Estimating the motion of an underwater robot from a monocular image sequence

When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot

Probabilistic sonar scan matching for an AUV

This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results

Sonic Labyrinths - 3 upon a ground (dance mix)

Electronic music based on an algorithm, but with a good deal of human influence. See other items with keywords 'sonic labyrinths' for details.

Sonic Labyrinths - 3 upon a ground (minimal mix)

Electronic music based on an algorithm, but with a good deal of human influence. See other items with keywords 'sonic labyrinths' for details.

Lógica en la toma de decisiones de inversión en el sector de extracción de petróleo y gas natural

Este documento se centra en la presentación de información y análisis de la misma a la hora de establecer la manera en que empresas del sector de extracción de gas natural y generación de energía a base de dicho recurso, toman decisiones en cuanto a inversión, centrándose en la lógica que usan a la hora de emprender este proceso. Esto debido a la constante necesidad de establecer procesos que permitan tomar decisiones más acertadas, incluyendo todas las herramientas posibles para tal fin. La lógica es una de estas herramientas, pues permite encadenar factores con el fin de obtener resultados positivos. Por tal razón, se hace importante conocer el uso de esta herramienta, teniendo en cuentas de qué manera y en que contextos es usada. Con el fin de tener una mayor orientación, este estudio estará centrado en un sector específico, el cual es el de la extracción de petróleo y gas natural. Lo anterior entendiendo la necesidad existente de fundamentación teórica que permita establecer de manera clara la forma apropiada de tomar decisiones en un sector tan diverso y complejo como lo es el mencionado. El contexto empresarial actual exige una visión global, no basada en la lógica lineal causal que hoy se tiene como referencia. El sector de extracción de petróleo y gas natural es un ejemplo particular en cuanto a la manera en cuanto se toman decisiones en inversión, puesto que en su mayoría son empresas de capital intensivo, las cuales mantienen un flujo elevado de recursos monetarios.

As atitudes dos professores face à inclusão de alunos com deficiência : o contacto com a deficiência

