Multi-Scale Adaptive Sampling with Mobile Agents for Mapping of Forest Fires

The use of robotics in distributed monitoring applications requires wireless sensors that are deployed efficiently. A very important aspect of sensor deployment includes positioning them for sampling at locations most likely to yield information about the spatio-temporal field of interest, for instance, the spread of a forest fire. In this paper, we use mobile robots (agents) that estimate the time-varying spread of wildfires using a distributed multi-scale adaptive sampling strategy. The proposed parametric sampling algorithm, “EKF-NN-GAS” is based on neural networks, the extended Kalman filter (EKF), and greedy heuristics. It combines measurements arriving at different times, taken at different scale lengths, such as from ground, airborne, and spaceborne observation platforms. One of the advantages of our algorithm is the ability to incorporate robot localization uncertainty in addition to sensor measurement and field parameter uncertainty into the same EKF model. We employ potential fields, generated naturally from the estimated fire field distribution, in order to generate fire-safe trajectories that could be used to rescue vehicles and personnel. The covariance of the EKF is used as a quantitative information measure for sampling locations most likely to yield optimal information about the sampled field distribution. Neural net training is used infrequently to generate initial low resolution estimates of the fire spread parameters. We present simulation and experimental results for reconstructing complex spatio-temporal forest fire fields “truth models”, approximated by radial basis function (RBF) parameterizations. When compared to a conventional raster scan approach, our algorithm shows a significant reduction in the time necessary to map the fire field.     

Identifying high perceived value practices of CMMI level 2: An empirical study

ObjectiveIn this paper, we present findings from an empirical study that was aimed at identifying the relative “perceived value” of CMMI level 2 specific practices based on the perceptions and experiences of practitioners of small and medium size companies. The objective of this study is to identify the extent to which a particular CMMI practice is used in order to develop a finer-grained framework, which encompasses the notion of perceived value within specific practices.MethodWe used face-to-face questionnaire based survey sessions as the main approach to collecting data from 46 software development practitioners from Malaysia and Vietnam. We asked practitioners to choose and rank CMMI level 2 practices against the five types of assessments (high, medium, low, zero or do not know). From this, we have proposed the notion of ‘perceived value’ associated with each practice.ResultsWe have identified three ‘requirements management’ practices as having a ‘high perceived value’. The results also reveal the similarities and differences in the perceptions of Malaysian and Vietnamese practitioners with regard to the relative values of different practices of CMMI level 2 process areas.ConclusionsSmall and medium size companies should not be seen as being “at fault” for not adopting CMMI – instead the Software Process Improvement (SPI) implementation approaches and its transition mechanisms should be improved. We argue that research into “tailoring” existing process capability maturity models may address some of the issues of small and medium size companies.     

Short-term and long-term memory analysis of learning using 2D and 3D educational contents

ABSTRACT

The effect of 2D and 3D educational content learning on memory has been studied using electroencephalography (EEG) brain signal. A hypothesis is set that the 3D materials are better than the 2D materials for learning and memory recall. To test the hypothesis, we proposed a classification system that will predict true or false recall for short-term memory (STM) and long-term memory (LTM) after learning by either 2D or 3D educational contents. For this purpose, EEG brain signals are recorded during learning and testing; the signals are then analysed in the time domain using different types of features in various frequency bands. The features are then fed into a support vector machine (SVM)-based classifier. The experimental results indicate that the learning and memory recall using 2D and 3D contents do not have significant differences for both the STM and the LTM.     

Sulphur dioxide loadings over megacity Lahore (Pakistan) and adjoining region of Indo-Gangetic Basin

This article presents spatial and temporal variations of planetary boundary layer (PBL) sulphur dioxide (SO₂) over megacity Lahore and adjoining region, a typical representative area in the Indo-Gangetic Basin (IGB) largely influenced by transported volcanic SO₂ from Africa, Middle East, and southern Europe, by using data retrieved from satellite-based Ozone Monitoring Instrument (OMI) during October 2004–September 2015. We find a positive trend of 2.4% per year (slope 0.01 ± 0.005 with y-intercept 0.35 ± 0.03 Dobson Unit (DU), correlation coefficient r = 0.55 and 2-tailed p-value at 0.1) of OMI-SO₂ column with the average value of 0.4 ± 0.05 DU. Strong seasonality of OMI-SO₂ column is observed over the region linked with local meteorology, patterns of anthropogenic emissions, crop residue burning, and vegetation cover. There exists a seasonal high value in winter 0.56 ± 0.24 DU with a peak in December 0.67 ± 0.26 DU. The seasonal lowest value is observed to be 0.29 ± 0.11 DU in wet summer with minimum value in July 0.25 ± 0.06 DU. High growth rates of OMI-SO₂ column over the study region have been observed in January, June, October, and December ranging from 5.7% to 11.6% per year. Satellite data show elevated OMI-SO₂ columns in 2007, 2008, 2011, and 2012 largely contributed by trans-boundary volcanic SO₂. A detailed analysis of volcanic SO₂ transported from Africa and Middle East (Jabal Al-Tair, Dalaffilla, and Nabro volcanoes) over the study area is presented. Air mass trajectories suggest the presence of long-range transported volcanic SO₂ at high altitude levels over Lahore and IGB region during the volcanic episodes. The SO₂ enhancements in PBL during winter season are generally due to significant vertical downdraft of high-altitude volcanic SO₂. For the first time, we present significant influence of volcanic SO₂ from southern Europe (Mt. Etna volcano) reaching over the study area. Daily mean OMI-SO₂ levels up to 21.4, 10.0, 5.6, and 2.4 DU have been noticed due to the eruptions from Dalaffilla, Mt. Etna, Nabro, and Jabal Al-Tair volcanoes, respectively.     

