Classifying species of individual trees by intensity and structure features derived from airborne laser scanner data

The objective of this study was to identify candidate features derived from airborne laser scanner (ALS) data suitable to discriminate between coniferous and deciduous tree species. Both features related to structure and intensity were considered. The study was conducted on 197 Norway spruce and 180 birch trees (leaves on conditions) in a boreal forest reserve in Norway. The ALS sensor used was capable of recording multiple echoes. The point density was 6.6 m^− 2. Laser echoes located within the vertical projection of the tree crowns, which were assumed to be circular and defined according to field measurements, were attributed to three categories: “first echoes of many”, “single echoes”, or “last echoes of many echoes”. They were denoted FIRST, SINGLE, and LAST, respectively. In tree species classification using ALS data features should be independent of tree heights. We found that many features were dependent on tree height and that this dependency influenced selection of candidate features. When we accounted for this dependency, it was revealed that FIRST and SINGLE echoes were located higher and LAST echoes lower in the birch crowns than in spruce crowns. The intensity features of the FIRST echoes differed more between species than corresponding features of the other echo categories. For the FIRST echoes the intensity values tended to be higher for birch than spruce. When using the various features for species classification, maximum overall classification accuracies of 77% and 73% were obtained for structural and intensity features, respectively. Combining candidate features related to structure and intensity resulted in an overall classification accuracy of 88%.     

Effects of different sensors, flying altitudes, and pulse repetition frequencies on forest canopy metrics and biophysical stand properties derived from small-footprint airborne laser data

Canopy height distributions were created from small-footprint airborne laser scanner (ALS) data collected over 40 field sample plots with size 1000 m² located in mature conifer forest. ALS data were collected with two different instruments, i.e., the ALTM 1233 and ALTM 3100 laser scanners (Optech Inc.). The ALTM 1233 data were acquired at a flying altitude of 1200 m and a pulse repetition frequency (PRF) of 33 kHz. Three different acquisitions were carried out with ALTM 3100, i.e., (1) a flying altitude of 1100 m and a PRF of 50 kHz, (2) a flying altitude of 1100 m and a PRF of 100 kHz, and (3) a flying altitude of 2000 m and a PRF of 50 kHz. Height percentiles, mean and maximum height values, coefficients of variation of the heights, and canopy density at different height intervals above the ground were derived from the four different ALS datasets and for single + first and last echoes of the ALS data separately. The ALS-derived height- and density variables were assessed in pair-wise comparisons to evaluate the effects of (a) instrument, (b) flying altitude, and (c) PRF. A systematic shift in height values of up to 0.3 m between sensors when the first echoes were compared was demonstrated. Also the density-related variables differed significantly between the two instruments. Comparisons of flying altitudes and PRFs revealed upwards shifted canopy height distributions for the highest flying altitude (2000 m) and the lowest PRF (50 kHz). The distribution of echoes on different echo categories, i.e., single and multiple (first and last) echoes, differed significantly between acquisitions. The proportion of multiple echoes decreased with increasing flying altitude and PRF. Different echo categories have different properties since it is likely that single echoes tend to occur in the densest parts of the tree crowns, i.e., near the apex where the concentration of biological matter is highest and distance to the ground is largest. To assess the influence of instrument, flying altitude, and PRF on biophysical properties derived from ALS data, regression analysis was carried out to relate ALS-derived metrics to mean tree height (h_L) and timber volume (V). Cross validation revealed only minor differences in precision for the different ALS acquisitions, but systematic differences between acquisitions of up to 2.5% for h_L and 10.7% for V were found when comparing data from different acquisitions.     

Design patterns for user interface for mobile applications

The topic of this paper is a collection of user interface (UI) design patterns for mobile applications. In the paper we present the structure of the patterns collection – the patterns are suggested solutions to problems that are grouped into a set of problem areas that are further grouped into three main problem areas – a structure which is valuable both as an index to identifying patterns to use, and it gives a fairly comprehensive overview of issues when designing user interfaces for mobile applications. To show the breadth of the patterns collection we present six individual problems with connected design patterns in some detail – each coming from different problem areas. They represent important and relevant problems, and are on different levels of abstraction, thus showing how patterns may be used to present problems and solutions on different levels of detail. To show the relevance and usefulness of the patterns collection for usability professionals with a mixed background, we present some relevant findings from a validation of the patterns collection. In addition to verifying the relevance and usefulness of the patterns collection, it also shows both expected and surprising correlations between background and perceived relevance and usefulness. One important finding from the validation is an indication that the patterns collection is best suited for experienced UI developers wanting to start developing mobile UIs. Using a patterns collection for documenting design knowledge and experience has been a mixed experience, so we discuss pros and cons of this. Finally, we present related work and future research.     

