Fusion of Data from Quadcopter’s Inertial Measurement Unit Using Complementary Filter

A quadcopter is a helicopter with four rotors, which is mechanically simple device, but requires complex electrical control for each motor. Control system needs accurate information about quadcopter’s attitude in order to achieve stable flight. The goal of this bachelor’s thesis was to research how this information could be obtained. Literature review revealed that most of the quadcopters, whose source-code is available, use a complementary filter or some derivative of it to fuse data from a gyroscope, an accelerometer and often also a magnetometer. These sensors combined are called an Inertial Measurement Unit. This thesis focuses on calculating angles from each sensor’s data and fusing these with a complementary filter. On the basis of literature review and measurements using a quadcopter, the proposed filter provides sufficiently accurate attitude data for flight control system. However, a simple complementary filter has one significant drawback – it works reliably only when the quadcopter is hovering or moving at a constant speed. The reason is that an accelerometer can’t be used to measure angles accurately if linear acceleration is present. This problem can be fixed using some derivative of a complementary filter like an adaptive complementary filter or a Kalman filter, which are not covered in this thesis.

Use of airborne laser scanner data in demanding forest conditions

Most of the applications of airborne laser scanner data to forestry require that the point cloud be normalized, i.e., each point represents height from the ground instead of elevation. To normalize the point cloud, a digital terrain model (DTM), which is derived from the ground returns in the point cloud, is employed. Unfortunately, extracting accurate DTMs from airborne laser scanner data is a challenging task, especially in tropical forests where the canopy is normally very thick (partially closed), leading to a situation in which only a limited number of laser pulses reach the ground. Therefore, robust algorithms for extracting accurate DTMs in low-ground-point-densitysituations are needed in order to realize the full potential of airborne laser scanner data to forestry. The objective of this thesis is to develop algorithms for processing airborne laser scanner data in order to: (1) extract DTMs in demanding forest conditions (complex terrain and low number of ground points) for applications in forestry; (2) estimate canopy base height (CBH) for forest fire behavior modeling; and (3) assess the robustness of LiDAR-based high-resolution biomass estimation models against different field plot designs. Here, the aim is to find out if field plot data gathered by professional foresters can be combined with field plot data gathered by professionally trained community foresters and used in LiDAR-based high-resolution biomass estimation modeling without affecting prediction performance. The question of interest in this case is whether or not the local forest communities can achieve the level technical proficiency required for accurate forest monitoring. The algorithms for extracting DTMs from LiDAR point clouds presented in this thesis address the challenges of extracting DTMs in low-ground-point situations and in complex terrain while the algorithm for CBH estimation addresses the challenge of variations in the distribution of points in the LiDAR point cloud caused by things like variations in tree species and season of data acquisition. These algorithms are adaptive (with respect to point cloud characteristics) and exhibit a high degree of tolerance to variations in the density and distribution of points in the LiDAR point cloud. Results of comparison with existing DTM extraction algorithms showed that DTM extraction algorithms proposed in this thesis performed better with respect to accuracy of estimating tree heights from airborne laser scanner data. On the other hand, the proposed DTM extraction algorithms, being mostly based on trend surface interpolation, can not retain small artifacts in the terrain (e.g., bumps, small hills and depressions). Therefore, the DTMs generated by these algorithms are only suitable for forestry applications where the primary objective is to estimate tree heights from normalized airborne laser scanner data. On the other hand, the algorithm for estimating CBH proposed in this thesis is based on the idea of moving voxel in which gaps (openings in the canopy) which act as fuel breaks are located and their height is estimated. Test results showed a slight improvement in CBH estimation accuracy over existing CBH estimation methods which are based on height percentiles in the airborne laser scanner data. However, being based on the idea of moving voxel, this algorithm has one main advantage over existing CBH estimation methods in the context of forest fire modeling: it has great potential in providing information about vertical fuel continuity. This information can be used to create vertical fuel continuity maps which can provide more realistic information on the risk of crown fires compared to CBH.