RESUMO: Actualmente as práticas de exclusão evoluíram para uma perspectiva de inclusão, assim como para a consciencialização dos direitos e deveres de cada um, como forma de dar resposta à sociedade heterogénea existente. A visão baseada nos sistemas de identificação e classificação dos sujeitos em várias categorias de deficiências era algo muito usual, mas que foi abolida, dando assim lugar ao conceito de Necessidades Educativas Especiais, com uma óptica mais abrangente, tendo em conta o contexto em que o sujeito está envolvido (Nunes, 2000). As atitudes dos professores face aos alunos com deficiência têm melhorado significativamente (Ribeiro, 1999), no entanto o processo de inclusão destas crianças no ensino regular não está isento de problemas. Neste sentido, e para que este desafio seja ultrapassado com sucesso, torna-se essencial que os professores modifiquem as suas atitudes e passem a desempenhar um papel mais activo nas suas funções, devendo para isso, começar por adaptar o currículo, e posteriormente repensar as suas estratégias e métodos de trabalho, como forma a responder às necessidades de todos os alunos (Ainscow, 1997). O objectivo principal deste estudo é verificar se o contacto com a deficiência (a nível da experiência no ensino, formação inicial e contacto na infância/juventude), por parte dos professores, influencia as suas atitudes em relação à formação necessária para a inclusão de alunos com deficiência, bem como às vantagens que esta representa para esses mesmos alunos. A amostra foi constituída por 672 professores do ensino regular, todos estão actualmente no activo e leccionam níveis de ensino do Pré-Escolar ao Ensino Secundário, de Norte a Sul do país. (N = 482 do género feminino e N =190 do género masculino). O instrumento de avaliação aplicado foi o questionário APIAD – Atitude dos Professores face à Inclusão de Alunos com Deficiência (Leitão, 2011). Concluiu-se que a experiência no ensino de alunos com deficiência influencia significativamente a atitude dos professores face à formação necessária (deficiência motora: p<0,001; deficiência auditiva: p<0,001; deficiência visual: p<0,001; deficiência mental: p=0,004) e face às vantagens da inclusão para os alunos com deficiência (deficiência motora: p=0,005; deficiência auditiva: p<0,001; deficiência visual: p<0,001; deficiência mental: p=0,022). No que se refere ao contacto com pessoas com deficiência durante a formação inicial, concluiu-se que existem diferenças significativas na atitude dos professores face às vantagens da inclusão para os alunos com deficiência (deficiência motora: p<0,001; deficiência auditiva: p<0,001; deficiência visual: p<0,001; deficiência mental: p<0,001). No entanto, no que respeita à formação, a atitude dos professores não difere, independentemente de terem tido esse contacto (deficiência motora: p=0,393; deficiência auditiva: p=0,456; deficiência visual: p=0,055; deficiência mental: p=0,342). Relativamente ao contacto com pessoas com deficiência durante a infância/juventude conclui-se que não existem diferenças na atitude dos professores em relação à formação necessária (deficiência motora: p=0,893; deficiência auditiva: p=0,667; deficiência visual: p=0,459; deficiência mental: p=0,918). Por sua vez, no que respeita às vantagens da inclusão para os alunos com deficiência, esta variável só influencia significativamente a atitude dos professores no caso da deficiência visual (deficiência motora: p=0,154; deficiência auditiva: p=0,100; deficiência visual: p=0,045; deficiência mental: p=0,149). ABSTRACT: Currently the exclusionary practices evolved to an inclusion perspective, as well as the awareness of rights and duties of each one as a way to reply to the existing heterogeneous society. The vision-based systems for identification and classification of subjects into various categories of disabilities was very unusual, but it was abolished, giving way to the concept of Special Educational Needs, with a broader perspective, considering the context in which the subject is involved (Nunes, 2000). The teachers attitude face to the students with disabilities have improved significantly (Ribeiro, 1999), however the process of inclusion of these children in regular education isn't exempt of problems. In this direction and so this challenge is exceeded successfully, it is essential that teachers change their attitudes and start to perform a more active role in their functions, and to do so, start by adapting the curriculum and then rethink their strategies and working methods, in order to meet the needs of all students (Ainscow, 1997). The main purpose of this study is to verify that the contact with the disability (educational level of experience, initial formation and contact in childhood/youth), among teachers, influences their attitudes towards the needed formation for the inclusion of students with disabilities as well as the benefits that this represents for them. The sample consisted by 672 regular educational teachers, all currently in employment and teaching from Preschool to High school, from North to South. (N = 482 females and N = 190 males). The evaluation instrument used was the survey APIAD - Teachers attitude towards the inclusion of students with disabilities (Leitão, 2011). It was concluded that the experience in teaching students with disabilities influences significantly the teachers attitude faced to the necessary formation (motor disability: p<0,001; hearing impairment: p<0,001; visual impairment: p<0,001; mental disability: p=0,004) and faced to the inclusion benefits for students with disabilities (motor disability: p=0,005; hearing impairment: p<0,001; visual impairment: p<0,001; mental disability: p=0,022).Concerning to the contact with people with disabilities during the initial formation, it was concluded that there are significant differences in the teachers attitude face to the inclusion benefits for students with disabilities (motor disability: p<0,001; hearing impairment: p<0,001; visual impairment: p<0,001; mental disability: p<0,001). In relation to the formation, the teachers attitude is the same, regardless of whether or not they have had such contact (motor disability: p=0,393; hearing impairment: p=0,456; visual impairment: p=0,055; mental disability: p=0,342). Regarding to the contact with people with disabilities during childhood/youth, it was concluded that there is no difference in the teachers attitude in relation to the formation needed (motor disability: p=0,893; hearing impairment: p=0,667; visual impairment: p=0,459; mental disability: p=0,918). On the other way, regarding to the inclusion benefits for students with disabilities, this influences significantly the teachers attitude just in the visual impairment. (motor disability: p=0,154; hearing impairment: p=0,100; visual impairment: p=0,045; mental disability: p=0,149).

