Modelling stereoscopic vision systems for robotic applications

Aquesta tesi s'emmarca dins del projecte CICYT TAP 1999-0443-C05-01. L'objectiu d'aquest projecte és el disseny, implementació i avaluació de robots mòbils, amb un sistema de control distribuït, sistemes de sensorització i xarxa de comunicacions per realitzar tasques de vigilància. Els robots han de poder-se moure per un entorn reconeixent la posició i orientació dels diferents objectes que l'envolten. Aquesta informació ha de permetre al robot localitzar-se dins de l'entorn on es troba per poder-se moure evitant els possibles obstacles i dur a terme la tasca encomanada. El robot ha de generar un mapa dinàmic de l'entorn que serà utilitzat per localitzar la seva posició. L'objectiu principal d'aquest projecte és aconseguir que un robot explori i construeixi un mapa de l'entorn sense la necessitat de modificar el propi entorn. Aquesta tesi està enfocada en l'estudi de la geometria dels sistemes de visió estereoscòpics formats per dues càmeres amb l'objectiu d'obtenir informació geomètrica 3D de l'entorn d'un vehicle. Aquest objectiu tracta de l'estudi del modelatge i la calibració de càmeres i en la comprensió de la geometria epipolar. Aquesta geometria està continguda en el que s'anomena emph{matriu fonamental}. Cal realitzar un estudi del càlcul de la matriu fonamental d'un sistema estereoscòpic amb la finalitat de reduir el problema de la correspondència entre dos plans imatge. Un altre objectiu és estudiar els mètodes d'estimació del moviment basats en la geometria epipolar diferencial per tal de percebre el moviment del robot i obtenir-ne la posició. Els estudis de la geometria que envolta els sistemes de visió estereoscòpics ens permeten presentar un sistema de visió per computador muntat en un robot mòbil que navega en un entorn desconegut. El sistema fa que el robot sigui capaç de generar un mapa dinàmic de l'entorn a mesura que es desplaça i determinar quin ha estat el moviment del robot per tal de emph{localitzar-se} dins del mapa. La tesi presenta un estudi comparatiu dels mètodes de calibració de càmeres més utilitzats en les últimes dècades. Aquestes tècniques cobreixen un gran ventall dels mètodes de calibració clàssics. Aquest mètodes permeten estimar els paràmetres de la càmera a partir d'un conjunt de punts 3D i de les seves corresponents projeccions 2D en una imatge. Per tant, aquest estudi descriu un total de cinc tècniques de calibració diferents que inclouen la calibració implicita respecte l'explicita i calibració lineal respecte no lineal. Cal remarcar que s'ha fet un gran esforç en utilitzar la mateixa nomenclatura i s'ha estandaritzat la notació en totes les tècniques presentades. Aquesta és una de les dificultats principals a l'hora de poder comparar les tècniques de calibració ja què cada autor defineix diferents sistemes de coordenades i diferents conjunts de paràmetres. El lector és introduït a la calibració de càmeres amb la tècnica lineal i implícita proposada per Hall i amb la tècnica lineal i explicita proposada per Faugeras-Toscani. A continuació es passa a descriure el mètode a de Faugeras incloent el modelatge de la distorsió de les lents de forma radial. Seguidament es descriu el conegut mètode proposat per Tsai, i finalment es realitza una descripció detallada del mètode de calibració proposat per Weng. Tots els mètodes són comparats tant des del punt de vista de model de càmera utilitzat com de la precisió de la calibració. S'han implementat tots aquests mètodes i s'ha analitzat la precisió presentant resultats obtinguts tant utilitzant dades sintètiques com càmeres reals. Calibrant cada una de les càmeres del sistema estereoscòpic es poden establir un conjunt de restriccions geomètri ques entre les dues imatges. Aquestes relacions són el que s'anomena geometria epipolar i estan contingudes en la matriu fonamental. Coneixent la geometria epipolar es pot: simplificar el problema de la correspondència reduint l'espai de cerca a llarg d'una línia epipolar; estimar el moviment d'una càmera quan aquesta està muntada sobre un robot mòbil per realitzar tasques de seguiment o de navegació; reconstruir una escena per aplicacions d'inspecció, propotipatge o generació de motlles. La matriu fonamental s'estima a partir d'un conjunt de punts en una imatges i les seves