Exploring female graduate students' multifaceted and intersecting roles and identities in a complex educational milieu /

This qualitative phenomenological investigation explored six female Master of Education students' critical understandings of their identity and role negotiations, and their perceptions of environmental conditions that facilitated or impeded their identity explorations and negotiations within the institution. The interweaving of Feminist and Women's Development theories enabled the data to be examined under different, yet complementary, lenses. The data collection strategies included: four to five in-depth semistructured interviews, three take-home activities (involving identity mapping, object and metaphor identification, and strategy development), and the compilation of extensive interview notes as well as researcher reflections. The combination of a constant comparative method and a voice-centered method were used in tandem to analyze the data. Together they uncovered five emergent themes: (a) intricate understandings of key terms; (b) life-long learning and transformative pathways; (c) gender issues; (d) challenges, tensions, and possibilities; as well as (e) personal, professional, and educational implications. The findings underscored the possibility for both a singular static identity and dynamic multifaceted identities to exist in tandem, and the emergence of natural or logical identity intersections, as well as disjointed or colliding identity intersections. Ultimately, it is the continuous negotiation of internal and external spheres that contributes to the complexity and multidimensionality of graduate students' identities.

Physical volcanology, sedimentology, stratigraphy and petrochemistry of the Berry Creek metavolcanics: an Archean calc-alkaline complex, Lake of the Woods, Ontario

The steeply dipping, isoclinally folded early Precambrian (Archean) Berry Creek Metavolcanic Complex comprises primary to resedimented pyroclastic, epiclastic and autoclastic deposits. Tephra erupted from central volcanic edifices was dumped by mass flow mechanisms into peripheral volcanosedimentary depressions. Sedimentation has been essentially contemporaneous with eruption and transport of tephra. The monolithic to heterolithic tuffaceous horizons are interpreted as subaerial to subaqueous pumice and ash flows, secondary debris flows, lahars, slump deposits and turbidites. Monolithic debris flows, derived from crumble breccia and dcme talus, formed during downslope collapse and subsequent gravity flowage. Heterolithic tuff, lahars and lava flow morphologies suggest at least temporary emergence of the edifice. Local collapse may have accompanied pyroclastic volcanism. The tephra, produced by hydromagmatic to magmatic eruptions, were rapidly transported, by primary and secondary mechanisms, to a shallow littoral to deep water subaqueous fan developed upon the subjacent mafic metavolcanic platform. Deposition resulted from traction, traction carpet, and suspension sedimentation from laminar to turbulent flows. Facies mapping revealed proximal (channel to overbank) to distal facies epiclastics (greywackes, argillite) intercalated with proximal vent to medial fan facies crystal rich ash flows, debris flows, bedded tuff and shallow water to deep water lava flows. Framework and matrix support debris flows exhibit a variety of subaqueous sedimentary structures, e.g., coarse tail grading, double grading, inverse to normal grading, graded stratified pebbly horizons, erosional channels. Pelitic to psammitic AE turbidites also contain primary stru~tures, e.g., flames, load casts, dewatering pipes. Despite low to intermediate pressure greenschist to amphibolite grade metamorphism and variably penetrative deformation, relicts of pumice fragments and shards were recognized as recrystallized quartzofeldspathic pseudomorphs. The mafic to felsic metavolcanics and metasediments contain blasts of hornblende, actinolite, garnet, pistacitic epidote, staurolite, albitic plagioclase, and rarely andalusite and cordierite. The mafic metavolcanics (Adams River Bay, Black River, Kenu Lake, Lobstick Bay, Snake Bay) display _holeiitic trends with komatiitic affinities. Chemical variations are consistent with high level fractionation of olivine, plagioclase, amphibole, and later magnetite from a parental komatiite. The intermediate to felsic (64-74% Si02) metavolcanics generally exhibit calc-alkaline trends. The compositional discontinuity, defined by major and trace element diversity, can be explained by a mechanism involving two different magma sources. Application of fractionation series models are inconsistent with the observed data. The tholeiitic basalts and basaltic andesites are probably derived by low pressure fractionation of a depleted (high degree of partial melting) mantle source. The depleted (low Y, Zr) calc-alkaline metavolcanics may be produced by partial melting of a geochemically evolved source, e.g., tonalitetrondhjemite, garnet amphibolite or hydrous basalt.