Classifying dynamical forcing mechanisms using a climatology of extratropical cyclones

A climatology of almost 700 extratropical cyclones is compiled by applying an automated feature tracking algorithm to a database of objectively identified cyclonic features. Cyclones are classified according to the relative contributions to the midlevel vertical motion of the forcing from upper and lower levels averaged over the cyclone intensification period (average U/L ratio) and also by the horizontal separation between their upper-level trough and low-level cyclone (tilt). The frequency distribution of the average U/L ratio of the cyclones contains two significant peaks and a long tail at high U/L ratio. Although discrete categories of cyclones have not been identified, the cyclones comprising the peaks and tail have characteristics that have been shown to be consistent with the type A, B, and C cyclones of the threefold classification scheme. Using the thresholds in average U/L ratio determined from the frequency distribution, type A, B, and C cyclones account for 30\%, 38\%, and 32\% of the total number of cyclones respectively. Cyclones with small average U/L ratio are more likely to be developing cyclones (attain a relative vorticity $\ge 1.2 \times 10^{-4} \mbox{s}^{-1}$) whereas cyclones with large average U/L ratio are more likely to be nondeveloping cyclones (60\% of type A cyclones develop whereas 31\% of type C cyclones develop). Type A cyclogenesis dominates in the development region East of the Rockies and over the gulf stream, type B cyclogenesis dominates in the region off the East coast of the USA, and type C cyclogenesis is more common over the oceans in regions of weaker low-level baroclinicity.

Scalability of efficient parallel K-Means

Clustering is defined as the grouping of similar items in a set, and is an important process within the field of data mining. As the amount of data for various applications continues to increase, in terms of its size and dimensionality, it is necessary to have efficient clustering methods. A popular clustering algorithm is K-Means, which adopts a greedy approach to produce a set of K-clusters with associated centres of mass, and uses a squared error distortion measure to determine convergence. Methods for improving the efficiency of K-Means have been largely explored in two main directions. The amount of computation can be significantly reduced by adopting a more efficient data structure, notably a multi-dimensional binary search tree (KD-Tree) to store either centroids or data points. A second direction is parallel processing, where data and computation loads are distributed over many processing nodes. However, little work has been done to provide a parallel formulation of the efficient sequential techniques based on KD-Trees. Such approaches are expected to have an irregular distribution of computation load and can suffer from load imbalance. This issue has so far limited the adoption of these efficient K-Means techniques in parallel computational environments. In this work, we provide a parallel formulation for the KD-Tree based K-Means algorithm and address its load balancing issues.

Dynamic load balancing in parallel KD-tree k-means

One among the most influential and popular data mining methods is the k-Means algorithm for cluster analysis. Techniques for improving the efficiency of k-Means have been largely explored in two main directions. The amount of computation can be significantly reduced by adopting geometrical constraints and an efficient data structure, notably a multidimensional binary search tree (KD-Tree). These techniques allow to reduce the number of distance computations the algorithm performs at each iteration. A second direction is parallel processing, where data and computation loads are distributed over many processing nodes. However, little work has been done to provide a parallel formulation of the efficient sequential techniques based on KD-Trees. Such approaches are expected to have an irregular distribution of computation load and can suffer from load imbalance. This issue has so far limited the adoption of these efficient k-Means variants in parallel computing environments. In this work, we provide a parallel formulation of the KD-Tree based k-Means algorithm for distributed memory systems and address its load balancing issue. Three solutions have been developed and tested. Two approaches are based on a static partitioning of the data set and a third solution incorporates a dynamic load balancing policy.

Nonlinear channel equalizer design using directional evolutionary multi-objective optimization

In this paper, a new equalizer learning scheme is introduced based on the algorithm of the directional evolutionary multi-objective optimization (EMOO). Whilst nonlinear channel equalizers such as the radial basis function (RBF) equalizers have been widely studied to combat the linear and nonlinear distortions in the modern communication systems, most of them do not take into account the equalizers' generalization capabilities. In this paper, equalizers are designed aiming at improving their generalization capabilities. It is proposed that this objective can be achieved by treating the equalizer design problem as a multi-objective optimization (MOO) problem, with each objective based on one of several training sets, followed by deriving equalizers with good capabilities of recovering the signals for all the training sets. Conventional EMOO which is widely applied in the MOO problems suffers from disadvantages such as slow convergence speed. Directional EMOO improves the computational efficiency of the conventional EMOO by explicitly making use of the directional information. The new equalizer learning scheme based on the directional EMOO is applied to the RBF equalizer design. Computer simulation demonstrates that the new scheme can be used to derive RBF equalizers with good generalization capabilities, i.e., good performance on predicting the unseen samples.

