POSE ESTIMATION AND 3D RECONSTRUCTION USING SENSOR FUSION

A camera maps 3-dimensional (3D) world space to a 2-dimensional (2D) image space. In the process it loses the depth information, i.e., the distance from the camera focal point to the imaged objects. It is impossible to recover this information from a single image. However, by using two or more images from different viewing angles this information can be recovered, which in turn can be used to obtain the pose (position and orientation) of the camera. Using this pose, a 3D reconstruction of imaged objects in the world can be computed. Numerous algorithms have been proposed and implemented to solve the above problem; these algorithms are commonly called Structure from Motion (SfM). State-of-the-art SfM techniques have been shown to give promising results. However, unlike a Global Positioning System (GPS) or an Inertial Measurement Unit (IMU) which directly give the position and orientation respectively, the camera system estimates it after implementing SfM as mentioned above. This makes the pose obtained from a camera highly sensitive to the images captured and other effects, such as low lighting conditions, poor focus or improper viewing angles. In some applications, for example, an Unmanned Aerial Vehicle (UAV) inspecting a bridge or a robot mapping an environment using Simultaneous Localization and Mapping (SLAM), it is often difficult to capture images with ideal conditions. This report examines the use of SfM methods in such applications and the role of combining multiple sensors, viz., sensor fusion, to achieve more accurate and usable position and reconstruction information. This project investigates the role of sensor fusion in accurately estimating the pose of a camera for the application of 3D reconstruction of a scene. The first set of experiments is conducted in a motion capture room. These results are assumed as ground truth in order to evaluate the strengths and weaknesses of each sensor and to map their coordinate systems. Then a number of scenarios are targeted where SfM fails. The pose estimates obtained from SfM are replaced by those obtained from other sensors and the 3D reconstruction is completed. Quantitative and qualitative comparisons are made between the 3D reconstruction obtained by using only a camera versus that obtained by using the camera along with a LIDAR and/or an IMU. Additionally, the project also works towards the performance issue faced while handling large data sets of high-resolution images by implementing the system on the Superior high performance computing cluster at Michigan Technological University.

Nanosecond-level time synchronization of autonomous radio detector stations for extensive air showers

To exploit the full potential of radio measurements of cosmic-ray air showers at MHz frequencies, a detector timing synchronization within 1 ns is needed. Large distributed radio detector arrays such as the Auger Engineering Radio Array (AERA) rely on timing via the Global Positioning System (GPS) for the synchronization of individual detector station clocks. Unfortunately, GPS timing is expected to have an accuracy no better than about 5 ns. In practice, in particular in AERA, the GPS clocks exhibit drifts on the order of tens of ns. We developed a technique to correct for the GPS drifts, and an independent method is used to cross-check that indeed we reach a nanosecond-scale timing accuracy by this correction. First, we operate a "beacon transmitter" which emits defined sine waves detected by AERA antennas recorded within the physics data. The relative phasing of these sine waves can be used to correct for GPS clock drifts. In addition to this, we observe radio pulses emitted by commercial airplanes, the position of which we determine in real time from Automatic Dependent Surveillance Broadcasts intercepted with a software-defined radio. From the known source location and the measured arrival times of the pulses we determine relative timing offsets between radio detector stations. We demonstrate with a combined analysis that the two methods give a consistent timing calibration with an accuracy of 2 ns or better. Consequently, the beacon method alone can be used in the future to continuously determine and correct for GPS clock drifts in each individual event measured by AERA.

Climate variability of the last 1000 years in the NW Pacific: high resolution, multi-biomarker records from Lake Toyoni

