Observability of 3D Motion

This paper examines the inherent difficulties in observing 3D rigid motion from image sequences. It does so without considering a particular estimator. Instead, it presents a statistical analysis of all the possible computational models which can be used for estimating 3D motion from an image sequence. These computational models are classified according to the mathematical constraints that they employ and the characteristics of the imaging sensor (restricted field of view and full field of view). Regarding the mathematical constraints, there exist two principles relating a sequence of images taken by a moving camera. One is the epipolar constraint, applied to motion fields, and the other the positive depth constraint, applied to normal flow fields. 3D motion estimation amounts to optimizing these constraints over the image. A statistical modeling of these constraints leads to functions which are studied with regard to their topographic structure, specifically as regards the errors in the 3D motion parameters at the places representing the minima of the functions. For conventional video cameras possessing a restricted field of view, the analysis shows that for algorithms in both classes which estimate all motion parameters simultaneously, the obtained solution has an error such that the projections of the translational and rotational errors on the image plane are perpendicular to each other. Furthermore, the estimated projection of the translation on the image lies on a line through the origin and the projection of the real translation. The situation is different for a camera with a full (360 degree) field of view (achieved by a panoramic sensor or by a system of conventional cameras). In this case, at the locations of the minima of the above two functions, either the translational or the rotational error becomes zero, while in the case of a restricted field of view both errors are non-zero. Although some ambiguities still remain in the full field of view case, the implication is that visual navigation tasks, such as visual servoing, involving 3D motion estimation are easier to solve by employing panoramic vision. Also, the analysis makes it possible to compare properties of algorithms that first estimate the translation and on the basis of the translational result estimate the rotation, algorithms that do the opposite, and algorithms that estimate all motion parameters simultaneously, thus providing a sound framework for the observability of 3D motion. Finally, the introduced framework points to new avenues for studying the stability of image-based servoing schemes.     

Structure from Motion: Beyond the Epipolar Constraint

The classic approach to structure from motion entails a clear separation between motion estimation and structure estimation and between two-dimensional (2D) and three-dimensional (3D) information. For the recovery of the rigid transformation between different views only 2D image measurements are used. To have available enough information, most existing techniques are based on the intermediate computation of optical flow which, however, poses a problem at the locations of depth discontinuities. If we knew where depth discontinuities were, we could (using a multitude of approaches based on smoothness constraints) accurately estimate flow values for image patches corresponding to smooth scene patches; but to know the discontinuities requires solving the structure from motion problem first. This paper introduces a novel approach to structure from motion which addresses the processes of smoothing, 3D motion and structure estimation in a synergistic manner. It provides an algorithm for estimating the transformation between two views obtained by either a calibrated or uncalibrated camera. The results of the estimation are then utilized to perform a reconstruction of the scene from a short sequence of images.The technique is based on constraints on image derivatives which involve the 3D motion and shape of the scene, leading to a geometric and statistical estimation problem. The interaction between 3D motion and shape allows us to estimate the 3D motion while at the same time segmenting the scene. If we use a wrong 3D motion estimate to compute depth, we obtain a distorted version of the depth function. The distortion, however, is such that the worse the motion estimate, the more likely we are to obtain depth estimates that vary locally more than the correct ones. Since local variability of depth is due either to the existence of a discontinuity or to a wrong 3D motion estimate, being able to differentiate between these two cases provides the correct motion, which yields the least varying estimated depth as well as the image locations of scene discontinuities. We analyze the new constraints, show their relationship to the minimization of the epipolar constraint, and present experimental results using real image sequences that indicate the robustness of the method.     

PaaSword: A Holistic Data Privacy and Security by Design Framework for Cloud Services

Enterprises increasingly recognize the compelling economic and operational benefits from virtualizing and pooling IT resources in the cloud. Nevertheless, the significant and valuable transformation of organizations that adopt cloud computing is accompanied by a number of security threats that should be considered. In this paper, we outline significant security challenges presented when migrating to a cloud environment and propose PaaSword – a novel holistic framework that aspires to alleviate these challenges. Specifically, the proposed framework involves a context-aware security model, the necessary policies enforcement mechanism along with a physical distribution, encryption and query middleware.     

