Bayesian algorithms for simultaneous structure from motion estimation of multiple independently moving objects.

In this paper, the problem of simultaneous structure from motion estimation for multiple independently moving objects from a monocular image sequence is addressed. Two Bayesian algorithms are presented for solving this problem using the sequential importance sampling (SIS) technique. The empirical posterior distribution of object motion and feature separation parameters is approximated by weighted samples. The first algorithm addresses the problem when only two moving objects are present. A singular value decomposition (SVD)-based sample clustering algorithm is shown to be capable of separating samples related to different objects. A pair of SIS procedures is used to track the posterior distribution of the motion parameters. In the second algorithm, a balancing step is added into the SIS procedure to preserve samples of low weights so that all objects have enough samples to propagate empirical motion distributions. By using the proposed algorithms, the relative motions of all the moving objects with respect to the camera can be simultaneously estimated. Both algorithms have been tested on synthetic and real-image sequences. Improved results have been achieved.     

Fabrication of Arsenic Sulfide Optical Fiber with Low Hydrogen Impurities

Arsenic sulfide glass optical fibers typically possess extrinsic absorption bands in the infrared wavelength region associated with residual hydrogen and oxygen related impurities, despite using purified precursors. We report a purification process based on the addition of tellurium tetrachloride (TeCl₄) to the glass. During melting, the chlorine from TeCl₄ reacts with the hydrogen impurities to produce volatile products (e.g., HCl) that can be removed by subsequent dynamic distillation. The processing conditions have been modified accordingly to produce optical fibers with significantly reduced loss due to hydrogen sulfide impurity content (1.5 dB/m).     

Multi-method learning and assimilation

Considering the wide range of possible behaviours to be acquired for domestic robots, applying a single learning method is clearly insufficient. In this paper, we propose a new strategy for behaviour acquisition for domestic robots where the behaviours are acquired using multiple differing learning methods that are subsequently incorporated into a common behaviour selection system, enabling them to be performed in appropriate situations. An example of the implementation of this strategy applied to the entertainment humanoid robot QRIO is introduced and the results are discussed.     

Up Scope

The scope of the magazine is being expanded to incorporate reliability and dependability concerns and its readership will include members of the IEEE Reliability Society. This expansion is appropriate because the requirements for a system to be reliable, safe, secure (i.e. its dependability or trustworthiness attributes) often need to be considered together in order to achieve the desired result.     

On the behaviour of hygroscopic wheels: Part I – channel modelling

In this paper a detailed mathematical formulation is developed for the numerical modelling of the behaviour of a channel of a hygroscopic compact matrix. A comparison between the detailed version and a simplified one is performed considering a two-dimensional airflow between desiccant parallel plates. The distinct heat and mass transfer phenomena are strongly coupled, and some properties of the airflow and of the desiccant medium exhibit important changes during the sorption processes. Both physical models take into account the gas side and solid side resistances to heat and mass transfer. The wall domain is treated similarly in both models, by taking into account the simultaneous heat and mass transfer together with the water adsorption/desorption process. Two phases co-exist in equilibrium inside the desiccant porous medium, the equilibrium being characterized by sorption isotherms without hysteresis. The detailed model is based on the solution of the differential equations for the conservation of mass, energy and momentum, assuming that no momentum transport exists in the porous wall domain. In the simplified model, the airflow is treated as a bulk flow, the interaction with the wall being evaluated by using appropriated convective coefficients.Both models are compared in the simulation of a parallel plate channel during an adsorption process. The results show a good agreement for channel lengths greater than 0.1 m. In part II of the paper, the simplified model is adapted to the simulation of the three-dimensional problem in the channel of a hygroscopic rotor, and it is used to perform parametric studies.     

Minimum weight design of inhomogeneous rotating discs

There are numerous applications for gas turbine discs in the aerospace industry such as in turbojet engines. These discs normally work under high temperatures while subjected to high angular velocities. Minimizing the weight of such items in aerospace applications results in benefits such as low dead weights and lower costs. High speed of rotation causes large centrifugal forces in a disc and simultaneous application of high temperatures reduces disc material strength. Thus, the latter effects tend to increase deformations of the disc under the applied loads. In order to obtain a reliable disc analysis and arrive at the corresponding correct stress distribution, solutions should consider changes in material properties due to the temperature field throughout the disc. To achieve this goal, an inhomogeneous disc model with variable thickness is considered. Using the variable material properties method, stresses are obtained for the disc under rotation and a steady temperature field. In this paper this is done by modelling the rotating disc as a series of rings of different but constant properties. The optimum disc profile is arrived at by sequentially proportioning the thicknesses of each ring to satisfy the stress requirements. This method vis-à-vis a mathematical programming procedure for optimization shows several advantages. Firstly, it is simple iterative proportioning in each design cycle not requiring involved mathematical operations. Secondly, due to its simplicity it alleviates the necessity of certain simplifications that are common in so-called rigorous mathematical procedures. The results obtained, compared to those published in the literature show agreement and superiority. A further advantage of the proposed method is the independence of the end results from the initially assumed point in the iterative design routine, unlike most methods published so far.     

Assigning new meanings to traditional literature: illustrations for HIV educators

PURPOSE: To evaluate training in general preventive medicine and public health, determining which experiences and institutional sponsors best prepare residents for practice and where improvements are most needed. METHOD: A 1991 survey of the 1,070 graduates of preventive medicine residencies from 1979 through 1989 asked the graduates to measure the adequacy of their training in preventive medicine topic areas by using a Likert-type scale of 1 (poor) to 4 (excellent). Adequacy was analyzed for variation against practice emphasis during training, training program sponsor, and other variables. The statistical methods included Student's t-test, analysis of variance and linear regression. RESULTS: A total of 797 graduates (74.5%) responded. The overall mean ratings of adequacy of training were 3.1 (SD, 0.9) for epidemiology, 2.5 (SD, 1.0) for clinical preventive medicine, 2.4 (SD, 0.9) for environmental health, 2.3 (SD, 0.9) for health administration, 2.3 (SD, 0.9) for health education and behavioral sciences, and 2.2 (SD, 0.9) for occupational medicine. Training was rated highest for topics emphasized during practice experiences. Adequacy varied by type of institution sponsoring the residency. Women rated their training as being less adequate than did men in all areas except clinical preventive medicine. The graduates tended ultimately to practice in topic areas emphasized during training. CONCLUSION: The graduates' ratings suggest that improvements are most needed in health administration, environment health, health education, and occupational medicine. Potential improvement strategies include highly focused practice experiences and increased emphasis on training in actual practice settings and community sites.     

Gait function in spastic hemiparetic patients walking barefoot, with firm shoes, and with ankle-foot orthosis

Cortical spreading depression is a wave of electrical and biochemical changes that spreads across the cerebral cortex. It has been hypothesized to be an important underlying cause of the visual disturbances occurring during the migraine aura, but this is difficult to test in animals or humans. We created a computational model of cortical spreading depression and found that during the wave of biochemical changes the spatial pattern of neural activity broke up into irregular patterns of lines and small patches of highly activated elements. The corresponding visual disturbances that would be produced by these patterns of neural activity resemble the hallucinations reported during the migraine aura, providing strong support for the cortical spreading depression hypothesis of migraine. The model also makes the testable prediction that these hallucinations move at an exponentially increasing speed across the visual field.