A Novel Real-Time Reference Key Frame Scan Matching Method.

PubMed

Mohamed, Haytham; Moussa, Adel; Elhabiby, Mohamed; El-Sheimy, Naser; Sesay, Abu

2017-05-07

Unmanned aerial vehicles represent an effective technology for indoor search and rescue operations. Typically, most indoor missions' environments would be unknown, unstructured, and/or dynamic. Navigation of UAVs in such environments is addressed by simultaneous localization and mapping approach using either local or global approaches. Both approaches suffer from accumulated errors and high processing time due to the iterative nature of the scan matching method. Moreover, point-to-point scan matching is prone to outlier association processes. This paper proposes a low-cost novel method for 2D real-time scan matching based on a reference key frame (RKF). RKF is a hybrid scan matching technique comprised of feature-to-feature and point-to-point approaches. This algorithm aims at mitigating errors accumulation using the key frame technique, which is inspired from video streaming broadcast process. The algorithm depends on the iterative closest point algorithm during the lack of linear features which is typically exhibited in unstructured environments. The algorithm switches back to the RKF once linear features are detected. To validate and evaluate the algorithm, the mapping performance and time consumption are compared with various algorithms in static and dynamic environments. The performance of the algorithm exhibits promising navigational, mapping results and very short computational time, that indicates the potential use of the new algorithm with real-time systems.

Combing VFH with bezier for motion planning of an autonomous vehicle

NASA Astrophysics Data System (ADS)

Ye, Feng; Yang, Jing; Ma, Chao; Rong, Haijun

2017-08-01

Vector Field Histogram (VFH) is a method for mobile robot obstacle avoidance. However, due to the nonholonomic constraints of the vehicle, the algorithm is seldom applied to autonomous vehicles. Especially when we expect the vehicle to reach target location in a certain direction, the algorithm is often unsatisfactory. Fortunately, the Bezier Curve is defined by the states of the starting point and the target point. We can use this feature to make the vehicle in the expected direction. Therefore, we propose an algorithm to combine the Bezier Curve with the VFH algorithm, to search for the collision-free states with the VFH search method, and to select the optimal trajectory point with the Bezier Curve as the reference line. This means that we will improve the cost function in the VFH algorithm by comparing the distance between candidate directions and reference line. Finally, select the closest direction to the reference line to be the optimal motion direction.

Sparse Unorganized Point Cloud Based Relative Pose Estimation for Uncooperative Space Target.

PubMed

Yin, Fang; Chou, Wusheng; Wu, Yun; Yang, Guang; Xu, Song

2018-03-28

This paper proposes an autonomous algorithm to determine the relative pose between the chaser spacecraft and the uncooperative space target, which is essential in advanced space applications, e.g., on-orbit serving missions. The proposed method, named Congruent Tetrahedron Align (CTA) algorithm, uses the very sparse unorganized 3D point cloud acquired by a LIDAR sensor, and does not require any prior pose information. The core of the method is to determine the relative pose by looking for the congruent tetrahedron in scanning point cloud and model point cloud on the basis of its known model. The two-level index hash table is built for speeding up the search speed. In addition, the Iterative Closest Point (ICP) algorithm is used for pose tracking after CTA. In order to evaluate the method in arbitrary initial attitude, a simulated system is presented. Specifically, the performance of the proposed method to provide the initial pose needed for the tracking algorithm is demonstrated, as well as their robustness against noise. Finally, a field experiment is conducted and the results demonstrated the effectiveness of the proposed method.

Sparse Unorganized Point Cloud Based Relative Pose Estimation for Uncooperative Space Target

PubMed Central

Chou, Wusheng; Wu, Yun; Yang, Guang; Xu, Song

2018-01-01

This paper proposes an autonomous algorithm to determine the relative pose between the chaser spacecraft and the uncooperative space target, which is essential in advanced space applications, e.g., on-orbit serving missions. The proposed method, named Congruent Tetrahedron Align (CTA) algorithm, uses the very sparse unorganized 3D point cloud acquired by a LIDAR sensor, and does not require any prior pose information. The core of the method is to determine the relative pose by looking for the congruent tetrahedron in scanning point cloud and model point cloud on the basis of its known model. The two-level index hash table is built for speeding up the search speed. In addition, the Iterative Closest Point (ICP) algorithm is used for pose tracking after CTA. In order to evaluate the method in arbitrary initial attitude, a simulated system is presented. Specifically, the performance of the proposed method to provide the initial pose needed for the tracking algorithm is demonstrated, as well as their robustness against noise. Finally, a field experiment is conducted and the results demonstrated the effectiveness of the proposed method. PMID:29597323

Axial-Stereo 3-D Optical Metrology for Inner Profile of Pipes Using a Scanning Laser Endoscope

NASA Astrophysics Data System (ADS)

Gong, Yuanzheng; Johnston, Richard S.; Melville, C. David; Seibel, Eric J.

2015-07-01

As the rapid progress in the development of optoelectronic components and computational power, 3-D optical metrology becomes more and more popular in manufacturing and quality control due to its flexibility and high speed. However, most of the optical metrology methods are limited to external surfaces. This article proposed a new approach to measure tiny internal 3-D surfaces with a scanning fiber endoscope and axial-stereo vision algorithm. A dense, accurate point cloud of internally machined threads was generated to compare with its corresponding X-ray 3-D data as ground truth, and the quantification was analyzed by Iterative Closest Points algorithm.

An information geometric approach to least squares minimization

NASA Astrophysics Data System (ADS)

Transtrum, Mark; Machta, Benjamin; Sethna, James

2009-03-01

Parameter estimation by nonlinear least squares minimization is a ubiquitous problem that has an elegant geometric interpretation: all possible parameter values induce a manifold embedded within the space of data. The minimization problem is then to find the point on the manifold closest to the origin. The standard algorithm for minimizing sums of squares, the Levenberg-Marquardt algorithm, also has geometric meaning. When the standard algorithm fails to efficiently find accurate fits to the data, geometric considerations suggest improvements. Problems involving large numbers of parameters, such as often arise in biological contexts, are notoriously difficult. We suggest an algorithm based on geodesic motion that may offer improvements over the standard algorithm for a certain class of problems.

A Novel Real-Time Reference Key Frame Scan Matching Method

PubMed Central

Mohamed, Haytham; Moussa, Adel; Elhabiby, Mohamed; El-Sheimy, Naser; Sesay, Abu

2017-01-01

Unmanned aerial vehicles represent an effective technology for indoor search and rescue operations. Typically, most indoor missions’ environments would be unknown, unstructured, and/or dynamic. Navigation of UAVs in such environments is addressed by simultaneous localization and mapping approach using either local or global approaches. Both approaches suffer from accumulated errors and high processing time due to the iterative nature of the scan matching method. Moreover, point-to-point scan matching is prone to outlier association processes. This paper proposes a low-cost novel method for 2D real-time scan matching based on a reference key frame (RKF). RKF is a hybrid scan matching technique comprised of feature-to-feature and point-to-point approaches. This algorithm aims at mitigating errors accumulation using the key frame technique, which is inspired from video streaming broadcast process. The algorithm depends on the iterative closest point algorithm during the lack of linear features which is typically exhibited in unstructured environments. The algorithm switches back to the RKF once linear features are detected. To validate and evaluate the algorithm, the mapping performance and time consumption are compared with various algorithms in static and dynamic environments. The performance of the algorithm exhibits promising navigational, mapping results and very short computational time, that indicates the potential use of the new algorithm with real-time systems. PMID:28481285

Index Theory-Based Algorithm for the Gradiometer Inverse Problem

DTIC Science & Technology

2015-03-28

greatest distance from the center of mass to an equipotential surface occurs when the generating mass of the admissible potential is from two equal point...point on an equipotential surface to the center of mass occurs when the generating mass is contained in an equatorial great circle with the closest...false, it still has practical utility for our purposes. One can also define DC in any Tangent Plane (TP) to the equipotential surface normal to the

a New Approach for the Semi-Automatic Texture Generation of the Buildings Facades, from Terrestrial Laser Scanner Data

NASA Astrophysics Data System (ADS)

Oniga, E.

2012-07-01

The result of the terrestrial laser scanning is an impressive number of spatial points, each of them being characterized as position by the X, Y and Z co-ordinates, by the value of the laser reflectance and their real color, expressed as RGB (Red, Green, Blue) values. The color code for each LIDAR point is taken from the georeferenced digital images, taken with a high resolution panoramic camera incorporated in the scanner system. In this article I propose a new algorithm for the semiautomatic texture generation, using the color information, the RGB values of every point that has been taken by terrestrial laser scanning technology and the 3D surfaces defining the buildings facades, generated with the Leica Cyclone software. The first step is when the operator defines the limiting value, i.e. the minimum distance between a point and the closest surface. The second step consists in calculating the distances, or the perpendiculars drawn from each point to the closest surface. In the third step we associate the points whose 3D coordinates are known, to every surface, depending on the limiting value. The fourth step consists in computing the Voronoi diagram for the points that belong to a surface. The final step brings automatic association between the RGB value of the color code and the corresponding polygon of the Voronoi diagram. The advantage of using this algorithm is that we can obtain, in a semi-automatic manner, a photorealistic 3D model of the building.

Three-Dimensional Registration for Handheld Profiling Systems Based on Multiple Shot Structured Light

PubMed Central

Ayaz, Shirazi Muhammad; Kim, Min Young

2018-01-01

In this article, a multi-view registration approach for the 3D handheld profiling system based on the multiple shot structured light technique is proposed. The multi-view registration approach is categorized into coarse registration and point cloud refinement using the iterative closest point (ICP) algorithm. Coarse registration of multiple point clouds was performed using relative orientation and translation parameters estimated via homography-based visual navigation. The proposed system was evaluated using an artificial human skull and a paper box object. For the quantitative evaluation of the accuracy of a single 3D scan, a paper box was reconstructed, and the mean errors in its height and breadth were found to be 9.4 μm and 23 μm, respectively. A comprehensive quantitative evaluation and comparison of proposed algorithm was performed with other variants of ICP. The root mean square error for the ICP algorithm to register a pair of point clouds of the skull object was also found to be less than 1 mm. PMID:29642552

Object Recognition and Localization: The Role of Tactile Sensors

PubMed Central

Aggarwal, Achint; Kirchner, Frank

2014-01-01

Tactile sensors, because of their intrinsic insensitivity to lighting conditions and water turbidity, provide promising opportunities for augmenting the capabilities of vision sensors in applications involving object recognition and localization. This paper presents two approaches for haptic object recognition and localization for ground and underwater environments. The first approach called Batch Ransac and Iterative Closest Point augmented Particle Filter (BRICPPF) is based on an innovative combination of particle filters, Iterative-Closest-Point algorithm, and a feature-based Random Sampling and Consensus (RANSAC) algorithm for database matching. It can handle a large database of 3D-objects of complex shapes and performs a complete six-degree-of-freedom localization of static objects. The algorithms are validated by experimentation in ground and underwater environments using real hardware. To our knowledge this is the first instance of haptic object recognition and localization in underwater environments. The second approach is biologically inspired, and provides a close integration between exploration and recognition. An edge following exploration strategy is developed that receives feedback from the current state of recognition. A recognition by parts approach is developed which uses the BRICPPF for object sub-part recognition. Object exploration is either directed to explore a part until it is successfully recognized, or is directed towards new parts to endorse the current recognition belief. This approach is validated by simulation experiments. PMID:24553087

An automated algorithm for determining photometric redshifts of quasars

NASA Astrophysics Data System (ADS)

Wang, Dan; Zhang, Yanxia; Zhao, Yongheng

2010-07-01

We employ k-nearest neighbor algorithm (KNN) for photometric redshift measurement of quasars with the Fifth Data Release (DR5) of the Sloan Digital Sky Survey (SDSS). KNN is an instance learning algorithm where the result of new instance query is predicted based on the closest training samples. The regressor do not use any model to fit and only based on memory. Given a query quasar, we find the known quasars or (training points) closest to the query point, whose redshift value is simply assigned to be the average of the values of its k nearest neighbors. Three kinds of different colors (PSF, Model or Fiber) and spectral redshifts are used as input parameters, separatively. The combination of the three kinds of colors is also taken as input. The experimental results indicate that the best input pattern is PSF + Model + Fiber colors in all experiments. With this pattern, 59.24%, 77.34% and 84.68% of photometric redshifts are obtained within ▵z < 0.1, 0.2 and 0.3, respectively. If only using one kind of colors as input, the model colors achieve the best performance. However, when using two kinds of colors, the best result is achieved by PSF + Fiber colors. In addition, nearest neighbor method (k = 1) shows its superiority compared to KNN (k ≠ 1) for the given sample.