Ambiguity in Structure from Motion: Sphere versus Plane

If 3D rigid motion can be correctly estimated from image sequences, the structure of the scene can be correctly derived using the equations for image formation. However, an error in the estimation of 3D motion will result in the computation of a distorted version of the scene structure. Of computational interest are these regions in space where the distortions are such that the depths become negative, because in order for the scene to be visible it has to lie in front of the image, and thus the corresponding depth estimates have to be positive. The stability analysis for the structure from motion problem presented in this paper investigates the optimal relationship between the errors in the estimated translational and rotational parameters of a rigid motion that results in the estimation of a minimum number of negative depth values. The input used is the value of the flow along some direction, which is more general than optic flow or correspondence. For a planar retina it is shown that the optimal configuration is achieved when the projections of the translational and rotational errors on the image plane are perpendicular. Furthermore, the projection of the actual and the estimated translation lie on a line through the center. For a spherical retina, given a rotational error, the optimal translation is the correct one; given a translational error, the optimal rotational negative deptherror depends both in direction and value on the actual and estimated translation as well as the scene in view. The proofs, besides illuminating the confounding of translation and rotation in structure from motion, have an important application to ecological optics. The same analysis provides a computational explanation of why it is easier to estimate self-motion in the case of a spherical retina and why shape can be estimated easily in the case of a planar retina, thus suggesting that nature's design of compound eyes (or panoramic vision) for flying systems and camera-type eyes for primates (and other systems that perform manipulation) is optimal.     

A sparse nonparametric hierarchical Bayesian approach towards inductive transfer for preference modeling

In this paper, we present a novel methodology for preference learning based on the concept of inductive transfer. Specifically, we introduce a nonparametric hierarchical Bayesian multitask learning approach, based on the notion that human subjects may cluster together forming groups of individuals with similar preference rationale (but not identical preferences). Our approach is facilitated by the utilization of a Dirichlet process prior, which allows for the automatic inference of the most appropriate number of subject groups (clusters), as well as the employment of the automatic relevance determination (ARD) mechanism, giving rise to a sparse nature for our model, which significantly enhances its computational efficiency. We explore the efficacy of our novel approach by applying it to both a synthetic experiment and a real-world music recommendation application. As we show, our approach offers a significant enhancement in the effectiveness of knowledge transfer in statistical preference learning applications, being capable of correctly inferring the actual number of human subject groups in a modeled dataset, and limiting knowledge transfer only to subjects belonging to the same group (wherein knowledge transferability is more likely).     

Seismic displacements of landfills and deformation of geosynthetics due to base sliding

Seismic design of waste landfills has been a subject of intense research over the past two decades, primarily due to the severe environmental impact of a potential failure. The majority of the related studies have been focused on the stability assessment of landfills utilizing permanent deformation methods. However, previous investigations have not fully addressed the impact of the composite liner system on the seismic performance of the geostructure, mainly expressed as potential sliding development, which is greatly affected by the geometry and the resulting initial static stress state of the landfill. Therefore, the aforementioned issues are investigated via a detailed parametric study, where the dynamic behaviour of the composite liner system is examined both analytically and numerically. The conducted coupled analyses indicated that the most significant parameters of the complex dynamic response of waste landfills can be reduced in two ratios that comprise functions of the main characteristics of the geostructure and of the excitation. Moreover, two distinct failure patterns have been identified with respect to the characteristics of the distribution of the permanent displacements along the interface and the axial deformation along the geosynthetic. The occurrence conditions of these failure patterns can be determined in terms of the two abovementioned ratios as verified by the analytical results of the critical acceleration of a simple SDOF system.     

Valuing a wind farm construction: A contingent valuation study in Greece

Our analysis is based on data from a double-bounded dichotomous choice contingent valuation study implemented to elicit public attitudes towards renewable energy generation and their willingness to pay for the construction of a wind farm in the area of Messanagros in the island of Rhodes, Greece. Results indicate that there are significant positive values deriving from the proposed project. Respondents report a mean willingness to pay a premium in their bi-monthly electric bills of €8.86 for the sole purpose of the construction of the wind farm. The estimated economic benefits to the local population are weighed against the investment cost in a cost–benefit analysis to inform policy making and implications for EU energy policy are provided.     

