Quadtree-based eigendecomposition for pose estimation in the presence of occlusion and background clutter

Eigendecomposition-based techniques are popular for a number of computer vision problems, e.g., object and pose estimation, because they are purely appearance based and they require few on-line computations. Unfortunately, they also typically require an unobstructed view of the object whose pose is being detected. The presence of occlusion and background clutter precludes the use of the normalizations that are typically applied and significantly alters the appearance of the object under detection. This work presents an algorithm that is based on applying eigendecomposition to a quadtree representation of the image dataset used to describe the appearance of an object. This allows decisions concerning the pose of an object to be based on only those portions of the image in which the algorithm has determined that the object is not occluded. The accuracy and computational efficiency of the proposed approach is evaluated on 16 different objects with up to 50% of the object being occluded and on images of ships in a dockyard.

Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

This paper presents modular dynamics for dual-arms, expressed in terms of the kinematics and dynamics of each of the stand-alone manipulators. The two arms are controlled as a single manipulator in the task space that is relative to the two end-effectors of the dual-arm robot. A modular relative Jacobian, derived from a previous work, is used which is expressed in terms of the stand-alone manipulator Jacobians. The task space inertia is expressed in terms of the Jacobians and dynamics of each of the stand-alone manipulators. When manipulators are combined and controlled as a single manipulator, as in the case of dual-arms, our proposed approach will not require an entirely new dynamics model for the resulting combined manipulator. But one will use the existing Jacobians and dynamics model for each of the stand-alone manipulators to come up with the dynamics model of the combined manipulator. A dual-arm KUKA is used in the experimental implementation.     

Fracture resistance via topology optimization

The fracture resistance of structures is optimized using the level-set method. Fracture resistance is assumed to be related to the elastic energy released by a crack propagating in a normal direction from parts of the boundary that are in tension, and is calculated using the virtual crack extension technique. The shape derivative of the fracture-resistance objective function is derived. Two illustrative two-dimensional case studies are presented: a hole in a plate subjected to biaxial strain; and a bridge fixed at both ends subjected to a single load in which the compliance and fracture resistance are jointly optimized. The structures obtained have rounded corners and more material at places where they are in tension. Based on the results, we propose that fracture resistance may be modeled more easily but less directly by including a term proportional to surface area in the objective function, in conjunction with nonlinear elasticity where the Young’s modulus in tension is lower than in compression.     

Using multiple endmember spectral mixture analysis to retrieve subpixel fire properties from MODIS

The Moderate-Resolution Imaging Spectroradiometer (MODIS) sensors on NASA's Terra and Aqua satellites image most of the Earth multiple times each day, providing useful data on fires that cannot be practically acquired using other means. Unfortunately, current fire products from MODIS and other sensors leave large uncertainties in measurements of fire sizes and temperatures, which strongly influence how fires spread, the amount and chemistry of their gas and aerosol emissions, and their impacts on ecosystems. In this study, we use multiple endmember spectral mixture analysis (MESMA) to retrieve subpixel fire sizes and temperatures from MODIS, possibly overcoming some limitations of existing methods for characterizing fire intensities such as estimating the fire radiative power (FRP). MESMA is evaluated using data from the Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) to assess the performance of FRP and MESMA retrievals of fire properties from a simultaneously acquired MODIS image, for a complex of fires in Ukraine from August 21, 2002. The MESMA retrievals of fire size described in this paper show a slightly stronger correlation than FRP does to fire pixel counts from the coincident ASTER image. Prior to this work, few studies, if any, had used MESMA for retrieving fire properties from a broad-band sensor like MODIS, or compared MESMA to higher-resolution fire data or other measures of fire properties like FRP. In the future, MESMA retrievals could be useful for fire spread modeling and forecasting, reducing hazards that fires pose to property and health, and enhancing scientific understanding of fires and their effects on ecosystems and atmospheric composition.     

Stability of linear discrete switched systems with delays based on average dwell time method

This paper deals with the problem of exponential stability for a class of linear discrete switched systems with constant delays.The switched systems consist of stable and unstable subsystems.Based on the average dwell time method, some switching signals will be found to guarantee exponential stability of these systems.The explicit state decay estimation is also given in the form of the solutions of linear matrix inequalities(LMIs).An example relating to networked control systems(NCSs) illustrates the effect...     

Comparison of paper-and-pencil versus Web administration of the Youth Risk Behavior Survey (YRBS): Participation,data quality,and perceived privacy and anonymity

The Youth Risk Behavior Surveillance System (YRBSS) monitors priority health-risk behaviors among US high school students. To better understand the ramifications of changing the YRBSS from paper-and-pencil to Web administration, in 2008 the Centers for Disease Control and Prevention conducted a study comparing these two modes of administration. Eighty-five schools in 15 states agreed to participate in the study. Within each participating school, four classrooms of students in grades 9 or 10 were randomly assigned to complete the Youth Risk Behavior Survey questionnaire in one of four conditions (in-class paper-and-pencil, in-class Web without programmed skip patterns, in-class Web with programmed skip patterns, and “on your own” Web without programmed skip patterns). Findings included less missing data for the paper-and-pencil condition (1.5% vs. 5.3%, 4.4%, 6.4%; p < .001), less perceived privacy and anonymity among respondents for the in-class Web conditions, and a lower response rate for the “on your own” Web condition than for in-class administration by either mode (28.0% vs. 91.2%, 90.1%, 91.4%; p < .001). Although Web administration might be useful for some surveys, these findings do not favor the use of a Web survey for the YRBSS.     

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.     

Human tracking using 3D surface colour distributions

A likelihood formulation for detailed human tracking in real-world scenes is presented. In this formulation, the appearance, modelled using feature distributions defined over regions on the surface of an articulated 3D model, is estimated and propagated as part of the state. The benefit of such a formulation over currently used techniques is that it provides a dense, highly discriminatory object-based cue that applies in real world scenes. Multi-dimensional histograms are used to represent the feature distributions and an on-line clustering algorithm, driven by prior knowledge of clothing structure, is derived that enhances appearance estimation and computational efficiency. An investigation of the likelihood model shows its profile to be smooth and broad while region grouping is shown to improve localisation and discrimination. These properties of the likelihood model ease pose estimation by allowing coarse, hierarchical sampling and local optimisation.     

Al2O3/SiC复合陶瓷的反应烧结

在空气中于1600℃对Al2O3/0.78%SiC纳米复合体进行2h的反应烧结,制得Al2O3/5%莫来石复合陶瓷,其中的莫来石分为两类,即3Al2O3·2SiC和Al5.65Si0.35O9.175。采用SEM和TEM研究Al2O3/莫来石复全陶瓷的微观结构。对Al2O3/莫来石复合陶瓷的密度和力学性能如杨氏模量、泊松比、硬度、韧性和强度进行了研究。