A portable foot-parameter-extracting system

NASA Astrophysics Data System (ADS)

Zhang, MingKai; Liang, Jin; Li, Wenpan; Liu, Shifan

2016-03-01

In order to solve the problem of automatic foot measurement in garment customization, a new automatic footparameter- extracting system based on stereo vision, photogrammetry and heterodyne multiple frequency phase shift technology is proposed and implemented. The key technologies applied in the system are studied, including calibration of projector, alignment of point clouds, and foot measurement. Firstly, a new projector calibration algorithm based on plane model has been put forward to get the initial calibration parameters and a feature point detection scheme of calibration board image is developed. Then, an almost perfect match of two clouds is achieved by performing a first alignment using the Sampled Consensus - Initial Alignment algorithm (SAC-IA) and refining the alignment using the Iterative Closest Point algorithm (ICP). Finally, the approaches used for foot-parameterextracting and the system scheme are presented in detail. Experimental results show that the RMS error of the calibration result is 0.03 pixel and the foot parameter extracting experiment shows the feasibility of the extracting algorithm. Compared with the traditional measurement method, the system can be more portable, accurate and robust.

An Effective Algorithm Research of Scenario Voxelization Organization and Occlusion Culling

NASA Astrophysics Data System (ADS)

Lai, Guangling; Ding, Lu; Qin, Zhiyuan; Tong, Xiaochong

2016-11-01

Compared with the traditional triangulation approaches, the voxelized point cloud data can reduce the sensitivity of scenario and complexity of calculation. While on the base of the point cloud data, implementation scenario organization could be accomplishment by subtle voxel, but it will add more memory consumption. Therefore, an effective voxel representation method is very necessary. At present, the specific study of voxel visualization algorithm is less. This paper improved the ray tracing algorithm by the characteristics of voxel configuration. Firstly, according to the scope of point cloud data, determined the scope of the pixels on the screen. Then, calculated the light vector came from each pixel. Lastly, used the rules of voxel configuration to calculate all the voxel penetrated through by light. The voxels closest to viewpoint were named visible ones, the rest were all obscured ones. This experimental showed that the method could realize voxelization organization and voxel occlusion culling of implementation scenario efficiently, and increased the render efficiency.

Surface registration technique for close-range mapping applications

NASA Astrophysics Data System (ADS)

Habib, Ayman F.; Cheng, Rita W. T.

2006-08-01

Close-range mapping applications such as cultural heritage restoration, virtual reality modeling for the entertainment industry, and anatomical feature recognition for medical activities require 3D data that is usually acquired by high resolution close-range laser scanners. Since these datasets are typically captured from different viewpoints and/or at different times, accurate registration is a crucial procedure for 3D modeling of mapped objects. Several registration techniques are available that work directly with the raw laser points or with extracted features from the point cloud. Some examples include the commonly known Iterative Closest Point (ICP) algorithm and a recently proposed technique based on matching spin-images. This research focuses on developing a surface matching algorithm that is based on the Modified Iterated Hough Transform (MIHT) and ICP to register 3D data. The proposed algorithm works directly with the raw 3D laser points and does not assume point-to-point correspondence between two laser scans. The algorithm can simultaneously establish correspondence between two surfaces and estimates the transformation parameters relating them. Experiment with two partially overlapping laser scans of a small object is performed with the proposed algorithm and shows successful registration. A high quality of fit between the two scans is achieved and improvement is found when compared to the results obtained using the spin-image technique. The results demonstrate the feasibility of the proposed algorithm for registering 3D laser scanning data in close-range mapping applications to help with the generation of complete 3D models.

Utilizing the Iterative Closest Point (ICP) algorithm for enhanced registration of high resolution surface models - more than a simple black-box application

NASA Astrophysics Data System (ADS)

Stöcker, Claudia; Eltner, Anette

2016-04-01

Advances in computer vision and digital photogrammetry (i.e. structure from motion) allow for fast and flexible high resolution data supply. Within geoscience applications and especially in the field of small surface topography, high resolution digital terrain models and dense 3D point clouds are valuable data sources to capture actual states as well as for multi-temporal studies. However, there are still some limitations regarding robust registration and accuracy demands (e.g. systematic positional errors) which impede the comparison and/or combination of multi-sensor data products. Therefore, post-processing of 3D point clouds can heavily enhance data quality. In this matter the Iterative Closest Point (ICP) algorithm represents an alignment tool which iteratively minimizes distances of corresponding points within two datasets. Even though tool is widely used; it is often applied as a black-box application within 3D data post-processing for surface reconstruction. Aiming for precise and accurate combination of multi-sensor data sets, this study looks closely at different variants of the ICP algorithm including sub-steps of point selection, point matching, weighting, rejection, error metric and minimization. Therefore, an agricultural utilized field was investigated simultaneously by terrestrial laser scanning (TLS) and unmanned aerial vehicle (UAV) sensors two times (once covered with sparse vegetation and once bare soil). Due to different perspectives both data sets show diverse consistency in terms of shadowed areas and thus gaps so that data merging would provide consistent surface reconstruction. Although photogrammetric processing already included sub-cm accurate ground control surveys, UAV point cloud exhibits an offset towards TLS point cloud. In order to achieve the transformation matrix for fine registration of UAV point clouds, different ICP variants were tested. Statistical analyses of the results show that final success of registration and therefore data quality depends particularly on parameterization and choice of error metric, especially for erroneous data sets as in the case of sparse vegetation cover. At this, the point-to-point metric is more sensitive to data "noise" than the point-to-plane metric which results in considerably higher cloud-to-cloud distances. Concluding, in order to comply with accuracy demands of high resolution surface reconstruction and the aspect that ground control surveys can reach their limits both in time exposure and terrain accessibility ICP algorithm represents a great tool to refine rough initial alignment. Here different variants of registration modules allow for individual application according to the quality of the input data.

Simulation study into the identification of nuclear materials in cargo containers using cosmic rays

NASA Astrophysics Data System (ADS)

Blackwell, T. B.; Kudryavtsev, V. A.

2015-04-01

Muon tomography represents a new type of imaging technique that can be used in detecting high-Z materials. Monte Carlo simulations for muon scattering in different types of target materials are presented. The dependence of the detector capability to identify high-Z targets on spatial resolution has been studied. Muon tracks are reconstructed using a basic point of closest approach (PoCA) algorithm. In this article we report the development of a secondary analysis algorithm that is applied to the reconstructed PoCA points. This algorithm efficiently ascertains clusters of voxels with high average scattering angles to identify `areas of interest' within the inspected volume. Using this approach the effect of other parameters, such as the distance between detectors and the number of detectors per set, on material identification is also presented. Finally, false positive and false negative rates for detecting shielded HEU in realistic scenarios with low-Z clutter are presented.

Muon tomography imaging algorithms for nuclear threat detection inside large volume containers with the Muon Portal detector

NASA Astrophysics Data System (ADS)

Riggi, S.; Antonuccio-Delogu, V.; Bandieramonte, M.; Becciani, U.; Costa, A.; La Rocca, P.; Massimino, P.; Petta, C.; Pistagna, C.; Riggi, F.; Sciacca, E.; Vitello, F.

2013-11-01

Muon tomographic visualization techniques try to reconstruct a 3D image as close as possible to the real localization of the objects being probed. Statistical algorithms under test for the reconstruction of muon tomographic images in the Muon Portal Project are discussed here. Autocorrelation analysis and clustering algorithms have been employed within the context of methods based on the Point Of Closest Approach (POCA) reconstruction tool. An iterative method based on the log-likelihood approach was also implemented. Relative merits of all such methods are discussed, with reference to full GEANT4 simulations of different scenarios, incorporating medium and high-Z objects inside a container.

Real-time depth camera tracking with geometrically stable weight algorithm

NASA Astrophysics Data System (ADS)

Fu, Xingyin; Zhu, Feng; Qi, Feng; Wang, Mingming

2017-03-01

We present an approach for real-time camera tracking with depth stream. Existing methods are prone to drift in sceneries without sufficient geometric information. First, we propose a new weight method for an iterative closest point algorithm commonly used in real-time dense mapping and tracking systems. By detecting uncertainty in pose and increasing weight of points that constrain unstable transformations, our system achieves accurate and robust trajectory estimation results. Our pipeline can be fully parallelized with GPU and incorporated into the current real-time depth camera tracking system seamlessly. Second, we compare the state-of-the-art weight algorithms and propose a weight degradation algorithm according to the measurement characteristics of a consumer depth camera. Third, we use Nvidia Kepler Shuffle instructions during warp and block reduction to improve the efficiency of our system. Results on the public TUM RGB-D database benchmark demonstrate that our camera tracking system achieves state-of-the-art results both in accuracy and efficiency.

Particle Filtering for Obstacle Tracking in UAS Sense and Avoid Applications

PubMed Central

Moccia, Antonio

2014-01-01

Obstacle detection and tracking is a key function for UAS sense and avoid applications. In fact, obstacles in the flight path must be detected and tracked in an accurate and timely manner in order to execute a collision avoidance maneuver in case of collision threat. The most important parameter for the assessment of a collision risk is the Distance at Closest Point of Approach, that is, the predicted minimum distance between own aircraft and intruder for assigned current position and speed. Since assessed methodologies can cause some loss of accuracy due to nonlinearities, advanced filtering methodologies, such as particle filters, can provide more accurate estimates of the target state in case of nonlinear problems, thus improving system performance in terms of collision risk estimation. The paper focuses on algorithm development and performance evaluation for an obstacle tracking system based on a particle filter. The particle filter algorithm was tested in off-line simulations based on data gathered during flight tests. In particular, radar-based tracking was considered in order to evaluate the impact of particle filtering in a single sensor framework. The analysis shows some accuracy improvements in the estimation of Distance at Closest Point of Approach, thus reducing the delay in collision detection. PMID:25105154

Underwater terrain-aided navigation system based on combination matching algorithm.

PubMed

Li, Peijuan; Sheng, Guoliang; Zhang, Xiaofei; Wu, Jingqiu; Xu, Baochun; Liu, Xing; Zhang, Yao

2018-07-01

Considering that the terrain-aided navigation (TAN) system based on iterated closest contour point (ICCP) algorithm diverges easily when the indicative track of strapdown inertial navigation system (SINS) is large, Kalman filter is adopted in the traditional ICCP algorithm, difference between matching result and SINS output is used as the measurement of Kalman filter, then the cumulative error of the SINS is corrected in time by filter feedback correction, and the indicative track used in ICCP is improved. The mathematic model of the autonomous underwater vehicle (AUV) integrated into the navigation system and the observation model of TAN is built. Proper matching point number is designated by comparing the simulation results of matching time and matching precision. Simulation experiments are carried out according to the ICCP algorithm and the mathematic model. It can be concluded from the simulation experiments that the navigation accuracy and stability are improved with the proposed combinational algorithm in case that proper matching point number is engaged. It will be shown that the integrated navigation system is effective in prohibiting the divergence of the indicative track and can meet the requirements of underwater, long-term and high precision of the navigation system for autonomous underwater vehicles. Copyright © 2017. Published by Elsevier Ltd.

A high data rate universal lattice decoder on FPGA

NASA Astrophysics Data System (ADS)

Ma, Jing; Huang, Xinming; Kura, Swapna

2005-06-01

This paper presents the architecture design of a high data rate universal lattice decoder for MIMO channels on FPGA platform. A phost strategy based lattice decoding algorithm is modified in this paper to reduce the complexity of the closest lattice point search. The data dependency of the improved algorithm is examined and a parallel and pipeline architecture is developed with the iterative decoding function on FPGA and the division intensive channel matrix preprocessing on DSP. Simulation results demonstrate that the improved lattice decoding algorithm provides better bit error rate and less iteration number compared with the original algorithm. The system prototype of the decoder shows that it supports data rate up to 7Mbit/s on a Virtex2-1000 FPGA, which is about 8 times faster than the original algorithm on FPGA platform and two-orders of magnitude better than its implementation on a DSP platform.

Real-time estimation of prostate tumor rotation and translation with a kV imaging system based on an iterative closest point algorithm.

PubMed

Tehrani, Joubin Nasehi; O'Brien, Ricky T; Poulsen, Per Rugaard; Keall, Paul

2013-12-07

Previous studies have shown that during cancer radiotherapy a small translation or rotation of the tumor can lead to errors in dose delivery. Current best practice in radiotherapy accounts for tumor translations, but is unable to address rotation due to a lack of a reliable real-time estimate. We have developed a method based on the iterative closest point (ICP) algorithm that can compute rotation from kilovoltage x-ray images acquired during radiation treatment delivery. A total of 11 748 kilovoltage (kV) images acquired from ten patients (one fraction for each patient) were used to evaluate our tumor rotation algorithm. For each kV image, the three dimensional coordinates of three fiducial markers inside the prostate were calculated. The three dimensional coordinates were used as input to the ICP algorithm to calculate the real-time tumor rotation and translation around three axes. The results show that the root mean square error was improved for real-time calculation of tumor displacement from a mean of 0.97 mm with the stand alone translation to a mean of 0.16 mm by adding real-time rotation and translation displacement with the ICP algorithm. The standard deviation (SD) of rotation for the ten patients was 2.3°, 0.89° and 0.72° for rotation around the right-left (RL), anterior-posterior (AP) and superior-inferior (SI) directions respectively. The correlation between all six degrees of freedom showed that the highest correlation belonged to the AP and SI translation with a correlation of 0.67. The second highest correlation in our study was between the rotation around RL and rotation around AP, with a correlation of -0.33. Our real-time algorithm for calculation of rotation also confirms previous studies that have shown the maximum SD belongs to AP translation and rotation around RL. ICP is a reliable and fast algorithm for estimating real-time tumor rotation which could create a pathway to investigational clinical treatment studies requiring real-time measurement and adaptation to tumor rotation.

