Airborne vision‐based collision‐detection system

Machine vision represents a particularly attractive solution for sensing and detecting potential collision‐course targets due to the relatively low cost, size, weight, and power requirements of vision sensors (as opposed to radar and Traffic Alert and Collision Avoidance System). This paper describes the development and evaluation of a real‐time, vision‐based collision‐detection system suitable for fixed‐wing aerial robotics. Using two fixed‐wing unmanned aerial vehicles (UAVs) to recreate various collision‐course scenarios, we were able to capture highly realistic vision (from an onboard camera perspective) of the moments leading up to a collision. This type of image data is extremely scarce and was invaluable in evaluating the detection performance of two candidate target detection approaches. Based on the collected data, our detection approaches were able to detect targets at distances ranging from 400 to about 900 m. These distances (with some assumptions about closing speeds and aircraft trajectories) translate to an advance warning of between 8 and 10 s ahead of impact, which approaches the 12.5‐s response time recommended for human pilots. We overcame the challenge of achieving real‐time computational speeds by exploiting the parallel processing architectures of graphics processing units (GPUs) found on commercial‐off‐the‐shelf graphics devices. Our chosen GPU device suitable for integration onto UAV platforms can be expected to handle real‐time processing of 1,024 × 768 pixel image frames at a rate of approximately 30 Hz. Flight trials using manned Cessna aircraft in which all processing is performed onboard will be conducted in the near future, followed by further experiments with fully autonomous UAV platforms. © 2010 Wiley Periodicals, Inc.     

Endogenous Neighborhood Selection and the Attainment of Cooperation in a Spatial Prisoner’s Dilemma Game

There is a large literature in economics and elsewhere on the emergence and evolution of cooperation in the repeated Prisoner’s Dilemma. Recently this literature has expanded to include games in a setting where agents play only with local neighbors in a specified geography. In this paper we explore how the ability of agents to move and choose new locations and new neighbors influences the emergence of cooperation. First, we explore the dynamics of cooperation by investigating agent strategies that yield Markov transition probabilities. We show how different agent strategies yield different Markov chains which generate different asymptotic behaviors in regard to the attainment of cooperation. Second, we investigate how agent movement affects the attainment of cooperation in various networks using agent-based simulations. We show how network structure and density can affect cooperation with and without agent movement.     

Estimation of Detection Thresholds for Redirected Walking Techniques

In immersive virtual environments (IVEs), users can control their virtual viewpoint by moving their tracked head and walking through the real world. Usually, movements in the real world are mapped one-to-one to virtual camera motions. With redirection techniques, the virtual camera is manipulated by applying gains to user motion so that the virtual world moves differently than the real world. Thus, users can walk through large-scale IVEs while physically remaining in a reasonably small workspace. In psychophysical experiments with a two-alternative forced-choice task, we have quantified how much humans can unknowingly be redirected on physical paths that are different from the visually perceived paths. We tested 12 subjects in three different experiments: (E1) discrimination between virtual and physical rotations, (E2) discrimination between virtual and physical straightforward movements, and (E3) discrimination of path curvature. In experiment E1, subjects performed rotations with different gains, and then had to choose whether the visually perceived rotation was smaller or greater than the physical rotation. In experiment E2, subjects chose whether the physical walk was shorter or longer than the visually perceived scaled travel distance. In experiment E3, subjects estimate the path curvature when walking a curved path in the real world while the visual display shows a straight path in the virtual world. Our results show that users can be turned physically about 49 percent more or 20 percent less than the perceived virtual rotation, distances can be downscaled by 14 percent and upscaled by 26 percent, and users can be redirected on a circular arc with a radius greater than 22 m while they believe that they are walking straight.     

Marine Geospatial Ecology Tools: An integrated framework for ecological geoprocessing with ArcGIS,Python, R,MATLAB, and C++

With the arrival of GPS, satellite remote sensing, and personal computers, the last two decades have witnessed rapid advances in the field of spatially-explicit marine ecological modeling. But with this innovation has come complexity. To keep up, ecologists must master multiple specialized software packages, such as ArcGIS for display and manipulation of geospatial data, R for statistical analysis, and MATLAB for matrix processing. This requires a costly investment of time and energy learning computer programming, a high hurdle for many ecologists. To provide easier access to advanced analytic methods, we developed Marine Geospatial Ecology Tools (MGET), an extensible collection of powerful, easy-to-use, open-source geoprocessing tools that ecologists can invoke from ArcGIS without resorting to computer programming. Internally, MGET integrates Python, R, MATLAB, and C++, bringing the power of these specialized platforms to tool developers without requiring developers to orchestrate the interoperability between them.In this paper, we describe MGET’s software architecture and the tools in the collection. Next, we present an example application: a habitat model for Atlantic spotted dolphin (Stenella frontalis) that predicts dolphin presence using a statistical model fitted with oceanographic predictor variables. We conclude by discussing the lessons we learned engineering a highly integrated tool framework.     