Automatic Inference of Graph Models for Complex Networks with Genetic Programming

Complex networks can arise naturally and spontaneously from all things that act as a part of a larger system. From the patterns of socialization between people to the way biological systems organize themselves, complex networks are ubiquitous, but are currently poorly understood. A number of algorithms, designed by humans, have been proposed to describe the organizational behaviour of real-world networks. Consequently, breakthroughs in genetics, medicine, epidemiology, neuroscience, telecommunications and the social sciences have recently resulted. The algorithms, called graph models, represent significant human effort. Deriving accurate graph models is non-trivial, time-intensive, challenging and may only yield useful results for very specific phenomena. An automated approach can greatly reduce the human effort required and if effective, provide a valuable tool for understanding the large decentralized systems of interrelated things around us. To the best of the author's knowledge this thesis proposes the first method for the automatic inference of graph models for complex networks with varied properties, with and without community structure. Furthermore, to the best of the author's knowledge it is the first application of genetic programming for the automatic inference of graph models. The system and methodology was tested against benchmark data, and was shown to be capable of reproducing close approximations to well-known algorithms designed by humans. Furthermore, when used to infer a model for real biological data the resulting model was more representative than models currently used in the literature.

Incorporating complex cells into neural networks for pattern classification

Dans le domaine des neurosciences computationnelles, l'hypothèse a été émise que le système visuel, depuis la rétine et jusqu'au cortex visuel primaire au moins, ajuste continuellement un modèle probabiliste avec des variables latentes, à son flux de perceptions. Ni le modèle exact, ni la méthode exacte utilisée pour l'ajustement ne sont connus, mais les algorithmes existants qui permettent l'ajustement de tels modèles ont besoin de faire une estimation conditionnelle des variables latentes. Cela nous peut nous aider à comprendre pourquoi le système visuel pourrait ajuster un tel modèle; si le modèle est approprié, ces estimé conditionnels peuvent aussi former une excellente représentation, qui permettent d'analyser le contenu sémantique des images perçues. Le travail présenté ici utilise la performance en classification d'images (discrimination entre des types d'objets communs) comme base pour comparer des modèles du système visuel, et des algorithmes pour ajuster ces modèles (vus comme des densités de probabilité) à des images. Cette thèse (a) montre que des modèles basés sur les cellules complexes de l'aire visuelle V1 généralisent mieux à partir d'exemples d'entraînement étiquetés que les réseaux de neurones conventionnels, dont les unités cachées sont plus semblables aux cellules simples de V1; (b) présente une nouvelle interprétation des modèles du système visuels basés sur des cellules complexes, comme distributions de probabilités, ainsi que de nouveaux algorithmes pour les ajuster à des données; et (c) montre que ces modèles forment des représentations qui sont meilleures pour la classification d'images, après avoir été entraînés comme des modèles de probabilités. Deux innovations techniques additionnelles, qui ont rendu ce travail possible, sont également décrites : un algorithme de recherche aléatoire pour sélectionner des hyper-paramètres, et un compilateur pour des expressions mathématiques matricielles, qui peut optimiser ces expressions pour processeur central (CPU) et graphique (GPU).

Study of baleen whales’ ecology and interaction with maritime traffic activities to support management of a complex socio-ecological system

Thesis written in co-mentorship with Robert Michaud.