Real-time estimation of prostate tumor rotation and translation with a kV imaging system based on an iterative closest point algorithm

NASA Astrophysics Data System (ADS)

Nasehi Tehrani, Joubin; O'Brien, Ricky T.; Rugaard Poulsen, Per; Keall, Paul

2013-12-01

Previous studies have shown that during cancer radiotherapy a small translation or rotation of the tumor can lead to errors in dose delivery. Current best practice in radiotherapy accounts for tumor translations, but is unable to address rotation due to a lack of a reliable real-time estimate. We have developed a method based on the iterative closest point (ICP) algorithm that can compute rotation from kilovoltage x-ray images acquired during radiation treatment delivery. A total of 11 748 kilovoltage (kV) images acquired from ten patients (one fraction for each patient) were used to evaluate our tumor rotation algorithm. For each kV image, the three dimensional coordinates of three fiducial markers inside the prostate were calculated. The three dimensional coordinates were used as input to the ICP algorithm to calculate the real-time tumor rotation and translation around three axes. The results show that the root mean square error was improved for real-time calculation of tumor displacement from a mean of 0.97 mm with the stand alone translation to a mean of 0.16 mm by adding real-time rotation and translation displacement with the ICP algorithm. The standard deviation (SD) of rotation for the ten patients was 2.3°, 0.89° and 0.72° for rotation around the right-left (RL), anterior-posterior (AP) and superior-inferior (SI) directions respectively. The correlation between all six degrees of freedom showed that the highest correlation belonged to the AP and SI translation with a correlation of 0.67. The second highest correlation in our study was between the rotation around RL and rotation around AP, with a correlation of -0.33. Our real-time algorithm for calculation of rotation also confirms previous studies that have shown the maximum SD belongs to AP translation and rotation around RL. ICP is a reliable and fast algorithm for estimating real-time tumor rotation which could create a pathway to investigational clinical treatment studies requiring real-time measurement and adaptation to tumor rotation.

Automated Point Cloud Correspondence Detection for Underwater Mapping Using AUVs

NASA Technical Reports Server (NTRS)

Hammond, Marcus; Clark, Ashley; Mahajan, Aditya; Sharma, Sumant; Rock, Stephen

2015-01-01

An algorithm for automating correspondence detection between point clouds composed of multibeam sonar data is presented. This allows accurate initialization for point cloud alignment techniques even in cases where accurate inertial navigation is not available, such as iceberg profiling or vehicles with low-grade inertial navigation systems. Techniques from computer vision literature are used to extract, label, and match keypoints between "pseudo-images" generated from these point clouds. Image matches are refined using RANSAC and information about the vehicle trajectory. The resulting correspondences can be used to initialize an iterative closest point (ICP) registration algorithm to estimate accumulated navigation error and aid in the creation of accurate, self-consistent maps. The results presented use multibeam sonar data obtained from multiple overlapping passes of an underwater canyon in Monterey Bay, California. Using strict matching criteria, the method detects 23 between-swath correspondence events in a set of 155 pseudo-images with zero false positives. Using less conservative matching criteria doubles the number of matches but introduces several false positive matches as well. Heuristics based on known vehicle trajectory information are used to eliminate these.

Investigation of deformation at a centrifugal compressor rotor in process of interference on shaft

NASA Astrophysics Data System (ADS)

Shamim, M. R.; Berezhnoi, D. V.

2016-11-01

In this paper, according to the finite element method, we had implemented “master- slave” method of contact interaction in elastic deformable bodies, with consider of the friction in the contact zone. We had compiled the orientation of solving extremum problems with inequality restrictions, projection algorithm, which called “the closest point projection algorithm”. Finally, an example, had brought to show the calculation of the rotor nozzle centrifugal compressor on the shaft with interference.

High-order time-marching reinitialization for regional level-set functions

NASA Astrophysics Data System (ADS)

Pan, Shucheng; Lyu, Xiuxiu; Hu, Xiangyu Y.; Adams, Nikolaus A.

2018-02-01

In this work, the time-marching reinitialization method is extended to compute the unsigned distance function in multi-region systems involving arbitrary number of regions. High order and interface preservation are achieved by applying a simple mapping that transforms the regional level-set function to the level-set function and a high-order two-step reinitialization method which is a combination of the closest point finding procedure and the HJ-WENO scheme. The convergence failure of the closest point finding procedure in three dimensions is addressed by employing a proposed multiple junction treatment and a directional optimization algorithm. Simple test cases show that our method exhibits 4th-order accuracy for reinitializing the regional level-set functions and strictly satisfies the interface-preserving property. The reinitialization results for more complex cases with randomly generated diagrams show the capability our method for arbitrary number of regions N, with a computational effort independent of N. The proposed method has been applied to dynamic interfaces with different types of flows, and the results demonstrate high accuracy and robustness.

A hybrid metaheuristic for closest string problem.

PubMed

Mousavi, Sayyed Rasoul

2011-01-01

The Closest String Problem (CSP) is an optimisation problem, which is to obtain a string with the minimum distance from a number of given strings. In this paper, a new metaheuristic algorithm is investigated for the problem, whose main feature is relatively high speed in obtaining good solutions, which is essential when the input size is large. The proposed algorithm is compared with four recent algorithms suggested for the problem, outperforming them in more than 98% of the cases. It is also remarkably faster than all of them, running within 1 s in most of the experimental cases.

GPU surface extraction using the closest point embedding

NASA Astrophysics Data System (ADS)

Kim, Mark; Hansen, Charles

2015-01-01

Isosurface extraction is a fundamental technique used for both surface reconstruction and mesh generation. One method to extract well-formed isosurfaces is a particle system; unfortunately, particle systems can be slow. In this paper, we introduce an enhanced parallel particle system that uses the closest point embedding as the surface representation to speedup the particle system for isosurface extraction. The closest point embedding is used in the Closest Point Method (CPM), a technique that uses a standard three dimensional numerical PDE solver on two dimensional embedded surfaces. To fully take advantage of the closest point embedding, it is coupled with a Barnes-Hut tree code on the GPU. This new technique produces well-formed, conformal unstructured triangular and tetrahedral meshes from labeled multi-material volume datasets. Further, this new parallel implementation of the particle system is faster than any known methods for conformal multi-material mesh extraction. The resulting speed-ups gained in this implementation can reduce the time from labeled data to mesh from hours to minutes and benefits users, such as bioengineers, who employ triangular and tetrahedral meshes

47 CFR 68.105 - Minimum point of entry (MPOE) and demarcation point.

Code of Federal Regulations, 2010 CFR

2010-10-01

... be either the closest practicable point to where the wiring crosses a property line or the closest practicable point to where the wiring enters a multiunit building or buildings. The reasonable and... situations. (c) Single unit installations. For single unit installations existing as of August 13, 1990, and...

Photogrammetric 3d Building Reconstruction from Thermal Images

NASA Astrophysics Data System (ADS)

Maset, E.; Fusiello, A.; Crosilla, F.; Toldo, R.; Zorzetto, D.

2017-08-01

This paper addresses the problem of 3D building reconstruction from thermal infrared (TIR) images. We show that a commercial Computer Vision software can be used to automatically orient sequences of TIR images taken from an Unmanned Aerial Vehicle (UAV) and to generate 3D point clouds, without requiring any GNSS/INS data about position and attitude of the images nor camera calibration parameters. Moreover, we propose a procedure based on Iterative Closest Point (ICP) algorithm to create a model that combines high resolution and geometric accuracy of RGB images with the thermal information deriving from TIR images. The process can be carried out entirely by the aforesaid software in a simple and efficient way.

A robust cloud registration method based on redundant data reduction using backpropagation neural network and shift window

NASA Astrophysics Data System (ADS)

Xin, Meiting; Li, Bing; Yan, Xiao; Chen, Lei; Wei, Xiang

2018-02-01

A robust coarse-to-fine registration method based on the backpropagation (BP) neural network and shift window technology is proposed in this study. Specifically, there are three steps: coarse alignment between the model data and measured data, data simplification based on the BP neural network and point reservation in the contour region of point clouds, and fine registration with the reweighted iterative closest point algorithm. In the process of rough alignment, the initial rotation matrix and the translation vector between the two datasets are obtained. After performing subsequent simplification operations, the number of points can be reduced greatly. Therefore, the time and space complexity of the accurate registration can be significantly reduced. The experimental results show that the proposed method improves the computational efficiency without loss of accuracy.

Quality assessment of MEG-to-MRI coregistrations

NASA Astrophysics Data System (ADS)

Sonntag, Hermann; Haueisen, Jens; Maess, Burkhard

2018-04-01

For high precision in source reconstruction of magnetoencephalography (MEG) or electroencephalography data, high accuracy of the coregistration of sources and sensors is mandatory. Usually, the source space is derived from magnetic resonance imaging (MRI). In most cases, however, no quality assessment is reported for sensor-to-MRI coregistrations. If any, typically root mean squares (RMS) of point residuals are provided. It has been shown, however, that RMS of residuals do not correlate with coregistration errors. We suggest using target registration error (TRE) as criterion for the quality of sensor-to-MRI coregistrations. TRE measures the effect of uncertainty in coregistrations at all points of interest. In total, 5544 data sets with sensor-to-head and 128 head-to-MRI coregistrations, from a single MEG laboratory, were analyzed. An adaptive Metropolis algorithm was used to estimate the optimal coregistration and to sample the coregistration parameters (rotation and translation). We found an average TRE between 1.3 and 2.3 mm at the head surface. Further, we observed a mean absolute difference in coregistration parameters between the Metropolis and iterative closest point algorithm of (1.9 +/- 15){\\hspace{0pt}}\\circ and (1.1 +/- 9) m. A paired sample t-test indicated a significant improvement in goal function minimization by using the Metropolis algorithm. The sampled parameters allowed computation of TRE on the entire grid of the MRI volume. Hence, we recommend the Metropolis algorithm for head-to-MRI coregistrations.

Point cloud registration from local feature correspondences-Evaluation on challenging datasets.

PubMed

Petricek, Tomas; Svoboda, Tomas

2017-01-01

Registration of laser scans, or point clouds in general, is a crucial step of localization and mapping with mobile robots or in object modeling pipelines. A coarse alignment of the point clouds is generally needed before applying local methods such as the Iterative Closest Point (ICP) algorithm. We propose a feature-based approach to point cloud registration and evaluate the proposed method and its individual components on challenging real-world datasets. For a moderate overlap between the laser scans, the method provides a superior registration accuracy compared to state-of-the-art methods including Generalized ICP, 3D Normal-Distribution Transform, Fast Point-Feature Histograms, and 4-Points Congruent Sets. Compared to the surface normals, the points as the underlying features yield higher performance in both keypoint detection and establishing local reference frames. Moreover, sign disambiguation of the basis vectors proves to be an important aspect in creating repeatable local reference frames. A novel method for sign disambiguation is proposed which yields highly repeatable reference frames.

Point Cloud Based Relative Pose Estimation of a Satellite in Close Range

PubMed Central

Liu, Lujiang; Zhao, Gaopeng; Bo, Yuming

2016-01-01

Determination of the relative pose of satellites is essential in space rendezvous operations and on-orbit servicing missions. The key problems are the adoption of suitable sensor on board of a chaser and efficient techniques for pose estimation. This paper aims to estimate the pose of a target satellite in close range on the basis of its known model by using point cloud data generated by a flash LIDAR sensor. A novel model based pose estimation method is proposed; it includes a fast and reliable pose initial acquisition method based on global optimal searching by processing the dense point cloud data directly, and a pose tracking method based on Iterative Closest Point algorithm. Also, a simulation system is presented in this paper in order to evaluate the performance of the sensor and generate simulated sensor point cloud data. It also provides truth pose of the test target so that the pose estimation error can be quantified. To investigate the effectiveness of the proposed approach and achievable pose accuracy, numerical simulation experiments are performed; results demonstrate algorithm capability of operating with point cloud directly and large pose variations. Also, a field testing experiment is conducted and results show that the proposed method is effective. PMID:27271633

The Curvature-Augmented Closest Point method with vesicle inextensibility application

DOE PAGES

Vogl, Christopher J.

