Optimized selection of key frames for monocular videogrammetric surveying of civil infrastructure

Videogrammetry is an inexpensive and easy-to-use technology for spatial 3D scene recovery. When applied to large scale civil infrastructure scenes, only a small percentage of the collected video frames are required to achieve robust results. However, choosing the right frames requires careful consideration. Videotaping a built infrastructure scene results in large video files filled with blurry, noisy, or redundant frames. This is due to frame rate to camera speed ratios that are often higher than necessary; camera and lens imperfections and limitations that result in imaging noise; and occasional jerky motions of the camera that result in motion blur; all of which can significantly affect the performance of the videogrammetric pipeline. To tackle these issues, this paper proposes a novel method for automating the selection of an optimized number of informative, high quality frames. According to this method, as the first step, blurred frames are removed using the thresholds determined based on a minimum level of frame quality required to obtain robust results. Then, an optimum number of key frames are selected from the remaining frames using the selection criteria devised by the authors. Experimental results show that the proposed method outperforms existing methods in terms of improved 3D reconstruction results, while maintaining the optimum number of extracted frames needed to generate high quality 3D point clouds.© 2012 Elsevier Ltd. All rights reserved.

Obtaining the shape of a moving object with a specular surface

This paper addresses the basic problem of recovering the 3D surface of an object that is observed in motion by a single camera and under a static but unknown lighting condition. We propose a method to establish pixelwise correspondence between input images by way of depth search by investigating optimal subsets of intensities rather than employing all the relevant pixel values. The thrust of our algorithm is that it is capable of dealing with specularities which appear on the top of shading variance that is caused due to object motion. This is in terms of both stages of finding sparse point correspondence and dense depth search. We also propose that a linearised image basis can be directly computed by the procudure of finding the correspondence. We illustrate the performance of the theoretical propositions using images of real objects. © 2009. The copyright of this document resides with its authors.

Trajectory control based on discrete full-range dynamics

There has been an increasing interest in the use of mechanical dynamics, (e.g., assive, Elastic, And viscous dynamics) for energy efficient and agile control of robotic systems. Despite the impressive demonstrations of behavioural performance, The mechanical dynamics of this class of robotic systems is still very limited as compared to those of biological systems. For example, Passive dynamic walkers are not capable of generating joint torques to compensate for disturbances from complex environments. In order to tackle such a discrepancy between biological and artificial systems, We present the concept and design of an adaptive clutch mechanism that discretely covers the full-range of dynamics. As a result, The system is capable of a large variety of joint operations, including dynamic switching among passive, actuated and rigid modes. The main innovation of this paper is the framework and algorithm developed for controlling the trajectory of such joint. We present different control strategies that exploit passive dynamics. Simulation results demonstrate a significant improvement in motion control with respect to the speed of motion and energy efficiency. The actuator is implemented in a simple pendulum platform to quantitatively evaluate this novel approach.

基于人工协调场的多移动机器人实时协调避碰规划

为克服传统人工势场在动态未知环境下机器人避碰规划中存在的缺陷,提出人工协调场法(ACF).将场函数与机器人的风险状态相结合,给出并讨论了人工协调场的基本设计.基于人工协调场,考虑机器人的运动约束,实现了多机器人之间以及机器人与环境间的实时协调避碰,提出了一个多移动机器人无死锁实时避碰规划算法.理论分析和仿真试验证明所提方法的有效性.

冲压自动生产线上下料机器人示教编程方法

针对由多台机器人及多种辅助设备组成的冲压自动生产线编程量大、运动协调关系复杂、联锁信号多的特点 ,介绍一种离线规划与在线示教相结合的冲压机器人示教编程方法 ,对冲压机器人进行运动轨迹、作业内容等方面的示教 ,降低了示教内容的复杂性 ,节省了在线示教所占用的现场调试和生产时间。

基于专家系统的多移动机器人模糊自校正协调系统

研究多移动机器人的运动规划问题，在实时运动规划专家系统的基础上提出了一种串级模糊控制器，以校正实际工作环境下各机器人的运动状态与理想情况下可能产生的误差，使各机器人正确调整各自运动状态，达到协调工作的目的。

Miniature Eye Movements Enhance Fine Spatial Details

Our eyes are constantly in motion. Even during visual fixation, small eye movements continually jitter the location of gaze. It is known that visual percepts tend to fade when retinal image motion is eliminated in the laboratory. However, it has long been debated whether, during natural viewing, fixational eye movements have functions in addition to preventing the visual scene from fading. In this study, we analysed the influence in humans of fixational eye movements on the discrimination of gratings masked by noise that has a power spectrum similar to that of natural images. Using a new method of retinal image stabilization18, we selectively eliminated the motion of the retinal image that normally occurs during the intersaccadic intervals of visual fixation. Here we show that fixational eye movements improve discrimination of high spatial frequency stimuli, but not of low spatial frequency stimuli. This improvement originates from the temporal modulations introduced by fixational eye movements in the visual input to the retina, which emphasize the high spatial frequency harmonics of the stimulus. In a natural visual world dominated by low spatial frequencies, fixational eye movements appear to constitute an effective sampling strategy by which the visual system enhances the processing of spatial detail.