Real world representation of a road network for route planning in GIS

This paper addresses a methodology to properly represent a road network in the geographic information system (GIS) for network analysis. Over the years, the real world has become too complex to model properly within a given information system, such as GIS. Ideally, when the real world is represented as accurately as possible, a GIS can answer a question in its virtual world that coincides with the exact answer in the real world. However, existing methods related to impedance modeling for each segment of a road network in a route planning analysis that includes only a distance or time variable do not give proper results. Hence, this study investigates how a road network can represent the real world in a GIS and offer route planning tools. To address this, first, additional realistic variables are taken into account. These include weather, sight-seeing information, road type, and so on. Second, to combine these variables, an impedance model (IM) using the analytical hierarchical process (AHP) method is proposed. Finally, all of the models are implemented and verified with a sensitivity analysis. The models were successfully implemented in this work. All of the paths of the route planning analysis were successfully matched with the drivers’ paths that would normally be chosen in reality. It is anticipated that the use of other techniques such as analytical network process (ANP) in addition to AHP would be useful to overcome the aforementioned problem.     

Adaptive neural dynamic surface control for servo systems with unknown dead-zone

An adaptive neural controller is proposed for nonlinear systems with a nonlinear dead-zone and multiple time-delays. The often used inverse model compensation approach is avoided by representing the dead-zone as a time-varying system. The “explosion of complexity” in the backstepping synthesis is eliminated in terms of the dynamic surface control (DSC) technique. A novel high-order neural network (HONN) with only a scalar weight parameter is developed to account for unknown nonlinearities. The control singularity and some restrictive requirements on the system are circumvented. Simulations and experiments for a turntable servo system with permanent-magnet synchronous motor (PMSM) are provided to verify the reliability and effectiveness.     

A new strategy for defect inspection by the virtual inspection in semiconductor wafer fabrication

The defect of process equipments is a major factor that impairs the yields in the mass production of semiconductor wafer fabrication and it is a main supervision means to use high-resolution defect inspection tools to detect and monitor the defect damage. Due to the high investment costs of these inspection tools and the resulting decrease in the throughput, how to improve the sampling rate is an important issue for the associated inspection strategy. This paper proposes a new concept and implementation of virtual inspection (VI) to enhance the detection and monitoring of defect in semiconductor production process. The underlying theory of the VI concept is that the state variables identifications (SVIDs) of process equipments can reflect the process quality effectively and loyally. The approach of VI is to combine the application of the fault detection and classification (FDC), and the defect library and the re-engineering of inspection procedure to reach the full-scope of strategic objective. VI enables the defect monitoring to enter a new era by promoting the monitoring level of defect inspection from the previous lot-sampling basis to the wafer-sampling level, and hence upgrades the sampling strategy from random-sampling to full and right-sampling. In this study, various typical defect cases are utilized to illustrate how to create VI models and verify the reliability of the proposed approach. Furthermore, a feasible architecture of the VI implementation for mass production in semiconductor factory is presented in the paper.     

Boosting social collaborations based on contextual synchronization: An empirical study

Supporting context-based collaboration among online users is an important issue to computer-mediated collaboration to fulfill specified tasks. However, several problems make it difficult to be aware of the context. The context of the user task can be (i) dynamic (i.e., changing over time), and (ii) mixed with multiple sub-contexts together. We propose a novel ontology-based platform to overcome these problems. It finds the most relevant users from a given social network, taking into account two types of context (i.e., personal and group contexts) and matching them. By measuring similarities between the personal contexts, we can dynamically organize a number of communities, so that users can be contextually synchronized. Individual users can be involved in complex collaborations related to multiple semantics. This paper demonstrates and discusses how the proposed context synchronization process is able to boost social collaborations. We show the experimental results collected from a collaborative information searching system. The main empirical issues in this work are (i) setting thresholds, (ii) searching performance, and (iii) scalability testing.