2017-06-06

Here, the Closest Point method, initially developed by Ruuth and Merriman, allows for the numerical solution of surface partial differential equations without the need for a parameterization of the surface itself. Surface quantities are embedded into the surrounding domain by assigning each value at a given spatial location to the corresponding value at the closest point on the surface. This embedding allows for surface derivatives to be replaced by their Cartesian counterparts (e.g. ∇ s=∇). This equivalence is only valid on the surface, and thus, interpolation is used to enforce what is known as the side condition away from themore » surface. To improve upon the method, this work derives an operator embedding that incorporates curvature information, making it valid in a neighborhood of the surface. With this, direct enforcement of the side condition is no longer needed. Comparisons in R 2 and R 3 show that the resulting Curvature-Augmented Closest Point method has better accuracy and requires less memory, through increased matrix sparsity, than the Closest Point method, while maintaining similar matrix condition numbers. To demonstrate the utility of the method in a physical application, simulations of inextensible, bi-lipid vesicles evolving toward equilibrium shapes are also included.« less

Uniscale multi-view registration using double dog-leg method

NASA Astrophysics Data System (ADS)

Chen, Chao-I.; Sargent, Dusty; Tsai, Chang-Ming; Wang, Yuan-Fang; Koppel, Dan

2009-02-01

3D computer models of body anatomy can have many uses in medical research and clinical practices. This paper describes a robust method that uses videos of body anatomy to construct multiple, partial 3D structures and then fuse them to form a larger, more complete computer model using the structure-from-motion framework. We employ the Double Dog-Leg (DDL) method, a trust-region based nonlinear optimization method, to jointly optimize the camera motion parameters (rotation and translation) and determine a global scale that all partial 3D structures should agree upon. These optimized motion parameters are used for constructing local structures, and the global scale is essential for multi-view registration after all these partial structures are built. In order to provide a good initial guess of the camera movement parameters and outlier free 2D point correspondences for DDL, we also propose a two-stage scheme where multi-RANSAC with a normalized eight-point algorithm is first performed and then a few iterations of an over-determined five-point algorithm is used to polish the results. Our experimental results using colonoscopy video show that the proposed scheme always produces more accurate outputs than the standard RANSAC scheme. Furthermore, since we have obtained many reliable point correspondences, time-consuming and error-prone registration methods like the iterative closest points (ICP) based algorithms can be replaced by a simple rigid-body transformation solver when merging partial structures into a larger model.

An algorithm for calculating minimum Euclidean distance between two geographic features

NASA Astrophysics Data System (ADS)

Peuquet, Donna J.

1992-09-01

An efficient algorithm is presented for determining the shortest Euclidean distance between two features of arbitrary shape that are represented in quadtree form. These features may be disjoint point sets, lines, or polygons. It is assumed that the features do not overlap. Features also may be intertwined and polygons may be complex (i.e. have holes). Utilizing a spatial divide-and-conquer approach inherent in the quadtree data model, the basic rationale is to narrow-in on portions of each feature quickly that are on a facing edge relative to the other feature, and to minimize the number of point-to-point Euclidean distance calculations that must be performed. Besides offering an efficient, grid-based alternative solution, another unique and useful aspect of the current algorithm is that is can be used for rapidly calculating distance approximations at coarser levels of resolution. The overall process can be viewed as a top-down parallel search. Using one list of leafcode addresses for each of the two features as input, the algorithm is implemented by successively dividing these lists into four sublists for each descendant quadrant. The algorithm consists of two primary phases. The first determines facing adjacent quadrant pairs where part or all of the two features are separated between the two quadrants, respectively. The second phase then determines the closest pixel-level subquadrant pairs within each facing quadrant pair at the lowest level. The key element of the second phase is a quick estimate distance heuristic for further elimination of locations that are not as near as neighboring locations.

ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.

2013-01-01

This software addresses the issue of underwater localization of unmanned vehicles and the inherent drift in their onboard sensors. The software gives a 2 to 3 factor of improvement over the state-of-the-art underwater localization algorithms. The software determines the localization (position, heading) of an AUV (autonomous underwater vehicle) in environments where there is no GPS signal. It accomplishes this using only the commanded position, onboard gyros/accelerometers, and the bathymetry of the bottom provided by an onboard sonar system. The software does not rely on an onboard bathymetry dataset, but instead incrementally determines the position of the AUV while mapping the bottom. In order to enable long-distance underwater navigation by AUVs, a localization method called ULTRA uses registration of the bathymetry data products produced by the onboard forward-looking sonar system for hazard avoidance during a transit to derive the motion and pose of the AUV in order to correct the DR (dead reckoning) estimates. The registration algorithm uses iterative point matching (IPM) combined with surface interpolation of the Iterative Closest Point (ICP) algorithm. This method was used previously at JPL for onboard unmanned ground vehicle localization, and has been optimized for efficient computational and memory use.

Summary Diagrams for Coupled Hydrodynamic-Ecosystem Model Skill Assessment

DTIC Science & Technology

2009-01-01

reference point have the smallest unbiased RMSD value (Fig. 3). It would appear that the cluster of model points closest to the reference point may...total RMSD values. This is particularly the case for phyto- plankton absorption (Fig. 3B) where the cluster of points closest to the reference...pattern statistics and the bias (difference of mean values) each magnitude of the total Root-Mean-Square Difference ( RMSD ). An alternative skill score and

Vehicle Counting and Moving Direction Identification Based on Small-Aperture Microphone Array.

PubMed

Zu, Xingshui; Zhang, Shaojie; Guo, Feng; Zhao, Qin; Zhang, Xin; You, Xing; Liu, Huawei; Li, Baoqing; Yuan, Xiaobing

2017-05-10

The varying trend of a moving vehicle's angles provides much important intelligence for an unattended ground sensor (UGS) monitoring system. The present study investigates the capabilities of a small-aperture microphone array (SAMA) based system to identify the number and moving direction of vehicles travelling on a previously established route. In this paper, a SAMA-based acoustic monitoring system, including the system hardware architecture and algorithm mechanism, is designed as a single node sensor for the application of UGS. The algorithm is built on the varying trend of a vehicle's bearing angles around the closest point of approach (CPA). We demonstrate the effectiveness of our proposed method with our designed SAMA-based monitoring system in various experimental sites. The experimental results in harsh conditions validate the usefulness of our proposed UGS monitoring system.

Multi-modal imaging, model-based tracking, and mixed reality visualisation for orthopaedic surgery

PubMed Central

Fuerst, Bernhard; Tateno, Keisuke; Johnson, Alex; Fotouhi, Javad; Osgood, Greg; Tombari, Federico; Navab, Nassir

2017-01-01

Orthopaedic surgeons are still following the decades old workflow of using dozens of two-dimensional fluoroscopic images to drill through complex 3D structures, e.g. pelvis. This Letter presents a mixed reality support system, which incorporates multi-modal data fusion and model-based surgical tool tracking for creating a mixed reality environment supporting screw placement in orthopaedic surgery. A red–green–blue–depth camera is rigidly attached to a mobile C-arm and is calibrated to the cone-beam computed tomography (CBCT) imaging space via iterative closest point algorithm. This allows real-time automatic fusion of reconstructed surface and/or 3D point clouds and synthetic fluoroscopic images obtained through CBCT imaging. An adapted 3D model-based tracking algorithm with automatic tool segmentation allows for tracking of the surgical tools occluded by hand. This proposed interactive 3D mixed reality environment provides an intuitive understanding of the surgical site and supports surgeons in quickly localising the entry point and orienting the surgical tool during screw placement. The authors validate the augmentation by measuring target registration error and also evaluate the tracking accuracy in the presence of partial occlusion. PMID:29184659

PDEs on moving surfaces via the closest point method and a modified grid based particle method

NASA Astrophysics Data System (ADS)

Petras, A.; Ruuth, S. J.

2016-05-01

Partial differential equations (PDEs) on surfaces arise in a wide range of applications. The closest point method (Ruuth and Merriman (2008) [20]) is a recent embedding method that has been used to solve a variety of PDEs on smooth surfaces using a closest point representation of the surface and standard Cartesian grid methods in the embedding space. The original closest point method (CPM) was designed for problems posed on static surfaces, however the solution of PDEs on moving surfaces is of considerable interest as well. Here we propose solving PDEs on moving surfaces using a combination of the CPM and a modification of the grid based particle method (Leung and Zhao (2009) [12]). The grid based particle method (GBPM) represents and tracks surfaces using meshless particles and an Eulerian reference grid. Our modification of the GBPM introduces a reconstruction step into the original method to ensure that all the grid points within a computational tube surrounding the surface are active. We present a number of examples to illustrate the numerical convergence properties of our combined method. Experiments for advection-diffusion equations that are strongly coupled to the velocity of the surface are also presented.

Polar decomposition for attitude determination from vector observations

NASA Technical Reports Server (NTRS)

Bar-Itzhack, Itzhack Y.

1993-01-01

This work treats the problem of weighted least squares fitting of a 3D Euclidean-coordinate transformation matrix to a set of unit vectors measured in the reference and transformed coordinates. A closed-form analytic solution to the problem is re-derived. The fact that the solution is the closest orthogonal matrix to some matrix defined on the measured vectors and their weights is clearly demonstrated. Several known algorithms for computing the analytic closed form solution are considered. An algorithm is discussed which is based on the polar decomposition of matrices into the closest unitary matrix to the decomposed matrix and a Hermitian matrix. A somewhat longer improved algorithm is suggested too. A comparison of several algorithms is carried out using simulated data as well as real data from the Upper Atmosphere Research Satellite. The comparison is based on accuracy and time consumption. It is concluded that the algorithms based on polar decomposition yield a simple although somewhat less accurate solution. The precision of the latter algorithms increase with the number of the measured vectors and with the accuracy of their measurement.

A Fast Robot Identification and Mapping Algorithm Based on Kinect Sensor.

PubMed

Zhang, Liang; Shen, Peiyi; Zhu, Guangming; Wei, Wei; Song, Houbing

2015-08-14

Internet of Things (IoT) is driving innovation in an ever-growing set of application domains such as intelligent processing for autonomous robots. For an autonomous robot, one grand challenge is how to sense its surrounding environment effectively. The Simultaneous Localization and Mapping with RGB-D Kinect camera sensor on robot, called RGB-D SLAM, has been developed for this purpose but some technical challenges must be addressed. Firstly, the efficiency of the algorithm cannot satisfy real-time requirements; secondly, the accuracy of the algorithm is unacceptable. In order to address these challenges, this paper proposes a set of novel improvement methods as follows. Firstly, the ORiented Brief (ORB) method is used in feature detection and descriptor extraction. Secondly, a bidirectional Fast Library for Approximate Nearest Neighbors (FLANN) k-Nearest Neighbor (KNN) algorithm is applied to feature match. Then, the improved RANdom SAmple Consensus (RANSAC) estimation method is adopted in the motion transformation. In the meantime, high precision General Iterative Closest Points (GICP) is utilized to register a point cloud in the motion transformation optimization. To improve the accuracy of SLAM, the reduced dynamic covariance scaling (DCS) algorithm is formulated as a global optimization problem under the G2O framework. The effectiveness of the improved algorithm has been verified by testing on standard data and comparing with the ground truth obtained on Freiburg University's datasets. The Dr Robot X80 equipped with a Kinect camera is also applied in a building corridor to verify the correctness of the improved RGB-D SLAM algorithm. With the above experiments, it can be seen that the proposed algorithm achieves higher processing speed and better accuracy.

3D craniofacial registration using thin-plate spline transform and cylindrical surface projection

PubMed Central

Chen, Yucong; Deng, Qingqiong; Duan, Fuqing

2017-01-01

Craniofacial registration is used to establish the point-to-point correspondence in a unified coordinate system among human craniofacial models. It is the foundation of craniofacial reconstruction and other craniofacial statistical analysis research. In this paper, a non-rigid 3D craniofacial registration method using thin-plate spline transform and cylindrical surface projection is proposed. First, the gradient descent optimization is utilized to improve a cylindrical surface fitting (CSF) for the reference craniofacial model. Second, the thin-plate spline transform (TPST) is applied to deform a target craniofacial model to the reference model. Finally, the cylindrical surface projection (CSP) is used to derive the point correspondence between the reference and deformed target models. To accelerate the procedure, the iterative closest point ICP algorithm is used to obtain a rough correspondence, which can provide a possible intersection area of the CSP. Finally, the inverse TPST is used to map the obtained corresponding points from the deformed target craniofacial model to the original model, and it can be realized directly by the correspondence between the original target model and the deformed target model. Three types of registration, namely, reflexive, involutive and transitive registration, are carried out to verify the effectiveness of the proposed craniofacial registration algorithm. Comparison with the methods in the literature shows that the proposed method is more accurate. PMID:28982117

3D craniofacial registration using thin-plate spline transform and cylindrical surface projection.

PubMed

Chen, Yucong; Zhao, Junli; Deng, Qingqiong; Duan, Fuqing

2017-01-01

Craniofacial registration is used to establish the point-to-point correspondence in a unified coordinate system among human craniofacial models. It is the foundation of craniofacial reconstruction and other craniofacial statistical analysis research. In this paper, a non-rigid 3D craniofacial registration method using thin-plate spline transform and cylindrical surface projection is proposed. First, the gradient descent optimization is utilized to improve a cylindrical surface fitting (CSF) for the reference craniofacial model. Second, the thin-plate spline transform (TPST) is applied to deform a target craniofacial model to the reference model. Finally, the cylindrical surface projection (CSP) is used to derive the point correspondence between the reference and deformed target models. To accelerate the procedure, the iterative closest point ICP algorithm is used to obtain a rough correspondence, which can provide a possible intersection area of the CSP. Finally, the inverse TPST is used to map the obtained corresponding points from the deformed target craniofacial model to the original model, and it can be realized directly by the correspondence between the original target model and the deformed target model. Three types of registration, namely, reflexive, involutive and transitive registration, are carried out to verify the effectiveness of the proposed craniofacial registration algorithm. Comparison with the methods in the literature shows that the proposed method is more accurate.

Angle Statistics Reconstruction: a robust reconstruction algorithm for Muon Scattering Tomography

NASA Astrophysics Data System (ADS)

Stapleton, M.; Burns, J.; Quillin, S.; Steer, C.

