Geometric constraints explain much of the species richness pattern in African birds

The world contains boundaries (e.g., continental edge for terrestrial taxa) that impose geometric constraints on the distribution of species ranges. Thus, contrary to traditional thinking, the expected species richness pattern in absence of ecological or physiographical factors is unlikely to be uniform. Species richness has been shown to peak in the middle of a bounded one-dimensional domain, even in the absence of ecological or physiographical factors. Because species ranges are not linear, an extension of the approach to two dimensions is necessary. Here we present a two-dimensional null model accounting for effects of geometric constraints. We use the model to examine the effects of continental edge on the distribution of terrestrial animals in Africa and compare the predictions with the observed pattern of species richness in birds endemic to the continent. Latitudinal, longitudinal, and two-dimensional patterns of species richness are predicted well from the modeled null effects alone. As expected, null effects are of high significance for wide ranging species only. Our results highlight the conceptual significance of an until recently neglected constraint from continental shape alone and support a more cautious analysis of species richness patterns at this scale.

Modeling geometric rules in object based models:an XML / GML approach

Most object-based approaches to Geographical Information Systems (GIS) have concentrated on the representation of geometric properties of objects in terms of fixed geometry. In our road traffic marking application domain we have a requirement to represent the static locations of the road markings but also enforce the associated regulations, which are typically geometric in nature. For example a give way line of a pedestrian crossing in the UK must be within 1100-3000 mm of the edge of the crossing pattern. In previous studies of the application of spatial rules (often called 'business logic') in GIS emphasis has been placed on the representation of topological constraints and data integrity checks. There is very little GIS literature that describes models for geometric rules, although there are some examples in the Computer Aided Design (CAD) literature. This paper introduces some of the ideas from so called variational CAD models to the GIS application domain, and extends these using a Geography Markup Language (GML) based representation. In our application we have an additional requirement; the geometric rules are often changed and vary from country to country so should be represented in a flexible manner. In this paper we describe an elegant solution to the representation of geometric rules, such as requiring lines to be offset from other objects. The method uses a feature-property model embraced in GML 3.1 and extends the possible relationships in feature collections to permit the application of parameterized geometric constraints to sub features. We show the parametric rule model we have developed and discuss the advantage of using simple parametric expressions in the rule base. We discuss the possibilities and limitations of our approach and relate our data model to GML 3.1. © 2006 Springer-Verlag Berlin Heidelberg.

Kinematic and non-linear analysis of foldable barrel vaults

Kinematic analysis is conducted to derive the geometric constraints for the geometric design of foldable barrel vaults (FBV) composed of polar or angulated scissor units. Non-linear structural analysis is followed to determine the structural response of FBVs in the fully deployed configuration under static loading. Two load cases are considered: cross wind and longitudinal wind. The effect of varying member sizes, depth-to-span ratio and geometric imperfections is examined. (C) 2000 Elsevier Science Ltd. All rights reserved.

An inverse design method for elliptical MRI magnets

An inverse, current density mapping (CDM) method has been developed for the design of elliptical cross-section MRI magnets. The method provides a rapid prototyping system for unusual magnet designs, as it generates a 3D current density in response to a set of target field and geometric constraints. The emphasis of this work is on the investigation of new elliptical coil structures for clinical MRI magnets. The effect of the elliptical aspect ratio on magnet performance is investigated. Viable designs are generated for symmetric, asymmetric and open architecture elliptical magnets using the new method. Clinically relevant attributes such as reduced stray field and large homogeneous regions relative to total magnet length are included in the design process and investigated in detail. The preliminary magnet designs have several novel features.

Multi-robot cooperative stereo for outdoor scenarios

13th International Conference on Autonomous Robot Systems (Robotica), 2013

Description of a robotics-oriented relational positioning methodology

This paper presents a relational positioning methodology for flexibly and intuitively specifying offline programmed robot tasks, as well as for assisting the execution of teleoperated tasks demanding precise movements.In relational positioning, the movements of an object can be restricted totally or partially by specifying its allowed positions in terms of a set of geometric constraints. These allowed positions are found by means of a 3D sequential geometric constraint solver called PMF – Positioning Mobile with respect to Fixed. PMF exploits the fact that in a set of geometric constraints, the rotational component can often be separated from the translational one and solved independently.

Generative models of the human connectome.

