Vision Based UAV Attitude Estimation: Progress and Insights

Unmanned aerial vehicles (UAVs) are increasingly replacing manned systems in situations that are dangerous, remote, or difficult for manned aircraft to access. Its control tasks are empowered by computer vision technology. Visual sensors are robustly used for stabilization as primary or at least secondary sensors. Hence, UAV stabilization by attitude estimation from visual sensors is a very active research area. Vision based techniques are proving their effectiveness and robustness in handling this problem. In this work a comprehensive review of UAV vision based attitude estimation approaches is covered, starting from horizon based methods and passing by vanishing points, optical flow, and stereoscopic based techniques. A novel segmentation approach for UAV attitude estimation based on polarization is proposed. Our future insightes for attitude estimation from uncalibrated catadioptric sensors are also discussed.     

Understanding design patterns — what is the problem?

Design patterns codify proven solutions to recurring design problems. Their proper use within a development context requires that: (i) we understand them; (ii) we ascertain their applicability or relevance to the design problem at hand; and (iii) we apply them faithfully to the problem at hand. We argue that an explicit representation of the design problem solved by a design pattern is key to supporting the three tasks in an integrated fashion. We propose a model‐driven representation of design patterns consisting of triples < MP, MS, T > where MP is a model of the problem solved by the pattern, MS is a model of the solution proposed by the pattern, and T is a model transformation of an instance of the problem into an instance of the solution. Given an object‐oriented design model, we look for model fragments that match MP (call them instances of MP), and when one is found, we apply the transformation T yielding an instance of MS. Easier said than done. Experimentation with an Eclipse Modeling Framework‐based implementation of our approach applied to a number of open‐source software application's raised fundamental questions about: (i) the nature of design patterns in general, and the ones that lend themselves to our approach, and (ii) our understanding and codification of seemingly simple design patterns. In this paper, we present the principles behind our approach, report on the results of applying the approach to the Gang of Four (GoF) design patterns, and discuss the representability of design problems solved by these patterns. Copyright © 2011 John Wiley & Sons, Ltd.     

Generation of sodium hypochlorite (NaOCl) from sodium chloride solution using C/PbO_2 and Pb/PbO_2 electrodes

Two modified electrodes (Pb/PbO2 and C/PbO2) were prepared by electrodepositing a lead oxide layer on lead and carbon sub-strates. These modified electrodes were used as anodes for the generation of sodium hypochlorite (NaOCl) from sodium chloride solution. Different operating conditions and factors affecting the treatment process of NaOCl generation, including current density, pH values, con-ductive electrolytes, and electrolysis time, were studied and optimized. By comparison the C/PbO2 electrode shows a higher efficiency than the Pb/PbO2 electrode for the generation of NaOCl.     

Multi‐objective optimization using metaheuristics: non‐standard algorithms

In recent years, the application of metaheuristic techniques to solve multi‐objective optimization problems has become an active research area. Solving this kind of problems involves obtaining a set of Pareto‐optimal solutions in such a way that the corresponding Pareto front fulfils the requirements of convergence to the true Pareto front and uniform diversity. Most of the studies on metaheuristics for multi‐objective optimization are focused on Evolutionary Algorithms, and some of the state‐of‐the‐art techniques belong this class of algorithms. Our goal in this paper is to study open research lines related to metaheuristics but focusing on less explored areas to provide new perspectives to those researchers interested in multi‐objective optimization. In particular, we focus on non‐evolutionary metaheuristics, hybrid multi‐objective metaheuristics, parallel multi‐objective optimization and multi‐objective optimization under uncertainty. We analyze these issues and discuss open research lines.     

Evaluation of Al and Some of Its Alloys as Anode Materials vs γ-MnO2 as Cathode Material and Ore Produced γ-MnO2 vs Zn Anode in KOH Solution

In this study electrochemical performance of Al and some of its alloys (Al-Zn, Al-Mg and Al-Mn) anodes vs MnO2 cathode were carried out in alkaline solution. The results show that the Al-Zn alloy anode has the best cell capacity among the other alloys. Cell capacity values go in the order Al-Zn＞Al-Mg＞Al＞Al-Mn. This result is probably related to the nature of passive films formed on the surface of the alloys which examined by scanning electron microscopy (SEM). SEM morphologies of Al and its alloys showed coarse grains of passive films formed on the surface of these anode materials while Al-Mn morphology shows a needle-like structure.Electrolytic manganese dioxide (EMD) produced by electrodepositing on platinum anode from liquor resulting from reduction of low grade pyrolusite ore (β-MnO2) by sulfur slag was characterized as cathode in alkaline Zn-MnO2 batteries. Ore produced sample (EMD1) was performed well in comparison with EMD standard (EMD2) (commercial battery grade electrolytic manganese dioxide, TOSOH-Hellas GH-S). SEM morphology of Zn anode after cell reaction was carried out and showed that Zn anode has fine grains of passive film on its surface.     