2014-11-01

Muon Scattering Tomography (MST) is a technique for using the scattering of cosmic ray muons to probe the contents of enclosed volumes. As a muon passes through material it undergoes multiple Coulomb scattering, where the amount of scattering is dependent on the density and atomic number of the material as well as the path length. Hence, MST has been proposed as a means of imaging dense materials, for instance to detect special nuclear material in cargo containers. Algorithms are required to generate an accurate reconstruction of the material density inside the volume from the muon scattering information and some have already been proposed, most notably the Point of Closest Approach (PoCA) and Maximum Likelihood/Expectation Maximisation (MLEM) algorithms. However, whilst PoCA-based algorithms are easy to implement, they perform rather poorly in practice. Conversely, MLEM is a complicated algorithm to implement and computationally intensive and there is currently no published, fast and easily-implementable algorithm that performs well in practice. In this paper, we first provide a detailed analysis of the source of inaccuracy in PoCA-based algorithms. We then motivate an alternative method, based on ideas first laid out by Morris et al, presenting and fully specifying an algorithm that performs well against simulations of realistic scenarios. We argue this new algorithm should be adopted by developers of Muon Scattering Tomography as an alternative to PoCA.

3D interactive surgical visualization system using mobile spatial information acquisition and autostereoscopic display.

PubMed

Fan, Zhencheng; Weng, Yitong; Chen, Guowen; Liao, Hongen

2017-07-01

Three-dimensional (3D) visualization of preoperative and intraoperative medical information becomes more and more important in minimally invasive surgery. We develop a 3D interactive surgical visualization system using mobile spatial information acquisition and autostereoscopic display for surgeons to observe surgical target intuitively. The spatial information of regions of interest (ROIs) is captured by the mobile device and transferred to a server for further image processing. Triangular patches of intraoperative data with texture are calculated with a dimension-reduced triangulation algorithm and a projection-weighted mapping algorithm. A point cloud selection-based warm-start iterative closest point (ICP) algorithm is also developed for fusion of the reconstructed 3D intraoperative image and the preoperative image. The fusion images are rendered for 3D autostereoscopic display using integral videography (IV) technology. Moreover, 3D visualization of medical image corresponding to observer's viewing direction is updated automatically using mutual information registration method. Experimental results show that the spatial position error between the IV-based 3D autostereoscopic fusion image and the actual object was 0.38±0.92mm (n=5). The system can be utilized in telemedicine, operating education, surgical planning, navigation, etc. to acquire spatial information conveniently and display surgical information intuitively. Copyright © 2017 Elsevier Inc. All rights reserved.

An atomistic geometrical model of the B-DNA configuration for DNA-radiation interaction simulations

NASA Astrophysics Data System (ADS)

Bernal, M. A.; Sikansi, D.; Cavalcante, F.; Incerti, S.; Champion, C.; Ivanchenko, V.; Francis, Z.

2013-12-01

In this paper, an atomistic geometrical model for the B-DNA configuration is explained. This model accounts for five organization levels of the DNA, up to the 30 nm chromatin fiber. However, fragments of this fiber can be used to construct the whole genome. The algorithm developed in this work is capable to determine which is the closest atom with respect to an arbitrary point in space. It can be used in any application in which a DNA geometrical model is needed, for instance, in investigations related to the effects of ionizing radiations on the human genetic material. Successful consistency checks were carried out to test the proposed model. Catalogue identifier: AEPZ_v1_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEPZ_v1_0.html Program obtainable from: CPC Program Library, Queen’s University, Belfast, N. Ireland Licensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.: 1245 No. of bytes in distributed program, including test data, etc.: 6574 Distribution format: tar.gz Programming language: FORTRAN. Computer: Any. Operating system: Multi-platform. RAM: 2 Gb Classification: 3. Nature of problem: The Monte Carlo method is used to simulate the interaction of ionizing radiation with the human genetic material in order to determine DNA damage yields per unit absorbed dose. To accomplish this task, an algorithm to determine if a given energy deposition lies within a given target is needed. This target can be an atom or any other structure of the genetic material. Solution method: This is a stand-alone subroutine describing an atomic-resolution geometrical model of the B-DNA configuration. It is able to determine the closest atom to an arbitrary point in space. This model accounts for five organization levels of the human genetic material, from the nucleotide pair up to the 30 nm chromatin fiber. This subroutine carries out a series of coordinate transformations to find which is the closest atom containing an arbitrary point in space. Atom sizes are according to the corresponding van der Waals radii. Restrictions: The geometrical model presented here does not include the chromosome organization level but it could be easily build up by using fragments of the 30 nm chromatin fiber. Unusual features: To our knowledge, this is the first open source atomic-resolution DNA geometrical model developed for DNA-radiation interaction Monte Carlo simulations. In our tests, the current model took into account the explicit position of about 56×106 atoms, although the user may enhance this amount according to the necessities. Running time: This subroutine can process about 2 million points within a few minutes in a typical current computer.

Enhanced ICP for the Registration of Large-Scale 3D Environment Models: An Experimental Study

PubMed Central

Han, Jianda; Yin, Peng; He, Yuqing; Gu, Feng

2016-01-01

One of the main applications of mobile robots is the large-scale perception of the outdoor environment. One of the main challenges of this application is fusing environmental data obtained by multiple robots, especially heterogeneous robots. This paper proposes an enhanced iterative closest point (ICP) method for the fast and accurate registration of 3D environmental models. First, a hierarchical searching scheme is combined with the octree-based ICP algorithm. Second, an early-warning mechanism is used to perceive the local minimum problem. Third, a heuristic escape scheme based on sampled potential transformation vectors is used to avoid local minima and achieve optimal registration. Experiments involving one unmanned aerial vehicle and one unmanned surface vehicle were conducted to verify the proposed technique. The experimental results were compared with those of normal ICP registration algorithms to demonstrate the superior performance of the proposed method. PMID:26891298

Parallel simulations of Grover's algorithm for closest match search in neutron monitor data

NASA Astrophysics Data System (ADS)

Kussainov, Arman; White, Yelena

We are studying the parallel implementations of Grover's closest match search algorithm for neutron monitor data analysis. This includes data formatting, and matching quantum parameters to a conventional structure of a chosen programming language and selected experimental data type. We have employed several workload distribution models based on acquired data and search parameters. As a result of these simulations, we have an understanding of potential problems that may arise during configuration of real quantum computational devices and the way they could run tasks in parallel. The work was supported by the Science Committee of the Ministry of Science and Education of the Republic of Kazakhstan Grant #2532/GF3.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Vogl, Christopher J.

Here, the Closest Point method, initially developed by Ruuth and Merriman, allows for the numerical solution of surface partial differential equations without the need for a parameterization of the surface itself. Surface quantities are embedded into the surrounding domain by assigning each value at a given spatial location to the corresponding value at the closest point on the surface. This embedding allows for surface derivatives to be replaced by their Cartesian counterparts (e.g. ∇ s=∇). This equivalence is only valid on the surface, and thus, interpolation is used to enforce what is known as the side condition away from themore » surface. To improve upon the method, this work derives an operator embedding that incorporates curvature information, making it valid in a neighborhood of the surface. With this, direct enforcement of the side condition is no longer needed. Comparisons in R 2 and R 3 show that the resulting Curvature-Augmented Closest Point method has better accuracy and requires less memory, through increased matrix sparsity, than the Closest Point method, while maintaining similar matrix condition numbers. To demonstrate the utility of the method in a physical application, simulations of inextensible, bi-lipid vesicles evolving toward equilibrium shapes are also included.« less

A method to approximate a closest loadability limit using multiple load flow solutions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yorino, Naoto; Harada, Shigemi; Cheng, Haozhong

A new method is proposed to approximate a closest loadability limit (CLL), or closest saddle node bifurcation point, using a pair of multiple load flow solutions. More strictly, the obtainable points by the method are the stationary points including not only CLL but also farthest and saddle points. An operating solution and a low voltage load flow solution are used to efficiently estimate the node injections at a CLL as well as the left and right eigenvectors corresponding to the zero eigenvalue of the load flow Jacobian. They can be used in monitoring loadability margin, in identification of weak spotsmore » in a power system and in the examination of an optimal control against voltage collapse. Most of the computation time of the proposed method is taken in calculating the load flow solution pair. The remaining computation time is less than that of an ordinary load flow.« less

A novel application of PageRank and user preference algorithms for assessing the relative performance of track athletes in competition.

PubMed

Beggs, Clive B; Shepherd, Simon J; Emmonds, Stacey; Jones, Ben

2017-01-01

Ranking enables coaches, sporting authorities, and pundits to determine the relative performance of individual athletes and teams in comparison to their peers. While ranking is relatively straightforward in sports that employ traditional leagues, it is more difficult in sports where competition is fragmented (e.g. athletics, boxing, etc.), with not all competitors competing against each other. In such situations, complex points systems are often employed to rank athletes. However, these systems have the inherent weakness that they frequently rely on subjective assessments in order to gauge the calibre of the competitors involved. Here we show how two Internet derived algorithms, the PageRank (PR) and user preference (UP) algorithms, when utilised with a simple 'who beat who' matrix, can be used to accurately rank track athletes, avoiding the need for subjective assessment. We applied the PR and UP algorithms to the 2015 IAAF Diamond League men's 100m competition and compared their performance with the Keener, Colley and Massey ranking algorithms. The top five places computed by the PR and UP algorithms, and the Diamond League '2016' points system were all identical, with the Kendall's tau distance between the PR standings and '2016' points system standings being just 15, indicating that only 5.9% of pairs differed in their order between these two lists. By comparison, the UP and '2016' standings displayed a less strong relationship, with a tau distance of 95, indicating that 37.6% of the pairs differed in their order. When compared with the standings produced using the Keener, Colley and Massey algorithms, the PR standings appeared to be closest to the Keener standings (tau distance = 67, 26.5% pair order disagreement), whereas the UP standings were more similar to the Colley and Massey standings, with the tau distances between these ranking lists being only 48 (19.0% pair order disagreement) and 59 (23.3% pair order disagreement) respectively. In particular, the UP algorithm ranked 'one-off' victors more highly than the PR algorithm, suggesting that the UP algorithm captures alternative characteristics to the PR algorithm, which may more suitable for predicting future performance in say knockout tournaments, rather than for use in competitions such as the Diamond League. As such, these Internet derived algorithms appear to have considerable potential for objectively assessing the relative performance of track athletes, without the need for complicated points equivalence tables. Importantly, because both algorithms utilise a 'who beat who' model, they automatically adjust for the strength of the competition, thus avoiding the need for subjective decision making.

INS/GPS/LiDAR Integrated Navigation System for Urban and Indoor Environments Using Hybrid Scan Matching Algorithm

PubMed Central

Gao, Yanbin; Liu, Shifei; Atia, Mohamed M.; Noureldin, Aboelmagd

2015-01-01

This paper takes advantage of the complementary characteristics of Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) to provide periodic corrections to Inertial Navigation System (INS) alternatively in different environmental conditions. In open sky, where GPS signals are available and LiDAR measurements are sparse, GPS is integrated with INS. Meanwhile, in confined outdoor environments and indoors, where GPS is unreliable or unavailable and LiDAR measurements are rich, LiDAR replaces GPS to integrate with INS. This paper also proposes an innovative hybrid scan matching algorithm that combines the feature-based scan matching method and Iterative Closest Point (ICP) based scan matching method. The algorithm can work and transit between two modes depending on the number of matched line features over two scans, thus achieving efficiency and robustness concurrently. Two integration schemes of INS and LiDAR with hybrid scan matching algorithm are implemented and compared. Real experiments are performed on an Unmanned Ground Vehicle (UGV) for both outdoor and indoor environments. Experimental results show that the multi-sensor integrated system can remain sub-meter navigation accuracy during the whole trajectory. PMID:26389906

INS/GPS/LiDAR Integrated Navigation System for Urban and Indoor Environments Using Hybrid Scan Matching Algorithm.

PubMed

Gao, Yanbin; Liu, Shifei; Atia, Mohamed M; Noureldin, Aboelmagd

2015-09-15

This paper takes advantage of the complementary characteristics of Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) to provide periodic corrections to Inertial Navigation System (INS) alternatively in different environmental conditions. In open sky, where GPS signals are available and LiDAR measurements are sparse, GPS is integrated with INS. Meanwhile, in confined outdoor environments and indoors, where GPS is unreliable or unavailable and LiDAR measurements are rich, LiDAR replaces GPS to integrate with INS. This paper also proposes an innovative hybrid scan matching algorithm that combines the feature-based scan matching method and Iterative Closest Point (ICP) based scan matching method. The algorithm can work and transit between two modes depending on the number of matched line features over two scans, thus achieving efficiency and robustness concurrently. Two integration schemes of INS and LiDAR with hybrid scan matching algorithm are implemented and compared. Real experiments are performed on an Unmanned Ground Vehicle (UGV) for both outdoor and indoor environments. Experimental results show that the multi-sensor integrated system can remain sub-meter navigation accuracy during the whole trajectory.