On the survivability and pyrosynthesis of PAH during combustion of pulverized coal and tire crumb

Results are presented on the emissions of semivolatile polycyclic aromatic hydrocarbons (PAH) from the combustion of a pulverized bituminous coal and ground waste automobile tires. Streams of fuel particles were injected at steady-state steady-flow conditions, and burned inside an isothermal drop-tube furnace, in air, at a gas temperature and gas residence time of 1150°C and 0.75 s, respectively. Combustion occurred under either very fuel-lean conditions (bulk equivalence ratio, φ < 0.5) or substantially fuel-rich conditions (φ = 1.6–1.9). Emissions from fuel pyrolysis, in the absence of oxygen, were also examined. The survivability of the fuel-PAHs during combustion/pyrolysis was assessed by examining the reactants (fuels) and the products of their oxidation/pyrolysis. The PAH species in the effluent of combustion were: 1) qualitatively compared with indigenous PAH constituents of the input fuels, and 2) quantitatively contrasted with known amounts of deuterium-labeled PAH standards, which were absorbed on the input fuels. No PAHs were detected in the effluent of combustion of either fuel under sufficiently fuel-lean conditions, e.g., φ < 0.5. This indicated that the PAH constituents of the input fuels, either indigenous or adsorbed, as well as those formed by pyrosynthesis in either the diffusion volatile flames or during the heterogeneous oxidation of the chars were destroyed. Significant amounts of PAHs were detected in the effluent of the combustion of both fuels under sufficiently fuel-rich conditions, e.g., φ > 1.6 and, especially, under pyrolytic conditions in N₂. These PAHs were mostly attributed to pyrosynthesis since none of the deuterated PAHs, adsorbed on the fuels, survived the combustion process. Small amounts of the labeled compounds, however, survived under purely pyrolytic conditions. These results were confirmed with separate experiments, where deuterium-labeled PAH standards were adsorbed on highly porous calcium/magnesium oxide or mullite particles. Again, small amounts of some PAHs survived in high-temperature pyrolytic conditions, but none in oxidative environments. These observations suggest that pyrosynthesis is the major contributing mechanism to the PAH emissions from the combustion of these fuels. Survivability of parent PAHs may be a minor mechanism at very high equivalence ratios.

Finally, both fuels were mixed with powders of calcium magnesium acetate (CMA), calcium carbonate (CaCO₃), and calcium oxide (CaO), all of which are known sulfur reduction agents, at a molar Ca/S ratio of 1. Combustion of the fuels mixed with CMA or CaCO₃ generated enhanced amounts of PAHs, while combustion with CaO had no effect on the PAH emissions.     

Combustion behavior in air of single particles from three different coal ranks and from sugarcane bagasse

Comparative combustion studies were performed on particles of pulverized coal samples from three different ranks: a high-volatile bituminous coal, a sub-bituminous coal, and two lignite coals. The study was augmented to include observations on burning pulverized woody biomass residues, in the form of sugarcane bagasse. Fuel particles, in the range of 75–90 μm, were injected in a bench-scale, transparent drop-tube furnace, electrically-heated to 1400 K, where they experienced high-heating rates, ignited and burned. The combustion of individual particles in air was observed with three-color pyrometry and high-speed high-resolution cinematography to obtain temperature–time–size histories. Based on combined observations from these techniques, in conjunction to morphological examinations of particles, a comprehensive understanding of the combustion behaviors of these fuels was developed. Observed differences among the coals have been striking. Upon pyrolysis, the bituminous coal chars experienced the phenomena of softening, melting, swelling and formation of large blowholes through which volatile matter escaped. Combustion of the volatile matter was sooty and very luminous with large co-tails forming in the wake of the particle trajectories. Only after the volatile matter flames extinguished, the char combustion commenced and was also very luminous. In contrast, upon pyrolysis, lignite coals became fragile and experienced extensive fragmentation, immediately followed by ignition of the char fragments (numbering in the order of 10–100, depending on the origin of the lignite coal) spread apart into a relatively large volume. As no separate volatile matter combustion period was evident, it is likely that volatiles burned on the surface of the chars. The combustion of the sub-bituminous coal was also different. Most particles experienced limited fragmentation, upon pyrolysis, to several char fragments, with or without the presence of brief and low-luminosity volatile flames; other particles did not fragment and directly proceeded to char combustion. Finally combustion of bagasse was once again very distinctive. Upon pyrolysis, long-lasting, low-luminosity, nearly-transparent spherical flames formed around slowly-settling devolatilizing particles. They were followed by bright, short-lived combustion of the chars. Both volatiles and chars experienced shrinking core mode of burning. For all fuels, flame and char temperature profiles were deduced from pyrometric data and burnout times were measured. Combustion rates were calculated from luminous carbon disappearance measurements, and were compared with predictions based on published kinetic expressions.