Development and Deployment of an Intelligent Kite Aerial Photography Platform (iKAPP) for Site Surveying and Image Acquisition

Aerial photographs and images are used by a variety of industries, including farming, landscaping, surveying, and agriculture, as well as academic researchers including archaeologists and geologists. Aerial imagery can provide a valuable resource for analyzing sites of interest and gaining information about the structure, layout, and composition of large areas of land that would be unavailable otherwise. Current methods of acquiring aerial images rely on techniques such as satellite imagery, manned aircraft, or more recently unmanned aerial vehicles (UAVs) and micro‐UAV technologies. These solutions, while accurate and reliable, have several drawbacks. Using satellite imagery or UAVs can prove to be very expensive, costing tens of thousands for images. They can also prove to be time‐consuming and in some cases have constraints on use, such as no‐fly zones. In this paper, we present an alternative low‐cost, versatile solution to these methods, an intelligent kite aerial photography platform (iKAPP), for the purpose of acquiring aerial images and monitoring sites of interest. We show how this system provides flexibility in application, and we detail the system's design, mechanical operation, and initial flight experiments for a low‐cost, lightweight, intelligent platform capable of acquiring high‐resolution images. Finally, we demonstrate the system by acquiring images of a local site, showing how the system functions and the quality of images it can capture. The application of the system and its capabilities in terms of capture rates, image quality, and limitations are also presented. The system offers several improvements over traditional KAP systems, including onboard “intelligent” processing and communications. The intelligent aspect of this system stems from the use of self‐image stabilization of the camera, the advantage being that one is able to configure the system to capture large areas of a site automatically, and one can see the site acquisition in real time, all of which are not possible with previous methods of AP. © 2013 Wiley Periodicals, Inc.     

Sensorless fault tolerant control for induction motors

In this paper, a sensorless fault tolerant controller for induction motors is developed. In the proposed approach, a robust controller based on backstepping strategy is designed in order to compensate for both the load torque disturbance and the rotor resistance variation caused by the broken rotor bars faults. The proposed approach needs neither fault detection and isolation schemes nor controller re-design. Moreover, to avoid the use of speed and flux sensors, a second order sliding mode observer is introduced to estimate the flux and the speed. The observer converges in a finite time and leads to good estimates of the flux and the speed even in the presence of the rotor resistance variation and the load torque disturbance. Since the observer converges in the finite time, the stability of the closed-loop system (controller with observer) is shown in two steps. First, the boundedness of the closed-loop system trajectories before the convergence of the observer is proved. Second, the convergence of the closed-loop system trajectories is proved after the convergence of the observer. To highlight the efficiency and applicability of the proposed control scheme, simulation and experimental results are conducted for a 1.5 kW induction motor.     

Clustering high dimensional data: A graph-based relaxed optimization approach

There is no doubt that clustering is one of the most studied data mining tasks. Nevertheless, it remains a challenging problem to solve despite the many proposed clustering approaches. Graph-based approaches solve the clustering task as a global optimization problem, while many other works are based on local methods. In this paper, we propose a novel graph-based algorithm “GBR” that relaxes some well-defined method even as improving the accuracy whilst keeping it simple. The primary motivation of our relaxation of the objective is to allow the reformulated objective to find well distributed cluster indicators for complicated data instances. This relaxation results in an analytical solution that avoids the approximated iterative methods that have been adopted in many other graph-based approaches. The experiments on synthetic and real data sets show that our relaxation accomplishes excellent clustering results. Our key contributions are: (1) we provide an analytical solution to solve the global clustering task as opposed to approximated iterative approaches; (2) a very simple implementation using existing optimization packages; (3) an algorithm with relatively less computation time over the number of data instances to cluster than other well defined methods in the literature.     

Binary-image comparison with local-dissimilarity quantification

In this paper, we present a method for binary image comparison. For binary images, intensity information is poor and shape extraction is often difficult. Therefore binary images have to be compared without using feature extraction. Due to the fact that different scene patterns can be present in the images, we propose a modified Hausdorff distance (HD) locally measured in an adaptive way. The resulting set of measures is richer than a single global measure. The local HD measures result in a local-dissimilarity map (LDMap) including the dissimilarity spatial layout. A classification of the images in function of their similarity is carried out on the LDMaps using a support vector machine. The proposed method is tested on a medieval illustration database and compared with other methods to show its efficiency.     

