Traffic and Road Sign Recognition

This thesis presents a system to recognise and classify road and traffic signs for the purpose of developing an inventory of them which could assist the highway engineers’ tasks of updating and maintaining them. It uses images taken by a camera from a moving vehicle. The system is based on three major stages: colour segmentation, recognition, and classification. Four colour segmentation algorithms are developed and tested. They are a shadow and highlight invariant, a dynamic threshold, a modification of de la Escalera’s algorithm and a Fuzzy colour segmentation algorithm. All algorithms are tested using hundreds of images and the shadow-highlight invariant algorithm is eventually chosen as the best performer. This is because it is immune to shadows and highlights. It is also robust as it was tested in different lighting conditions, weather conditions, and times of the day. Approximately 97% successful segmentation rate was achieved using this algorithm.Recognition of traffic signs is carried out using a fuzzy shape recogniser. Based on four shape measures - the rectangularity, triangularity, ellipticity, and octagonality, fuzzy rules were developed to determine the shape of the sign. Among these shape measures octangonality has been introduced in this research. The final decision of the recogniser is based on the combination of both the colour and shape of the sign. The recogniser was tested in a variety of testing conditions giving an overall performance of approximately 88%.Classification was undertaken using a Support Vector Machine (SVM) classifier. The classification is carried out in two stages: rim’s shape classification followed by the classification of interior of the sign. The classifier was trained and tested using binary images in addition to five different types of moments which are Geometric moments, Zernike moments, Legendre moments, Orthogonal Fourier-Mellin Moments, and Binary Haar features. The performance of the SVM was tested using different features, kernels, SVM types, SVM parameters, and moment’s orders. The average classification rate achieved is about 97%. Binary images show the best testing results followed by Legendre moments. Linear kernel gives the best testing results followed by RBF. C-SVM shows very good performance, but ?-SVM gives better results in some case.

Color detection and segmentation for road and traffic signs

This paper aims to present three new methods for color detection and segmentation of road signs. The images are taken by a digital camera mounted in a car. The RGB images are converted into IHLS color space, and new methods are applied to extract the colors of the road signs under consideration. The methods are tested on hundreds of outdoor images in different light conditions, and they show high robustness. This project is part of the research taking place in Dalarna University / Sweden in the field of the ITS.

Utveckling av metod för att bedöma behovet av ogräsbekämpning i spår

A system for weed management on railway embankments that is both adapted to the environment and efficient in terms of resources requires knowledge and understanding about the growing conditions of vegetation so that methods to control its growth can be adapted accordingly. Automated records could complement present-day manual inspections and over time come to replace these. One challenge is to devise a method that will result in a reasonable breakdown of gathered information that can be managed rationally by affected parties and, at the same time, serve as a basis for decisions with sufficient precision. The project examined two automated methods that may be useful for the Swedish Transport Administration in the future: 1) A machine vision method, which makes use of camera sensors as a way of sensing the environment in the visible and near infrared spectrum; and 2) An N-Sensor method, which transmits light within an area that is reflected by the chlorophyll in the plants. The amount of chlorophyll provides a value that can be correlated with the biomass. The choice of technique depends on how the information is to be used. If the purpose is to form a general picture of the growth of vegetation on railway embankments as a way to plan for maintenance measures, then the N-Sensor technique may be the right choice. If the plan is to form a general picture as well as monitor and survey current and exact vegetation status on the surface over time as a way to fight specific vegetation with the correct means, then the machine vision method is the better of the two. Both techniques involve registering data using GPS positioning. In the future, it will be possible to store this information in databases that are directly accessible to stakeholders online during or in conjunction with measures to deal with the vegetation. The two techniques were compared with manual (visual) estimations as to the levels of vegetation growth. The observers (raters) visual estimation of weed coverage (%) differed statistically from person to person. In terms of estimating the frequency (number) of woody plants (trees and bushes) in the test areas, the observers were generally in agreement. The same person is often consistent in his or her estimation: it is the comparison with the estimations of others that can lead to misleading results. The system for using the information about vegetation growth requires development. The threshold for the amount of weeds that can be tolerated in different track types is an important component in such a system. The classification system must be capable of dealing with the demands placed on it so as to ensure the quality of the track and other pre-conditions such as traffic levels, conditions pertaining to track location, and the characteristics of the vegetation. The project recommends that the Swedish Transport Administration: Discusses how threshold values for the growth of vegetation on railway embankments can be determined Carries out registration of the growth of vegetation over longer and a larger number of railway sections using one or more of the methods studied in the project Introduces a system that effectively matches the information about vegetation to its position Includes information about the growth of vegetation in the records that are currently maintained of the track’s technical quality, and link the data material to other maintenance-related databases Establishes a number of representative surfaces in which weed inventories (by measuring) are regularly conducted, as a means of developing an overview of the long-term development that can serve as a basis for more precise prognoses in terms of vegetation growth Ensures that necessary opportunities for education are put in place