Spanners of bounded degree graphs

A k-spanner of a graph G is a spanning subgraph of G in which the distance between any pair of vertices is at most k times the distance in G. We prove that for fixed k,w, the problem of deciding if a given graph has a k-spanner of treewidth w is fixed-parameter tractable on graphs of bounded degree. In particular, this implies that finding a k-spanner that is a tree (a tree k-spanner) is fixed-parameter tractable on graphs of bounded degree. In contrast, we observe that if the graph has only one vertex of unbounded degree, then Treek-Spanner is NP-complete for k?4.     

Improved Approximations for Guarding 1.5-Dimensional Terrains

We present a 4-approximation algorithm for the problem of placing the fewest guards on a 1.5D terrain so that every point of the terrain is seen by at least one guard. This improves on the previous best approximation factor of 5 (see King in Proceedings of the 13th Latin American Symposium on Theoretical Informatics, pp. 629–640, 2006). Unlike most of the previous techniques, our method is based on rounding the linear programming relaxation of the corresponding covering problem. Besides the simplicity of the analysis, which mainly relies on decomposing the constraint matrix of the LP into totally balanced matrices, our algorithm, unlike previous work, generalizes to the weighted and partial versions of the basic problem.     

Real-time path planning in dynamic virtual environments using multiagent navigation graphs

We present a novel approach for efficient path planning and navigation of multiple virtual agents in complex dynamic scenes. We introduce a new data structure, Multi-agent Navigation Graph (MaNG), which is constructed using first- and second-order Voronoi diagrams. The MaNG is used to perform route planning and proximity computations for each agent in real time. Moreover, we use the path information and proximity relationships for local dynamics computation of each agent by extending a social force model [Helbing05]. We compute the MaNG using graphics hardware and present culling techniques to accelerate the computation. We also address undersampling issues and present techniques to improve the accuracy of our algorithm. Our algorithm is used for real-time multi-agent planning in pursuit-evasion, terrain exploration and crowd simulation scenarios consisting of hundreds of moving agents, each with a distinct goal.     

Staged self-assembly: nanomanufacture of arbitrary shapes with <Emphasis Type="Italic">O</Emphasis>(1) glues

We introduce staged self-assembly of Wang tiles, where tiles can be added dynamically in sequence and where intermediate constructions can be stored for later mixing. This model and its various constraints and performance measures are motivated by a practical nanofabrication scenario through protein-based bioengineering. Staging allows us to break through the traditional lower bounds in tile self-assembly by encoding the shape in the staging algorithm instead of the tiles. All of our results are based on the practical assumption that only a constant number of glues, and thus only a constant number of tiles, can be engineered. Under this assumption, traditional tile self-assembly cannot even manufacture an n × n square; in contrast, we show how staged assembly in theory enables manufacture of arbitrary shapes in a variety of precise formulations of the model.

How crystals that sense and respond to their environments could evolve

An enduring mystery in biology is how a physical entity simple enough to have arisen spontaneously could have evolved into the complex life seen on Earth today. Cairns-Smith has proposed that life might have originated in clays which stored genomes consisting of an arrangement of crystal monomers that was replicated during growth. While a clay genome is simple enough to have conceivably arisen spontaneously, it is not obvious how it might have produced more complex forms as a result of evolution. Here, we examine this possibility in the tile assembly model, a generalized model of crystal growth that has been used to study the self-assembly of DNA tiles. We describe hypothetical crystals for which evolution of complex crystal sequences is driven by the scarceness of resources required for growth. We show how, under certain circumstances, crystal growth that performs computation can predict which resources are abundant. In such cases, crystals executing programs that make these predictions most accurately will grow fastest. Since crystals can perform universal computation, the complexity of computation that can be used to optimize growth is unbounded. To the extent that lessons derived from the tile assembly model might be applicable to mineral crystals, our results suggest that resource scarcity could conceivably have provided the evolutionary pressures necessary to produce complex clay genomes that sense and respond to changes in their environment.