Rigid body dynamics and Kalman filtering

X-ray computed log tomography has always been applied for qualitative reconstructions. In most cases, a series of consecutive slices of the timber are scanned to estimate the 3D image reconstruction of the entire log. However, the unexpected movement of the timber under study influences the quality of image reconstruction since the position and orientation of some scanned slices can be incorrectly estimated. In addition, the reconstruction time remains a significant challenge for practical applications. The present study investigates the possibility to employ modern physics engines for the problem of estimating the position of a moving rigid body and its scanned slices which are subject to X-ray computed tomography. The current work includes implementations of the extended Kalman filter and an algebraic reconstruction method for fan-bean computer tomography. In addition, modern techniques such as NVidia PhysX and CUDA are used in current study. As the result, it is numerically shown that it is possible to apply the extended Kalman filter together with a real-time physics engine, known as PhysX, in order to determine the position of a moving object. It is shown that the position of the rigid body can be determined based only on reconstructions of its slices. However, the simulation of the body movement sometimes is subject to an error during Kalman filter employment as PhysX is not always able to continue simulating the movement properly because of incorrect state estimation.

Reduction of radar cross section of targets using periodic strip grating technique

The- classic: experiment of Heinrich Hertz verified the theoretical predict him of Maxwell that kxnfli radio and light waves are physical phenomena governed by the same physical laws. This has started a.rnnJ era of interest in interaction of electromagnetic energy with matter. The scattering of electromagnetic waves from a target is cleverly utilized im1 RADAR. This electronic system used tx> detect and locate objects under unfavourable conditions or obscuration that would render the unaided eye useless. It also provides a means for measuring precisely the range, or distance of an object and the speed of a moving object. when an obstacle is illuminated by electromagnetic waves, energy is dispersed in all directions. The dispersed energy depends on the size, shape and composition of the obstacle and frequency and nature of the incident wave. This distribution of energy’ is known as ‘scattering’ and the obstacle as ‘scatterer’ or 'target'.

Motion Segmentation And Meanshift Assisted Contour Refinement For Airborne Video

This paper presents methods for moving object detection in airborne video surveillance. The motion segmentation in the above scenario is usually difficult because of small size of the object, motion of camera, and inconsistency in detected object shape etc. Here we present a motion segmentation system for moving camera video, based on background subtraction. An adaptive background building is used to take advantage of creation of background based on most recent frame. Our proposed system suggests CPU efficient alternative for conventional batch processing based background subtraction systems. We further refine the segmented motion by meanshift based mode association.

DTM generation from LIDAR data using skewness balancing

LIght Detection And Ranging (LIDAR) data for terrain and land surveying has contributed to many environmental, engineering and civil applications. However, the analysis of Digital Surface Models (DSMs) from complex LIDAR data is still challenging. Commonly, the first task to investigate LIDAR data point clouds is to separate ground and object points as a preparatory step for further object classification. In this paper, the authors present a novel unsupervised segmentation algorithm-skewness balancing to separate object and ground points efficiently from high resolution LIDAR point clouds by exploiting statistical moments. The results presented in this paper have shown its robustness and its potential for commercial applications.

Driving saccade to pursuit using image motion

Within the context of active vision, scant attention has been paid to the execution of motion saccades—rapid re-adjustments of the direction of gaze to attend to moving objects. In this paper we first develop a methodology for, and give real-time demonstrations of, the use of motion detection and segmentation processes to initiate capture saccades towards a moving object. The saccade is driven by both position and velocity of the moving target under the assumption of constant target velocity, using prediction to overcome the delay introduced by visual processing. We next demonstrate the use of a first order approximation to the segmented motion field to compute bounds on the time-to-contact in the presence of looming motion. If the bound falls below a safe limit, a panic saccade is fired, moving the camera away from the approaching object. We then describe the use of image motion to realize smooth pursuit, tracking using velocity information alone, where the camera is moved so as to null a single constant image motion fitted within a central image region. Finally, we glue together capture saccades with smooth pursuit, thus effecting changes in both what is being attended to and how it is being attended to. To couple the different visual activities of waiting, saccading, pursuing and panicking, we use a finite state machine which provides inherent robustness outside of visual processing and provides a means of making repeated exploration. We demonstrate in repeated trials that the transition from saccadic motion to tracking is more likely to succeed using position and velocity control, than when using position alone.

Near real-time flood detection in urban and rural areas using high resolution Synthetic Aperture Radar images

A near real-time flood detection algorithm giving a synoptic overview of the extent of flooding in both urban and rural areas, and capable of working during night-time and day-time even if cloud was present, could be a useful tool for operational flood relief management. The paper describes an automatic algorithm using high resolution Synthetic Aperture Radar (SAR) satellite data that builds on existing approaches, including the use of image segmentation techniques prior to object classification to cope with the very large number of pixels in these scenes. Flood detection in urban areas is guided by the flood extent derived in adjacent rural areas. The algorithm assumes that high resolution topographic height data are available for at least the urban areas of the scene, in order that a SAR simulator may be used to estimate areas of radar shadow and layover. The algorithm proved capable of detecting flooding in rural areas using TerraSAR-X with good accuracy, and in urban areas with reasonable accuracy. The accuracy was reduced in urban areas partly because of TerraSAR-X’s restricted visibility of the ground surface due to radar shadow and layover.

