Reconeixement de gestos de la mà amb el sensor Kinect

El reconeixement dels gestos de la mà (HGR, Hand Gesture Recognition) és actualment un camp important de recerca degut a la varietat de situacions en les quals és necessari comunicar-se mitjançant signes, com pot ser la comunicació entre persones que utilitzen la llengua de signes i les que no. En aquest projecte es presenta un mètode de reconeixement de gestos de la mà a temps real utilitzant el sensor Kinect per Microsoft Xbox, implementat en un entorn Linux (Ubuntu) amb llenguatge de programació Python i utilitzant la llibreria de visió artifical OpenCV per a processar les dades sobre un ordinador portàtil convencional. Gràcies a la capacitat del sensor Kinect de capturar dades de profunditat d’una escena es poden determinar les posicions i trajectòries dels objectes en 3 dimensions, el que implica poder realitzar una anàlisi complerta a temps real d’una imatge o d’una seqüencia d’imatges. El procediment de reconeixement que es planteja es basa en la segmentació de la imatge per poder treballar únicament amb la mà, en la detecció dels contorns, per després obtenir l’envolupant convexa i els defectes convexos, que finalment han de servir per determinar el nombre de dits i concloure en la interpretació del gest; el resultat final és la transcripció del seu significat en una finestra que serveix d’interfície amb l’interlocutor. L’aplicació permet reconèixer els números del 0 al 5, ja que s’analitza únicament una mà, alguns gestos populars i algunes de les lletres de l’alfabet dactilològic de la llengua de signes catalana. El projecte és doncs, la porta d’entrada al camp del reconeixement de gestos i la base d’un futur sistema de reconeixement de la llengua de signes capaç de transcriure tant els signes dinàmics com l’alfabet dactilològic.

Matkustajainformaatiojärjestelmän toteuttaminen junaan

Matkustajainformaatio junassa koostuu vaunujen ulkopuolisilla kylkinäytöillä esitettävistä junan lähtö-, väli- ja määräasematiedoista yhdessä junan ja vaunujen myyntinumeroiden kanssa sekä vaunujen sisäpuolella automaattisista kuulutuksista ja matkustamon näytöillä esitettävästä staattisesta ja vaihtuvasta informaatiosta. Työssä toteutetaan matkustajainformaatiojärjestelmä käytettäväksi matkustajunissa. Järjestelmään syötetään ennen matkan alkua junan tiedot, jonka jälkeen se toimii automaattisesti ilman tarvetta junahenkilökunnan toimenpiteille. Poikkeustilanteissa junahenkilökunta voi estää järjestelmän toiminnan tai valita esiohjelmointuja erikoiskuulutuksia. Toteuttamismenetelmäksi valittiin C-ohjelmointikieli Linux-käyttöjärjestelmällä varustetulla sulautetulla rautatiekäyttöön suunnitellulla laitealustalla.

Color ad spectral image assessment using novel quality and fidelity techniques

The ongoing development of the digital media has brought a new set of challenges with it. As images containing more than three wavelength bands, often called spectral images, are becoming a more integral part of everyday life, problems in the quality of the RGB reproduction from the spectral images have turned into an important area of research. The notion of image quality is often thought to comprise two distinctive areas – image quality itself and image fidelity, both dealing with similar questions, image quality being the degree of excellence of the image, and image fidelity the measure of the match of the image under study to the original. In this thesis, both image fidelity and image quality are considered, with an emphasis on the influence of color and spectral image features on both. There are very few works dedicated to the quality and fidelity of spectral images. Several novel image fidelity measures were developed in this study, which include kernel similarity measures and 3D-SSIM (structural similarity index). The kernel measures incorporate the polynomial, Gaussian radial basis function (RBF) and sigmoid kernels. The 3D-SSIM is an extension of a traditional gray-scale SSIM measure developed to incorporate spectral data. The novel image quality model presented in this study is based on the assumption that the statistical parameters of the spectra of an image influence the overall appearance. The spectral image quality model comprises three parameters of quality: colorfulness, vividness and naturalness. The quality prediction is done by modeling the preference function expressed in JNDs (just noticeable difference). Both image fidelity measures and the image quality model have proven to be effective in the respective experiments.

