A sonar approach to obstacle detection for a vision-based autonomous wheelchair

An advanced prototype Computer Controlled Power Wheelchair Navigation System or CCPWNS has been developed to provide autonomy for highly disabled users, whose mix of disabilities makes it difficult or impossible to control their own power chairs in their homes. The working paradigm is “teach and repeat” a mode of control for typical industrial holonomic robots. Ultrasound sensors, which during subsequent autonomous tracking will be used to detect obstacles, also are active during teaching. Based upon post-processed data collected during this teaching event, elaborate trajectories–which may involve multiple direction changes, pivoting and so on, depending upon the requirements of the typically restricted spaces within which the chair must operate–will later be called upon by the disabled rider. An off-line postprocessor assigns an ultrasound profile to the sequence of poses of any taught trajectory. Use of this profile during tracking obviates most of the inherent problems of using ultrasound to avoid obstacles while retaining the ability to near solid objects, such as when passing through a narrow doorway, where required by the environment and trajectory objectives. The work in this article describes a procedure to obtain consistent maps of sonar boundaries during the teaching process, and a preliminary approach to use this information during the tracking phase. The approach is illustrated by results obtained by using the CCPWNS prototype.     

A scalable solution to the nearest neighbor search problem through local-search methods on neighbor graphs

Pattern Analysis and Applications - Nearest neighbor search is a powerful abstraction for data access; however, data indexing is troublesome even for approximate indexes. For intrinsically...     

Negative effects on family functioning from psychosocial treatments: A recommendation for expanded safety monitoring.

Whereas biomedical products are required to be tested for safety with respect to vulnerable organ systems, psychosocial treatments are not required to be tested for safety with respect to vulnerable social systems such as the family. This article provides some evidence for the need to document the potential negative effects of psychosocial treatments on family-level outcomes. Three randomized controlled trials are reviewed in which independent ratings or self-reports of family functioning were measured. Each of the 3 studies compared the efficacy of a family and a nonfamily treatment. Totally unexpectedly, the nonfamily treatment in each of the 3 trials demonstrated significant declines in family functioning. The authors suggest that psychosocial treatments with vulnerable populations have the potential to produce negative side effects on families. Therefore, it is important to conduct further research to determine whether safety studies should be required for psychosocial treatments. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Autocalibration with the Minimum Number of Cameras with Known Pixel Shape

In 3D reconstruction, the recovery of the calibration parameters of the cameras is paramount since it provides metric information about the observed scene, e.g., measures of angles and ratios of distances. Autocalibration enables the estimation of the camera parameters without using a calibration device, but by enforcing simple constraints on the camera parameters. In the absence of information about the internal camera parameters such as the focal length and the principal point, the knowledge of the camera pixel shape is usually the only available constraint. Given a projective reconstruction of a rigid scene, we address the problem of the autocalibration of a minimal set of cameras with known pixel shape and otherwise arbitrarily varying intrinsic and extrinsic parameters. We propose an algorithm that only requires 5 cameras (the theoretical minimum), thus halving the number of cameras required by previous algorithms based on the same constraint. To this purpose, we introduce as our basic geometric tool the six-line conic variety (SLCV), consisting in the set of planes intersecting six given lines of 3D space in points of a conic. We show that the set of solutions of the Euclidean upgrading problem for three cameras with known pixel shape can be parameterized in a computationally efficient way. This parameterization is then used to solve autocalibration from five or more cameras, reducing the three-dimensional search space to a two-dimensional one. We provide experiments with real images showing the good performance of the technique.     

Development of a pit filling algorithm for LiDAR canopy height models

LiDAR canopy height models (CHMs) can exhibit unnatural looking holes or pits, i.e., pixels with a much lower digital number than their immediate neighbors. These artifacts may be caused by a combination of factors, from data acquisition to post-processing, that not only result in a noisy appearance to the CHM but may also limit semi-automated tree-crown delineation and lead to errors in biomass estimates. We present a highly effective semi-automated pit filling algorithm that interactively detects data pits based on a simple user-defined threshold, and then fills them with a value derived from their neighborhood. We briefly describe this algorithm and its graphical user interface, and show its result in a LiDAR CHM populated with data pits. This method can be rapidly applied to any CHM with minimal user interaction. Visualization confirms that our method effectively and quickly removes data pits.     

The Servet 3.0 benchmark suite: Characterization of network performance degradation

Servet is a suite of benchmarks focused on extracting a set of parameters with high influence on the overall performance of multicore clusters. These parameters can be used to optimize the performance of parallel applications by adapting part of their behavior to the characteristics of the machine. Up to now the tool considered network bandwidth as constant and independent of the communication pattern. Nevertheless, the inter-node communication bandwidth decreases on modern large supercomputers depending on the number of cores per node that simultaneously access the network and on the distance between the communicating nodes. This paper describes two new benchmarks that improve Servet by characterizing the network performance degradation depending on these factors. This work also shows the experimental results of these benchmarks on a Cray XE6 supercomputer and some examples of how real parallel codes can be optimized by using the information about network degradation.     

Frequency domain design trade-offs for linear periodic feedback systems*

The purpose of this paper is to analyse inherent design limitations associated with systems that are linear and periodically time-varying. The contributions of the paper are (i) to relate frequency domain raising methods from signal processing literature to time-domain lifting used in control literature, and (ii) to develop extensions of the Poisson sensitivity and complementary sensitivity integral constraints. In particular, it is shown that there is generally an additional cost associated with having a time invariant target closed loop for a periodic open loop plant. It is also shown that design limitations due to unstable poles and/or non-minimum phase zeros of a discrete linear time-invariant plant remain even if a periodic time-varying controller is used. As a consequence, the utility of periodic control in circumventing design limitations is questioned.     

Capture device identification from digital images using Kullback-Leibler divergence

Multimedia Tools and Applications - It is proposed a forensic method for the capture device identification from digital images, which requires two elements: i) a digital image subject to...