Image-based localization and pose recovery using scale invariant features

In this paper, we propose a vision based mobile robot localization strategy. Local scale-invariant features are used as natural landmarks in unstructured and unmodified environment. The local characteristics of the features we use prove to be robust to occlusion and outliers. In addition, the invariance of the features to viewpoint change makes them suitable landmarks for mobile robot localization. Scale-invariant features detected in the first exploration are indexed into a location database. Indexing and voting allow efficient recognition of global localization. The localization result is verified by epipolar geometry between the representative view in database and the view to be localized, thus the probability of false localization will be decreased. The localization system can recover the pose of the camera mounted on the robot by essential matrix decomposition. Then the position of the robot can be computed easily. Both calibrated and un-calibrated cases are discussed and relative position estimation based on calibrated camera turns out to be the better choice. Experimental results show that our approach is effective and reliable in the case of illumination changes, similarity transformations and extraneous features. © 2004 IEEE.

The influence of fluctuation fields on the force-free field .2. The local expansion

In Paper I (Hu, 1982), we discussed the the influence of fluctuation fields on the force-free field for the case of conventional turbulence and demonstrated the general relationships. In the present paper, by using the approach of local expansion, the equation of average force-free field is obtained as (1+b)×B 0=(#x002B;a)B 0#x002B;a (1)×B 0#x002B;K. The average coefficientsa,a (1),b, andK show the influence of the fluctuation fields in small scale on the configurations of magnetic field in large scale. As the average magnetic field is no longer parallel to the average electric current, the average configurations of force-free fields are more general and complex than the usual ones. From the view point of physics, the energy and momentum of the turbulent structures should have influence on the equilibrium of the average fields. Several examples are discussed, and they show the basic features of the fluctuation fields and the influence of fluctuation fields on the average configurations of magnetic fields. The astrophysical environments are often in the turbulent state, the results of the present paper may be applied to the turbulent plasma where the magnetic field is strong.

Distribuição espacial do pico e ultraplâncton na plataforma continental e talude entre Cabo Frio (RJ) e Ubatuba (SP) e sua relação com a hidrodinâmica local: inverno de 2010

O picoplâncton (0,2 - 2,0 m) e ultraplâncton (> 2,0 - 5,0 m) despertam interesse por utilizarem ativamente a matéria orgânica dissolvida, estabelecendo a alça microbiana. Responsáveis por 50-80% da produção primária em águas oligotróficas, essas frações apresentam elevadas eficiência luminosa e razão superfície/volume que as permitem alcançar alto desenvolvimento mesmo sob baixas luminosidade e disponibilidade de nutrientes. Buscando relacionar a distribuição espacial e composição da comunidade pico e ultraplanctônica aos controles bottom-up na plataforma continental e talude ao largo dos Estados do Rio de Janeiro e São Paulo (22S a 26S), foram coletadas amostras de água em 39 estações oceanográficas e utilizadas as imagens dos sensores MODIS Terra e Aqua, bem como dados de hidrografia, para a descrição dos fenômenos oceanográficos de mesoescala. A abundância total de ambas as frações de tamanho, assim como a dominância do picoplâncton, reduziu em função do distanciamento da costa. Os organismos autotróficos foram em média (102 cél.mL-1 a 104 cél.mL-1 ) majoritariamente uma ordem de grandeza inferiores aos heterotróficos (103 cél.mL-1 a 105 cél.mL-1). A Água Central do Atlântico Sul (ACAS) e as plumas das baías de Guanabara e Sepetiba (RJ) permaneceram na plataforma interna favorecendo o aumento na concentração dos macronutrientes e refletindo na mudança da estrutura da comunidade através do aumento da contribuição de autótrofos no centro da plataforma, principalmente do ultraplâncton à superfície (cerca de 21%) e na profundidade do máximo de clorofila (44%). O transporte de águas costeiras carreadas por uma corrente de origem sul gerou o vórtice de plataforma identificado nas imagens de satélite para a região da plataforma interna de Ubatuba (SP), onde concentrações mais elevadas de amônio (0,28 M) e fosfato (9,64 M) a partir dos 50 m sustentaram maior densidade do ultra autótrofo (2,89 x 103 cél.mL-1) que superou a densidade de heterótrofos (2,50 x 103 cél.mL-1) no máximo de clorofila. Os resultados destacaram um forte gradiente nerítico-oceânico na distribuição dos organismos. Sugerem ainda a predominância do metabolismo heterotrófico na maior parte das águas oligotróficas da plataforma e talude entre o Rio de Janeiro e São Paulo, bem como a presença de caráter autotrófico naquelas regiões influenciadas por feições de mesoescala, como plumas estuarinas e vórtices de plataforma.

Local distribution and abundance of swimming crabs (Callinectes spp. and Arenaeus cribrarius) on a tropical arid beach

Distribution, abundance, and several population features were studied in Ensenada de La Vela (Venezuela) between 1993 and 1998 as a first step in the assessment of local fisheries of swimming crabs. Arenaeus cribrarius was the most abundant species at the marine foreshore. Callinectes danae prevailed at the estuarine location. Callinectes bocourti was the most abundant species at the offshore. Abundances of A. cribrarius and C. danae fluctuated widely and randomly. Ovigerous females were almost absent. Adults of several species were smaller than previously reported. This study suggests that fisheries based on these swimming crabs probably will be restricted to an artisanal level because abundances appear too low to support industrial exploitation.