Multivariable cluster analysis for high-speed industrial machinery

The overall operation and internal complexity of a particular production machinery can be depicted in terms of clusters of multidimensional points which describe the process states, the value in each point dimension representing a measured variable from the machinery. The paper describes a new cluster analysis technique for use with manufacturing processes, to illustrate how machine behaviour can be categorised and how regions of good and poor machine behaviour can be identified. The cluster algorithm presented is the novel mean-tracking algorithm, capable of locating N-dimensional clusters in a large data space in which a considerable amount of noise is present. Implementation of the algorithm on a real-world high-speed machinery application is described, with clusters being formed from machinery data to indicate machinery error regions and error-free regions. This analysis is seen to provide a promising step ahead in the field of multivariable control of manufacturing systems.

Final report on research project PS2010, proof of concept of automated mapping of weeds in arable fields

Many weeds occur in patches but farmers frequently spray whole fields to control the weeds in these patches. Given a geo-referenced weed map, technology exists to confine spraying to these patches. Adoption of patch spraying by arable farmers has, however, been negligible partly due to the difficulty of constructing weed maps. Building on previous DEFRA and HGCA projects, this proposal aims to develop and evaluate a machine vision system to automate the weed mapping process. The project thereby addresses the principal technical stumbling block to widespread adoption of site specific weed management (SSWM). The accuracy of weed identification by machine vision based on a single field survey may be inadequate to create herbicide application maps. We therefore propose to test the hypothesis that sufficiently accurate weed maps can be constructed by integrating information from geo-referenced images captured automatically at different times of the year during normal field activities. Accuracy of identification will also be increased by utilising a priori knowledge of weeds present in fields. To prove this concept, images will be captured from arable fields on two farms and processed offline to identify and map the weeds, focussing especially on black-grass, wild oats, barren brome, couch grass and cleavers. As advocated by Lutman et al. (2002), the approach uncouples the weed mapping and treatment processes and builds on the observation that patches of these weeds are quite stable in arable fields. There are three main aspects to the project. 1) Machine vision hardware. Hardware component parts of the system are one or more cameras connected to a single board computer (Concurrent Solutions LLC) and interfaced with an accurate Global Positioning System (GPS) supplied by Patchwork Technology. The camera(s) will take separate measurements for each of the three primary colours of visible light (red, green and blue) in each pixel. The basic proof of concept can be achieved in principle using a single camera system, but in practice systems with more than one camera may need to be installed so that larger fractions of each field can be photographed. Hardware will be reviewed regularly during the project in response to feedback from other work packages and updated as required. 2) Image capture and weed identification software. The machine vision system will be attached to toolbars of farm machinery so that images can be collected during different field operations. Images will be captured at different ground speeds, in different directions and at different crop growth stages as well as in different crop backgrounds. Having captured geo-referenced images in the field, image analysis software will be developed to identify weed species by Murray State and Reading Universities with advice from The Arable Group. A wide range of pattern recognition and in particular Bayesian Networks will be used to advance the state of the art in machine vision-based weed identification and mapping. Weed identification algorithms used by others are inadequate for this project as we intend to collect and correlate images collected at different growth stages. Plants grown for this purpose by Herbiseed will be used in the first instance. In addition, our image capture and analysis system will include plant characteristics such as leaf shape, size, vein structure, colour and textural pattern, some of which are not detectable by other machine vision systems or are omitted by their algorithms. Using such a list of features observable using our machine vision system, we will determine those that can be used to distinguish weed species of interest. 3) Weed mapping. Geo-referenced maps of weeds in arable fields (Reading University and Syngenta) will be produced with advice from The Arable Group and Patchwork Technology. Natural infestations will be mapped in the fields but we will also introduce specimen plants in pots to facilitate more rigorous system evaluation and testing. Manual weed maps of the same fields will be generated by Reading University, Syngenta and Peter Lutman so that the accuracy of automated mapping can be assessed. The principal hypothesis and concept to be tested is that by combining maps from several surveys, a weed map with acceptable accuracy for endusers can be produced. If the concept is proved and can be commercialised, systems could be retrofitted at low cost onto existing farm machinery. The outputs of the weed mapping software would then link with the precision farming options already built into many commercial sprayers, allowing their use for targeted, site-specific herbicide applications. Immediate economic benefits would, therefore, arise directly from reducing herbicide costs. SSWM will also reduce the overall pesticide load on the crop and so may reduce pesticide residues in food and drinking water, and reduce adverse impacts of pesticides on non-target species and beneficials. Farmers may even choose to leave unsprayed some non-injurious, environmentally-beneficial, low density weed infestations. These benefits fit very well with the anticipated legislation emerging in the new EU Thematic Strategy for Pesticides which will encourage more targeted use of pesticides and greater uptake of Integrated Crop (Pest) Management approaches, and also with the requirements of the Water Framework Directive to reduce levels of pesticides in water bodies. The greater precision of weed management offered by SSWM is therefore a key element in preparing arable farming systems for the future, where policy makers and consumers want to minimise pesticide use and the carbon footprint of farming while maintaining food production and security. The mapping technology could also be used on organic farms to identify areas of fields needing mechanical weed control thereby reducing both carbon footprints and also damage to crops by, for example, spring tines. Objective i. To develop a prototype machine vision system for automated image capture during agricultural field operations; ii. To prove the concept that images captured by the machine vision system over a series of field operations can be processed to identify and geo-reference specific weeds in the field; iii. To generate weed maps from the geo-referenced, weed plants/patches identified in objective (ii).