Near real-time flood detection in urban and rural areas using high resolution Synthetic Aperture Radar images

A near real-time flood detection algorithm giving a synoptic overview of the extent of flooding in both urban and rural areas, and capable of working during night-time and day-time even if cloud was present, could be a useful tool for operational flood relief management. The paper describes an automatic algorithm using high resolution Synthetic Aperture Radar (SAR) satellite data that builds on existing approaches, including the use of image segmentation techniques prior to object classification to cope with the very large number of pixels in these scenes. Flood detection in urban areas is guided by the flood extent derived in adjacent rural areas. The algorithm assumes that high resolution topographic height data are available for at least the urban areas of the scene, in order that a SAR simulator may be used to estimate areas of radar shadow and layover. The algorithm proved capable of detecting flooding in rural areas using TerraSAR-X with good accuracy, classifying 89% of flooded pixels correctly, with an associated false positive rate of 6%. Of the urban water pixels visible to TerraSAR-X, 75% were correctly detected, with a false positive rate of 24%. If all urban water pixels were considered, including those in shadow and layover regions, these figures fell to 57% and 18% respectively.

Effects of second language on cognition in English users of L2 Japanese

It is now established that certain cognitive processes such as categorisation are tightly linked to the concepts encoded in language. Recent studies have shown that bilinguals with languages that differ in their concepts may show a shift in their cognition towards the L2 pattern primarily as a function of their L2 proficiency. This research has so far focused predominantly on L2 users who started learning the L2 in childhood or early puberty. The current study asks whether similar effects can be found in adult L2 learners. English speakers of L2 Japanese were given an object classification task involving real physical objects, and an online classification task involving artificial novel objects. Results showed a shift towards the L2 pattern, indicating that some degree of cognitive plasticity exists even when a second language is acquired later in life. These results have implications for theories of L2 acquisition and bilingualism, and contribute towards our understanding of the nature of the relationship between language and cognition in the L2 user’s mind.

Universal and language-specific patterns of categorisation

Previous work on object classification preferences shows that speakers of languages that lack morphological plural marking (like Yucatec and Japanese) display a tendency to match objects by common material, while speakers of languages with morphological plural marking (like English) display a tendency to match objects by common shape. The present paper compares categorisation preferences of English and Japanese speakers with those of Greek speakers. Greek resembles English in that it has morphological plural marking, but contrasts with English in that mass nouns typically do not resist pluralization. Results show that all groups distinguish significantly between countable objects and non-countable substances, but the degree to which they do this differs and conforms to language-specific grammatical patterns. It is argued that the effects of grammatical structure on categorisation preferences are finer-grained than earlier studies have assumed, thus providing a more precise account of the extent and nature of linguistic influence on cognition.

Interaction between grammatical categories and cognition in bilinguals: The role of proficiency, cultural immersion, and language of instruction

Previous studies have demonstrated that there is a tight link between grammatical concepts and cognitive preferences in monolingual speakers (Lucy 1992, Lucy & Gaskins 2003, Imai & Gentner 1997, Imai & Mazuka 2003). Recent research has also shown that bilinguals with languages that differ in their concepts may shift their cognitive preferences as a function of their proficiency (Athanasopoulos, 2006) or cultural immersion (Cook, Bassetti, Kasai, Sasaki, & Takahashi, 2006). The current short paper assesses the relative impact of each of these variables, and furthermore asks whether bilinguals alternate between two distinct cognitive representations of language-specific concepts depending on the language used in the experiment. Results from an object classification task showed that Japanese–English bilinguals shifted their behaviour towards the second language (L2) pattern primarily as a function of their L2 proficiency, while cultural immersion and language of instruction played a minimal role. These findings suggest that acquisition of novel grammatical categories leads to cognitive restructuring in the bilingual mind and have implications for the relationship between language and cognitive processing.

The stable archipelago in the region of the Pallas and Hansa dynamical families

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Line based camera calibration in machine vision dynamic applications

The problem of dynamic camera calibration considering moving objects in close range environments using straight lines as references is addressed. A mathematical model for the correspondence of a straight line in the object and image spaces is discussed. This model is based on the equivalence between the vector normal to the interpretation plane in the image space and the vector normal to the rotated interpretation plane in the object space. In order to solve the dynamic camera calibration, Kalman Filtering is applied; an iterative process based on the recursive property of the Kalman Filter is defined, using the sequentially estimated camera orientation parameters to feedback the feature extraction process in the image. For the dynamic case, e.g. an image sequence of a moving object, a state prediction and a covariance matrix for the next instant is obtained using the available estimates and the system model. Filtered state estimates can be computed from these predicted estimates using the Kalman Filtering approach and based on the system model parameters with good quality, for each instant of an image sequence. The proposed approach was tested with simulated and real data. Experiments with real data were carried out in a controlled environment, considering a sequence of images of a moving cube in a linear trajectory over a flat surface.