Growth performance and morphological variations of local and Thai climbing perch (Anabas testudineus, Bloch)

Climbing perch locally known as koi (Anabas testudineus) is a popular food fish in our country. Thai climbing perch was introduced in Bangladesh from Thailand. To explore the variation in growth performance and orphological features of local and Thai climbing perch a study was undertaken. The highest gain in length, weight and SGR were found in Thai koi 12.23±0.38 cm, 55.83±0.53 g and 7.92±0.11 %/day respectively. Fourteen morphometric characters were studied where eleven (TL, SL, HL, HBD, LBD, DFL, PECFL, PELFL, AFL, UJL and LJL) showed significant difference (p<0.01) in Thai koi from the local ones. Of the meristic characters no. of dorsal fin rays (hard), anal fin rays (hard), caudal fin rays and scale along lateral line (upper and lower) as recorded from the Thai koi were significantly higher (p<0.01) than that of the local koi. The no. of dorsal fin rays (soft) in Thai koi were also significantly higher (p<0.05) from that of local koi. The number of vertebra were also variable in local and Thai climbing perch (25 in case of local koi and 26 in case of Thai koi). Hence, the results obtained form the present study satisfy the characteristics of A. testudineus which reveals that both the local and Thai koi belongs to the same species. Growth performance of Thai koi was better compared to local koi reared in same conditions.

Characterizing the class of local metal sheet thickening processes

The need to create high-value products for specialist applications, and the search for efficient forming routes that obviate the need for some machining steps, is driving Interest In a novel class of forming processes aiming to create locally thickened features within sheet work- pieces. A number of novel forming processes have been proposed to meet this need, but it is as yet unclear which processes will be most effective in creating local thickening of various geometries, and many process configurations have yet to be tried. This paper aims to provide some basic principles for designing and characterising process behaviour. A simplified generic description of sheet thickening processes is provided, with two tools of variable operating on a sheet workpiece in plane strain, with different tool separations and motions parameterised. A comprehensive numerical study of the behaviour of this class of processes is conducted in Abaqus to predict the main characteristics of the material flow in each configuration. The results are used to classify the different basic behaviours that can be achieved by the sheet-bulk thickening processes and to give guidance on future process development, capability and applicability. © 2011 Wiley-VCH Verlag GmbH & Co. KGaA. Weinheim.

Using Fourier transform infrared grazing incidence reflectivity to study local vibrational modes in GaN

Both Fourier transform infrared (FTIR) grazing incidence reflectivity and FTIR transmission methods have been used to study GaN films grown on alpha-Al2O3 (0001) substrates by atmospheric pressure metal-organic chemical vapor deposition and low pressure metal-organic chemical vapor deposition. The results show that in the frequency range from 400 to 3500 cm(-1) the signal-to-noise ratio of the FTIR grazing incidence measurement is far higher than that of the FTIR transmission measurement. Some new vibrational structures appearing in the former measurement have been discussed. The features around 1460 and 1300 cm(-1) are tentatively assigned to scissoring and wagging local vibrational modes of CH2 in GaN, respectively. (C) 1999 American Institute of Physics. [S0021-8979(99)06509-3].

Biologically Inspired Tensor Features

According to the research results reported in the past decades, it is well acknowledged that face recognition is not a trivial task. With the development of electronic devices, we are gradually revealing the secret of object recognition in the primate's visual cortex. Therefore, it is time to reconsider face recognition by using biologically inspired features. In this paper, we represent face images by utilizing the C1 units, which correspond to complex cells in the visual cortex, and pool over S1 units by using a maximum operation to reserve only the maximum response of each local area of S1 units. The new representation is termed C1 Face. Because C1 Face is naturally a third-order tensor (or a three dimensional array), we propose three-way discriminative locality alignment (TWDLA), an extension of the discriminative locality alignment, which is a top-level discriminate manifold learning-based subspace learning algorithm. TWDLA has the following advantages: (1) it takes third-order tensors as input directly so the structure information can be well preserved; (2) it models the local geometry over every modality of the input tensors so the spatial relations of input tensors within a class can be preserved; (3) it maximizes the margin between a tensor and tensors from other classes over each modality so it performs well for recognition tasks and (4) it has no under sampling problem. Extensive experiments on YALE and FERET datasets show (1) the proposed C1Face representation can better represent face images than raw pixels and (2) TWDLA can duly preserve both the local geometry and the discriminative information over every modality for recognition.