correspondències en una segona imatge. La tesi presenta un estat de l'art de les tècniques d'estimació de la matriu fonamental. Comença pels mètode lineals com el dels set punts o el mètode dels vuit punts, passa pels mètodes iteratius com el mètode basat en el gradient o el CFNS, fins arribar las mètodes robustos com el M-Estimators, el LMedS o el RANSAC. En aquest treball es descriuen fins a 15 mètodes amb 19 implementacions diferents. Aquestes tècniques són comparades tant des del punt de vista algorísmic com des del punt de vista de la precisió que obtenen. Es presenten el resultats obtinguts tant amb imatges reals com amb imatges sintètiques amb diferents nivells de soroll i amb diferent quantitat de falses correspondències. Tradicionalment, l'estimació del moviment d'una càmera està basada en l'aplicació de la geometria epipolar entre cada dues imatges consecutives. No obstant el cas tradicional de la geometria epipolar té algunes limitacions en el cas d'una càmera situada en un robot mòbil. Les diferencies entre dues imatges consecutives són molt petites cosa que provoca inexactituds en el càlcul de matriu fonamental. A més cal resoldre el problema de la correspondència, aquest procés és molt costós en quant a temps de computació i no és gaire efectiu per aplicacions de temps real. En aquestes circumstàncies les tècniques d'estimació del moviment d'una càmera solen basar-se en el flux òptic i en la geometria epipolar diferencial. En la tesi es realitza un recull de totes aquestes tècniques degudament classificades. Aquests mètodes són descrits unificant la notació emprada i es remarquen les semblances i les diferencies entre el cas discret i el cas diferencial de la geometria epipolar. Per tal de poder aplicar aquests mètodes a l'estimació de moviment d'un robot mòbil, aquest mètodes generals que estimen el moviment d'una càmera amb sis graus de llibertat, han estat adaptats al cas d'un robot mòbil que es desplaça en una superfície plana. Es presenten els resultats obtinguts tant amb el mètodes generals de sis graus de llibertat com amb els adaptats a un robot mòbil utilitzant dades sintètiques i seqüències d'imatges reals. Aquest tesi finalitza amb una proposta de sistema de localització i de construcció d'un mapa fent servir un sistema estereoscòpic situat en un robot mòbil. Diverses aplicacions de robòtica mòbil requereixen d'un sistema de localització amb l'objectiu de facilitar la navegació del vehicle i l'execució del les trajectòries planificades. La localització es sempre relativa al mapa de l'entorn on el robot s'està movent. La construcció de mapes en un entorn desconegut és una tasca important a realitzar per les futures generacions de robots mòbils. El sistema que es presenta realitza la localització i construeix el mapa de l'entorn de forma simultània. A la tesi es descriu el robot mòbil GRILL, que ha estat la plataforma de treball emprada per aquesta aplicació, amb el sistema de visió estereoscòpic que s'ha dissenyat i s'ha muntat en el robot. També es descriu tots el processos que intervenen en el sistema de localització i construcció del mapa. La implementació d'aquest processos ha estat possible gràcies als estudis realitzats i presentats prèviament (calibració de càmeres, estimació de la matriu fonamental, i estimació del moviment) sense els quals no s'hauria pogut plantejar aquest sistema. Finalment es presenten els mapes en diverses trajectòries realitzades pel robot GRILL en el laboratori. Les principals contribucions d'aquest treball són: ·Un estat de l'art sobre mètodes de calibració de càmeres. El mètodes són comparats tan des del punt de vista del model de càmera utilitzat com de la precisió dels mètodes. ·Un estudi dels mètodes d'estimació de la matriu fonamental. Totes les tècniques estudiades són classificades i descrites des d'un punt de vista algorísmic. ·Un recull de les tècniques d'estimació del moviment d'una càmera centrat en el mètodes basat en la geometria epipolar diferencial. Aquestes tècniques han estat adaptades per tal d'estimar el moviment d'un robot mòbil. ·Una aplicació de robòtica mòbil per tal de construir un mapa dinàmic de l'entorn i localitzar-se per mitja d'un sistema estereoscòpic. L'aplicació presentada es descriu tant des del punt de vista del maquinari com del programari que s'ha dissenyat i implementat.

