Improved line tracker using IMU and vision for visual servoing

This paper introduces an improved line tracker using IMU and vision data for visual servoing tasks. We utilize an Image Jacobian which describes motion of a line feature to corresponding camera movements. These camera motions are estimated using an IMU. We demonstrate impacts of the proposed method in challenging environments: maximum angular rate ~160 0/s, acceleration ~6m /s2 and in cluttered outdoor scenes. Simulation and quantitative tracking performance comparison with the Visual Servoing Platform (ViSP) are also presented.

Improved line/edge detection and visual reconstruction

Lines and edges provide important information for object categorization and recognition. In addition, one brightness model is based on a symbolic interpretation of the cortical multi-scale line/edge representation. In this paper we present an improved scheme for line/edge extraction from simple and complex cells and we illustrate the multi-scale representation. This representation can be used for visual reconstruction, but also for nonphotorealistic rendering. Together with keypoints and a new model of disparity estimation, a 3D wireframe representation of e.g. faces can be obtained in the future.

FITOTOXICIDADE DE FUNGICIDAS, ACARICIDAS E INSETICIDAS, SOBRE O MAMOEIRO (Carica papaya L.) CULTIVAR SUNRISE SOLO IMPROVED LINE 72/12 em CONDIÇÕES DE CAMPO

A presente pesquisa teve como objetivo estudar os efeitos fitotóxicos de fungicidas, acaricidas e inseticidas e algumas associações entre eles, em plantas de mamoeiros (Carica papaya L.) cv. Sunrise Solo Improved Line 72/12, em condições de campo, no município de São Mateus -- ES, pertencente à maior região produtora do Estado. O experimento foi arranjado em delineamento de blocos casualizados, com 4 repetições e 03 plantas úteis por parcela. Foram utilizados os seguintes produtos, com as respectivas doses, para cada 100 L de água: chlorothalonil (Daconil PM-200g); mancozeb (Dithane PM -- 200g); oxicloreto de cobre (Reconil -- 400g); thiabendazole (Tecto 450 -- 100ml); dicofol + tetradifon (Carbax -- 200ml); triazophós (Hostathion 400 BR -- 150ml); óxido de fenbutatina (Torque 500 SC -- 60ml); e abamectin (Vertimec 18 CE -- 50ml): Analisou-se a fitotoxicidade dos produtos testados, em relação à altura da planta, nº de folhas, número de flores e frutos ; diâmetro do caule e queimaduras ou injúrias foliares. As datas das avaliações foram: 01 dia antes das pulverizações, 15 dias e 30 dias após as mesmas. Os fungicidas Daconil BR, Reconil e Tecto 450; o fungicida acaricida Dithane PM; os acaricidas Carbax e Torque 500 SC; e o inseticida-acaricida Vertimec 18 CE, aplicados isoladamente, não afetaram o crescimento e a produção das plantas, nem causaram injúrias nas folhas das mesmas. A associação de fungicidas e fungicida-acaricida, com os acaricidas, ou inseticida-acaricida, não mostrou nenhum efeito fitotóxico sobre os parâmetros de crescimento avaliados, nem causaram queimaduras ou injúrias foliares.

Fitotoxicidade de fungicidas, acaricidas e inseticidas sobre o mamoeiro (Carica papaya L.) cultivar sunrise solo improved line 72/12

Estudaram-se os efeitos fitotóxicos de fungicidas, acaricidas e inseticidas e algumas associações entre eles, em plantas de mamoeiros (Carica papaya L.) cv. Sunrise Solo Improved Line 72/12, em condições de verão, no município de São Mateus - ES, localizado na região produtora do Estado. O experimento foi arranjado em delineamento de blocos casualizados, com 4 repetições e 03 plantas úteis por parcela experimental. Foram utilizados os seguintes produtos, com as respectivas doses, para cada 100 l de água: abamectin (Vertimec 18 CE - 50 ml); dicofol + tetradiphon (Carbax - 200 ml), fenbutatin oxide (Torque 500 SC - 60 ml); mancozeb (Dithane PM - 200g); oxicloreto de cobre (Reconil - 400g) e thiabendazole (Tecto 450 - 100ml). Analisou-se a fitotoxicidade dos produtos em relação à altura da planta, nº de folhas, número de flores e frutos ; diâmetro do caule e queimaduras ou injúrias foliares. As medições e contagens foram feitas um dia antes das pulverizações, 15 e 30 dias após. Constatou-se que o Vertimec 18 CE, associado ao Reconil ou ao Tecto 450, ocasionou leves injúrias foliares, detectadas aos 15 dias após as pulverizações, que se tornaram praticamente imperceptíveis, aos 30 dias após as pulverizações; e que Dithane PM, Reconil, Tecto 450, Carbax, Torque 500 SC, Dithane PM + Carbax, Dithane PM + Torque 500 SC, Dithane PM + Vertimec 18 CE, Reconil + Carbax, Reconil + Torque 500 SC, Tecto 450 + Carbax e, Tecto 450 + + Torque 500 SC não interferiram nos parâmetros de desenvolvimento e de produção estudados, bem como não causaram injúrias ou queimaduras nas folhas dos mamoeiros.