Performing the Local and the Global : The Theatre Festivals of Lake Constance

Wilkinson, Jane, Performing the Local and the Global: The Theatre Festivals of Lake Constance (Peter Lang, 2007), pp.286 RAE2008

Characterization of the morphonuclear features and DNA ploidy of typical and atypical carcinoids and small cell carcinomas of the lung

The authors analyzed several cytomorphonuclear parameters related to chromatin distribution and DNA ploidy in typical and atypical carcinoids and in small cell lung cancers. Nuclear measurements and analysis were performed with a SAMBA 200 (TITN, Grenoble, France) cell image processor with software allowing the discrimination of parameters computed on cytospin preparations of Feulgen-stained nuclei extracted from deparaffinized tumor tissues. The authors' results indicate a significant increase in DNA content--assessed by integrated optical density (IOD)--from typical carcinoids to small cell lung carcinomas, with atypical carcinoids showing an intermediate value. Parameters related to hyperchromatism (short and long run length and variance of optical density) also characterize the atypical carcinoids as being intermediate between typical carcinoids and small cell lung cancers. The systematic measurement of these cytomorphonuclear parameters seems to define an objective, reproducible "scale" of differentiation that helps to define the atypical carcinoid and may be of value in establishing cytologic criteria for differential diagnosis.

Volcanic Gas Workshop Features State-of-the-Art Measurement Techniques

info:eu-repo/semantics/published

Spatial, seasonal and long-term fluctuations of plankton in relation to hydroclimatic features in the English Channel, Celtic Sea and Bay of Biscay

Plankton collected by the Continuous Plankton Recorder (CPR) survey were investigated for the English Channel, Celtic Sea and Bay of Biscay from 1979 to 1995. The main goal was to study the relationship between climate and plankton and to understand the factors influencing it. In order to take into account the spatial and temporal structure of biological data, a three-mode principal component analysis (PCA) was developed. It not only identified 5 zones characterised by their similar biological composition and by the seasonal and inter-annual evolution of the plankton, it also made species associations based on their location and year-to-year change. The studied species have stronger year-to-year fluctuations in abundance over the English Channel and Celtic Sea than the species offshore in the Bay of Biscay. The changes in abundance of plankton in the English Channel are negatively related to inter-annual changes of climatic conditions from December to March (North Atlantic Oscillation [NAO] index and air temperature). Thus, the negative relationship shown by Fromentin and Planque (1996; Mar Ecol Prog Ser 134:111-118) between year-to-year changes of Calanus finmarchicus abundance in the northern North Atlantic and North Sea and NAO was also found for the most abundant copepods in the Channel. However, the hypothesis proposed to explain the plankton/NAO relationship is different for this region and a new hypothesis is proposed. In the Celtic Sea, a relationship between the planktonic assemblage and the air temperature was detected, but it is weaker than for the English Channel. No relationship was found for the Bay of Biscay. Thus, the local physical environment and the biological composition of these zones appear to modify the relationship between winter climatic conditions and the year-to-year fluctuations of the studied planktonic species. This shows, therefore, that the relationship between climate and plankton is difficult to generalise.

Molecular layering and local order in thin films of 1-alkyl-3-methylimidazolium ionic liquids using X-ray reflectivity

X-ray reflectivity measurements in air of thin films of 1-alkyl-3-methylimidazolium salts in the liquid, liquid crystalline and solid states supported on Si( 111) are described. The films show Bragg features in both liquid crystalline and solid phases, but only after an initial annealing cycle. Kiessig fringes are observed only for the 1-octadecyl-3-methyl-imidazolium hexafluorophosphate films and, following analysis using Parratt32, a bi-layer model is proposed whereby the molecules are orientated with ionic groups at both salt-air and salt-silicon interfaces.

Do environmental and task characteristics matter in the control of externalized local public services? Unveiling the relevance of party characteristics and citizens’ offstage voice

Purpose: The purpose of this paper is to investigate the mechanisms adopted by cities to control the provision of externalized public services and to explore the determinants of such control choices.

Design/methodology/approach: The paper presents the results of a multiple case study based on the experiences of three cities and three public services (transport, solid waste collection and home care services for the elderly), where control mechanisms and their possible antecedents were analyzed.

Findings: The results show that the control models found in the cases analyzed do not correspond to the "pure" patterns described in the private sector literature and that the factors identified by management control contributions do not seem to be exhaustive in explaining the configuration of control systems in the public sector. While environmental and task characteristics only partially explain the adoption of certain configurations of control, the features of the control systems seem to be rather influenced by variables that are related to party characteristics.

Originality/value: The paper shows that the combinations of control mechanisms are more multifaceted than those presented in the literature, and that the factors identified in the private sector literature do not seem to explain comprehensively the configuration of control systems in the public sector. © Emerald Group Publishing Limited.

Fatigue performance of aircraft panels with novel skin buckling containment features

To increase structural efficiency of stiffened panels in an aircraft, it is plausible to introduce skin buckling containment features to increase the local skin stability and thus static strength performance. Introducing buckling containment features may also significantly influence the fatigue crack growth performance of the stiffened panel. This study focuses on the experimental demonstration of panel durability with skin bay buckling containment features. Through a series of fatigue crack growth tests on integrally machined aluminium alloy stiffened panels, the potential to simultaneously improve static strength performance and crack propagation behaviour is demonstrated. The introduction of prismatic buckling containment features which have yielded significant static strength performance gains have herein demonstrated potential fatigue life gains of up to + 63 per cent.