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81.
PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision 总被引:1,自引:0,他引:1
Lorenz Meier Petri Tanskanen Lionel Heng Gim Hee Lee Friedrich Fraundorfer Marc Pollefeys 《Autonomous Robots》2012,33(1-2):21-39
We describe a novel quadrotor Micro Air Vehicle (MAV) system that is designed to use computer vision algorithms within the flight control loop. The main contribution is a MAV system that is able to run both the vision-based flight control and stereo-vision-based obstacle detection parallelly on an embedded computer onboard the MAV. The system design features the integration of a powerful onboard computer and the synchronization of IMU-Vision measurements by hardware timestamping which allows tight integration of IMU measurements into the computer vision pipeline. We evaluate the accuracy of marker-based visual pose estimation for flight control and demonstrate marker-based autonomous flight including obstacle detection using stereo vision. We also show the benefits of our IMU-Vision synchronization for egomotion estimation in additional experiments where we use the synchronized measurements for pose estimation using the 2pt+gravity formulation of the PnP problem. 相似文献
82.
A class of Lyapunov functions is proposed for discrete-time linear systems interconnected with a cone bounded nonlinearity. Using these functions, we propose sufficient conditions for the global stability analysis, in terms of linear matrix inequalities (LMI), only taking the bounded sector condition into account. Unlike frameworks based on the Lur’e-type function, the additional assumptions about the derivative or discrete variation of the nonlinearity are not necessary. Hence, a wider range of cone bounded nonlinearities can be covered. We also show that there is a link between global stability LMI conditions based on this new Lyapunov function and a transfer function of an auxiliary system being strictly positive real. In addition, the novel function is considered in the local stability analysis problem of discrete-time Lur’e systems subject to a saturating feedback. A convex optimization problem based on sufficient LMI conditions is formulated to maximize an estimate of the basin of attraction. Another specificity of this new Lyapunov function is the fact that the estimate is composed of disconnected sets. Numerical examples reveal the effectiveness of this new Lyapunov function in providing a less conservative estimate with respect to the quadratic function. 相似文献
83.
Ledgerwood David M.; Steinberg Marvin A.; Wu Ran; Potenza Marc N. 《Canadian Metallurgical Quarterly》2005,19(2):175
Problem gamblers often attribute suicidal ideation or attempts to their gambling. Logistic regression analyses were applied to data from problem gamblers (N = 986) calling a helpline. Problem gamblers reporting gambling-related suicidality (n = 252; 25.6%) were more likely than those denying it (n = 734; 74.4%) to acknowledge family, financial, legal, and mental and substance-related problems. Of problem gamblers acknowledging gambling-related suicidality, those reporting gambling-related suicide attempts (n = 53; 21.5%) were more likely than those denying them (n = 193; 78.5%) to acknowledge gambling-related illegal behaviors, mental health and substance abuse treatment, and family histories of alcohol problems, and were less likely to report prior gambling treatment. The findings suggest that increased gambling severity is associated with gambling-related suicidality. (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献
84.
Existing transformational leadership research has focused primarily on the behaviors of leaders and their effects on followers. The authors extended this research by examining the social networks of managers who exhibit transformational leadership behaviors. Their focus was on the network of relationships that managers develop and whether they hold key positions in the organization's informal social networks. In a field study using data from 39 managers and 130 nonmanagement employees of 6 organizations, the authors found that managers who score higher on transformational leadership tend to hold more central positions in organizational advice and influence networks. Furthermore, the direct reports of these leaders were also more central in informal organizational networks. These results illuminate one of the ways that managers who exhibit transformational leadership behaviors may exert influence in organizations. (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献
85.
French Douglas J.; No?l Marc; Vigneau Fran?ois; French Julie A.; Cyr Chantal P.; Evans R. Thomas 《Canadian Metallurgical Quarterly》2005,37(3):181
This study examined the psychometric properties of the PCS-CF, a French-Canadian adaptation of the Pain Catastrophizing Scale (Sullivan, Bishop & Pivik, 1995). One hundred and twenty undergraduate students (83 women; 37 men) completed the PCS-CF and measures of anxiety and depression prior to immersing their hand in ice water for 1-minute. A subset of 39 participants (28 females; 11 males) also completed a second pain task involving an ascending series of electrocutaneous stimulations. Participants' verbal and non-verbal pain behaviours during and immediately after the immersion task were recorded and subsequently independently coded. Reliability analyses revealed that the PCS-CF total score and subscale scores have a high degree of internal consistency and test-retest reliabilities that are comparable to the original Pain Catastrophizing Scale. PCS-CF scores were associated with higher levels of self-reported pain during the ice water immersion task and decreased pain tolerance during electrocutaneous stimulation. Individuals with elevated PCS-CF scores also displayed a more diverse repertoire of pain behaviours than their low PCS-CF counterparts. Previous findings that catastrophizing scores are able to discriminate criterion groups of males and females were also replicated. Given the highly correlated factors obtained in analyses of the dimensionality of the PCS-CF, the structure suggested by the authors of the original scale is only partially supported. However, the results taken together suggest that the PCS-CF is both a reliable and valid measure of the pain catastrophizing construct that is psychometrically comparable to the original PCS. (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献
86.
