical diffusion, and plant dispersal. Its theoretical development applies a Lagrangian approach to motion over a Eulerian grid space by tracking quantities across a landscape as an evolving front. An algorithm for this technique, called level set method, is implemented in a geographical information system (GIS). It fits with a field data model in GIS and is implemented as operators in map algebra. The paper describes an implementation of the level set methods in a map algebra programming language, called MapScript, and gives example program scripts for applications in ecology and hydrology.

Tracking the states of a nonlinear system in the weight-space of a feed-forward neural network

Nonlinear, non-stationary signals are commonly found in a variety of disciplines such as biology, medicine, geology and financial modeling. The complexity (e.g. nonlinearity and non-stationarity) of such signals and their low signal to noise ratios often make it a challenging task to use them in critical applications. In this paper we propose a new neural network based technique to address those problems. We show that a feed forward, multi-layered neural network can conveniently capture the states of a nonlinear system in its connection weight-space, after a process of supervised training. The performance of the proposed method is investigated via computer simulations.

Non-rigid object tracking in complex scenes

A recently proposed colour based tracking algorithm has been established to track objects in real circumstances [Zivkovic, Z., Krose, B. 2004. An EM-like algorithm for color-histogram-based object tracking. In: Proc, IEEE Conf. on Computer Vision and Pattern Recognition, pp. 798-803]. To improve the performance of this technique in complex scenes, in this paper we propose a new algorithm for optimally adapting the ellipse outlining the objects of interest. This paper presents a Lagrangian based method to integrate a regularising component into the covariance matrix to be computed. Technically, we intend to reduce the residuals between the estimated probability distribution and the expected one. We argue that, by doing this, the shape of the ellipse can be properly adapted in the tracking stage. Experimental results show that the proposed method has favourable performance in shape adaption and object localisation.

A new creep test method for asphalt mixtures

A new creep test, Partial Triaxial Test (PTT), was developed to study the permanent deformation properties of asphalt mixtures. The PTT used two duplicate platens whose diameters were smaller than the diameter of the cylindrical asphalt mixtures specimen. One base platen was centrally placed under the specimen and another loading platen was centrally placed on the top surface of the specimen. Then the compressive repeated load was applied on the loading platen and the vertical deformation of the asphalt mixture was recorded in the PTTs. Triaxial repeated load permanent deformation tests (TRT) and PTTs were respectively conducted on AC20 and SMA13 asphalt mixtures at 40°C and 60°C so as to provide the parameters of the creep constitutive relations in the ABAQUS finite element models (FEMs) which were built to simulate the laboratory wheel tracking tests. The real laboratory wheel tracking tests were also conducted on AC20 and SMA13 asphalt mixtures at 40°C and 60°C. Then the calculated rutting depth from the FEMs were compared with the measured rutting depth of the laboratory wheeling tracking tests. Results indicated that PTT was able to characterize the permanent deformation of the asphalt mixtures in laboratory. The rutting depth calculated using the parameters estimated from PTTs' results was closer to and showed better matches with the measured rutting than the rutting depth calculated using the parameters estimated from TRTs' results. Main reason was that PTT could better simulate the changing confinement conditions of asphalt mixtures in the laboratory wheeling tracking tests than the TRT.

Experimental comparison of dynamic tracking performance of iGPS and laser tracker

External metrology systems are increasingly being integrated with traditional industrial articulated robots, especially in the aerospace industries, to improve their absolute accuracy for precision operations such as drilling, machining and jigless assembly. While currently most of the metrology assisted robotics control systems are limited in their position update rate, such that the robot has to be stopped in order to receive a metrology coordinate update, some recent efforts are addressed toward controlling robots using real-time metrology data. The indoor GPS is one of the metrology systems that may be used to provide real-time 6DOF data to a robot controller. Even if there is a noteworthy literature dealing with the evaluation of iGPS performance, there is, however, a lack of literature on how well the iGPS performs under dynamic conditions. This paper presents an experimental evaluation of the dynamic measurement performance of the iGPS, tracking the trajectories of an industrial robot. The same experiment is also repeated using a laser tracker. Besides the experiment results presented, this paper also proposes a novel method for dynamic repeatability comparisons of tracking instruments. © 2011 Springer-Verlag London Limited.