Quantitative structure-retention relationships analysis of retention index of essential oils

Genetic algorithm and multiple linear regression (GA-MLR), partial least square (GA-PLS), kernel PLS (GA-KPLS) and Levenberg-Marquardt artificial neural network (L-M ANN) techniques were used to investigate the correlation between retention index (RI) and descriptors for 116 diverse compounds in essential oils of six Stachys species. The correlation coefficient LGO-CV (Q²) between experimental and predicted RI for test set by GA-MLR, GA-PLS, GA-KPLS and L-M ANN was 0.886, 0.912, 0.937 and 0.964, respectively. This is the first research on the QSRR of the essential oil compounds against the RI using the GA-KPLS and L-M ANN.

Application of GA-PLS and GA-KPLS calculations for the prediction of the retention indices of essential oils

Genetic algorithm and partial least square (GA-PLS) and kernel PLS (GA-KPLS) techniques were used to investigate the correlation between retention indices (RI) and descriptors for 117 diverse compounds in essential oils from 5 Pimpinella species gathered from central Turkey which were obtained by gas chromatography and gas chromatography-mass spectrometry. The square correlation coefficient leave-group-out cross validation (LGO-CV) (Q²) between experimental and predicted RI for training set by GA-PLS and GA-KPLS was 0.940 and 0.963, respectively. This indicates that GA-KPLS can be used as an alternative modeling tool for quantitative structure-retention relationship (QSRR) studies.

A Communication Middleware Quality Enhancement with Qt Framework

In this thesis, a Peer-to-Peer communication middleware for mobile environment is developed using the Qt framework and the Qt Mobility extension. The Peer-to-Peer middleware – called as PeerHood – is for service sharing in network neighborhood. In addition, the PeerHood enables service connectivity and device monitoring functionalities. The concept of the PeerHood is already available in native C++ implementation on Linux platform using services from the platform. In this work, the PeerHood concept is remade to be based on use of the Qt framework. The objective of the new solution is to increase PeerHood quality with using functionalities from the Qt framework and the Qt Mobility extension. Furthermore, by using the Qt framework, the PeerHood middleware can be implemented to be portable cross-platform middleware. The quality of the new PeerHood implementation is evaluated with defined quality factors and compared with the existing PeerHood. Reliability, CPU usage, memory usage and static code analysis metrics are used in evaluation. The new PeerHood is shown to be more reliable and flexible that the existing one.

Some defects in two-dimensional spin-1/2 Heisenberg antiferromagnets: a numerical study of magnetic effects

En del av de intressantaste fenomenen inom dagens materialfysik uppstår ur ett intrikat samspel mellan myriader av elektroner. Högtemperatursupraledare är det mest berömda exemplet. Varken klassiska teorier eller modeller där elektronerna är oberoende av varandra kan förklara de häpnadsväckande effekterna i de starkt korrelerade elektronsystemen. I vissa kopparoxider, till exempel La2CuO4, är det känt att valenselektronerna till följd av en stark ömsesidig växelverkan lokaliseras en och en till kopparatomerna i föreningens CuO2 plan. Laddningarnas inneboende magnetiska moment—spinnet—får då en avgörande roll för materialets elektriska och magnetiska egenskaper, vilka i exemplets fall kan beskrivas med Heisenbergmodellen som är den grundläggande teoretiska modellen för mikroskopisk magnetism. Men exakt varför föreningarna kan bli supraledande då de dopas med överskottsladdningar är än så länge en obesvarad fråga. Min avhandling undersöker orenheters inverkan på Heisenbergmodellens magnetiska egenskaper—ett problem av både experimentell och teoretisk relevans. En etablerad numerisk metod har använts—en kvantmekanisk Monte Carlo teknik—för att utföra omfattande datorsimuleringar av den matematiska modellen på två dedikerade Linux datorkluster. Arbetet hör till området beräkningsfysik. De teoretiska modellerna för starkt korrelerade elektronsystem, däribland Heisenbergmodellen, är ytterst invecklade matematiskt sett och de kan inte lösas exakt. Analytiska utredningar bygger för det mesta på antaganden och förenklingar vars inverkningar på slutresultatet är ofta oklara. I det avseende kan numeriska studier vara exakta, det vill säga de kan behandla modellerna som de är. Oftast behövs bägge tillvägagångssätten. Den röda tråden i arbetet har varit att numeriskt testa vissa högaktuella analytiska förutsägelser rörande effekterna av orenheter i Heisenbergmodellen. En del av dem har vi på basen av mycket noggranna data kunnat bekräfta. Men våra resultat har också påvisat felaktigheter i de analytiska prognoserna som sedermera delvis reviderats. En del av avhandlingens numeriska upptäckter har i sin tur stimulerat till helt nya teoretiska studier.