Assessing tropical cyclone impacts using object-based moderate spatial resolution image analysis: a case study in Bangladesh

The environmental and societal impacts of tropical cyclones could be reduced using a range of management initiatives. Remote sensing can be a cost effective, accurate, and potential tool for mapping the multiple impacts caused by tropical cyclones using high-to-moderate spatial resolution (5–30 m) satellite imagery to provide data on the following essential parameters – evacuation, relief, and management of natural resources. This study developed and evaluated an approach for assessing the impacts of tropical cyclones through object-based image analysis and moderate spatial resolution imagery. Pre- and post-cyclone maps of artificial and natural features are required for assessing the overall impacts in the landscape that could be acquired by mapping specific land cover types. We used the object-based approach to map land-cover types in pre- and post-cyclone Satellite Pour l’Observation de la Terre (SPOT) 5 image data and the post-classification comparison technique to identify changes in the particular features in the landscape. Cyclone Sidr (2007) was used to test the applicability of this approach in Sarankhola Upazila in Bangladesh. The object-based approach provided accurate results for classifying features from pre- and post-cyclone satellite images with an overall accuracy of 95.43% and 93.27%, respectively. Mapped changes identified the extent, type, and form of cyclone induced impacts. Our results indicate that 63.15% of the study area was significantly affected by cyclone Sidr. The majority of mapped damage was found in vegetation, cropped lands, settlements, and infrastructure. The damage results were verified through the high spatial resolution satellite imagery, reports and pictures that were taken after the cyclone. The methods developed may be used in future to assess the multiple impacts caused by tropical cyclones in Bangladesh and other similar environments for the purposes of tropical cyclone disaster management.     

Formation Control and Tracking for Co-operative Robots with Non-holonomic Constraints

This paper mainly addresses formation control problem of non-holonomic systems in an optimized manner. Instead of using linearization to solve this problem approximately, we designed control laws with guaranteed global convergence by leveraging nonlinear transformations. Under this nonlinear transformation, consensus of non-holonomic robots can be converted into a stabilization problem, to which optimal treatment applies. This concept is then extended to the formation control and tracking problem for a team of robots following leader-follower strategy. A trajectory generator prescribes the feasible motion of virtual reference robot, a decentralized control law is used for each robot to track the reference while maintaining the formation. The asymptotic convergence of follower robots to the position and orientation of the reference robot is ensured using the Lyapunov function which is also generated using chained form differential equations. In order to witness the efficacy of the scheme, simulations results are presented for Unicycle and Car-like robots.     

Computer Vision Techniques Applied for Diagnostic Analysis of Retinal OCT Images: A Review

The retina is a tiny layer at the posterior pole of an eye and is made up of tissues sensitive to light, these tissues generate nerve signals that pass through the optic nerve to the brain. A retinal disorder occurs when the retina malfunctions; glaucoma, diabetic retinopathy and pathologic myopia are retinal disorders and principal causes of blindness worldwide. These retinal disorders are often diagnosed and treated by an ophthalmologist. However, to accurately assess a retinal disease, ophthalmologist would need qualitative and quantitative analysis of the disease, it’s early and current statistics, but acquisition of these measurements are not possible through manual techniques, there should be automated computer aided diagnosis (CAD) systems to assist ophthalmologists. In this comprehensive review, an analysis and evaluation has been performed of different computer vision and image processing approaches applied to OCT images for automatic diagnosis of retinal disorders. We also reported disease causes, symptoms and pathologies manifestations within OCT images, which can serve as baseline knowledge for development of an automated CAD system. Hence, this disease specific review offers a good understanding to analyze visual impairments from retinal OCT images which will help researcher to design enhanced therapeutic systems for retinal disorders.     

A Novel Framework for Human Activity Recognition with Time Labelled Real Time Sensor Data

Human activity recognition is an effective approach for identifying the characteristics of historical data. In the past decades, different shallow classifiers and handcrafted features were used to identify the activities from the sensor data. These approaches are configured for offline processing and are not suitable for sequential data. This article proposes an adaptive framework for human activity recognition using a deep learning mechanism. This deep learning approach forms the deep belief network (DBN), which contains a visible layer and hidden layers. The processing of raw sensor data is performed by these layers and the activity is identified at the top most layers. The DBN is tested using the real time environment with the help of mobile devices that contain an accelerometer, a magnetometer, and a gyroscope. The results are analyzed with the metrics of precision, recall, and the F1-score. The results proved that the proposed method has a higher F1_score when compared to the existing approach.