Mosaicing of airborne LiDAR bathymetry strips based on Monte Carlo matching

NASA Astrophysics Data System (ADS)

Yang, Fanlin; Su, Dianpeng; Zhang, Kai; Ma, Yue; Wang, Mingwei; Yang, Anxiu

2017-09-01

This study proposes a new methodology for mosaicing airborne light detection and ranging (LiDAR) bathymetry (ALB) data based on Monte Carlo matching. Various errors occur in ALB data due to imperfect system integration and other interference factors. To account for these errors, a Monte Carlo matching algorithm based on a nonlinear least-squares adjustment model is proposed. First, the raw data of strip overlap areas were filtered according to their relative drift of depths. Second, a Monte Carlo model and nonlinear least-squares adjustment model were combined to obtain seven transformation parameters. Then, the multibeam bathymetric data were used to correct the initial strip during strip mosaicing. Finally, to evaluate the proposed method, the experimental results were compared with the results of the Iterative Closest Points (ICP) and three-dimensional Normal Distributions Transform (3D-NDT) algorithms. The results demonstrate that the algorithm proposed in this study is more robust and effective. When the quality of the raw data is poor, the Monte Carlo matching algorithm can still achieve centimeter-level accuracy for overlapping areas, which meets the accuracy of bathymetry required by IHO Standards for Hydrographic Surveys Special Publication No.44.

3D pose estimation and motion analysis of the articulated human hand-forearm limb in an industrial production environment

NASA Astrophysics Data System (ADS)

Hahn, Markus; Barrois, Björn; Krüger, Lars; Wöhler, Christian; Sagerer, Gerhard; Kummert, Franz

2010-09-01

This study introduces an approach to model-based 3D pose estimation and instantaneous motion analysis of the human hand-forearm limb in the application context of safe human-robot interaction. 3D pose estimation is performed using two approaches: The Multiocular Contracting Curve Density (MOCCD) algorithm is a top-down technique based on pixel statistics around a contour model projected into the images from several cameras. The Iterative Closest Point (ICP) algorithm is a bottom-up approach which uses a motion-attributed 3D point cloud to estimate the object pose. Due to their orthogonal properties, a fusion of these algorithms is shown to be favorable. The fusion is performed by a weighted combination of the extracted pose parameters in an iterative manner. The analysis of object motion is based on the pose estimation result and the motion-attributed 3D points belonging to the hand-forearm limb using an extended constraint-line approach which does not rely on any temporal filtering. A further refinement is obtained using the Shape Flow algorithm, a temporal extension of the MOCCD approach, which estimates the temporal pose derivative based on the current and the two preceding images, corresponding to temporal filtering with a short response time of two or at most three frames. Combining the results of the two motion estimation stages provides information about the instantaneous motion properties of the object. Experimental investigations are performed on real-world image sequences displaying several test persons performing different working actions typically occurring in an industrial production scenario. In all example scenes, the background is cluttered, and the test persons wear various kinds of clothes. For evaluation, independently obtained ground truth data are used. [Figure not available: see fulltext.

A Simple Two Aircraft Conflict Resolution Algorithm

NASA Technical Reports Server (NTRS)

Chatterji, Gano B.

1999-01-01

Conflict detection and resolution methods are crucial for distributed air-ground traffic management in which the crew in the cockpit, dispatchers in operation control centers and air traffic controllers in the ground-based air traffic management facilities share information and participate in the traffic flow and traffic control imctions.This paper describes a conflict detection and a conflict resolution method. The conflict detection method predicts the minimum separation and the time-to-go to the closest point of approach by assuming that both the aircraft will continue to fly at their current speeds along their current headings. The conflict resolution method described here is motivated by the proportional navigation algorithm. It generates speed and heading commands to rotate the line-of-sight either clockwise or counter-clockwise for conflict resolution. Once the aircraft achieve a positive range-rate and no further conflict is predicted, the algorithm generates heading commands to turn back the aircraft to their nominal trajectories. The speed commands are set to the optimal pre-resolution speeds. Six numerical examples are presented to demonstrate the conflict detection and resolution method.

An Easily Constructed Model of a Coordination Polyhedron that Represents the Hexagonal Closest-Packed Structure.

ERIC Educational Resources Information Center

Yamana, Shukichi

1987-01-01

Illustrates the 29 steps involved in the development of a model of a coordination polyhedron that represents the hexagonal closest packed structure. Points out it is useful in teaching stereochemistry. (TW)

Multibeam 3D Underwater SLAM with Probabilistic Registration.

PubMed

Palomer, Albert; Ridao, Pere; Ribas, David

2016-04-20

This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM) using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., point clouds). An Iterative Closest Point (ICP) with a probabilistic implementation is then used to register the point clouds, taking into account their uncertainties. The registration process is divided in two steps: (1) point-to-point association for coarse registration and (2) point-to-plane association for fine registration. The point clouds of the surfaces to be registered are sub-sampled in order to decrease both the computation time and also the potential of falling into local minima during the registration. In addition, a heuristic is used to decrease the complexity of the association step of the ICP from O(n2) to O(n) . The performance of the SLAM framework is tested using two real world datasets: First, a 2.5D bathymetric dataset obtained with the usual down-looking multibeam sonar configuration, and second, a full 3D underwater dataset acquired with a multibeam sonar mounted on a pan and tilt unit.

Feature-based US to CT registration of the aortic root

NASA Astrophysics Data System (ADS)

Lang, Pencilla; Chen, Elvis C. S.; Guiraudon, Gerard M.; Jones, Doug L.; Bainbridge, Daniel; Chu, Michael W.; Drangova, Maria; Hata, Noby; Jain, Ameet; Peters, Terry M.

2011-03-01

A feature-based registration was developed to align biplane and tracked ultrasound images of the aortic root with a preoperative CT volume. In transcatheter aortic valve replacement, a prosthetic valve is inserted into the aortic annulus via a catheter. Poor anatomical visualization of the aortic root region can result in incorrect positioning, leading to significant morbidity and mortality. Registration of pre-operative CT to transesophageal ultrasound and fluoroscopy images is a major step towards providing augmented image guidance for this procedure. The proposed registration approach uses an iterative closest point algorithm to register a surface mesh generated from CT to 3D US points reconstructed from a single biplane US acquisition, or multiple tracked US images. The use of a single simultaneous acquisition biplane image eliminates reconstruction error introduced by cardiac gating and TEE probe tracking, creating potential for real-time intra-operative registration. A simple initialization procedure is used to minimize changes to operating room workflow. The algorithm is tested on images acquired from excised porcine hearts. Results demonstrate a clinically acceptable accuracy of 2.6mm and 5mm for tracked US to CT and biplane US to CT registration respectively.

Building a LiDAR point cloud simulator: Testing algorithms for high resolution topographic change

NASA Astrophysics Data System (ADS)

Carrea, Dario; Abellán, Antonio; Derron, Marc-Henri; Jaboyedoff, Michel

2014-05-01

Terrestrial laser technique (TLS) is becoming a common tool in Geosciences, with clear applications ranging from the generation of a high resolution 3D models to the monitoring of unstable slopes and the quantification of morphological changes. Nevertheless, like every measurement techniques, TLS still has some limitations that are not clearly understood and affect the accuracy of the dataset (point cloud). A challenge in LiDAR research is to understand the influence of instrumental parameters on measurement errors during LiDAR acquisition. Indeed, different critical parameters interact with the scans quality at different ranges: the existence of shadow areas, the spatial resolution (point density), and the diameter of the laser beam, the incidence angle and the single point accuracy. The objective of this study is to test the main limitations of different algorithms usually applied on point cloud data treatment, from alignment to monitoring. To this end, we built in MATLAB(c) environment a LiDAR point cloud simulator able to recreate the multiple sources of errors related to instrumental settings that we normally observe in real datasets. In a first step we characterized the error from single laser pulse by modelling the influence of range and incidence angle on single point data accuracy. In a second step, we simulated the scanning part of the system in order to analyze the shifting and angular error effects. Other parameters have been added to the point cloud simulator, such as point spacing, acquisition window, etc., in order to create point clouds of simple and/or complex geometries. We tested the influence of point density and vitiating point of view on the Iterative Closest Point (ICP) alignment and also in some deformation tracking algorithm with same point cloud geometry, in order to determine alignment and deformation detection threshold. We also generated a series of high resolution point clouds in order to model small changes on different environments (erosion, landslide monitoring, etc) and we then tested the use of filtering techniques using 3D moving windows along the space and time, which considerably reduces data scattering due to the benefits of data redundancy. In conclusion, the simulator allowed us to improve our different algorithms and to understand how instrumental error affects final results. And also, improve the methodology of scans acquisition to find the best compromise between point density, positioning and acquisition time with the best accuracy possible to characterize the topographic change.

Estimating Aircraft Heading Based on Laserscanner Derived Point Clouds

NASA Astrophysics Data System (ADS)

Koppanyi, Z.; Toth, C., K.

2015-03-01

Using LiDAR sensors for tracking and monitoring an operating aircraft is a new application. In this paper, we present data processing methods to estimate the heading of a taxiing aircraft using laser point clouds. During the data acquisition, a Velodyne HDL-32E laser scanner tracked a moving Cessna 172 airplane. The point clouds captured at different times were used for heading estimation. After addressing the problem and specifying the equation of motion to reconstruct the aircraft point cloud from the consecutive scans, three methods are investigated here. The first requires a reference model to estimate the relative angle from the captured data by fitting different cross-sections (horizontal profiles). In the second approach, iterative closest point (ICP) method is used between the consecutive point clouds to determine the horizontal translation of the captured aircraft body. Regarding the ICP, three different versions were compared, namely, the ordinary 3D, 3-DoF 3D and 2-DoF 3D ICP. It was found that 2-DoF 3D ICP provides the best performance. Finally, the last algorithm searches for the unknown heading and velocity parameters by minimizing the volume of the reconstructed plane. The three methods were compared using three test datatypes which are distinguished by object-sensor distance, heading and velocity. We found that the ICP algorithm fails at long distances and when the aircraft motion direction perpendicular to the scan plane, but the first and the third methods give robust and accurate results at 40m object distance and at ~12 knots for a small Cessna airplane.

The Registration and Segmentation of Heterogeneous Laser Scanning Data

NASA Astrophysics Data System (ADS)

Al-Durgham, Mohannad M.

Light Detection And Ranging (LiDAR) mapping has been emerging over the past few years as a mainstream tool for the dense acquisition of three dimensional point data. Besides the conventional mapping missions, LiDAR systems have proven to be very useful for a wide spectrum of applications such as forestry, structural deformation analysis, urban mapping, and reverse engineering. The wide application scope of LiDAR lead to the development of many laser scanning technologies that are mountable on multiple platforms (i.e., airborne, mobile terrestrial, and tripod mounted), this caused variations in the characteristics and quality of the generated point clouds. As a result of the increased popularity and diversity of laser scanners, one should address the heterogeneous LiDAR data post processing (i.e., registration and segmentation) problems adequately. Current LiDAR integration techniques do not take into account the varying nature of laser scans originating from various platforms. In this dissertation, the author proposes a methodology designed particularly for the registration and segmentation of heterogeneous LiDAR data. A data characterization and filtering step is proposed to populate the points' attributes and remove non-planar LiDAR points. Then, a modified version of the Iterative Closest Point (ICP), denoted by the Iterative Closest Projected Point (ICPP) is designed for the registration of heterogeneous scans to remove any misalignments between overlapping strips. Next, a region-growing-based heterogeneous segmentation algorithm is developed to ensure the proper extraction of planar segments from the point clouds. Validation experiments show that the proposed heterogeneous registration can successfully align airborne and terrestrial datasets despite the great differences in their point density and their noise level. In addition, similar testes have been conducted to examine the heterogeneous segmentation and it is shown that one is able to identify common planar features in airborne and terrestrial data without resampling or manipulating the data in any way. The work presented in this dissertation provides a framework for the registration and segmentation of airborne and terrestrial laser scans which has a positive impact on the completeness of the scanned feature. Therefore, the derived products from these point clouds have higher accuracy as seen in the full manuscript.

Generating Broad-Scale Forest Ownership Maps: A Closest-Neighbor Approach

Treesearch

Brett J. Butler

2005-01-01

A closest-neighbor method for producing a forest ownership map using remotely sensed imagery and point-based ownership information is presented for the Northeastern United States. Based on a validation data set, this method had an accuracy rate of 58 percent.

Evaluation of several schemes for classification of remotely sensed data: Their parameters and performance. [Foster County, North Dakota; Grant County, Kansas; Iroquois County, Illinois, Tippecanoe County, Indiana; and Pottawattamie and Shelby Counties, Iowa

NASA Technical Reports Server (NTRS)

Scholz, D.; Fuhs, N.; Hixson, M.; Akiyama, T. (Principal Investigator)

1979-01-01

The author has identified the following significant results. Data sets for corn, soybeans, winter wheat, and spring wheat were used to evaluate the following schemes for crop identification: (1) per point Gaussian maximum classifier; (2) per point sum of normal densities classifiers; (3) per point linear classifier; (4) per point Gaussian maximum likelihood decision tree classifiers; and (5) texture sensitive per field Gaussian maximum likelihood classifier. Test site location and classifier both had significant effects on classification accuracy of small grains; classifiers did not differ significantly in overall accuracy, with the majority of the difference among classifiers being attributed to training method rather than to the classification algorithm applied. The complexity of use and computer costs for the classifiers varied significantly. A linear classification rule which assigns each pixel to the class whose mean is closest in Euclidean distance was the easiest for the analyst and cost the least per classification.

