Multi-spectral fusion for surveillance systems

Surveillance systems such as object tracking and abandoned object detection systems typically rely on a single modality of colour video for their input. These systems work well in controlled conditions but often fail when low lighting, shadowing, smoke, dust or unstable backgrounds are present, or when the objects of interest are a similar colour to the background. Thermal images are not affected by lighting changes or shadowing, and are not overtly affected by smoke, dust or unstable backgrounds. However, thermal images lack colour information which makes distinguishing between different people or objects of interest within the same scene difficult.By using modalities from both the visible and thermal infrared spectra, we are able to obtain more information from a scene and overcome the problems associated with using either modality individually. We evaluate four approaches for fusing visual and thermal images for use in a person tracking system (two early fusion methods, one mid fusion and one late fusion method), in order to determine the most appropriate method for fusing multiple modalities. We also evaluate two of these approaches for use in abandoned object detection, and propose an abandoned object detection routine that utilises multiple modalities. To aid in the tracking and fusion of the modalities we propose a modified condensation filter that can dynamically change the particle count and features used according to the needs of the system.We compare tracking and abandoned object detection performance for the proposed fusion schemes and the visual and thermal domains on their own. Testing is conducted using the OTCBVS database to evaluate object tracking, and data captured in-house to evaluate the abandoned object detection. Our results show that significant improvement can be achieved, and that a middle fusion scheme is most effective.     

Design, fabrication, and testing of VDP MEMS pressure sensors

In this paper, a four-terminal piezoresistive sensor commonly known as a van der Pauw (VDP) structure is presented for its application to MEMS pressure sensing. In a recent study, our team has determined the relation between the biaxial stress state and the piezoresistive response of a VDP structure by combining the VDP resistance equations with the equations governing silicon piezoresistivity and has proposed a new piezoresistive pressure sensor. It was observed that the sensitivity of the VDP sensor is over three times higher than the conventional filament type Wheatstone bridge resistor. To check our theoretical findings, we fabricated several (100) silicon diaphragms with both the VDP sensors and filament resistor sensors on the same wafer so both the sensor elements have same doping concentration. Several diaphragms had VDP sensors of different sizes and orientations to find out their geometric effects on pressure sensitivity. The diaphragms were subjected to known pressures, and the pressure sensitivities of both types of sensors were measured using an in-house built calibration setup. It was found that the VDP devices had a linear response to pressure as expected, and were more sensitive than the resistor sensors. Also, the VDP sensors provided a number of additional advantages, such as its size independent sensitivity and simple fabrication steps due to its simple geometry.     

An Architecture for Human‐Guided Autonomy: Team TROOPER at the DARPA Robotics Challenge Finals

Recent robotics efforts have automated simple, repetitive tasks to increase execution speed and lessen an operator's cognitive load, allowing them to focus on higher‐level objectives. However, an autonomous system will eventually encounter something unexpected, and if this exceeds the tolerance of automated solutions, there must be a way to fall back to teleoperation. Our solution is a largely autonomous system with the ability to determine when it is necessary to ask a human operator for guidance. We call this approach human‐guided autonomy. Our design emphasizes human‐on‐the‐loop control where an operator expresses a desired high‐level goal for which the reasoning component assembles an appropriate chain of subtasks. We introduce our work in the context of the DARPA Robotics Challenge (DRC) Finals. We describe the software architecture Team TROOPER developed and used to control an Atlas humanoid robot. We employ perception, planning, and control automation for execution of subtasks. If subtasks fail, or if changing environmental conditions invalidate the planned subtasks, the system automatically generates a new task chain. The operator is able to intervene at any stage of execution, to provide input and adjustment to any control layer, enabling operator involvement to increase as confidence in automation decreases. We present our performance at the DRC Finals and a discussion about lessons learned.     

Mapping wildfire and clearcut harvest disturbances in boreal forests with Landsat time series data

Information regarding the extent, timing and magnitude of forest disturbance are key inputs required for accurate estimation of the terrestrial carbon balance. Equally important for studying carbon dynamics is the ability to distinguish the cause or type of forest disturbance occurring on the landscape. Wildfire and timber harvesting are common disturbances occurring in boreal forests, with each having differing carbon consequences (i.e., biomass removed, recovery rates). Development of methods to not only map, but distinguish these types of disturbance with satellite data will depend upon an improved understanding of their distinctive spectral properties. In this study, we mapped wildfires and clearcut harvests occurring in a Landsat time series (LTS) acquired in the boreal plains of Saskatchewan, Canada. This highly accurate reference map (kappa = 0.91) depicting the year and cause of historical disturbances was used to determine the spectral and temporal properties needed to accurately classify fire and clearcut disturbances. The results showed that spectral data from the short-wave infrared (SWIR; e.g., Landsat band 5) portion of the electromagnetic spectrum was most effective at separating fires and clearcut harvests possibly due to differences in structure, shadowing, and amounts of exposed soil left behind by the two disturbance types. Although SWIR data acquired 1 year after disturbance enabled the most accurate discrimination of fires and clearcut harvests, good separation (e.g., kappa ≥ 0.80) could still be achieved with Landsat band 5 and other SWIR-based indices 3 to 4 years after disturbance. Conversely, minimal disturbance responses in near infrared-based indices associated with green leaf area (e.g., NDVI) led to unreliably low classification accuracies regardless of time since disturbance. In addition to exploring the spectral and temporal manifestation of forest disturbance types, we also demonstrate how Landsat change maps which attribute cause of disturbance can be used to help elucidate the social, ecological and carbon consequences associated with wildfire and clearcut harvesting in Canadian boreal forests.     