Some advances in mathematical models for preference relations

Preference relations, and their modeling, have played a crucial role in both social sciences and applied mathematics. A special category of preference relations is represented by cardinal preference relations, which are nothing other than relations which can also take into account the degree of relation. Preference relations play a pivotal role in most of multi criteria decision making methods and in the operational research. This thesis aims at showing some recent advances in their methodology. Actually, there are a number of open issues in this field and the contributions presented in this thesis can be grouped accordingly. The first issue regards the estimation of a weight vector given a preference relation. A new and efficient algorithm for estimating the priority vector of a reciprocal relation, i.e. a special type of preference relation, is going to be presented. The same section contains the proof that twenty methods already proposed in literature lead to unsatisfactory results as they employ a conflicting constraint in their optimization model. The second area of interest concerns consistency evaluation and it is possibly the kernel of the thesis. This thesis contains the proofs that some indices are equivalent and that therefore, some seemingly different formulae, end up leading to the very same result. Moreover, some numerical simulations are presented. The section ends with some consideration of a new method for fairly evaluating consistency. The third matter regards incomplete relations and how to estimate missing comparisons. This section reports a numerical study of the methods already proposed in literature and analyzes their behavior in different situations. The fourth, and last, topic, proposes a way to deal with group decision making by means of connecting preference relations with social network analysis.

Caracterização da estrutura fundiária do município de Bandeirantes - PR, utilizando geoprocessamento

As técnicas de sensoriamento remoto e o uso dos Sistemas de Informações Geográficas (SIG) facilitam a elaboração de mapas temáticos. Mapas com informações detalhadas são importantes instrumentos para que os municípios conheçam melhor sua realidade. O trabalho foi desenvolvido no município de Bandeirantes, Estado do Paraná, Brasil, visando a analisar sua estrutura fundiária, baseada nas classes de tamanho dos imóveis rurais. A partir de mapas de imóveis rurais e de cartas topográficas do IBGE, obteve-se o mapa fundiário digital do município. Imagens orbitais e fotografias aéreas foram utilizadas para o ajuste das linhas divisórias dos imóveis, cuja validação se deu por incursões a campo. O número e o tamanho dos imóveis de 1950 foram comparados com dados de 2006, e a distribuição e concentração dos imóveis foram analisadas utilizando o estimador de intensidade Kernel. Os imóveis com área menor que o módulo rural se concentram nas microbacias mais distantes da sede do município e correspondem a 60% do total. Dos demais, 31% são pequenas, 7% médias e 2% grandes propriedades, que ocupam, respectivamente, 16%, 27%, 25% e 32% da área do município.