Outdoor flight testing of a pole inspection UAV incorporating high-speed vision

We present a pole inspection system for outdoor environments comprising a high-speed camera on a vertical take-off and landing (VTOL) aerial platform. The pole inspection task requires a vehicle to fly close to a structure while maintaining a fixed stand-off distance from it. Typical GPS errors make GPS-based navigation unsuitable for this task however. When flying outdoors a vehicle is also affected by aerodynamics disturbances such as wind gusts, so the onboard controller must be robust to these disturbances in order to maintain the stand-off distance. Two problems must therefor be addressed: fast and accurate state estimation without GPS, and the design of a robust controller. We resolve these problems by a) performing visual + inertial relative state estimation and b) using a robust line tracker and a nested controller design. Our state estimation exploits high-speed camera images (100Hz) and 70Hz IMU data fused in an Extended Kalman Filter (EKF). We demonstrate results from outdoor experiments for pole-relative hovering, and pole circumnavigation where the operator provides only yaw commands. Lastly, we show results for image-based 3D reconstruction and texture mapping of a pole to demonstrate the usefulness for inspection tasks.

Close-quarters Quadrotor flying for a pole inspection with position based visual servoing and high-speed vision

This paper presents a 100 Hz monocular position based visual servoing system to control a quadrotor flying in close proximity to vertical structures approximating a narrow, locally linear shape. Assuming the object boundaries are represented by parallel vertical lines in the image, detection and tracking is achieved using Plücker line representation and a line tracker. The visual information is fused with IMU data in an EKF framework to provide fast and accurate state estimation. A nested control design provides position and velocity control with respect to the object. Our approach is aimed at high performance on-board control for applications allowing only small error margins and without a motion capture system, as required for real world infrastructure inspection. Simulated and ground-truthed experimental results are presented.

Effect of energy intake on performance and carcass composition of broiler chickens from two different genetic groups

In order to evaluate the effect of energy intake and broiler genotype on performance, carcass yield, and fat deposition, 600 one-day-old male chicks from two different genetic groups (AgRoss 308 - commercial line and PCLC - Empresa Brasileira de Pesquisa Agropecuária (EMBRAPA) non-improved line) were fed diets with different metabolizable energy level (2950, 3200 and 3450 kcal/kg). A completely randomized experimental design in a 2X3 factorial arrangement with four replications of 25 birds per treatment was applied. In order to ensure different energy intake among treatments within each strain, feed intake was daily adjusted by pair-feeding schemes. AgRoss 308 broilers had better performance and carcass yield, and presented lower abdominal fat deposition rate. In both genetic groups, the highest dietary energy level increased weight gain, heart relative weight, and fat deposition. However, it reduced the difference between AgRoss 308 and PCLC for feed conversion ratio and carcass protein deposition. These findings allow concluding that genetic improvement had a significant effect on broiler energy metabolism, and that the highest performance differences between genetic groups are found when low-energy intake is imposed.

Enhancing Sensitivity In Natural Product Nmr: Exploring Optimal Non-Uniform Sampling

Recent optimizations of NMR spectroscopy have focused their attention on innovations in new hardware, such as novel probes and higher field strengths. Only recently has the potential to enhance the sensitivity of NMR through data acquisition strategies been investigated. This thesis has focused on the practice of enhancing the signal-to-noise ratio (SNR) of NMR using non-uniform sampling (NUS). After first establishing the concept and exact theory of compounding sensitivity enhancements in multiple non-uniformly sampled indirect dimensions, a new result was derived that NUS enhances both SNR and resolution at any given signal evolution time. In contrast, uniform sampling alternately optimizes SNR (t < 1.26T2) or resolution (t~3T2), each at the expense of the other. Experiments were designed and conducted on a plant natural product to explore this behavior of NUS in which the SNR and resolution continue to improve as acquisition time increases. Possible absolute sensitivity improvements of 1.5 and 1.9 are possible in each indirect dimension for matched and 2x biased exponentially decaying sampling densities, respectively, at an acquisition time of ¿T2. Recommendations for breaking into the linear regime of maximum entropy (MaxEnt) are proposed. Furthermore, examination into a novel sinusoidal sampling density resulted in improved line shapes in MaxEnt reconstructions of NUS data and comparable enhancement to a matched exponential sampling density. The Absolute Sample Sensitivity derived and demonstrated here for NUS holds great promise in expanding the adoption of non-uniform sampling.