From cognition to action : a psychological investigation of action regulation in complex and uncertain social systems

Cette thèse présente une revue des réflexions récentes et plus traditionnelles provenant de la théorie des systèmes, de la créativité en emploi, des théories d’organisation du travail et de la motivation afin de proposer une perspective psychologique de la régulation des actions des individus au sein d’environnements de travail complexes et incertains. Des composantes de la Théorie de la Régulation de l’Action (Frese & Zapf, 1994) ainsi que de la Théorie de l’Auto-Détermination (Deci & Ryan, 2000) sont mises en relation afin d’évaluer un modèle définissant certains schémas cognitifs clés associés aux tâches individuelles et collectives en emploi. Nous proposons que ces schémas cognitifs, organisés de manière hiérarchique, jouent un rôle central dans la régulation d’une action efficace au sein d’un système social adaptatif. Nos mesures de ces schémas cognitifs sont basées sur des échelles de mesure proposées dans le cadre des recherches sur l’ambiguïté de rôle (eg. Sawyer, 1992; Breaugh & Colihan, 1994) et sont mis en relation avec des mesures de satisfaction des besoins psychologiques (Van den Broeck, Vansteenkiste, De Witte, Soenens & Lens, 2009) et du bien-être psychologique (Goldberg, 1972). Des données provenant de 153 employés à temps plein d’une compagnie de jeu vidéo ont été récoltées à travers deux temps de mesure. Les résultats révèlent que différents types de schémas cognitifs associés aux tâches individuelles et collectives sont liés à la satisfaction de différents types de besoin psychologiques et que ces derniers sont eux-mêmes liés au bien-être psychologique. Les résultats supportent également l’hypothèse d’une organisation hiérarchique des schémas cognitifs sur la base de leur niveau d’abstraction et de leur proximité avec l’exécution concrète de l’action. Ces résultats permettent de fournir une explication initiale au processus par lequel les différents types de schémas cognitifs développés en emplois et influencé par l’environnement de travail sont associés à l’attitude des employés et à leur bien-être psychologique. Les implications pratiques et théoriques pour la motivation, l’apprentissage, l’habilitation, le bien-être psychologique et l’organisation du travail dans les environnements de travail complexes et incertains sont discutés.

A Study on Aerosol Transport Dynamics over the Indian Landmass and the Adjoining Oceanic Regions Using Satellite Data

The present study brings out the influence of transport dynamics on the aerosol distribution over the Indian region at a few selected geographically distinct locations. Over the Bay of Bengal the dominant pathway of aerosol transport during the pre-monsoon period is through higher altitudes (~ 3 km); directed from the Indian main land. In contrast, the aerosol pathways over the Arabian Sea during the same period are quite complex. They are directed from geographically different environments around the ocean through different altitudes. However in general, the day-to-day variability of AOD at both these regions is significantly influenced by the features of atmospheric circulation especially, the wind convergence at higher altitudes (around 3 km). Over the Ganga Basin during the winter period, the wind convergence at lower altitudes (< I km) govems the shon term variations in AOD, while the mean AOD distribution at this location is mainly governed by the local anthropogenic sources.

Synthesis, characterization and kinetic studies on complex formed between amantadine hydrochloride and sodium molybdate at physiological pH

The title reaction was undertaken to establish the interaction between amantadine and molybdate at physiological pH. Identical FTIR spectra, TG-DTA curves and CHN data of the complexes formed from three solutions at pH 1.5, 7.4 and 8.0 indicate that the same complex was formed at all the three pHs. The FTIR spectrum shows shift in peaks corresponding to primary amino group of the drug due to coordination to molybdate. An octahedral geometry is assigned to the complex. The kinetics of the complexation has been studied at low concentrations of the reactants using UV-visible spectrophotometry. At pH 7.4, the initial rate varies linearly with [molybdate]. A plot of initial rate versus [drug] is linear passing through origin. These results indicate that the drug and molybdate react at pH 7.4 even at low concentrations. At pH 1.5, the rate increases linearly with increase in [drug] but decreases with [molybdate]. The effect of pH and ionic strength on the rate of the reaction has also been studied. A suitable mechanism has been proposed for the reaction. Reaction between the drug and molybdate even at low concentrations and the fact that the amino group of amantadine required to be free for its function as antiviral, is bound to molybdate in the complex suggests that simultaneous administration of the drug and molybdate supplements should be avoided.