Interface Characteristics and Laboratory Constructability Tests of Novel Fiber-Reinforced Polymer/Concrete Piles

Conventional pile materials such as steel, concrete, and timber are prone to deterioration for many reasons. Fiber-reinforced polymer (FRP) concrete composites represent an alternative construction material for deep foundations that can eliminate many of the performance disadvantages of traditional piling materials. However, FRP composites present several difficulties related to constructability, and the lack of design tools for their implementation as a foundation element. This paper describes the results of an experimental study on frictional FRP/dense sand interface characteristics and the constructability of FRP–concrete composite piles. An innovative toe driving technique is developed to install the empty FRP shells in the soil and self-consolidating concrete is subsequently cast in them. The experimental program involves interface shear tests on small FRP samples and uplift load tests on large-scale model piles. Two different FRP pile materials with different roughness and a reference steel pile are examined. Static uplift load tests are conducted on different piles installed in soil samples subjected to different confining pressures in the pressure chamber. The results showed that the interface friction for FRP materials compared favorably with conventional steel material. It was shown that toe driving is suitable for installation of FRP piles in dense soils.     

A fast and compact elimination method of empty elements from a double‐array structure

A double‐array is a well‐known data structure to implement the trie. However, the space efficiency of the double‐array degrades with the number of key deletions because the double‐array keeps empty elements produced by the key deletion. This paper presents a fast and compact elimination method of empty elements using properties of the trie nodes that have no siblings. The present elimination method is implemented by C language. From simulation results for large sets of keys, the present elimination method is about 30–330 times faster than the conventional elimination method and maintains high space efficiency. Copyright © 2003 John Wiley & Sons, Ltd.     

Ferroelectric versus Relaxor Behaviour in Na0.5Bi4.5Ti4O15—BaBi4Ti4O15 Solid Solutions

Sodium-bismuth titanate Na_0.5Bi_4.5Ti₄O₁₅ (NBT) and barium bismuth titanate BaBi₄Ti₄O₁₅ (BBT) and their solid solutions were prepared by solid state reaction of the constituent oxides. The room temperature structural characteristics were determined by X-ray diffraction and the dielectric properties investigated in a wide range of temperatures (20–750°C) and frequencies (1 kHz–1 MHz). As the barium content increases, the unit cell change from orthorhombic to pseudo-tetragonal, the paraelectric to ferroelectric phase transition decreases from 655°C to 400–420°C and a relaxor-like behaviour is observed for high barium contents. Depending on the composition, dielectric data were fitted using both classical (low Ba) and modified Curie-Weiss law for relaxors (high Ba).     

Theory experiment comparison of the electron backscattering factor from solids at low electron energy (250-5,000 eV)

The electron backscattering factor was measured from 24 different elements at low primary beam energy (250-5,000 eV). The results were compared with Monte Carlo simulations from a variety of freely available programs and an in-house developed program. The results suggest that a thin film of oxide can modify the backscattering factor at low primary energy. In addition, a number of problems have been identified with the freely available programs.     

Exploring spatial datasets with histograms

As online spatial datasets grow both in number and sophistication, it becomes increasingly difficult for users to decide whether a dataset is suitable for their tasks, especially when they do not have prior knowledge of the dataset. In this paper, we propose browsing as an effective and efficient way to explore the content of a spatial dataset. Browsing allows users to view the size of a result set before evaluating the query at the database, thereby avoiding zero-hit/mega-hit queries and saving time and resources. Although the underlying technique supporting browsing is similar to range query aggregation and selectivity estimation, spatial dataset browsing poses some unique challenges. In this paper, we identify a set of spatial relations that need to be supported in browsing applications, namely, the contains, contained and the overlap relations. We prove a lower bound on the storage required to answer queries about the contains relation accurately at a given resolution. We then present three storage-efficient approximation algorithms which we believe to be the first to estimate query results about these spatial relations. We evaluate these algorithms with both synthetic and real world datasets and show that they provide highly accurate estimates for datasets with various characteristics. Recommended by: Sunil Prabhakar Work supported by NSF grants IIS 02-23022 and CNF 04-23336. An earlier version of this paper appeared in the 17th International Conference on Data Engineering (ICDE 2001).