An analysis of the Hygiea asteroid family orbital region

(10) Hygiea is the fourth largest asteroid of the main belt, by volume and mass, and it is the largest member of its family, that is made mostly by low-albedo, C-type asteroids, typical of the outer main belt. Like many other large families, it is associated with a 'halo' of objects, that extends far beyond the boundary of the core family, as detected by traditional hierarchical clustering methods (HCM) in proper element domains. Numerical simulations of the orbital evolution of family members may help in estimating the family and halo family age, and the original ejection velocity field. But, in order to minimize the errors associated with including too many interlopers, it is important to have good estimates of family membership that include available data on local asteroid taxonomy, geometrical albedo and local dynamics. For this purpose, we obtained synthetic proper elements and frequencies of asteroids in the Hygiea orbital region, with their errors. We revised the current knowledge on asteroid taxonomy, including Sloan Digital Sky Survey-Moving Object Catalog 4th release (SDSS-MOC 4) data, and geometric albedo data from Wide-field Infrared Survey Explorer (WISE) and Near-Earth Object WISE (NEOWISE). We identified asteroid family members using HCM in the domain of proper elements (a, e, sin (i)) and in the domains of proper frequencies most appropriate to study diffusion in the local web of secular resonances, and eliminated possible interlopers based on taxonomic and geometrical albedo considerations. To identify the family halo, we devised a new hierarchical clustering method in an extended domain that includes proper elements, principal components PC1, PC2 obtained based on SDSS photometric data and, for the first time, WISE and NEOWISE geometric albedo. Data on asteroid size distribution, light curves and rotations were also revised for the Hygiea family. The Hygiea family is the largest group in its region, with two smaller families in proper element domain and 18 families in various frequencies domains identified in this work for the first time. Frequency groups tend to extend vertically in the (a, sin (i)) plane and cross not only the Hygiea family but also the near C-type families of Themis and Veritas, causing a mixture of objects all of relatively low albedo in the Hygiea family area. A few high-albedo asteroids, most likely associated with the Eos family, are also present in the region. Finally, the new multidomains hierarchical clustering method allowed us to obtain a good and robust estimate of the membership of the Hygiea family halo, quite separated from other asteroids families halo in the region, and with a very limited (about 3 per cent) presence of likely interlopers. © 2013 The Author Published by Oxford University Press on behalf of the Royal Astronomical Society.

Limites da engenharia de transporte e a estrada minada: o caso da BR 316, Km 0 ao Km 10

A Organizaçãao Mundial da Sáude caracteriza o trânsito como um problema de sáude pública, motivo pelo qual se justificam as preocupações e os esforços de diversos países em criar políticas que venham a frear os índices cada vez mais crescentes de acidentes de trânsito que trazem prejuízos sociais e financeiros a todos. Neste sentido, a conservação da infraestrutura das rodovias ganha um papel relevante nas discussões que tratam os acidentes e suas causas, vez que a infraestrutura de uma rodovia pode ser apontada como um fator determinante para tais ocorrências. Diante disto, esta dissertação tem como objetivo investigar de que forma a precariedade estrutural da Rodovia Federal BR 316, entre os quilômetros 0 ao 10, potencializou a ocorrência de acidentes de trânsito nos anos de 2009 a 2012. Para tanto, lançou-se mão de uma metodologia baseada em explorações teóricas aliadas a análise de informações provenientes do banco de dados da Polícia Rodoviária Federal e pesquisa de campo, materializada a partir da apresentação de fotos ilustrativas do trecho pesquisado, possibilitando o desenvolvimento de um novo Índice de Qualidade para a Rodovia. Os dados colhidos foram tratados a partir da aplicação das técnicas estatísticas análise descritiva e análise multivariada a fim de confirmar a hipótese suscitada. Destaque-se que, no trecho pesquisado o fluxo de veículos e pedestres é intenso e, além, é um intervalo quilométrico que apresenta diversos problemas estruturais como, por exemplo, o aumento e a diminuição do número de pistas de rolamento, a má qualidade dos retornos, a falta de segurança e higiene das passarelas, a descontinuidade dos acostamentos, a inadequação das paradas de ônibus, enfim. No que tange à acidentes e às suas causas, pôde-se constatar que no ano de 2010 houveram mais ocorrências, especialmente, do tipo colisão com bicicleta, colisão com objeto móvel, colisão frontal e colisão transversal, motivadas por desobediência à sinalização, velocidade incompatível, ingestão de álcool, dentre outros. Finalmente, deve-se ressaltar o fato de que nos trechos considerados ruins, além da falta de atenção, a principal causa de acidentes é o defeito na via, corroborando-se então, a hipótese que a precariedade da infraestrutura da rodovia potencializou as ocorrências de acidentes de trânsito, no período de 2009 a 2012. Diante disto, é possível afirmar que o acidente de trânsito é um fato social, consubstanciando como um problema que abarca aspectos sociopolíticos e culturais da sociedade moderna, mas que também é potencializado pelo estado de conservação estrutural das Rodovias.

A multidomain approach to asteroid families' identification

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)