Simulating metals and mine discharges in river basins using a new integrated catchment model for metals: pollution impacts and restoration strategies in the Aries-Mures river system in Transylvania, Romania

The INtegrated CAtchment (INCA) model has been developed to simulate the impact of mine discharges on river systems. The model accounts for the key kinetic chemical processes operating as well as the dilution, mixing and redistribution of pollutants in rivers downstream of mine discharges or acid rock drainage sites. The model is dynamic and simulates the day-to-day behaviour of hydrology and eight metals (cadmium, mercury, copper, zinc, lead, arsenic, manganese and chromium) as well as cyanide and ammonia. The model is semi-distributed and can simulate catchments, sub-catchment and in-stream river behaviour. The model has been applied to the Roia Montan Mine in Transylvania, Romania, and used to assess the impacts of old mine adits on the local catchments as well as on the downstream Aries and Mures river system. The question of mine restoration is investigated and a set of clean-up scenarios investigated. It is shown that the planned restoration will generate a much improved water quality from the mine and also alleviate the metal pollution of the river system.

Private industrial project management: a systems-based case study

The technique of linear responsibility analysis is used for a retrospective case study of a private industrial development consisting of an extension to existing buildings to provide a warehouse, services block and packing line. The organizational structure adopted on the project is analysed using concepts from systems theory which are included in Walker's theoretical model of the structure of building project organizations (Walker, 1981). This model proposes that the process of building provision can be viewed as systems and subsystems which are differentiated from each other at decision points. Further to this, the subsystems can be viewed as the interaction of managing system and operating system. Using Walker's model, a systematic analysis of the relationships between the contributors gives a quantitative assessment of the efficacy of the organizational structure used. The causes of the client's dissatisfaction with the outcome of the project were lack of integration and complexity of the managing system. However, there was a high level of satisfaction with the completed project and this is reflected by the way in which the organization structure corresponded to the model's propositions.

Modelling cereal root systems for water and nitrogen capture: Towards an economic optimum

A quantitative model of wheat root systems is developed that links the size and distribution of the root system to the capture of water and nitrogen (which are assumed to be evenly distributed with depth) during grain filling, and allows estimates of the economic consequences of this capture to be assessed. A particular feature of the model is its use of summarizing concepts, and reliance on only the minimum number of parameters (each with a clear biological meaning). The model is then used to provide an economic sensitivity analysis of possible target characteristics for manipulating root systems. These characteristics were: root distribution with depth, proportional dry matter partitioning to roots, resource capture coefficients, shoot dry weight at anthesis, specific root weight and water use efficiency. From the current estimates of parameters it is concluded that a larger investment by the crop in fine roots at depth in the soil, and less proliferation of roots in surface layers, would improve yields by accessing extra resources. The economic return on investment in roots for water capture was twice that of the same amount invested for nitrogen capture. (C) 2003 Annals of Botany Company.

A conventionally managed project: a systems based case study

The technique of linear responsibility analysis is used for a retrospective case study of a private development consisting of an extension to an existing building to provide a wholesale butchery facility. The project used a conventionally organized management process. The organization structure adopted on the project is analysed using concepts from the systems theory, which are included in Walkers theoretical model of the structure of building project organizations. This model proposes that the process of building provision can be viewed as systems and sub-systems that are differentiated from each other at decision points. Further to this, the sub-systems can be viewed as the interaction of managing system and operating system. Using Walkers model, a systematic analysis of the relationships between the contributors gives a quantitative assessment of the efficiency of the organizational structure used. The project's organization structure diverged from the models propositions resulting in delay to the project's completion and cost overrun but the client was satisfied with the project functionally.