Classroom of students watching demonstration of closed-circuit TV

Students watch monitors that show a voltage meter being filmed in the Automotive Dept by department head William C. H. Meyer as part of a demonstration of a new technique in closed-circuit television. This is one of a series of photographs accompanying a press release about the development and demonstration of the new technique at the New York Trade School. Original caption reads, "In a classroom on another floor, students all have "front row" seats for the demonstration. Camera concentrates on close-up of a meter, where readings show the result of the voltage-regulator check. Instructor (standing at microphone) is Arthur Richards." Black and white photograph with accompanying caption.

Filming at the Lithographic Technical Forum

A presentation at the Lithographic Technical Forum is being filmed. Notice the RCA Victor Television camera being used. Black and white photograph.

Análise de campos profundos da LMC imageados com o HST

Apresentamos fotometria profunda (V ~ 25,5) nas bandas V e I obtidas com a Wide Field and Planetary Camera 2 a bordo do telesc opio espacial Hubble para 7 campos distantes ~5º do centro da Grande Nuvem de Magalhães. Ajustamos isócronas aos diagramas cor-magnitude a fim de identficar diferentes populaões estelares nestes campos. Uma população velha (τ > 10¹º anos) foi encontrada em todos os campos. Alguns eventos de elevada formação estelar, com idades entre 2 x 109 e 4 x 109 anos, foram também encontrados em alguns campos localizados na região N/NO. Funções de luminosidade de estrelas de baixa massa (m ≤ 1; 1msol) foram obtidas para todos os campos. Aparentemente não há diferenças na mistura de populações entre os campos como sugerido através do teste Kolmogorov-Smirnov aplicados as funções de luminosidade. Finalmente, derivamos perfis de densidade para estrelas velhas e de idade intermediária. O primeiro apresenta uma inclinação levemente maior quando comparado com o último.

Vínculos ao histórico de formação estelar da LMC

Apresentamos a fotometria de 6 campos estelares profundos distribuídos na Grande Nuvem de Magalhães obtidos com a Wide Field and Planetary Camera 2/Hubble Space Telescope em duas bandas fotométricas: F814W (~I) e F555W (~V). Foram selecionadas ao todo 15997 estrelas pela nossa amostra, que somadas às estrelas da amostra de Castro et aI. 2001 [9] contabilizaram 22239 estrelas, dentro de limites de magnitude típicos que estão no intervalo 18.5<-V <-26. Investigamos o comportamento do erro fotométrico através da tarefa PHOT/IRAF, bem como via medidas independentes de magnitude de um mesmo objeto obtidas com diferentes exposições. Implementamos um método de correção para a completeza fotométrica como função da posição no diagrama cor-magnitude, isto é, com função tanto da magnitude como da cor e analisamos a sensibilidade das funções de luminosidade obtidas para diferentes métodos de correção. Foram obtidos os diagramas cor-magnitude, com os quais ajustamos isócronas de Pádova com idades T ;S 16 Gano e metalicidades 0.001 < Z < 0.004 ou -1.3 < [Fe/H] < -0.7. A população mais velha (r~12 Gano) pode ser encontrada através do ponto de turn-off em V~22. Estrelas de idade intermediária (r~1 - 8 Gano) podem ser localizadas pela presença de um clump. Os campos próximos aos aglomerados jovens NGC1805 e NGC1818 são os campos mais populosos, apresentando estrelas com r~1 Gano. Construímos funções de luminosidade para 18.5<-V <-25, utilizando os dados das duas amostras; não foram encontradas diferenças significativas entre os campos Desenvolvemos um método para geração de diagramas cor-magnitude (CMDs) artificiais a partir de um modelo de histórico de formação estelar. Este método incorpora os efeitos de erros fotométricos, binarismo não resolvido, avermelhamento e permite o uso de formas variadas de função de massa inicial e do próprio histórico. Implementamos o Método dos Modelos Parciais para modelamento de CMDs, incluindo experimentos controlados para a comprovação da validade deste método na busca de vínculos ao histórico de formação estelar da Grande Nuvem de Magalhães em dife!entes regiões. Recuperamos SFHs confiáveis para cada um dos 6 campos da LMC. Observamos variações na formação estelar de um campo para outro. Em todos os campos encontramos uma lacuna na formação estelar com 7 rv 700 Mano. Os dois campos próximos à barra (NGC1805 e NGC1818) apresentam alguns pequenos surtos, tendo formado em sua maioria, estrelas velhas ou relativamente jovens. Já os campos próximos a NGC1831 e NGC1868 apresentam formação estelar que se aproxima de um histórico de formação estelar uniforme, com alguns pequenos surtos. Os campos NGC2209 e Hodge 11 apresentam três períodos de formação estelar muitos semelhantes.