“Reconstruction of Gene Regulatory Network from Expression Profile of Plasma RNA Data of Colorectal Cancer Patients using Soft Computing Techniques”

Microarray data analysis is one of data mining tool which is used to extract meaningful information hidden in biological data. One of the major focuses on microarray data analysis is the reconstruction of gene regulatory network that may be used to provide a broader understanding on the functioning of complex cellular systems. Since cancer is a genetic disease arising from the abnormal gene function, the identification of cancerous genes and the regulatory pathways they control will provide a better platform for understanding the tumor formation and development. The major focus of this thesis is to understand the regulation of genes responsible for the development of cancer, particularly colorectal cancer by analyzing the microarray expression data. In this thesis, four computational algorithms namely fuzzy logic algorithm, modified genetic algorithm, dynamic neural fuzzy network and Takagi Sugeno Kang-type recurrent neural fuzzy network are used to extract cancer specific gene regulatory network from plasma RNA dataset of colorectal cancer patients. Plasma RNA is highly attractive for cancer analysis since it requires a collection of small amount of blood and it can be obtained at any time in repetitive fashion allowing the analysis of disease progression and treatment response.

Development of hybrid UV VCSEL with organic active material and dielectric DBR mirrors for medical, sensoric and data storage applications

Lasers play an important role for medical, sensoric and data storage devices. This thesis is focused on design, technology development, fabrication and characterization of hybrid ultraviolet Vertical-Cavity Surface-Emitting Lasers (UV VCSEL) with organic laser-active material and inorganic distributed Bragg reflectors (DBR). Multilayer structures with different layer thicknesses, refractive indices and absorption coefficients of the inorganic materials were studied using theoretical model calculations. During the simulations the structure parameters such as materials and thicknesses have been varied. This procedure was repeated several times during the design optimization process including also the feedback from technology and characterization. Two types of VCSEL devices were investigated. The first is an index coupled structure consisting of bottom and top DBR dielectric mirrors. In the space in between them is the cavity, which includes active region and defines the spectral gain profile. In this configuration the maximum electrical field is concentrated in the cavity and can destroy the chemical structure of the active material. The second type of laser is a so called complex coupled VCSEL. In this structure the active material is placed not only in the cavity but also in parts of the DBR structure. The simulations show that such a distribution of the active material reduces the required pumping power for reaching lasing threshold. High efficiency is achieved by substituting the dielectric material with high refractive index for the periods closer to the cavity. The inorganic materials for the DBR mirrors have been deposited by Plasma- Enhanced Chemical Vapor Deposition (PECVD) and Dual Ion Beam Sputtering (DIBS) machines. Extended optimizations of the technological processes have been performed. All the processes are carried out in a clean room Class 1 and Class 10000. The optical properties and the thicknesses of the layers are measured in-situ by spectroscopic ellipsometry and spectroscopic reflectometry. The surface roughness is analyzed by atomic force microscopy (AFM) and images of the devices are taken with scanning electron microscope (SEM). The silicon dioxide (SiO2) and silicon nitride (Si3N4) layers deposited by the PECVD machine show defects of the material structure and have higher absorption in the ultra violet range compared to ion beam deposition (IBD). This results in low reflectivity of the DBR mirrors and also reduces the optical properties of the VCSEL devices. However PECVD has the advantage that the stress in the layers can be tuned and compensated, in contrast to IBD at the moment. A sputtering machine Ionsys 1000 produced by Roth&Rau company, is used for the deposition of silicon dioxide (SiO2), silicon nitride (Si3N4), aluminum oxide (Al2O3) and zirconium dioxide (ZrO2). The chamber is equipped with main (sputter) and assisted ion sources. The dielectric materials were optimized by introducing additional oxygen and nitrogen into the chamber. DBR mirrors with different material combinations were deposited. The measured optical properties of the fabricated multilayer structures show an excellent agreement with the results of theoretical model calculations. The layers deposited by puttering show high compressive stress. As an active region a novel organic material with spiro-linked molecules is used. Two different materials have been evaporated by utilizing a dye evaporation machine in the clean room of the department Makromolekulare Chemie und Molekulare Materialien (mmCmm). The Spiro-Octopus-1 organic material has a maximum emission at the wavelength λemission = 395 nm and the Spiro-Pphenal has a maximum emission at the wavelength λemission = 418 nm. Both of them have high refractive index and can be combined with low refractive index materials like silicon dioxide (SiO2). The sputtering method shows excellent optical quality of the deposited materials and high reflection of the multilayer structures. The bottom DBR mirrors for all VCSEL devices were deposited by the DIBS machine, whereas the top DBR mirror deposited either by PECVD or by combination of PECVD and DIBS. The fabricated VCSEL structures were optically pumped by nitrogen laser at wavelength λpumping = 337 nm. The emission was measured by spectrometer. A radiation of the VCSEL structure at wavelength 392 nm and 420 nm is observed.