The East Asian Monsoon (EAM) is an active component of the global climate system and has a profound social and economic impact in East Asia and its surrounding countries. Its impact on regional hydrological processes may influence society through industrial water supplies, food productivity and energy use. In order to predict future rates of climate change, reliable and accurate reconstructions of regional temperature and rainfall are required from all over the world to test climate models and better predict future climate variability. Hokkaido is a region which has limited palaeo-climate data and is sensitive to climate change. Instrumental data show that the climate in Hokkaido is influenced by the East Asian Monsoon (EAM), however, instrumental data is limited to the past ~150 years. Therefore down-core climate reconstructions, prior to instrumental records, are required to provide a better understanding of the long-term behaviour of the climate drivers (e.g. the EAM, Westerlies, and teleconnections) in this region. The present study develops multi-proxy reconstructions to determine past climatic and hydrologic variability in Japan over the past 1000 years and aid in understanding the effects of the EAM and the Westerlies independently and interactively. A 250-cm long sediment core from Lake Toyoni, Hokkaido was retrieved to investigate terrestrial and aquatic input, lake temperature and hydrological changes over the past 1000-years within Lake Toyoni and its catchment using X-Ray Fluorescence (XRF) data, alkenone palaeothermometry, the molecular and hydrogen isotopic composition of higher plant waxes (δD(HPW)). Here, we conducted the first survey for alkenone biomarkers in eight lakes in the Hokkaido, Japan. We detected the occurrence of alkenones within the sediments of Lake Toyoni. We present the first lacustrine alkenone record from Japan, including genetic analysis of the alkenone producer. C37 alkenone concentrations in surface sediments are 18µg C37 g−1 of dry sediment and the dominant alkenone is C37:4. 18S rDNA analysis revealed the presence of a single alkenone producer in Lake Toyoni and thus a single calibration is used for reconstructing lake temperature based on alkenone unsaturation patterns. Temperature reconstructions over the past 1000 years suggest that lake water temperatures varies between 8 and 19°C which is in line with water temperature changes observed in the modern Lake Toyoni. The alkenone-based temperature reconstruction provides evidence for the variability of the EAM over the past 1000 years. The δD(HPW) suggest that the large fluctuations (∼40‰) represent changes in temperature and source precipitation in this region, which is ultimately controlled by the EAM system and therefore a proxy for the EAM system. In order to complement the biomarker reconstructions, the XRF data strengthen the lake temperature and hydrological reconstructions by providing information on past productivity, which is controlled by the East Asian Summer monsoon (EASM) and wind input into Lake Toyoni, which is controlled by the East Asian Winter Monsoon (EAWM) and the Westerlies. By combining the data generated from XRF, alkenone palaeothermometry and the δD(HPW) reconstructions, we provide valuable information on the EAM and the Westerlies, including; the timing of intensification and weakening, the teleconnections influencing them and the relationship between them. During the Medieval Warm Period (MWP), we find that the EASM dominated and the EAWM was suppressed, whereas, during the Little Ice Age (LIA), the influence of the EAWM dominated with time periods of increased EASM and Westerlies intensification. The El Niño Southern Oscillation (ENSO) significantly influenced the EAM; a strong EASM occurred during El Niño conditions and a strong EAWM occurred during La Niña. The North Atlantic Oscillation, on the other hand, was a key driver of the Westerlies intensification; strengthening of the Westerlies during a positive NAO phase and weakening of the Westerlies during a negative NAO phase. A key finding from this study is that our data support an anti-phase relationship between the EASM and the EAWM (e.g. the intensification of the EASM and weakening of the EAWM and vice versa) and that the EAWM and the Westerlies vary independently from each other, rather than coincide as previously suggested in other studies.

USO Y COBERTURA DE LA TIERRA EN COSTA RICA PARA 1992: UNA APLICACIÓN DE TELEDETECCIÓN ESPACIAL Y SISTEMAS DE INFORMACION GEOGRÁFICA

En el presente artículo se describe el procedimiento utilizado para actualizar el mapa de uso y cobertura de la tierra de Costa Rica para el año 1992. En el proceso se integró la cartografía análoga existente para 1985 a escala 1:200.000 e imágenes digitales del Mapeador Temático de LANDSAT para los años 1991 y 1993. Para comprobar la exactitud de la clasificación se usaron 1.372 puntos obtenidos de fotos aéreas de 1992 y trabajo de campo empleando un Sistema de Posicionamiento Global (SPG). Los resultados obtenidos indican que existe un 46.6% del país bajo pastos, un 32,9 bajo bosques y un 8,5% bajo uso agrícola. Un 7,8% del área se incluyó en una categoría denominada <<no clasificada, usos mezclados, deforestada>>. La exactitud global de la clasificación fue de un 74%; con una confusión entre pasto y bosque de un 19%.  SUMMARY The objective of this paper is to describe the process used by the authors to update the preliminary 1985 land use-land cover map of Costa Rica. Paper maps of 1985 at scale 1:200.000 we digitized, rasterized and use to label the output of a nonsupervised classification carried out using 1991-93 digital data from LANDSAT 5 (Thematic Mapper). Aerial photography and field work aided by a Global Positional System (GPS) was used to gather ground-truth data. A total of 1372 stratified points were used to test the accuracy of the final map. Our results showed that 46,6% of the country is under pasture, 32,9% under forest and 8.5% under agriculture. The nonclassified areas were lumped into one category that accounted for 7,8% of the country. Global accuracy of the classification was 74% with the confusion between forest and pasture accounting for 19% of this error.