Inexpensive solution for real-time video and image stitching

Image stitching is the process of joining several images to obtain a bigger view of a scene. It is used, for example, in tourism to transmit to the viewer the sensation of being in another place. I am presenting an inexpensive solution for automatic real time video and image stitching with two web cameras as the video/image sources. The proposed solution relies on the usage of several markers in the scene as reference points for the stitching algorithm. The implemented algorithm is divided in four main steps, the marker detection, camera pose determination (in reference to the markers), video/image size and 3d transformation, and image translation. Wii remote controllers are used to support several steps in the process. The built‐in IR camera provides clean marker detection, which facilitates the camera pose determination. The only restriction in the algorithm is that markers have to be in the field of view when capturing the scene. Several tests where made to evaluate the final algorithm. The algorithm is able to perform video stitching with a frame rate between 8 and 13 fps. The joining of the two videos/images is good with minor misalignments in objects at the same depth of the marker,misalignments in the background and foreground are bigger. The capture process is simple enough so anyone can perform a stitching with a very short explanation. Although real‐time video stitching can be achieved by this affordable approach, there are few shortcomings in current version. For example, contrast inconsistency along the stitching line could be reduced by applying a color correction algorithm to every source videos. In addition, the misalignments in stitched images due to camera lens distortion could be eased by optical correction algorithm. The work was developed in Apple’s Quartz Composer, a visual programming environment. A library of extended functions was developed using Xcode tools also from Apple.

Predicting and breaking sedentary behaviour at work

This thesis aimed at designing and developing a system that can a) infer individuals’ need for a break from sedentary behaviour in the workplace, and b) persuade them to take a break through the use of different techniques from persuasive psychology. We postulated three variables, namely, individuals’ posture, stress levels and involvement in their computer mediated activity. We developed and field-studied a system that could infer these using a web camera and a key presses and mouse clicks log. We found that the system could predict posture from viewing depth and stress from the movement detected. We then created a general formula that predicts individuals’ need for a break using only the posture and stress predictors. Once the first objective was set, we built and field-studied a system that used three ways to communicate a recommendation for a break to a user: implicit, just-in time and ambient feedback. The implicit feedback was operationalized through changes in the users’ computer wallpaper that provided subtle visual cues. The just-in time feedback employed prompting at the bottom right side of the user’s screen. In addition, we implemented an intuitive behind-screen interaction technique where people can snooze a notification using simple gestures. The ambient feedback mechanism employed an origami sculpture sitting on the user’s desk. This prototype was continuously reflecting the user’s posture and performed rhythmic movements when to recommend breaks. A field study demonstrated the overall success of the system, with 69% of the break recommendations received by users were accepted. The study further revealed the strengths and weaknesses of the three persuasive mechanisms.

Demanda química de oxigênio, clorofila a e comunidade fitoplanctônica como indicadores da qualidade da água no Canal do Pataxó/RN

The current study examined spatial-temporal modifications and water quality through chemical and biotic indicators during both dry (January, February and November 2006) and wet seasons (March to June 2006). This study was carried out in Armando Ribeiro Gonçalves Reservoir, RN, Canal do Pataxó and after the water station treatment (WST). The physical-chemical parameters were measured in situ and inorganic nutrients, chlorophyll a and Free Oxygen Demand (FOD) were analyzed in laboratory conditions. Quali quantitative analyses of phytoplankton were carried out utilizing Sedgwick-Rafter camera. Results indicate that DQO concentrations were low. FOD concentrations in the reservoir were comparatively higher in the dry season (5.21 mgL-1; 5.64 mgL-1 e 6.05 mgL-1) in relation to the wet season (4.52 mgL-1; 4.12 mgL-1 e 4.92 mgL-1), in surface, intermediate and bottom waters, respectively. FOD values were inferior to 1.0mgL-1in both Canal do Pataxó and after WST, which is considered adequate for public use reservoirs. Although FOD concentrations were low, Armando Ribeiro Gonçalves Reservoir, Canal do Pataxó and WST were classified as euthophizied, mesotrophic ad oligotrophic, respectively, considering the Index of Trophic State Criteria. Chlorophyll a concentrations in the study reservoir were higher in the surface (199.2 µgL-1) during the wet season, whereas in Canal do Pataxó concentrations decreased from 1.56 µgL-1 to 0.028 µgL-1, and after WST values were low (0.059 µgL-1). Dominance of cianobacterias, such as Planktotrhix agardhii (dry season) and Microcystis sp (wet season) was registered in all three areas. In the reservoir and Canal do Pataxó, density of cianobacterias, such as P. agardhii and Microcistys sp., was superior to the values allowed by the Health ministry (HM). However, after WST, density values of cianobacteria were inferior to values established by the HM