Automatic extraction of the mid-sagittal plane using an ICP variant

NASA Astrophysics Data System (ADS)

Fieten, Lorenz; Eschweiler, Jörg; de la Fuente, Matías; Gravius, Sascha; Radermacher, Klaus

2008-03-01

Precise knowledge of the mid-sagittal plane is important for the assessment and correction of several deformities. Furthermore, the mid-sagittal plane can be used for the definition of standardized coordinate systems such as pelvis or skull coordinate systems. A popular approach for mid-sagittal plane computation is based on the selection of anatomical landmarks located either directly on the plane or symmetrically to it. However, the manual selection of landmarks is a tedious, time-consuming and error-prone task, which requires great care. In order to overcome this drawback, previously it was suggested to use the iterative closest point (ICP) algorithm: After an initial mirroring of the data points on a default mirror plane, the mirrored data points should be registered iteratively to the model points using rigid transforms. Finally, a reflection transform approximating the cumulative transform could be extracted. In this work, we present an ICP variant for the iterative optimization of the reflection parameters. It is based on a closed-form solution to the least-squares problem of matching data points to model points using a reflection. In experiments on CT pelvis and skull datasets our method showed a better ability to match homologous areas.

A novel application of PageRank and user preference algorithms for assessing the relative performance of track athletes in competition

PubMed Central

Shepherd, Simon J.; Emmonds, Stacey; Jones, Ben

2017-01-01

Ranking enables coaches, sporting authorities, and pundits to determine the relative performance of individual athletes and teams in comparison to their peers. While ranking is relatively straightforward in sports that employ traditional leagues, it is more difficult in sports where competition is fragmented (e.g. athletics, boxing, etc.), with not all competitors competing against each other. In such situations, complex points systems are often employed to rank athletes. However, these systems have the inherent weakness that they frequently rely on subjective assessments in order to gauge the calibre of the competitors involved. Here we show how two Internet derived algorithms, the PageRank (PR) and user preference (UP) algorithms, when utilised with a simple ‘who beat who’ matrix, can be used to accurately rank track athletes, avoiding the need for subjective assessment. We applied the PR and UP algorithms to the 2015 IAAF Diamond League men’s 100m competition and compared their performance with the Keener, Colley and Massey ranking algorithms. The top five places computed by the PR and UP algorithms, and the Diamond League ‘2016’ points system were all identical, with the Kendall’s tau distance between the PR standings and ‘2016’ points system standings being just 15, indicating that only 5.9% of pairs differed in their order between these two lists. By comparison, the UP and ‘2016’ standings displayed a less strong relationship, with a tau distance of 95, indicating that 37.6% of the pairs differed in their order. When compared with the standings produced using the Keener, Colley and Massey algorithms, the PR standings appeared to be closest to the Keener standings (tau distance = 67, 26.5% pair order disagreement), whereas the UP standings were more similar to the Colley and Massey standings, with the tau distances between these ranking lists being only 48 (19.0% pair order disagreement) and 59 (23.3% pair order disagreement) respectively. In particular, the UP algorithm ranked ‘one-off’ victors more highly than the PR algorithm, suggesting that the UP algorithm captures alternative characteristics to the PR algorithm, which may more suitable for predicting future performance in say knockout tournaments, rather than for use in competitions such as the Diamond League. As such, these Internet derived algorithms appear to have considerable potential for objectively assessing the relative performance of track athletes, without the need for complicated points equivalence tables. Importantly, because both algorithms utilise a ‘who beat who’ model, they automatically adjust for the strength of the competition, thus avoiding the need for subjective decision making. PMID:28575009

Poster - Thurs Eve-12: A needle-positioning robot co-registered with volumetric x-ray micro-computed tomography images for minimally-invasive small-animal interventions.

PubMed

Waspe, A C; Holdsworth, D W; Lacefield, J C; Fenster, A

2008-07-01

Preclinical research protocols often require the delivery of biological substances to specific targets in small animal disease models. To target biologically relevant locations in mice accurately, the needle positioning error needs to be < 200 μm. If targeting is inaccurate, experimental results can be inconclusive or misleading. We have developed a robotic manipulator that is capable of positioning a needle with a mean error < 100 μm. An apparatus and method were developed for integrating the needle-positioning robot with volumetric micro-computed tomography image guidance for interventions in small animals. Accurate image-to-robot registration is critical for integration as it enables targets identified in the image to be mapped to physical coordinates inside the animal. Registration is accomplished by injecting barium sulphate into needle tracks as the robot withdraws the needle from target points in a tissue-mimicking phantom. Registration accuracy is therefore affected by the positioning error of the robot and is assessed by measuring the point-to-line fiducial and target registration errors (FRE, TRE). Centroid points along cross-sectional slices of the track are determined using region growing segmentation followed by application of a center-of-mass algorithm. The centerline points are registered to needle trajectories in robot coordinates by applying an iterative closest point algorithm between points and lines. Implementing this procedure with four fiducial needle tracks produced a point-to-line FRE and TRE of 246 ± 58 μm and 194 ± 18 μm, respectively. The proposed registration technique produced a TRE < 200 μm, in the presence of robot positioning error, meeting design specification. © 2008 American Association of Physicists in Medicine.

Shear wave speed estimation by adaptive random sample consensus method.

PubMed

Lin, Haoming; Wang, Tianfu; Chen, Siping

2014-01-01

This paper describes a new method for shear wave velocity estimation that is capable of extruding outliers automatically without preset threshold. The proposed method is an adaptive random sample consensus (ARANDSAC) and the metric used here is finding the certain percentage of inliers according to the closest distance criterion. To evaluate the method, the simulation and phantom experiment results were compared using linear regression with all points (LRWAP) and radon sum transform (RS) method. The assessment reveals that the relative biases of mean estimation are 20.00%, 4.67% and 5.33% for LRWAP, ARANDSAC and RS respectively for simulation, 23.53%, 4.08% and 1.08% for phantom experiment. The results suggested that the proposed ARANDSAC algorithm is accurate in shear wave speed estimation.

A Simple Two Aircraft Conflict Resolution Algorithm

NASA Technical Reports Server (NTRS)

Chatterji, Gano B.

2006-01-01

Conflict detection and resolution methods are crucial for distributed air-ground traffic management in which the crew in, the cockpit, dispatchers in operation control centers sad and traffic controllers in the ground-based air traffic management facilities share information and participate in the traffic flow and traffic control functions. This paper describes a conflict detection, and a conflict resolution method. The conflict detection method predicts the minimum separation and the time-to-go to the closest point of approach by assuming that both the aircraft will continue to fly at their current speeds along their current headings. The conflict resolution method described here is motivated by the proportional navigation algorithm, which is often used for missile guidance during the terminal phase. It generates speed and heading commands to rotate the line-of-sight either clockwise or counter-clockwise for conflict resolution. Once the aircraft achieve a positive range-rate and no further conflict is predicted, the algorithm generates heading commands to turn back the aircraft to their nominal trajectories. The speed commands are set to the optimal pre-resolution speeds. Six numerical examples are presented to demonstrate the conflict detection, and the conflict resolution methods.

Trust-region based return mapping algorithm for implicit integration of elastic-plastic constitutive models

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lester, Brian; Scherzinger, William

2017-01-19

Here, a new method for the solution of the non-linear equations forming the core of constitutive model integration is proposed. Specifically, the trust-region method that has been developed in the numerical optimization community is successfully modified for use in implicit integration of elastic-plastic models. Although attention here is restricted to these rate-independent formulations, the proposed approach holds substantial promise for adoption with models incorporating complex physics, multiple inelastic mechanisms, and/or multiphysics. As a first step, the non-quadratic Hosford yield surface is used as a representative case to investigate computationally challenging constitutive models. The theory and implementation are presented, discussed, andmore » compared to other common integration schemes. Multiple boundary value problems are studied and used to verify the proposed algorithm and demonstrate the capabilities of this approach over more common methodologies. Robustness and speed are then investigated and compared to existing algorithms. Through these efforts, it is shown that the utilization of a trust-region approach leads to superior performance versus a traditional closest-point projection Newton-Raphson method and comparable speed and robustness to a line search augmented scheme.« less

Trust-region based return mapping algorithm for implicit integration of elastic-plastic constitutive models

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lester, Brian T.; Scherzinger, William M.

2017-01-19

A new method for the solution of the non-linear equations forming the core of constitutive model integration is proposed. Specifically, the trust-region method that has been developed in the numerical optimization community is successfully modified for use in implicit integration of elastic-plastic models. Although attention here is restricted to these rate-independent formulations, the proposed approach holds substantial promise for adoption with models incorporating complex physics, multiple inelastic mechanisms, and/or multiphysics. As a first step, the non-quadratic Hosford yield surface is used as a representative case to investigate computationally challenging constitutive models. The theory and implementation are presented, discussed, and comparedmore » to other common integration schemes. Multiple boundary value problems are studied and used to verify the proposed algorithm and demonstrate the capabilities of this approach over more common methodologies. Robustness and speed are then investigated and compared to existing algorithms. As a result through these efforts, it is shown that the utilization of a trust-region approach leads to superior performance versus a traditional closest-point projection Newton-Raphson method and comparable speed and robustness to a line search augmented scheme.« less

Surface Deformation Associated with the 1983 Borah Peak Earthquake Measured from Digital Surface Model Differencing

NASA Astrophysics Data System (ADS)

Reitman, N. G.; Briggs, R.; Gold, R. D.; DuRoss, C. B.

2015-12-01

Post-earthquake, field-based assessments of surface displacement commonly underestimate offsets observed with remote sensing techniques (e.g., InSAR, image cross-correlation) because they fail to capture the total deformation field. Modern earthquakes are readily characterized by comparing pre- and post-event remote sensing data, but historical earthquakes often lack pre-event data. To overcome this challenge, we use historical aerial photographs to derive pre-event digital surface models (DSMs), which we compare to modern, post-event DSMs. Our case study focuses on resolving on- and off-fault deformation along the Lost River fault that accompanied the 1983 M6.9 Borah Peak, Idaho, normal-faulting earthquake. We use 343 aerial images from 1952-1966 and vertical control points selected from National Geodetic Survey benchmarks measured prior to 1983 to construct a pre-event point cloud (average ~ 0.25 pts/m2) and corresponding DSM. The post-event point cloud (average ~ 1 pt/m2) and corresponding DSM are derived from WorldView 1 and 2 scenes processed with NASA's Ames Stereo Pipeline. The point clouds and DSMs are coregistered using vertical control points, an iterative closest point algorithm, and a DSM coregistration algorithm. Preliminary results of differencing the coregistered DSMs reveal a signal spanning the surface rupture that is consistent with tectonic displacement. Ongoing work is focused on quantifying the significance of this signal and error analysis. We expect this technique to yield a more complete understanding of on- and off-fault deformation patterns associated with the Borah Peak earthquake along the Lost River fault and to help improve assessments of surface deformation for other historical ruptures.

30 CFR 285.543 - Example of how the inverse distance formula works.

Code of Federal Regulations, 2011 CFR

2011-07-01

... works. 285.543 Section 285.543 Mineral Resources BUREAU OF OCEAN ENERGY MANAGEMENT, REGULATION, AND ENFORCEMENT, DEPARTMENT OF THE INTERIOR OFFSHORE RENEWABLE ENERGY ALTERNATE USES OF EXISTING FACILITIES ON THE... project area lies 12 miles from the closest coastline point of State A and 4 miles from the closest...

On-line range images registration with GPGPU

NASA Astrophysics Data System (ADS)

Będkowski, J.; Naruniec, J.

2013-03-01

This paper concerns implementation of algorithms in the two important aspects of modern 3D data processing: data registration and segmentation. Solution proposed for the first topic is based on the 3D space decomposition, while the latter on image processing and local neighbourhood search. Data processing is implemented by using NVIDIA compute unified device architecture (NIVIDIA CUDA) parallel computation. The result of the segmentation is a coloured map where different colours correspond to different objects, such as walls, floor and stairs. The research is related to the problem of collecting 3D data with a RGB-D camera mounted on a rotated head, to be used in mobile robot applications. Performance of the data registration algorithm is aimed for on-line processing. The iterative closest point (ICP) approach is chosen as a registration method. Computations are based on the parallel fast nearest neighbour search. This procedure decomposes 3D space into cubic buckets and, therefore, the time of the matching is deterministic. First technique of the data segmentation uses accele-rometers integrated with a RGB-D sensor to obtain rotation compensation and image processing method for defining pre-requisites of the known categories. The second technique uses the adapted nearest neighbour search procedure for obtaining normal vectors for each range point.

Application of a Terrestrial LIDAR System for Elevation Mapping in Terra Nova Bay, Antarctica.