Learning from Incomplete Data

Real-world learning tasks often involve high-dimensional data sets with complex patterns of missing features. In this paper we review the problem of learning from incomplete data from two statistical perspectives---the likelihood-based and the Bayesian. The goal is two-fold: to place current neural network approaches to missing data within a statistical framework, and to describe a set of algorithms, derived from the likelihood-based framework, that handle clustering, classification, and function approximation from incomplete data in a principled and efficient manner. These algorithms are based on mixture modeling and make two distinct appeals to the Expectation-Maximization (EM) principle (Dempster, Laird, and Rubin 1977)---both for the estimation of mixture components and for coping with the missing data.

Studies in stoichiometry with compositional data

Geochemical data that is derived from the whole or partial analysis of various geologic materials represent a composition of mineralogies or solute species. Minerals are composed of structured relationships between cations and anions which, through atomic and molecular forces, keep the elements bound in specific configurations. The chemical compositions of minerals have specific relationships that are governed by these molecular controls. In the case of olivine, there is a well-defined relationship between Mn-Fe-Mg with Si. Balances between the principal elements defining olivine composition and other significant constituents in the composition (Al, Ti) have been defined, resulting in a near-linear relationship between the logarithmic relative proportion of Si versus (MgMnFe) and Mg versus (MnFe), which is typically described but poorly illustrated in the simplex. The present contribution corresponds to ongoing research, which attempts to relate stoichiometry and geochemical data using compositional geometry. We describe here the approach by which stoichiometric relationships based on mineralogical constraints can be accounted for in the space of simplicial coordinates using olivines as an example. Further examples for other mineral types (plagioclases and more complex minerals such as clays) are needed. Issues that remain to be dealt with include the reduction of a bulk chemical composition of a rock comprised of several minerals from which appropriate balances can be used to describe the composition in a realistic mineralogical framework. The overall objective of our research is to answer the question: In the cases where the mineralogy is unknown, are there suitable proxies that can be substituted? Kew words: Aitchison geometry, balances, mineral composition, oxides

GRASS GIS for the distinction of vegetation from buildings using LiDAR altimetric data

La tecnología LiDAR (Light Detection and Ranging), basada en el escaneado del territorio por un telémetro láser aerotransportado, permite la construcción de Modelos Digitales de Superficie (DSM) mediante una simple interpolación, así como de Modelos Digitales del Terreno (DTM) mediante la identificación y eliminación de los objetos existentes en el terreno (edificios, puentes o árboles). El Laboratorio de Geomática del Politécnico de Milán – Campus de Como- desarrolló un algoritmo de filtrado de datos LiDAR basado en la interpolación con splines bilineares y bicúbicas con una regularización de Tychonov en una aproximación de mínimos cuadrados. Sin embargo, en muchos casos son todavía necesarios modelos más refinados y complejos en los cuales se hace obligatorio la diferenciación entre edificios y vegetación. Este puede ser el caso de algunos modelos de prevención de riesgos hidrológicos, donde la vegetación no es necesaria; o la modelización tridimensional de centros urbanos, donde la vegetación es factor problemático. (...)