Kawamoto’s "Dojoji Temple": Puppetry, Gesture and Myth

Dojoji Temple ( Dōjōji, 1976) is a short puppet animation directed by Kihachirō Kawamoto. Influenced by Bunraku (Japanese puppet plays), emaki (painted scroll), Noh theatre and Japanese myth, Dojoji Temple tells of a woman’s unrequited love for a young priest. Heartbroken, she then transforms into a sea serpent and goes after the priest for revenge. While Kawamoto’s animation is rich with Japanese aesthetics and tragedy, his animation is peopled by puppets who do not speak. Limited and restrained though the puppets may be, their animated gestures speak volumes of powerful emotions. For our article, we will select several scenes from the animation, and interpret their actions so that we can further understand the mythical world of Dojoji Temple and the essential being of puppetry. Our gesture analysis will take into account cinematographic compositions, sound and bodily attires, among other elements.

'Mining money': science, legal technologies & working the borderlands of global finance

This paper explores the roles of science and market devices in the commodification of ‘nature’ and the configuration of flows of speculative capital. It focuses on mineral prospecting and the market for shares in ‘junior’ mining companies. In recent years these companies have expanded the reach of their exploration activities overseas, taking advantage of innovations in exploration methodologies and the liberalisation of fiscal and property regimes in ‘emerging’ mineral rich developing countries. Recent literature has explored how the reconfiguration of notions of ‘risk’ has structured the uneven distribution of rents. It is increasingly evident that neoliberal framing of environmental, political, social and economic risks has set in motion overflows that multinational mining capital had not bargained for (e.g. nationalisation, violence and political resistance). However, the role of ‘geological risk’ in animating flows of mining finance is often assumed as a ‘technical’ given. Yet geological knowledge claims, translated locally, designed to travel globally, assemble heterogeneous elements within distanciated regimes of metrology, valuation and commodity production. This paper explores how knowledge of nature is enrolled within systems of property relations, focusing on the genealogy of the knowledge practices that animate contemporary circuits of speculative mining finance. It argues that the financing of mineral prospecting mobilises pragmatic and situated forms of knowledge rather than actuarially driven calculations that promise predictability. A Canadian public enquiry struck in the wake of scandal associated with Bre-X’s prospecting activities in Indonesia is used to glean insights into the ways in which the construction of a system of public warrant to underpin financial speculation is predicated upon particular subjectivities and the outworking of everyday practices and struggles over ‘value’. Reflection on practical investments in processes of standardisation, rituals of verification and systems of accreditation reveal much about how the materiality of things shape the ways in which regional and global financial circuits are integrated, selectively transforming existing social relations and forms of knowledge production.

Children drawing their own conclusions: Children’s perceptions of a ‘post-conflict’ society

In societies emerging from conflict/war, sustained occurrence of violence appears to be a common feature. In Northern Ireland, while incidents of violent deaths and injuries specifically related to the political conflict have decreased dramatically since 1998, regular riots and paramilitary activity confirm continuing division and conflict. The study described here explored children’s perceptions of their own lives and their predecessors’ lives in the country, through a draw-and-tell technique (n=179). While multiple positive elements of peace/hope were depicted by the majority of children, especially in the pictures portraying the present, negative elements and violent references mostly appeared in the pictures representing the past. Violence was more likely to be portrayed by boys, older children, and those attending segregated education.

‘Is there a right time for gender just peace? Feminist anti-war organising revisited’

This paper addresses the question of totalising gender power relations that have led to and shaped the wars of the 1990s in Yugoslavia and the emerging ethno-national states on the ‘periphery’ of Europe. I argue that the same type of gender power relations continue to dominate the region, notably Serbia, and to perpetuate gender inequalities and gender based violence in its many everyday and structural forms, causing profound levels of human insecurity. My analysis aims to set in motion a debate on how to tackle these continuing gender inequalities and GBV in post-war societies. In so doing, I propose a shift from focusing on the hierarchy of victimisation that has characterised much of the feminist analyses, activism and scholarly work in relation to these (and other) conflicts, to a relational understanding of the gendered processes of victimisation in war and peace, that is - of both women and men. Such an approach holds a potential to undermine the power systems that engender these varied types of victimisation by ultimately reshaping the notions of masculinity and femininity, which are central to the gender power systems that generate gender unjust peace.

Uma avaliação do processo de constituição e desenvolvimento de um observatório num agrupamento de escolas

Dissertação de mestrado, Ciências da Educação (Avaliação em Educação), Universidade de Lisboa, Instituto de Educação, 2014

Bodies that Move You: the Rhetorical Force of the Dancing Body

Thesis (Ph.D.)--University of Washington, 2014