The human connectome represents a network map of the brain's wiring diagram and the pattern into which its connections are organized is thought to play an important role in cognitive function. The generative rules that shape the topology of the human connectome remain incompletely understood. Earlier work in model organisms has suggested that wiring rules based on geometric relationships (distance) can account for many but likely not all topological features. Here we systematically explore a family of generative models of the human connectome that yield synthetic networks designed according to different wiring rules combining geometric and a broad range of topological factors. We find that a combination of geometric constraints with a homophilic attachment mechanism can create synthetic networks that closely match many topological characteristics of individual human connectomes, including features that were not included in the optimization of the generative model itself. We use these models to investigate a lifespan dataset and show that, with age, the model parameters undergo progressive changes, suggesting a rebalancing of the generative factors underlying the connectome across the lifespan.

Exploitation de contraintes photométriques et géométriques en vision : application au suivi, au calibrage et à la reconstruction

Cette thése a été réalisée dans le cadre d'une cotutelle avec l'Institut National Polytechnique de Grenoble (France). La recherche a été effectuée au sein des laboratoires de vision 3D (DIRO, UdM) et PERCEPTION-INRIA (Grenoble).

Hierarchical Object Recognition Using Libraries of Parameterized Model Sub-Parts

This thesis describes the development of a model-based vision system that exploits hierarchies of both object structure and object scale. The focus of the research is to use these hierarchies to achieve robust recognition based on effective organization and indexing schemes for model libraries. The goal of the system is to recognize parameterized instances of non-rigid model objects contained in a large knowledge base despite the presence of noise and occlusion. Robustness is achieved by developing a system that can recognize viewed objects that are scaled or mirror-image instances of the known models or that contain components sub-parts with different relative scaling, rotation, or translation than in models. The approach taken in this thesis is to develop an object shape representation that incorporates a component sub-part hierarchy- to allow for efficient and correct indexing into an automatically generated model library as well as for relative parameterization among sub-parts, and a scale hierarchy- to allow for a general to specific recognition procedure. After analysis of the issues and inherent tradeoffs in the recognition process, a system is implemented using a representation based on significant contour curvature changes and a recognition engine based on geometric constraints of feature properties. Examples of the system's performance are given, followed by an analysis of the results. In conclusion, the system's benefits and limitations are presented.

Robust real-time tracking for visual surveillance

This paper describes a real-time multi-camera surveillance system that can be applied to a range of application domains. This integrated system is designed to observe crowded scenes and has mechanisms to improve tracking of objects that are in close proximity. The four component modules described in this paper are (i) motion detection using a layered background model, (ii) object tracking based on local appearance, (iii) hierarchical object recognition, and (iv) fused multisensor object tracking using multiple features and geometric constraints. This integrated approach to complex scene tracking is validated against a number of representative real-world scenarios to show that robust, real-time analysis can be performed. Copyright (C) 2007 Hindawi Publishing Corporation. All rights reserved.

TIME-OPTIMAL GEOMAGNETIC ATTITUDE MANEUVERS OF AN AXISYMMETRICAL SPINNING SATELLITE

A formulation used to determine the time-optimal geomagnetic attitude maneuvers subject to dynamic and geometric constraints is proposed in this paper. This was obtained by a direct search procedure based on a control function parametrization method, using linear programming to obtain numerical suboptimal solutions by linear perturbation. Due to its characteristics it can be used in small computers and to generate computer programs of general application. The dynamic modeling, the magnetic torque model and the suboptimal control procedure are presented. Simulation runs have verified the feasibility of the formulation thus derived and have shown a notable improvement in performance.

Extração semi-automática de rodovias no espaço-objeto: uso integrado de um estéreo par de imagens aéreas e um MDT

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Ab initio protein folding simulations using atomic burials as informational intermediates between sequence and structure

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Bird species diversity in the Atlantic Forest of Brazil is not explained by the Mid-domain Effect

The Atlantic Forest is an excellent case study for the elevational diversity of birds, and some inventories along elevational gradients have been carried out in Brazil. Since none of these studies explain the patterns of species richness with elevation, we herein review all Brazilian studies on bird elevational diversity, and test a geometric constraint null model that predicts a unimodal species-altitude curve, the Mid-domain Effect (MDE). We searched for bird inventories in the literature and also analysed our own survey data using limited-radius point counts along an 800 m elevational gradient in the state of São Paulo, Brazil. We found 10 investigations of elevational diversity of Atlantic Forest birds and identified five different elevational patterns: monotonic decreasing diversity, constant at low elevations, constant at low elevations but increasing towards the middle, and two undescribed patterns for Atlantic Forest birds, trough-shaped and increasing diversity. The average MDE fit was low (r² = 0.31) and none of the MDE predictions were robust across all gradients. Those studies with good MDE model fits had obvious sampling bias. Although it has been proposed that the MDE may be positively associated with the elevational diversity of birds, it does not fit the Brazilian Atlantic Forest bird elevational diversity.