Estudo da adesão de pinos endodônticos modificados superficialmente por plasma de oxigênio

The work presents the effect of plasma treatment when applied in fibers or carbon/glass posts in the adhesion fiber/resin and posts/cement. This has for objective the modification of the surface of the fibers, as well as the wettability of the posts, seeking the improvement of the adhesion and of the connection fiber/resin in the processing of polymeric composites reinforced with the same ones. 120 posts (Reforpost) were used and 30 meters of fibers of carbon and of glass (Fibrex), of the company Angelus. The samples were divided in three groups of 40 specimens: GROUP I - 20 posts of glass fiber and 20 of carbon without treatment to it shapes, GROUP II -20 posts of glass fiber and 20 of carbon treated to it shapes in the surface and GROUP III - 20 posts of glass fiber and 20 of carbon make with fibers in natura after plasma treatment. The plasma treatment was accomplished with oxygen and with temperature in the camera fixed at 200°C, for one hour of exhibition. The posts and the fibers were characterized before and after the treatment. The wettability was measure by pendent drop method, and interface fiber/resin and posts/cement were observed by optical and electronic microscopy. It was observed that both wettability and texture were increased with plasma treatment

Construção, caracterização e aplicação de eletrodos para descarga por arco de cátodo oco

The system built to characterize electrodes and, consequently, deposited fine films are constituted by a hollow cathode that works to discharges and low pressures (approximately 10-3 to 5 mbar), a source DC (0 to 1200 V), a cylindrical camera of closed borossilicato for flanges of stainless steel with an association of vacuum bombs mechanical and spread. In the upper flange it is connected the system of hollow cathode, which possesses an entrance of gas and two entrances for its refrigeration, the same is electrically isolated of the rest of the equipment and it is polarized negatively. In front of the system of hollow cathode there is a movable sample in stainless steel with possibility of moving in the horizontal and vertical. In the vertical, the sample can vary its distance between 0 and 70 mm and, in the horizontal, can leave completely from the front of the hollow cathode. The sample and also the cathode hollow are equipped with cromel-alumel termopares with simultaneous reading of the temperatures during the time of treatment. In this work copper electrodes, bronze, titanium, iron, stainless steel, powder of titanium, powder of titanium and silício, glass and ceramic were used. The electrodes were investigated relating their geometry change and behavior of the plasma of the cavity of hollow cathode and channel of the gas. As the cavity of hollow cathode, the analyzed aspects were the diameter and depth. With the channel of the gas, we verified the diameter. In the two situations, we investigated parameters as flow of the gas, pressure, current and applied tension in the electrode, temperature, loss of mass of the electrode with relationship at the time of use. The flow of gas investigated in the electrodes it was fastened in a work strip from 15 to 6 sccm, the constant pressure of work was among 2.7 to 8 x 10-2 mbar. The applied current was among a strip of work from 0,8 to 0,4 A, and their respective tensions were in a strip from 400 to 220 V. Fixing the value of the current, it was possible to lift the curve of the behavior of the tension with the time of use. That curves esteem in that time of use of the electrode to its efficiency is maximum. The temperatures of the electrodes were in the dependence of that curves showing a maximum temperature when the tension was maximum, yet the measured temperatures in the samples showed to be sensitive the variation of the temperature in the electrodes. An accompaniment of the loss of mass of the electrode relating to its time of use showed that the electrodes that appeared the spherical cavities lost more mass in comparison with the electrodes in that didn't appear. That phenomenon is only seen for pressures of 10-2 mbar, in these conditions a plasma column is formed inside of the channel of the gas and in certain points it is concentrated in form of spheres. Those spherical cavities develop inside of the channel of the gas spreading during the whole extension of the channel of the gas. The used electrodes were cut after they could not be more used, however among those electrodes, films that were deposited in alternate times and the electrodes that were used to deposit films in same times, those films were deposited in the glass substrata, alumina, stainless steel 420, stainless steel 316, silício and steel M2. As the eletros used to deposit films in alternate time as the ones that they were used to deposit in same times, the behavior of the thickness of the film obeyed the curve of the tension with relationship the time of use of the electrode, that is, when the tension was maximum, the thickness of the film was also maximum and when the tension was minimum, the thickness was minimum and in the case where the value of the tension was constant, the thickness of the film tends to be constant. The fine films that were produced they had applications with nano stick, bio-compatibility, cellular growth, inhibition of bacterias, cut tool, metallic leagues, brasagem, pineapple fiber and ornamental. In those films it was investigated the thickness, the adherence and the uniformity characterized by sweeping electronic microscopy. Another technique developed to assist the production and characterization of the films produced in that work was the caloteste. It uses a sphere and abrasive to mark the sample with a cap impression, with that cap form it is possible to calculate the thickness of the film. Through the time of life of the cathode, it was possible to evaluate the rate of waste of its material for the different work conditions. Values of waste rate up to 3,2 x 10-6 g/s were verified. For a distance of the substratum of 11 mm, the deposited film was limited to a circular area of 22 mm diameter mm for high pressures and a circular area of 75 mm for pressure strip. The obtained films presented thickness around 2,1 µm, showing that the discharge of arch of hollow cathode in argon obeys a curve characteristic of the tension with the time of life of the eletrodo. The deposition rate obtained in this system it is of approximately 0,18 µm/min