Combustion properties of biomass residues rich in phosphorus

Tillgången på traditionella biobränslen är begränsad och därför behöver man ta fram nya, tidigare outnyttjade biobränslen för att möta de uppställda CO2 emissionsmålen av EU och det ständigt ökande energibehovet. Under de senare åren har intresset riktats mot termisk energiutvinning ur olika restfraktioner och avfall. Vid produktion av fordonsbränsle ur biomassa är den fasta restprodukten ofta den största procesströmmen i produktionsanläggningen. En riktig hantering av restprodukterna skulle göra produktionen mera lönsam och mer ekologiskt hållbar. Ett alternativ är att genom förbränning producera elektricitet och/eller värme eftersom dessa restprodukter anses som CO2-neutrala. Målsättningen med den här avhandlingen var att studera förbränningsegenskaperna hos några fasta restprodukter som uppstår vid framställning av förnybara fordonsbränslen. De fyra undersökta materialen är rapskaka, palmkärnskaka, torkad drank och stabiliserat rötslam. I studien används ett stort urval av undersökningsmetoder, från laboratorieskala till fullskalig förbränning, för att identifiera de huvudsakliga utmaningarna förknippade med förbränning av restprodukterna i pannor med fluidiserad bäddteknik. Med hjälp av detaljerad bränslekarakterisering kunde restprodukterna konstateras vara en värdefull källa för värme- och elproduktion. Den kemiska sammansättningen av restprodukterna varierar stort jämfört med mera traditionellt använda biobränslen. En gemensam faktor för alla de studerade restprodukterna är en hög fosforhalt. På grund av de låga fosforkoncentrationerna i de traditionella biobränslena har grundämnet hittills inte ansetts spela någon större roll i askkemin. Experimenten visade nu att fosfor inte mera kan försummas då man studerar kemin i förbränningsprocesser, då allt flera fosforrika bränslen tränger in på energimarknaden.

Design and implementation of robot gripper interface

This thesis presents a design for an asynchronous interface to Robotiq adaptive gripper s-model. Designed interface is a communication layer that works on top of modbus layer. The design contains function definitions, finite state machine and exceptions. The design was not fully implemented but enough was so that it can be used. The implementation was done with c++ in linux environment. Additionally to the implementation a simple demo program was made to show the interface is used. Also grippers closing speed and force were measured. There is also a brief introduction into robotics and robot grasping.

Análise espacial da prevalência de toxoplasmose em gestantes de Aracaju, Sergipe, Brasil

OBJETIVO:Analisar a distribuição espacial da prevalência de anticorpos antitoxoplasma em gestantes residentes em uma cidade do Nordeste do Brasil, e correlacionar a prevalência de anticorpos antitoxoplasma com a faixa etária materna e o local de residência.MÉTODOS:Estudo ecológico, descritivo e analítico, desenvolvido no período de 01 janeiro a 31 de dezembro de 2012. As informações foram obtidas retrospectivamente de um banco de dados, e processadas com o pacote estatístico Epi info (Epi 7, Centers for Disease Control and Prevention, Atlanta, EUA) e também em planilha do pacote Microsoft Office Excel, versão 2010. Para avaliar a associação entre a prevalência de anticorpos para a toxoplasmose e a faixa etária, foi aplicado o teste do X2. A análise espacial da prevalência dessa infecção foi realizada com o programa TerraView, versão 4.2.2, utilizando o estimador de intensidade Kernel, que permite estimar a quantidade de eventos em mapa para identificar áreas de maior concentração de casos no município.RESULTADOS:A soroprevalência encontrada para IgG foi de 68,5% (IC95% 67,2-69,8) e IgM de 0,36% (IC95% 0,23-0,6). Foi encontrado incremento da prevalência de IgG associado ao aumento da idade nos bairros mais antigos da capital. Entre as mulheres mais jovens, a maior prevalência foi nos bairros de periferia. Quanto ao anticorpo IgM, a concentração espacial foi mais elevada em bairros da periferia e não ocorreu associação significativa entre a soroprevalência e a idade.CONCLUSÃO:O geoprocessamento permitiu identificar as áreas de maior prevalência, assim como a faixa etária com maior suscetibilidade, servindo como instrumento de avaliação e implementação de medidas preventivas apropriadas para esse município e outras regiões do Brasil.