Computersimulationen zum Einfluss topologischer Beschränkungen auf Polymere

Topologische Beschränkungen beeinflussen die Eigenschaften von Polymeren. Im Rahmen dieser Arbeit wird mit Hilfe von Computersimulationen im Detail untersucht, inwieweit sich die statischen Eigenschaften von kollabierten Polymerringen, Polymerringen in konzentrierten Lösungen und aus Polymerringen aufgebauten Bürsten mit topologischen Beschränkungen von solchen ohne topologische Beschränkungen unterscheiden. Des Weiteren wird analysiert, welchen Einfluss geometrische Beschränkungen auf die topologischen Eigenschaften von einzelnen Polymerketten besitzen. Im ersten Teil der Arbeit geht es um den Einfluss der Topologie auf die Eigenschaften einzelner Polymerketten in verschiedenen Situationen. Da allerdings gerade die effiziente Durchführung von Monte-Carlo-Simulationen von kollabierten Polymerketten eine große Herausforderung darstellt, werden zunächst drei Bridging-Monte-Carlo-Schritte für Gitter- auf Kontinuumsmodelle übertragen. Eine Messung der Effizienz dieser Schritte ergibt einen Beschleunigungsfaktor von bis zu 100 im Vergleich zum herkömmlichen Slithering-Snake-Algorithmus. Darauf folgt die Analyse einer einzelnen, vergröberten Polystyrolkette in sphärischer Geometrie hinsichtlich Verschlaufungen und Knoten. Es wird gezeigt, dass eine signifikante Verknotung der Polystrolkette erst eintritt, wenn der Radius des umgebenden Kapsids kleiner als der Gyrationsradius der Kette ist. Des Weiteren werden sowohl Monte-Carlo- als auch Molekulardynamiksimulationen sehr großer Ringe mit bis zu einer Million Monomeren im kollabierten Zustand durchgeführt. Während die Konfigurationen aus den Monte-Carlo-Simulationen aufgrund der Verwendung der Bridging-Schritte sehr stark verknotet sind, bleiben die Konfigurationen aus den Molekulardynamiksimulationen unverknotet. Hierbei zeigen sich signifikante Unterschiede sowohl in der lokalen als auch in der globalen Struktur der Ringpolymere. Im zweiten Teil der Arbeit wird das Skalierungsverhalten des Gyrationsradius der einzelnen Polymerringe in einer konzentrierten Lösung aus völlig flexiblen Polymerringen im Kontinuum untersucht. Dabei wird der Anfang des asymptotischen Skalierungsverhaltens, welches mit dem Modell des “fractal globules“ konsistent ist, erreicht. Im abschließenden, dritten Teil dieser Arbeit wird das Verhalten von Bürsten aus linearen Polymeren mit dem von Ringpolymerbürsten verglichen. Dabei zeigt sich, dass die Struktur und das Skalierungsverhalten beider Systeme mit identischem Dichteprofil parallel zum Substrat deutlich voneinander abweichen, obwohl die Eigenschaften beider Systeme in Richtung senkrecht zum Substrat übereinstimmen. Der Vergleich des Relaxationsverhaltens einzelner Ketten in herkömmlichen Polymerbürsten und Ringbürsten liefert keine gravierenden Unterschiede. Es stellt sich aber auch heraus, dass die bisher verwendeten Erklärungen zur Relaxationsverhalten von herkömmlichen Bürsten nicht ausreichen, da diese lediglich den anfänglichen Zerfall der Korrelationsfunktion berücksichtigen. Bei der Untersuchung der Dynamik einzelner Monomere in einer herkömmlichen Bürste aus offenen Ketten vom Substrat hin zum offenen Ende zeigt sich, dass die Monomere in der Mitte der Kette die langsamste Relaxation besitzen, obwohl ihre mittlere Verrückung deutlich kleiner als die der freien Endmonomere ist.