Melão amarelo (CAC) minimamente processado submetido a diferentes cortes e concentrações de cloreto de cálcio armazenado em atmosfera modificada passiva

The aim of this work was to evaluate the quality of yellow melon inodorus Valenciano Amarelo (CAC) fresh cut submitted to two cut types and with application postharvest of calcium chloride. After preparation cubes and slices melon were immersed in solution with different calcium chloride (CaCl2) concentrations for two minutes, afterwards they were conditioned in trays of expanded polystyrene (EPS), covered by plastic film of low density polyethylene (PEBD), stored in cold camera to 5 degrees C +/- 1 and analyzed for 8 days. They were evaluated pH, firmness, tritable acidity (AT), soluble solids (SS) sugar reducer and ratio. The pH values varied from 5.27 to 5.68. The sugars reducers content and the ratio were superior in the slices compared to the cubes. The melon slices maintained larger firmness values compared to the cubes and in general there was reduction in the values of this parameter along the storage period for all treatments. Concentrations of 1.0 and 1.5% of CaCl2, result in larger values of firmness. The storage temperature and modified passive atmosphere they contributed to quality maintenance of MP melon. Concentrations of up to 1.0% of CaCl2 they could be recommended to maintain the melon quality MP melon yellow inodorus (CAC).

Aspectos germinativos de capim-camalote (Rottboellia cochinchinensis)

O capim-camalote (Rottboellia cochinchinensis), originário da Índia, é encontrado em várias regiões do mundo, sendo uma espécie temida pelos agricultores devido ao seu difícil controle e avanço crescente. Objetivou-se com este trabalho estudar os fatores que afetam a germinação das sementes dessa espécie. Foram avaliados os métodos de superação de dormência: 1 - escarificação mecânica, 2 - escarificação química, 3 - tratamento pré-semeadura, 4 - tratamento químico, 5 - tratamento hormonal e 6 - sementes não tratadas. Foram estudados os efeitos da temperatura (5, 10, 15, 20, 25, 30, 35 e 40 ºC), do fotoperíodo (6, 8, 10, 12, 14 e 16 horas de luz), da qualidade da luz incidente (branca, vermelha, vermelha distante, amarela, verde, azul e ausência de luz), da disponibilidade de água (0,0, -0,2, -0,3, -0,4, -0,5, -0,6, -1,2 e -2,4 MPa) e da viabilidade de suas sementes quando armazenadas sob condições de câmara fria e seca e sob condições naturais. Todos os ensaios foram conduzidos por 30 dias em câmara de germinação, com os tratamentos arranjados em delineamento experimental inteiramente casualizado, em quatro repetições. Verificou-se que as sementes apresentaram elevado índice de germinação, praticamente não apresentaram dormência e não se mostraram fotoblásticas. A disponibilidade de água foi indispensável para a germinação, com temperatura ideal de 25 °C. As sementes recém-coletadas são inviáveis para o estudo da germinação, apresentando redução na germinação quando armazenadas sob condição de câmara fria e seca.