What's in it for us? A case study research about micro sense making processes through the eyes of front line employees, during culture change implementation

Abstract How employees make sense of change is a very complex process. Recently, academics have neglected to research sense making activities in a micro culture implementation context, through the eyes of front line employees. In contrast to a macro view, a micro perspective limits researchers to only look at an individual, departmental or group level. By doing so, we can zoom in on the details of sense making processes that employees use in their daily work life. A macro (organisational) view is based on the notion that there is a general integrated culture that can be found in all organisational units and departments. It is assumed that culture can be researched by using the entire organisation as one single research entity. This thesis challenges this assumption. In case of planned change it is usually the management community who are in charge of the change intervention. Because of their formal hierarchical position, they have the power to abort or initiate change programs. It is perhaps therefore that researchers tend to be focused on the management community rather than on lower level organisational members, such as front line employees. Apart from the micro view, scholars also neglected to research culture change implementation through the eyes of front line employees. This thesis is an attempt to fill these two gaps that currently exists in academic change management publications. The main research question is therefore: From a micro point of view how do front-line employees make sense of the impact of culture change, during the implementation phase? This thesis starts with a literature review which exposes the two main gaps. The most important outcome of this review is that only 2% of the research articles dealt with culture implementation, through the eyes of front line employees. A conceptual research model is built on the integrated sense making theory of Weber and Manning (2001) and the micro variables of Raelin and Cataldo (2011). These theories emphasize elements of sense making in a daily working context. It is likely that front line employees can identify themselves with research elements such as tasks, skills practices, involvement and behaviour. Front line employees were selected, because as lower level organisational members they are usually the change recipients. They are further away from the change initiating scene (usually the management of an organisation) and form a potential sense making ‘hotspot’ that could provide new academic insights. In order to carry out the primary research, two case organisations were selected in the leisure industry. A participative case study research method was chosen. This meant that the researcher worked in the concerning departments of the case organisations. The goal was to observe and interview front line employees, while they were performing their jobs. The most important advantage of this approach is that the researcher temporarily becomes one with the organisation and is therefore able to acquire both formal and informal narratives that front line employees use during sense making activities. It was found that front line employees make sense of organisational change by using a practical approach. They make sense of the change program by carrying out new tasks, developing new skills and sharing best practices. The most noticeable conclusion was that sense making activities predominantly take place at an individual level in relation to change acceptance. Organisational members tend to create a mental equation in order to weigh the advantages against the disadvantages. They evaluate whether the concerning change program is beneficial to them or not. For future research a sense making scheme model is suggested that is based on two methods: an introspection and an action method.

An adaptive motion model for person tracking with instantaneous head-pose features

This letter presents novel behaviour-based tracking of people in low-resolution using instantaneous priors mediated by head-pose. We extend the Kalman Filter to adaptively combine motion information with an instantaneous prior belief about where the person will go based on where they are currently looking. We apply this new method to pedestrian surveillance, using automatically-derived head pose estimates, although the theory is not limited to head-pose priors. We perform a statistical analysis of pedestrian gazing behaviour and demonstrate tracking performance on a set of simulated and real pedestrian observations. We show that by using instantaneous `intentional' priors our algorithm significantly outperforms a standard Kalman Filter on comprehensive test data.

A biologically inspired appearance model for robust visual tracking

In this work, we propose a biologically inspired appearance model for robust visual tracking. Motivated in part by the success of the hierarchical organization of the primary visual cortex (area V1), we establish an architecture consisting of five layers: whitening, rectification, normalization, coding and polling. The first three layers stem from the models developed for object recognition. In this paper, our attention focuses on the coding and pooling layers. In particular, we use a discriminative sparse coding method in the coding layer along with spatial pyramid representation in the pooling layer, which makes it easier to distinguish the target to be tracked from its background in the presence of appearance variations. An extensive experimental study shows that the proposed method has higher tracking accuracy than several state-of-the-art trackers.