Building Agile Systems with Mobile Code

Mobile code has been championed as a solution to a plethora of software problems. This paper describes investigative work undertaken in order to evaluate the mobile code abstractions of Mobile Agents and Mobile Objects, and to understand the implications of using these abstractions to build distributed systems.We describe two systems built to support the Sales Order Process of a distributed manufacturing enterprise, using IBM's Aglets Software Development Kit. The Sales Order Process model and the requirements for agility used as the basis for these implementations are derived from data collected in an industrial case study.Both systems are evaluated using the Goal/Question/Metric methodology. Two new metrics for Semantic Alignment and Change Capability are presented and used to evaluate each system with respect to the degree of system agility supported. The systems are evaluated through a set of scenarios generated during the case study in an attempt to see if they support system integration and agility in the manufacturing domain. Further we examine the implications of using a mobile code abstraction when compared with the abstraction offered by traditional distribution technology.The work described provides evidence that both Mobile Agent and Mobile Object systems have inherent properties that can be used to build agile distributed systems. Further, Mobile Agents with their additional autonomy provide marginally greater support.     

A new framework for understanding educational digital library use: re-examining digital divides in U.S. schools

Despite their decade of deployment, educational digital libraries have not achieved sustained use in elementary and secondary schools in the United States. Barriers to accessing the Internet and computers have been widely targeted by myriad initiatives, but efforts aimed at bridging this first-level “digital divide” have not led to increased use of the Internet and digital library resources in U.S. classrooms. In fact, such programs have revealed additional divides that affect educators’ use. This paper examines the additional digital divide levels and proposes a new framework for understanding technology innovation in schools that can improve development and outreach approaches by digital library developers.     

Adaptive Threat Modeling for Secure Ad Hoc Routing Protocols

Secure routing protocols for mobile ad hoc networks provide the required functionality for proper network operation. If the underlying routing protocol cannot be trusted to follow the protocol operations, additional trust layers, such as authentication, cannot be obtained. Threat models drive analysis capabilities, affecting how we evaluate trust. Current attacker threat models limit the results obtained during protocol security analysis over ad hoc routing protocols. Developing a proper threat model to evaluate security properties in mobile ad hoc routing protocols presents a significant challenge. If the attacker strength is too weak, we miss vital security flaws. If the attacker strength is too strong, we cannot identify the minimum required attacker capabilities needed to break the routing protocol. In this paper we present an adaptive threat model to evaluate route discovery attacks against ad hoc routing protocols. Our approach enables us to evaluate trust in the ad hoc routing process and allows us to identify minimum requirements an attacker needs to break a given routing protocol.     

Electrospinning hollow and core/sheath nanofibers using hydrodynamic fluid focusing

Hollow poly (vinylpyrrolidone) (PVP) + TiO₂ and polypyrrole (core)/PVP (sheath) nanofibers were successfully electrospun using hydrodynamic fluid focusing. Utilizing a two-dimensional fluid focusing technique previously applied to aqueous solutions, intersecting microchannels cast in (poly)dimethylsiloxane were utilized to dynamically center core fluids in immiscible sheath fluids prior to electrospinning at the channel outlet. Advantages of using microfluidic channel networks for the electrospinning of composite nanofibers include spatiotemporal control over input reagents, ease of fabrication and the ability to focus the core stream into sheath layer without the need of complex co-annular nozzles.     

Modeling expert problem solving in a game of chance: a Yahtzee© case study

Although developments on software agents have led to useful applications in automation of routine tasks such as electronic mail filtering, there is a scarcity of research that empirically evaluates the performance of a software agent versus that of a human reasoner, whose problem-solving capabilities the agent embodies. In the context of a game of a chance, namely Yahtzee©, we identified strategies deployed by expert human reasoners and developed a decision tree for agent development. This paper describes the computer implementation of the Yahtzee game as well as the software agent. It also presents a comparison of the performance of humans versus an automated agent. Results indicate that, in this context, the software agent embodies human expertise at a high level of fidelity.