An analysis of the management of a public sector project: a systems-based case study

The management of a public sector project is analysed using a model developed from systems theory. Linear responsibility analysis is used to identify the primary and key decision structure of the project and to generate quantitative data regarding differentiation and integration of the operating system, the managing system and the client/project team. The environmental context of the project is identified. Conclusions are drawn regarding the project organization structure's ability to cope with the prevailing environmental conditions. It is found that the complexity of the managing system imposed on the project was unable to achieve this and created serious deficiencies in the outcome of the project.

Dynamic load balancing for the distributed mining of molecular structures

In molecular biology, it is often desirable to find common properties in large numbers of drug candidates. One family of methods stems from the data mining community, where algorithms to find frequent graphs have received increasing attention over the past years. However, the computational complexity of the underlying problem and the large amount of data to be explored essentially render sequential algorithms useless. In this paper, we present a distributed approach to the frequent subgraph mining problem to discover interesting patterns in molecular compounds. This problem is characterized by a highly irregular search tree, whereby no reliable workload prediction is available. We describe the three main aspects of the proposed distributed algorithm, namely, a dynamic partitioning of the search space, a distribution process based on a peer-to-peer communication framework, and a novel receiverinitiated load balancing algorithm. The effectiveness of the distributed method has been evaluated on the well-known National Cancer Institute’s HIV-screening data set, where we were able to show close-to linear speedup in a network of workstations. The proposed approach also allows for dynamic resource aggregation in a non dedicated computational environment. These features make it suitable for large-scale, multi-domain, heterogeneous environments, such as computational grids.

Modelling impacts of pollution in river systems: a new dispersion model and a case study of mine discharges in the Abrud, Aries and Mures river system in Transylvania, Romania

A new model of dispersion has been developed to simulate the impact of pollutant discharges on river systems. The model accounts for the main dispersion processes operating in rivers as well as the dilution from incoming tributaries and first-order kinetic decay processes. The model is dynamic and simulates the hourly behaviour of river flow and pollutants along river systems. The model has been applied to the Aries and Mures River System in Romania and has been used to assess the impacts of potential dam releases from the Roia Montan Mine in Transylvania, Romania. The question of mine water release is investigated under a range of scenarios. The impacts on pollution levels downstream at key sites and at the border with Hungary are investigated.

CAFS in action

For those few readers who do not know, CAFS is a system developed by ICL to search through data at speeds of several million characters per second. Its full name is Content Addressable File Store Information Search Processor, CAFS-ISP or CAFS for short. It is an intelligent hardware-based searching engine, currently available with both ICL's 2966 family of computers and the recently announced Series 39, operating within the VME environment. It uses content addressing techniques to perform fast searches of data or text stored on discs: almost all fields are equally accessible as search keys. Software in the mainframe generates a search task; the CAFS hardware performs the search, and returns the hit records to the mainframe. Because special hardware is used, the searching process is very much more efficient than searching performed by any software method. Various software interfaces are available which allow CAFS to be used in many different situations. CAFS can be used with existing systems without significant change. It can be used to make online enquiries of mainframe files or databases or directly from user written high level language programs. These interfaces are outlined in the body of the report.

Data assimilation for marine monitoring and prediction: The MERCATOR operational assimilation systems and the MERSEA developments

During the past 15 years, a number of initiatives have been undertaken at national level to develop ocean forecasting systems operating at regional and/or global scales. The co-ordination between these efforts has been organized internationally through the Global Ocean Data Assimilation Experiment (GODAE). The French MERCATOR project is one of the leading participants in GODAE. The MERCATOR systems routinely assimilate a variety of observations such as multi-satellite altimeter data, sea-surface temperature and in situ temperature and salinity profiles, focusing on high-resolution scales of the ocean dynamics. The assimilation strategy in MERCATOR is based on a hierarchy of methods of increasing sophistication including optimal interpolation, Kalman filtering and variational methods, which are progressively deployed through the Syst`eme d’Assimilation MERCATOR (SAM) series. SAM-1 is based on a reduced-order optimal interpolation which can be operated using ‘altimetry-only’ or ‘multi-data’ set-ups; it relies on the concept of separability, assuming that the correlations can be separated into a product of horizontal and vertical contributions. The second release, SAM-2, is being developed to include new features from the singular evolutive extended Kalman (SEEK) filter, such as three-dimensional, multivariate error modes and adaptivity schemes. The third one, SAM-3, considers variational methods such as the incremental four-dimensional variational algorithm. Most operational forecasting systems evaluated during GODAE are based on least-squares statistical estimation assuming Gaussian errors. In the framework of the EU MERSEA (Marine EnviRonment and Security for the European Area) project, research is being conducted to prepare the next-generation operational ocean monitoring and forecasting systems. The research effort will explore nonlinear assimilation formulations to overcome limitations of the current systems. This paper provides an overview of the developments conducted in MERSEA with the SEEK filter, the Ensemble Kalman filter and the sequential importance re-sampling filter.