FORMAÇÃO CONTINUADA DE PROFESSORES DA EDUCAÇÃO BÁSICA: POSSIBILIDADES INCLUSIVAS A PARTIR DA CARTOGRAFIA

No ano de 2010, em Uberaba-MG, Brasil, teve início o projeto FORMAÇÃO CONTINUADA DE PROFESSORES DA EDUCAÇÃO BÁSICA: possibilidades inclusivas a partir da Cartografia. A proposta inicial começou com o desejo de um estudante de Geografia da Universidade Federal do Triângulo Mineiro – UFTM, em ajudar alunos surdos a entender a Disciplina Geografia. A idéia ampliou-se de tal forma que hoje participam diversas áreas de conhecimento na escola, além de profissionais da Universidade Federal de Uberlândia - UFU. Organizado em Módulos de discussão, o projeto prevê oficinas de Alfabetização Cartográfica para os estudantes do Ensino Fundamental (1º a 9º ano) e também para todos os professores que se interessarem, objetivando, também, a aplicação da Inclusão Escolar. Mini-Cursos sobre Global Positioning System (GPS), Sistemas de Informação Geográfica (SIG), Imagens de Satélite, Escalas Gráficas e Numéricas, Localização, Corrida de Orientação, Geopolítica da Cidade, Valorização da Cultura Negra, Organização Política e Direitos do Trabalhador da Educação, e Metodologia do Trabalho Científico para apoiar os professores da Educação Básica que desejem organizar projetos com o objetivo da pesquisa na Pós Graduação: Especialização, Mestrado ou Doutorado.

A global convergence criterion for discrete-time multivariable adaptive systems

The paper deals with the basic problem of adjusting a matrix gain in a discrete-time linear multivariable system. The object is to obtain a global convergence criterion, i.e. conditions under which a specified error signal asymptotically approaches zero and other signals in the system remain bounded for arbitrary initial conditions and for any bounded input to the system. It is shown that for a class of up-dating algorithms for the adjustable gain matrix, global convergence is crucially dependent on a transfer matrix G(z) which has a simple block diagram interpretation. When w(z)G(z) is strictly discrete positive real for a scalar w(z) such that w-1(z) is strictly proper with poles and zeros within the unit circle, an augmented error scheme is suggested and is proved to result in global convergence. The solution avoids feeding back a quadratic term as recommended in other schemes for single-input single-output systems.

Towards complex system design and management in the engineering domain – the smart grid challenge

This is an Author's Accepted Manuscript of an article published in “Emergence: Complexity and Organization”, 15 (2), pp. 14-22 (2013), copyright Taylor & Francis.

Modelling and power quality analysis of a grid-connected solar PV system

Increased concern about global warming coupled with the escalating demand of energy has driven the conventional power system to be more reliable one by integrating Renewable Energies (RE) in to grid. Over the recent years, integration of solar PV forming a gridconnected PV is considered as one of the most promisingtechnologies to the developed countries like Australia to meet the growing demand of energy. This rapid increase in grid connected photovoltaic (PV) systems has made the supply utilities concerned about the drastic effects that have to be considered on the distribution network in particular voltage fluctuations, harmonic distortions and the Power factor for sustainable power generation. However, irrespective of thefact that the utility grid can accommodate the variability of load or irregular solar irradiance, it is essential to study the impact of grid connected PV systems during higher penetration levels as the intermittent nature of solar PV adversely effects the grid characteristics in meeting the load demand. Hence, keeping this in track, this paper examines the grid-connected PV system considering a residential network of Geelong region (38◦.09' S and 144◦.21’ E) and explores the level of impacts considering summer load profile with a change in the level of integrations. Initially, a PV power system network model is developed in Matlab-Simulink environment and the simulations are carried out to explore the impacts of solar PV penetration at low voltage distribution network considering power quality (PQ) issues such as voltage fluctuations, harmonics distortion at different load conditions.