Blind channel acquisition and channel estimation for multi-rate multicarrier DS-CDMA communications

Multi-rate multicarrier DS-CDMA is a potentially attractive multiple access method for future wireless networks that must support multimedia, and thus multi-rate, traffic. Considering that high performance detection such as coherent demodulation needs the explicit knowledge of the channel, this paper proposes a subspace-based blind adaptive algorithm for timing acquisition and channel estimation in asynchronous multirate multicarrier DS-CDMA systems, which is applicable to both multicode and variable spreading factor systems.

Visual surveillance using deformable models of vehicles

This paper presents recent developments to a vision-based traffic surveillance system which relies extensively on the use of geometrical and scene context. Firstly, a highly parametrised 3-D model is reported, able to adopt the shape of a wide variety of different classes of vehicle (e.g. cars, vans, buses etc.), and its subsequent specialisation to a generic car class which accounts for commonly encountered types of car (including saloon, batchback and estate cars). Sample data collected from video images, by means of an interactive tool, have been subjected to principal component analysis (PCA) to define a deformable model having 6 degrees of freedom. Secondly, a new pose refinement technique using “active” models is described, able to recover both the pose of a rigid object, and the structure of a deformable model; an assessment of its performance is examined in comparison with previously reported “passive” model-based techniques in the context of traffic surveillance. The new method is more stable, and requires fewer iterations, especially when the number of free parameters increases, but shows somewhat poorer convergence. Typical applications for this work include robot surveillance and navigation tasks.

Sea-ice anomalies in the Sea of Okhotsk and the relationship with storm tracks in the Northern Hemisphere during winter

Previous studies have shown that sea-ice in the Sea of Okhotsk can be affected by local storms; in turn, the resultant sea-ice changes can affect the downstream development of storm tracks in the Pacific and possibly dampen a pre-existing North Atlantic Oscillation (NAO) signal in late winter. In this paper, a storm tracking algorithm was applied to the six hourly horizontal winds from the National Centers for Environmental Prediction (NCEP) reanalysis data from 1978(9) to 2007 and output from the atmospheric general circulation model (AGCM) ECHAM5 forced by sea-ice anomalies in the Sea of Okhotsk. The life cycle response of storms to sea-ice anomalies is investigated using various aspects of storm activity—cyclone genesis, lysis, intensity and track density. Results show that, for enhanced positive sea-ice concentrations in the Sea of Okhotsk, there is a decrease in secondary cyclogenesis, a westward shift in cyclolysis and changes in the subtropical jet are seen in the North Pacific. In the Atlantic, a pattern resembling the negative phase of the NAO is observed. This pattern is confirmed by the AGCM ECHAM5 experiments driven with above normal sea-ice anomalies in the Sea of Okhotsk