LEGClust—A Clustering Algorithm Based on Layered Entropic Subgraphs

Hierarchical clustering is a stepwise clustering method usually based on proximity measures between objects or sets of objects from a given data set. The most common proximity measures are distance measures. The derived proximity matrices can be used to build graphs, which provide the basic structure for some clustering methods. We present here a new proximity matrix based on an entropic measure and also a clustering algorithm (LEGCIust) that builds layers of subgraphs based on this matrix and uses them and a hierarchical agglomerative clustering technique to form the clusters. Our approach capitalizes on both a graph structure and a hierarchical construction. Moreover, by using entropy as a proximity measure, we are able, with no assumption about the cluster shapes, to capture the local structure of the data, forcing the clustering method to reflect this structure. We present several experiments on artificial and real data sets that provide evidence on the superior performance of this new algorithm when compared with competing ones.     

LEGClust- a clustering algorithm based on layered entropic subgraphs.

Hierarchical clustering is a stepwise clustering method usually based on proximity measures between objects or sets of objects from a given data set. The most common proximity measures are distance measures. The derived proximity matrices can be used to build graphs, which provide the basic structure for some clustering methods. We present here a new proximity matrix based on an entropic measure and also a clustering algorithm (LEGClust) that builds layers of subgraphs based on this matrix, and uses them and a hierarchical agglomerative clustering technique to form the clusters. Our approach capitalizes on both a graph structure and a hierarchical construction. Moreover, by using entropy as a proximity measure we are able, with no assumption about the cluster shapes, to capture the local structure of the data, forcing the clustering method to reflect this structure. We present several experiments on artificial and real data sets that provide evidence on the superior performance of this new algorithm when compared with competing ones.     

Dynamic Hotlinks

Consider a directed rooted tree T=(V,E) representing a collection V of n web pages connected via a set E of links all reachable from a source home page, represented by the root of T. Each web page i carries a weight w _i representative of the frequency with which it is visited. By adding hotlinks, shortcuts from a node to one of its descendants, we are interested in minimizing the expected number of steps needed to visit pages from the home page. We give the first linear time algorithm for assigning hotlinks so that the number of steps to access a page i from the root of the tree reaches the entropy bound, i.e. is at most O(log (W/w _i )) where W=∑ _i∈T w _i . The best previously known algorithm for this task runs in time O(n ²). We also give the first efficient data structure for maintaining hotlinks when nodes are added, deleted or their weights modified, in amortized time O(log (W/w _i )) per update. The data structure can be made adaptive, i.e. reaches the entropy bound in the amortized sense without knowing the weights w _i in advance.     

A generic architecture to synchronise design models issued from heterogeneous business tools: towards more interoperability between design expertises

Product development involves many experts collaborating to the same design goal. Every expert has his own formalisms and tools leading to a high heterogeneity of information systems supporting design activities. Interoperability became a major challenge to avoid information incompatibility along the product life cycle. To synchronise heterogeneous representations of product will be a major step to integrate expert activities. In this paper, the authors propose a meta-model framework to connect together heterogeneous design models. This meta-model framework is used to formalise possible interactions between heterogeneous representations. Interaction formalisation is considered as a key point to synchronise heterogeneous models and to provide more interoperability between various computer assisted systems. The synchronisation loop is also presented as a major sequence of activities to manage collaborative design. Tools to support synchronisation are proposed. However, through a basic case study, authors highlight what can be automated and where human intervention is still expected.     

Real-time crowd motion planning

Real-time crowd motion planning requires fast, realistic methods for path planning as well as obstacle avoidance. In a previous work (Morini et al. in Cyberworlds International Conference, pp. 144–151, 2007), we introduced a hybrid architecture to handle real-time motion planning of thousands of pedestrians. In this article, we present an extended version of our architecture, introducing two new features: an improved short-term collision avoidance algorithm, and simple efficient group behavior for crowds. Our approach allows the use of several motion planning algorithms of different precision for regions of varied interest. Pedestrian motion continuity is ensured when switching between such algorithms. To assess our architecture, several performance tests have been conducted, as well as a subjective test demonstrating the impact of using groups. Our results show that the architecture can plan motion in real time for several thousands of characters.