DYPTOP: a cost-efficient TOPMODEL implementation to simulate sub-grid spatio-temporal dynamics of global wetlands and peatlands

Simulating the spatio-temporal dynamics of inundation is key to understanding the role of wetlands under past and future climate change. Earlier modelling studies have mostly relied on fixed prescribed peatland maps and inundation time series of limited temporal coverage. Here, we describe and assess the the Dynamical Peatland Model Based on TOPMODEL (DYPTOP), which predicts the extent of inundation based on a computationally efficient TOPMODEL implementation. This approach rests on an empirical, grid-cell-specific relationship between the mean soil water balance and the flooded area. DYPTOP combines the simulated inundation extent and its temporal persistency with criteria for the ecosystem water balance and the modelled peatland-specific soil carbon balance to predict the global distribution of peatlands. We apply DYPTOP in combination with the LPX-Bern DGVM and benchmark the global-scale distribution, extent, and seasonality of inundation against satellite data. DYPTOP successfully predicts the spatial distribution and extent of wetlands and major boreal and tropical peatland complexes and reveals the governing limitations to peatland occurrence across the globe. Peatlands covering large boreal lowlands are reproduced only when accounting for a positive feedback induced by the enhanced mean soil water holding capacity in peatland-dominated regions. DYPTOP is designed to minimize input data requirements, optimizes computational efficiency and allows for a modular adoption in Earth system models.

Grid Global Behavior Prediction

Complexity has always been one of the most important issues in distributed computing. From the first clusters to grid and now cloud computing, dealing correctly and efficiently with system complexity is the key to taking technology a step further. In this sense, global behavior modeling is an innovative methodology aimed at understanding the grid behavior. The main objective of this methodology is to synthesize the grid's vast, heterogeneous nature into a simple but powerful behavior model, represented in the form of a single, abstract entity, with a global state. Global behavior modeling has proved to be very useful in effectively managing grid complexity but, in many cases, deeper knowledge is needed. It generates a descriptive model that could be greatly improved if extended not only to explain behavior, but also to predict it. In this paper we present a prediction methodology whose objective is to define the techniques needed to create global behavior prediction models for grid systems. This global behavior prediction can benefit grid management, specially in areas such as fault tolerance or job scheduling. The paper presents experimental results obtained in real scenarios in order to validate this approach.

Functional neuroimaging and behavioural studies on global form processing in the human visual system

Magnetoencephalography (MEG), functional magnetic resonance imaging (fMRI) and behavioural experiments were used to investigate the neural processes underlying global form perception in human vision. Behavioural studies using Glass patterns examined sensitivity for detecting radial, rotational and horizontal structure. Neuroimaging experiments using either Glass patterns or arrays of Gabor patches determined the spatio-temporal neural responseto global form. MEG data were analysed using synthetic aperture magnetometry (SAM) to spatially map event-related cortical oscillatory power changes: the temporal sequencing of activity within a discrete cortical area was determined using a Morlet wavelet transform. A case study was conducted to determine the effects of strbismic amblyopia on global form processing: all other observers were normally-sighted. The main findings from normally-sighted observers were: 1) sensitivity to horizontal structure was less than for radial or rotational structure; 2) the neural response to global structure was a reduction in cortical oscillatory power (10-30 Hz) within a network of extrastriate areas, including V4 and V3a; 3) the extend of reduced cortical power was least for horizontal patters; 4) V1 was not identified as a region of peak activity with either MEG or fMRI. The main findings with the strabismic amblyope were: 1) sensitivity for detection of radial, rotational, and horizontal structure was reduced when viewed with the amblyopic- relative to the fellow- eye; 2) cortical power changes within V4 to the presentation of rotational Glass patterns were less when viewed with the amblyopic- compared with the fellow- eye. The main conclusions are: 1) a network of extrastriate cortical areas are involved in the analysis of global form, with the most prominent change in neural activity being a reduction in oscillatory power within the 10-30 Hz band; 2) in strabismic amblyopia, the neuronal assembly associated with form perception in extrastriate cortex may be dysfunctional, the nature of this dysfunction may be a change in the normal temporal pattern of neuronal discharges; 3) MEG, fMRI and behavioural measures support the notion that different neural processes underlie the perception of horizontal as opposed to radial or rotational structure.