Marc L. Imhoff Thomas D. Sisk Anthony Milne Garth Morgan Tony Orr 《Remote sensing of environment》1997,60(3):217-227
An integrated remote sensing/field ecology project linked the use of synthetic aperture radar (SAR) and aerial photography to studies of landscape spatial heterogeneity and bird community ecology. P-, L-, and C-band SAR data, collected over a section of Kakadu National Park in Australia's Northern Territory during the Joint NASA/Australia DC-8 data acquisition campaign, were analyzed in light of field data integrating vegetation structure and floristics with bird abundances across a heterogeneous study site. Results indicate that SAR data are able to discern structural differences relevant to bird habitat quality within floristically homogeneous stands, while multispectral sensors successfully identified floristic differences among habitat types. Simplifying indices of bird diversity showed ambiguous changes across the site; however, the abundances of individual species were observed to change significantly across both floristic and structural gradients. These results suggest that efforts to map bird diversity should focus on species-specific habitat relationships and that some measure of vegetation structure is needed to understand bird habitat. The approach employed here advances the use of SAR data in the three-dimensional mapping of animal habitats from remotely sensed data, and extends current capabilities for mapping and modeling large-scale patterns in the distribution of biological diversity. 相似文献
87.
88.
The graph partitioning problem consists of dividing the vertices of a graph into clusters, such that the weight of the edges crossing between clusters is minimized. We present a new compact mathematical formulation of this problem, based on the use of binary representation for the index of clusters assigned to vertices. This new formulation is almost minimal in terms of the number of variables and constraints and of the density of the constraint matrix. Its linear relaxation brings a very fast computational resolution, compared with the standard one.Experiments were conducted on classical large benchmark graphs designed for comparing heuristic methods. On one hand, these experiments show that the new formulation is surprisingly less time efficient than expected on general k-partitioning problems. On the other hand, the new formulation applied on bisection problems allows to obtain the optimum solution for about ten instances, where only best upper bounds were previously known. 相似文献
89.
David Gabriel Huub H. J. Cox Marc A. Deshusses 《Canadian Metallurgical Quarterly》2004,130(10):1110-1117
Until recently, biological treatment of odors in biofilters or biotrickling filters was thought to require a longer gas contact time than chemical scrubbing, hence bioreactors for air treatment required a larger footprint. This paper discusses the conversion of chemical scrubbers to biological trickling filters. Initially, research was conducted with a laboratory-scale biotrickling filter. An effective open-pore polyurethane packing material was identified and H2S biotreatment performance was quantified. Key technical issues in determining the general suitability of converting wet scrubbers to biotrickling filters were identified, and a generic ten-step conversion procedure was developed. Following the laboratory research, five full-scale chemical scrubbers treating odorous air at the Sanitation District of Orange County, Calif., were converted to biotrickling filters. The original airflow rate was maintained, resulting in a gas contact time as low as 1.6–3.1?s. The converted biotrickling filters demonstrated an excellent capability for treating high H2S concentrations to concentrations below regulatory limits. This study shows outstanding potential for converting chemical scrubbers to biotrickling filters at publicly owned treatment works. 相似文献
90.
Marc Rennhard Sandro Rafaeli Laurent Mathy Bernhard Plattner David Hutchison 《Electronic Commerce Research》2004,4(1-2):83-111
The lack of privacy is one of the main reasons that limits trust in e-commerce. Current e-commerce practice enforces a customer to disclose her identity to the e-shop and the use of credit cards makes it straightforward for an e-shop to know the real identity of its customers. Although there are some payment systems based on untraceable tokens, they are not as widely used as credit cards. Furthermore, even without buying anything, a customer is already disclosing some information about who or where she may be by just connecting to the e-shop's web server and leaving behind an IP-address. In this paper, we present novel components that enable secure pseudonymous e-commerce. On the one hand, these components allow a customer to browse through an e-shop, select goods, and pay the goods with her credit card such that neither the e-shop operator nor the credit card issuer nor an eavesdropper is able to get any information about the customer's identity. On the other hand, it is guaranteed that none of the involved parties is able to act dishonestly during the credit card payment. Such a system could greatly enhance trust in e-commerce since it overcomes the customers' privacy concerns. 相似文献