Innovative approach to building systems integration problems: Using systems theory, technological forecasting and scenario planning

Building services are worth about 2% GDP and are essential for the effective and efficient operations of the building. It is increasingly recognised that the value of a building is related to the way it supports the client organisation’s ongoing business operations. Building services are central to the functional performance of buildings and provide the necessary conditions for health, well-being, safety and security of the occupants. They frequently comprise several technologically distinct sub-systems and their design and construction requires the involvement of numerous disciplines and trades. Designers and contractors working on the same project are frequently employed by different companies. Materials and equipment is supplied by a diverse range of manufacturers. Facilities managers are responsible for operation of the building service in use. The coordination between these participants is crucially important to achieve optimum performance, but too often is neglected. This leaves room for serious faults. The need for effective integration is important. Modern technology offers increasing opportunities for integrated personal-control systems for lighting, ventilation and security as well as interoperability between systems. Opportunities for a new mode of systems integration are provided by the emergence of PFI/PPP procurements frameworks. This paper attempts to establish how systems integration can be achieved in the process of designing, constructing and operating building services. The essence of the paper therefore is to envisage the emergent organisational responses to the realisation of building services as an interactive systems network.

Reliability in the whole life cycle of building systems

Purpose – The purpose of this research is to show that reliability analysis and its implementation will lead to an improved whole life performance of the building systems, and hence their life cycle costs (LCC). Design/methodology/approach – This paper analyses reliability impacts on the whole life cycle of building systems, and reviews the up-to-date approaches adopted in UK construction, based on questionnaires designed to investigate the use of reliability within the industry. Findings – Approaches to reliability design and maintainability design have been introduced from the operating environment level, system structural level and component level, and a scheduled maintenance logic tree is modified based on the model developed by Pride. Different stages of the whole life cycle of building services systems, reliability-associated factors should be considered to ensure the system's whole life performance. It is suggested that data analysis should be applied in reliability design, maintainability design, and maintenance policy development. Originality/value – The paper presents important factors in different stages of the whole life cycle of the systems, and reliability and maintainability design approaches which can be helpful for building services system designers. The survey from the questionnaires provides the designers with understanding of key impacting factors.

Critical reliability issues for building services systems

This paper addresses two critical issues associated with reliability and maintenance of building services systems. The first is the ratio of operating and/or maintenance costs to initial costs for building services systems. It is an important parameter for life cycle costing and maintenance policy development. The second is the proportion of items among building services systems that need preventive maintenance. In this paper, we estimate the ratios based on a cost dataset. It suggests that correctly estimating the ratio be important but using a constant ratio in life cycle costing may result in wrong decisions. It also estimates the proportion of preventive maintenance for building services systems on the basis of the distribution of failure patterns.

Parallel and distributed computing with Java

The Java language first came to public attention in 1995. Within a year, it was being speculated that Java may be a good language for parallel and distributed computing. Its core features, including being objected oriented and platform independence, as well as having built-in network support and threads, has encouraged this view. Today, Java is being used in almost every type of computer-based system, ranging from sensor networks to high performance computing platforms, and from enterprise applications through to complex research-based.simulations. In this paper the key features that make Java a good language for parallel and distributed computing are first discussed. Two Java-based middleware systems, namely MPJ Express, an MPI-like Java messaging system, and Tycho, a wide-area asynchronous messaging framework with an integrated virtual registry are then discussed. The paper concludes by highlighting the advantages of using Java as middleware to support distributed applications.