Modelling tribology of slider and disk in a computer hard drive system

Issues of wear and tribology are increasingly important in computer hard drives as slider flying heights are becoming lower and disk protective coatings thinner to minimise spacing loss and allow higher areal density. Friction, stiction and wear between the slider and disk in a hard drive were studied using Accelerated Friction Test (AFT) apparatus. Contact Start Stop (CSS) and constant speed drag tests were performed using commercial rigid disks and two different air bearing slider types. Friction and stiction were captured during testing by a set of strain gauges. System parameters were varied to investigate their effect on tribology at the head/disk interface. Chosen parameters were disk spinning velocity, slider fly height, temperature, humidity and intercycle pause. The effect of different disk texturing methods was also studied. Models were proposed to explain the influence of these parameters on tribology. Atomic Force Microscopy (AFM) and Scanning Electron Microscopy (SEM) were used to study head and disk topography at various test stages and to provide physical parameters to verify the models. X-ray Photoelectron Spectroscopy (XPS) was employed to identify surface composition and determine if any chemical changes had occurred as a result of testing. The parameters most likely to influence the interface were identified for both CSS and drag testing. Neural Network modelling was used to substantiate results. Topographical AFM scans of disk and slider were exported numerically to file and explored extensively. Techniques were developed which improved line and area analysis. A method for detecting surface contacts was also deduced, results supported and explained observed AFT behaviour. Finally surfaces were computer generated to simulate real disk scans, this allowed contact analysis of many types of surface to be performed. Conclusions were drawn about what disk characteristics most affected contacts and hence friction, stiction and wear.

Improved maritime target tracker using colour fusion

Searching for humans lost in vast stretches of ocean has always been a difficult task. This paper investigates a machine vision system that addresses this problem by exploiting the useful properties of alternate colour spaces. In particular, the paper investigates the fusion of colour information from the HSV, RGB, YCbCr and YIQ colour spaces within the emission matrix of a Hidden Markov Model tracker to enhance video based maritime target detection. The system has shown promising results. The paper also identifies challenges still needing to be met.

Towards automatic power line detection for a UAV surveillance system using pulse coupled neural filter and an improved Hough transform

Spatial information captured from optical remote sensors on board unmanned aerial vehicles (UAVs) has great potential in automatic surveillance of electrical infrastructure. For an automatic vision-based power line inspection system, detecting power lines from a cluttered background is one of the most important and challenging tasks. In this paper, a novel method is proposed, specifically for power line detection from aerial images. A pulse coupled neural filter is developed to remove background noise and generate an edge map prior to the Hough transform being employed to detect straight lines. An improved Hough transform is used by performing knowledge-based line clustering in Hough space to refine the detection results. The experiment on real image data captured from a UAV platform demonstrates that the proposed approach is effective for automatic power line detection.

A candidate gene association study for growth performance in an improved Giant Freshwater Prawn (Macrobrachium rosenbergii) culture line

A candidate gene approach using type I single nucleotide polymorphism (SNP) markers can provide an effective method for detecting genes and gene regions that underlie phenotypic variation in adaptively significant traits. In the absence of available genomic data resources, transcriptomes were recently generated in Macrobrachium rosenbergii to identify candidate genes and markers potentially associated with growth. The characterisation of 47 candidate loci by ABI re-sequencing of four cultured and eight wild samples revealed 342 putative SNPs. Among these, 28 SNPs were selected in 23 growth-related candidate genes to genotype in 200 animals selected for improved growth performance in an experimental GFP culture line in Vietnam. The associations between SNP markers and individual growth performance were then examined. For additive and dominant effects, a total of three exonic SNPs in glycogen phosphorylase (additive), heat shock protein 90 (additive and dominant) and peroxidasin (additive), and a total of six intronic SNPs in ankyrin repeats-like protein (additive and dominant), rolling pebbles (dominant), transforming growth factor-β induced precursor (dominant), and UTP-glucose-1-phosphate uridylyltransferase 2 (dominant) genes showed significant associations with the estimated breeding values in the experimental animals (P =0.001−0.031). Individually, they explained 2.6−4.8 % of the genetic variance (R2=0.026−0.048). This is the first large set of SNP markers reported for M. rosenbergii and will be useful for confirmation of associations in other samples or culture lines as well as having applications in marker-assisted selection in future breeding programs.

An improved technique for estimating short-term survival of released line-caught fish, and an application comparing barotrauma-relief methods in red emperor (Lutjanus sebae Cuvier 1816).

Promotion of better procedures for releasing undersize fish, advocacy of catch-and-release angling, and changing minimum legal sizes are increasingly being used as tools for sustainable management of fish stocks. However without knowing the proportion of released fish that survive, the conservation value of any of these measures is uncertain. We developed a floating vertical enclosure to estimate short-term survival of released line-caught tropical and subtropical reef-associated species, and used it to compare the effectiveness of two barotrauma-relief procedures (venting and shotline releasing) on red emperor (Lutjanus sebae). Barotrauma signs varied with capture depth, but not with the size of the fish. Fish from the greatest depths (40-52 m) exhibited extreme signs less frequently than did those from intermediate depths (30-40 m), possibly as a result of swim bladder gas being vented externally through a rupture in the body wall. All but two fish survived the experiment, and as neither release technique significantly improved short-term survival of the red emperor over non-treatment we see little benefit in promoting either venting or shotline releasing for this comparatively resilient species. Floating vertical enclosures can improve short-term post-release mortality estimates as they overcome many problems encountered when constraining fish in submerged cages.