Simulation by discrete mass modeling of offshore wind turbine system with DC link

This paper presents an integrated model for an offshore wind turbine taking into consideration a contribution for the marine wave and wind speed with perturbations influences on the power quality of current injected into the electric grid. The paper deals with the simulation of one floating offshore wind turbine equipped with a permanent magnet synchronous generator, and a two-level converter connected to an onshore electric grid. The use of discrete mass modeling is accessed in order to reveal by computing the total harmonic distortion on how the perturbations of the captured energy are attenuated at the electric grid injection point. Two torque actions are considered for the three-mass modeling, the aerodynamic on the flexible part and on the rigid part of the blades. Also, a torque due to the influence of marine waves in deep water is considered. Proportional integral fractional-order control supports the control strategy. A comparison between the drive train models is presented.

Offshore Wind Energy System with DC Transmission Discrete Mass: Modeling and Simulation

This paper presents an integrated model for an offshore wind energy system taking into consideration a contribution for the marine wave and wind speed with perturbations influences on the power quality of current injected into the electric grid. The paper deals with the simulation of one floating offshore wind turbine equipped with a PMSG and a two-level converter connected to an onshore electric grid. The use of discrete mass modeling is accessed in order to reveal by computing the THD on how the perturbations of the captured energy are attenuated at the electric grid injection point. Two torque actions are considered for the three-mass modeling, the aerodynamic on the flexible part and on the rigid part of the blades. Also, a torque due to the influence of marine waves in deep water is considered. PI fractional-order control supports the control strategy. A comparison between the drive train models is presented.

A framework for network RTK data processing based on grid computing

Real-Time Kinematic (RTK) positioning is a technique used to provide precise positioning services at centimetre accuracy level in the context of Global Navigation Satellite Systems (GNSS). While a Network-based RTK (N-RTK) system involves multiple continuously operating reference stations (CORS), the simplest form of a NRTK system is a single-base RTK. In Australia there are several NRTK services operating in different states and over 1000 single-base RTK systems to support precise positioning applications for surveying, mining, agriculture, and civil construction in regional areas. Additionally, future generation GNSS constellations, including modernised GPS, Galileo, GLONASS, and Compass, with multiple frequencies have been either developed or will become fully operational in the next decade. A trend of future development of RTK systems is to make use of various isolated operating network and single-base RTK systems and multiple GNSS constellations for extended service coverage and improved performance. Several computational challenges have been identified for future NRTK services including: • Multiple GNSS constellations and multiple frequencies • Large scale, wide area NRTK services with a network of networks • Complex computation algorithms and processes • Greater part of positioning processes shifting from user end to network centre with the ability to cope with hundreds of simultaneous users’ requests (reverse RTK) There are two major requirements for NRTK data processing based on the four challenges faced by future NRTK systems, expandable computing power and scalable data sharing/transferring capability. This research explores new approaches to address these future NRTK challenges and requirements using the Grid Computing facility, in particular for large data processing burdens and complex computation algorithms. A Grid Computing based NRTK framework is proposed in this research, which is a layered framework consisting of: 1) Client layer with the form of Grid portal; 2) Service layer; 3) Execution layer. The user’s request is passed through these layers, and scheduled to different Grid nodes in the network infrastructure. A proof-of-concept demonstration for the proposed framework is performed in a five-node Grid environment at QUT and also Grid Australia. The Networked Transport of RTCM via Internet Protocol (Ntrip) open source software is adopted to download real-time RTCM data from multiple reference stations through the Internet, followed by job scheduling and simplified RTK computing. The system performance has been analysed and the results have preliminarily demonstrated the concepts and functionality of the new NRTK framework based on Grid Computing, whilst some aspects of the performance of the system are yet to be improved in future work.