Forest cover and its change in Unguja Island, Zanzibar

Tropical forests are sources of many ecosystem services, but these forests are vanishing rapidly. The situation is severe in Sub-Saharan Africa and especially in Tanzania. The causes of change are multidimensional and strongly interdependent, and only understanding them comprehensively helps to change the ongoing unsustainable trends of forest decline. Ongoing forest changes, their spatiality and connection to humans and environment can be studied with the methods of Land Change Science. The knowledge produced with these methods helps to make arguments about the actors, actions and causes that are behind the forest decline. In this study of Unguja Island in Zanzibar the focus is in the current forest cover and its changes between 1996 and 2009. The cover and changes are measured with often used remote sensing methods of automated land cover classification and post-classification comparison from medium resolution satellite images. Kernel Density Estimation is used to determine the clusters of change, sub-area –analysis provides information about the differences between regions, while distance and regression analyses connect changes to environmental factors. These analyses do not only explain the happened changes, but also allow building quantitative and spatial future scenarios. Similar study has not been made for Unguja and therefore it provides new information, which is beneficial for the whole society. The results show that 572 km2 of Unguja is still forested, but 0,82–1,19% of these forests are disappearing annually. Besides deforestation also vertical degradation and spatial changes are significant problems. Deforestation is most severe in the communal indigenous forests, but also agroforests are decreasing. Spatially deforestation concentrates to the areas close to the coastline, population and Zanzibar Town. Biophysical factors on the other hand do not seem to influence the ongoing deforestation process. If the current trend continues there should be approximately 485 km2 of forests remaining in 2025. Solutions to these deforestation problems should be looked from sustainable land use management, surveying and protection of the forests in risk areas and spatially targeted self-sustainable tree planting schemes.

Effects of weed "Reestablishment" after hoeing on corn yields

Some growers and researchers sustain the idea that regrowth or root setting of some weeds may occur after hoeing, with detrimental effects over corn. The objective of this study was to evaluate the effects of weed removal from the field, removal after each hoeing, and corn intercropped with gliricidia on weed control and corn yield values. The experimental design consisted of blocks with split-plots and six replicates. Cultivars AG 1051 and BM 2022, planted in the plots, were submitted to the following treatments: no hoeing, two hoeings (at 20 and 40 days after planting), and intercropped with gliricidia. The hoed plots were either submitted to weed removal after the first, second, or both hoeings, or remained without weed removal. In the intercropped treatment, gliricidia was sown by broadcasting at corn planting between the corn rows, at a density of 15 seeds m-2. Twenty-five weed species occurred in the experiment; the most frequent was Digitaria sanguinalis (family Poaceae). The weed control methods tested had similar effects on the cultivars, which were not different from one another with respect to the evaluated traits, except for one-hundred-kernel weight, with cultivar AG 1051 being superior. Weed removal did not influence green corn yield or grain yield. However, the number of kernels/ear was higher in plots where weeds were removed in relation to plots without weed removal, suggesting that weed removal might be beneficial to corn. Besides, a higher dry matter weight was obtained for the above-ground part of weeds removed from the field after the first and second hoeings than the weight of weeds removed after the second hoeing only which, in turn, was higher than the weight of weeds removed after the first hoeing only. Green ear yield, grain yield, and dry matter of the above-ground part of the weeds did not show differences in hoed plots and were superior to the non-weeded plots and the intercropped plots, which were not different from each other; therefore, intercropping with gliricidia did not improve corn yield values.

Weed management boosts yield in fine rice under system of rice intensification

The system of rice intensification has emerged as a promising rice production package but weed infestation could lead to incomplete benefits from the system. A two-year field study was performed to determine an appropriate method of weed management in SRI. Weed management treatments were manual hoeing 20, 40 and 60 days after transplanting (DAT), hoeing with rotary hoe at 20, 40 and 60 DAT, hoeing with rotary hoe at 20 DAT + spray with sorghum and sunflower water extracts at 15 L ha-1 40 DAT, manual hoeing 20 DAT + spray with sorghum and sunflower water extracts, both in equal amount, at 15 L ha-1 40 DAT, orthosulfamuron at 145 g a.i. ha-1 7 DAT, weedy check and weed free. Manual hoeing at 20, 40 and 60 DAT was the treatment that exhibited the maximum kernel yield i.e. 5.34 and 4.99 t ha-1., which was 8.4 and 7.2% higher than orthosulfamuron and 61.0 and 64.9% higher than weedy check, during both years of study, respectively. The highest weed suppression was also achieved by manual hoeing at 20, 40 and 60 DAT with weed control efficiency of 87.89 and 82.32% during 2010 and 2011, respectively. Manual hoeing at 20, 40 and 60 DAT is an eco-friendly, non-chemical weed control method to increase kernel yield of fine rice under SRI.