PubMed

Cho, Hyoungsig; Hong, Seunghwan; Kim, Sangmin; Park, Hyokeun; Park, Ilsuk; Sohn, Hong-Gyoo

2015-09-16

A terrestrial Light Detection and Ranging (LIDAR) system has high productivity and accuracy for topographic mapping, but the harsh conditions of Antarctica make LIDAR operation difficult. Low temperatures cause malfunctioning of the LIDAR system, and unpredictable strong winds can deteriorate data quality by irregularly shaking co-registration targets. For stable and efficient LIDAR operation in Antarctica, this study proposes and demonstrates the following practical solutions: (1) a lagging cover with a heating pack to maintain the temperature of the terrestrial LIDAR system; (2) co-registration using square planar targets and two-step point-merging methods based on extracted feature points and the Iterative Closest Point (ICP) algorithm; and (3) a georeferencing module consisting of an artificial target and a Global Navigation Satellite System (GNSS) receiver. The solutions were used to produce a topographic map for construction of the Jang Bogo Research Station in Terra Nova Bay, Antarctica. Co-registration and georeferencing precision reached 5 and 45 mm, respectively, and the accuracy of the Digital Elevation Model (DEM) generated from the LIDAR scanning data was ±27.7 cm.

An evolving effective stress approach to anisotropic distortional hardening

DOE PAGES

Lester, B. T.; Scherzinger, W. M.

2018-03-11

A new yield surface with an evolving effective stress definition is proposed for consistently and efficiently describing anisotropic distortional hardening. Specifically, a new internal state variable is introduced to capture the thermodynamic evolution between different effective stress definitions. The corresponding yield surface and evolution equations of the internal variables are derived from thermodynamic considerations enabling satisfaction of the second law. A closest point projection return mapping algorithm for the proposed model is formulated and implemented for use in finite element analyses. Finally, select constitutive and larger scale boundary value problems are solved to explore the capabilities of the model andmore » examine the impact of distortional hardening on constitutive and structural responses. Importantly, these simulations demonstrate the tractability of the proposed formulation in investigating large-scale problems of interest.« less

An evolving effective stress approach to anisotropic distortional hardening

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lester, B. T.; Scherzinger, W. M.

A new yield surface with an evolving effective stress definition is proposed for consistently and efficiently describing anisotropic distortional hardening. Specifically, a new internal state variable is introduced to capture the thermodynamic evolution between different effective stress definitions. The corresponding yield surface and evolution equations of the internal variables are derived from thermodynamic considerations enabling satisfaction of the second law. A closest point projection return mapping algorithm for the proposed model is formulated and implemented for use in finite element analyses. Finally, select constitutive and larger scale boundary value problems are solved to explore the capabilities of the model andmore » examine the impact of distortional hardening on constitutive and structural responses. Importantly, these simulations demonstrate the tractability of the proposed formulation in investigating large-scale problems of interest.« less

Evaluation of mathematical algorithms for automatic patient alignment in radiosurgery.

PubMed

Williams, Kenneth M; Schulte, Reinhard W; Schubert, Keith E; Wroe, Andrew J

2015-06-01

Image registration techniques based on anatomical features can serve to automate patient alignment for intracranial radiosurgery procedures in an effort to improve the accuracy and efficiency of the alignment process as well as potentially eliminate the need for implanted fiducial markers. To explore this option, four two-dimensional (2D) image registration algorithms were analyzed: the phase correlation technique, mutual information (MI) maximization, enhanced correlation coefficient (ECC) maximization, and the iterative closest point (ICP) algorithm. Digitally reconstructed radiographs from the treatment planning computed tomography scan of a human skull were used as the reference images, while orthogonal digital x-ray images taken in the treatment room were used as the captured images to be aligned. The accuracy of aligning the skull with each algorithm was compared to the alignment of the currently practiced procedure, which is based on a manual process of selecting common landmarks, including implanted fiducials and anatomical skull features. Of the four algorithms, three (phase correlation, MI maximization, and ECC maximization) demonstrated clinically adequate (ie, comparable to the standard alignment technique) translational accuracy and improvements in speed compared to the interactive, user-guided technique; however, the ICP algorithm failed to give clinically acceptable results. The results of this work suggest that a combination of different algorithms may provide the best registration results. This research serves as the initial groundwork for the translation of automated, anatomy-based 2D algorithms into a real-world system for 2D-to-2D image registration and alignment for intracranial radiosurgery. This may obviate the need for invasive implantation of fiducial markers into the skull and may improve treatment room efficiency and accuracy. © The Author(s) 2014.

Georeferencing UAS Derivatives Through Point Cloud Registration with Archived Lidar Datasets

NASA Astrophysics Data System (ADS)

Magtalas, M. S. L. Y.; Aves, J. C. L.; Blanco, A. C.

2016-10-01

Georeferencing gathered images is a common step before performing spatial analysis and other processes on acquired datasets using unmanned aerial systems (UAS). Methods of applying spatial information to aerial images or their derivatives is through onboard GPS (Global Positioning Systems) geotagging, or through tying of models through GCPs (Ground Control Points) acquired in the field. Currently, UAS (Unmanned Aerial System) derivatives are limited to meter-levels of accuracy when their generation is unaided with points of known position on the ground. The use of ground control points established using survey-grade GPS or GNSS receivers can greatly reduce model errors to centimeter levels. However, this comes with additional costs not only with instrument acquisition and survey operations, but also in actual time spent in the field. This study uses a workflow for cloud-based post-processing of UAS data in combination with already existing LiDAR data. The georeferencing of the UAV point cloud is executed using the Iterative Closest Point algorithm (ICP). It is applied through the open-source CloudCompare software (Girardeau-Montaut, 2006) on a `skeleton point cloud'. This skeleton point cloud consists of manually extracted features consistent on both LiDAR and UAV data. For this cloud, roads and buildings with minimal deviations given their differing dates of acquisition are considered consistent. Transformation parameters are computed for the skeleton cloud which could then be applied to the whole UAS dataset. In addition, a separate cloud consisting of non-vegetation features automatically derived using CANUPO classification algorithm (Brodu and Lague, 2012) was used to generate a separate set of parameters. Ground survey is done to validate the transformed cloud. An RMSE value of around 16 centimeters was found when comparing validation data to the models georeferenced using the CANUPO cloud and the manual skeleton cloud. Cloud-to-cloud distance computations of CANUPO and manual skeleton clouds were obtained with values for both equal to around 0.67 meters at 1.73 standard deviation.

Anatomy-based algorithm for automatic segmentation of human diaphragm in noncontrast computed tomography images

PubMed Central

Karami, Elham; Wang, Yong; Gaede, Stewart; Lee, Ting-Yim; Samani, Abbas

2016-01-01

Abstract. In-depth understanding of the diaphragm’s anatomy and physiology has been of great interest to the medical community, as it is the most important muscle of the respiratory system. While noncontrast four-dimensional (4-D) computed tomography (CT) imaging provides an interesting opportunity for effective acquisition of anatomical and/or functional information from a single modality, segmenting the diaphragm in such images is very challenging not only because of the diaphragm’s lack of image contrast with its surrounding organs but also because of respiration-induced motion artifacts in 4-D CT images. To account for such limitations, we present an automatic segmentation algorithm, which is based on a priori knowledge of diaphragm anatomy. The novelty of the algorithm lies in using the diaphragm’s easy-to-segment contacting organs—including the lungs, heart, aorta, and ribcage—to guide the diaphragm’s segmentation. Obtained results indicate that average mean distance to the closest point between diaphragms segmented using the proposed technique and corresponding manual segmentation is 2.55±0.39  mm, which is favorable. An important feature of the proposed technique is that it is the first algorithm to delineate the entire diaphragm. Such delineation facilitates applications, where the diaphragm boundary conditions are required such as biomechanical modeling for in-depth understanding of the diaphragm physiology. PMID:27921072

Robust 3D face landmark localization based on local coordinate coding.

PubMed

Song, Mingli; Tao, Dacheng; Sun, Shengpeng; Chen, Chun; Maybank, Stephen J

2014-12-01

In the 3D facial animation and synthesis community, input faces are usually required to be labeled by a set of landmarks for parameterization. Because of the variations in pose, expression and resolution, automatic 3D face landmark localization remains a challenge. In this paper, a novel landmark localization approach is presented. The approach is based on local coordinate coding (LCC) and consists of two stages. In the first stage, we perform nose detection, relying on the fact that the nose shape is usually invariant under the variations in the pose, expression, and resolution. Then, we use the iterative closest points algorithm to find a 3D affine transformation that aligns the input face to a reference face. In the second stage, we perform resampling to build correspondences between the input 3D face and the training faces. Then, an LCC-based localization algorithm is proposed to obtain the positions of the landmarks in the input face. Experimental results show that the proposed method is comparable to state of the art methods in terms of its robustness, flexibility, and accuracy.

Clustering by soft-constraint affinity propagation: applications to gene-expression data.

PubMed

Leone, Michele; Sumedha; Weigt, Martin

2007-10-15

Similarity-measure-based clustering is a crucial problem appearing throughout scientific data analysis. Recently, a powerful new algorithm called Affinity Propagation (AP) based on message-passing techniques was proposed by Frey and Dueck (2007a). In AP, each cluster is identified by a common exemplar all other data points of the same cluster refer to, and exemplars have to refer to themselves. Albeit its proved power, AP in its present form suffers from a number of drawbacks. The hard constraint of having exactly one exemplar per cluster restricts AP to classes of regularly shaped clusters, and leads to suboptimal performance, e.g. in analyzing gene expression data. This limitation can be overcome by relaxing the AP hard constraints. A new parameter controls the importance of the constraints compared to the aim of maximizing the overall similarity, and allows to interpolate between the simple case where each data point selects its closest neighbor as an exemplar and the original AP. The resulting soft-constraint affinity propagation (SCAP) becomes more informative, accurate and leads to more stable clustering. Even though a new a priori free parameter is introduced, the overall dependence of the algorithm on external tuning is reduced, as robustness is increased and an optimal strategy for parameter selection emerges more naturally. SCAP is tested on biological benchmark data, including in particular microarray data related to various cancer types. We show that the algorithm efficiently unveils the hierarchical cluster structure present in the data sets. Further on, it allows to extract sparse gene expression signatures for each cluster.

Predicting How Close Near-Earth Asteroids Will Come to Earth in the Next Five Years Using Only Kepler's Algorithm

NASA Astrophysics Data System (ADS)

Wright, Melissa J.

1998-04-01

There are estimated to be over 150,000 near-earth asteroids in our solar system that are large enough to pose a significant threat to Earth. In order to determine which of them may be a hazard in the future, their orbits must be propagated through time. The goal of this investigation was to see if using only Kepler's algorithm, which ignores the gravitational pull of other planets, our moon, and Jupiter, was sufficient to predict close encounters with Earth. The results were very rough, and about half of the closest approaches were near the dates of those predicted by more refined models. The distances were in general off by a magnitude often, showing that asteroid orbits must be very perturbed by other planets, particularly Jupiter, over time and these must be taken into account for a precise distance estimate. A noted correlation was that the difference in the angular distance from the I vector was very small when the asteroid and Earth were supposed to be closest. In conclusion, using Kepler's algorithm alone can narrow down intervals of time of nearest approaches, which can then be looked at using more accurate propagators.

3D matching techniques using OCT fingerprint point clouds

NASA Astrophysics Data System (ADS)

Gutierrez da Costa, Henrique S.; Silva, Luciano; Bellon, Olga R. P.; Bowden, Audrey K.; Czovny, Raphael K.

2017-02-01

Optical Coherence Tomography (OCT) makes viable acquisition of 3D fingerprints from both dermis and epidermis skin layers and their interfaces, exposing features that can be explored to improve biometric identification such as the curvatures and distinctive 3D regions. Scanned images from eleven volunteers allowed the construction of the first OCT 3D fingerprint database, to our knowledge, containing epidermal and dermal fingerprints. 3D dermal fingerprints can be used to overcome cases of Failure to Enroll (FTE) due to poor ridge image quality and skin alterations, cases that affect 2D matching performance. We evaluate three matching techniques, including the well-established Iterative Closest Points algorithm (ICP), Surface Interpenetration Measure (SIM) and the well-known KH Curvature Maps, all assessed using a 3D OCT fingerprint database, the first one for this purpose. Two of these techniques are based on registration techniques and one on curvatures. These were evaluated, compared and the fusion of matching scores assessed. We applied a sequence of steps to extract regions of interest named (ROI) minutiae clouds, representing small regions around distinctive minutia, usually located at ridges/valleys endings or bifurcations. The obtained ROI is acquired from the epidermis and dermis-epidermis interface by OCT imaging. A comparative analysis of identification accuracy was explored using different scenarios and the obtained results shows improvements for biometric identification. A comparison against 2D fingerprint matching algorithms is also presented to assess the improvements.

a Weighted Closed-Form Solution for Rgb-D Data Registration

NASA Astrophysics Data System (ADS)

Vestena, K. M.; Dos Santos, D. R.; Oilveira, E. M., Jr.; Pavan, N. L.; Khoshelham, K.

2016-06-01

Existing 3D indoor mapping of RGB-D data are prominently point-based and feature-based methods. In most cases iterative closest point (ICP) and its variants are generally used for pairwise registration process. Considering that the ICP algorithm requires an relatively accurate initial transformation and high overlap a weighted closed-form solution for RGB-D data registration is proposed. In this solution, we weighted and normalized the 3D points based on the theoretical random errors and the dual-number quaternions are used to represent the 3D rigid body motion. Basically, dual-number quaternions provide a closed-form solution by minimizing a cost function. The most important advantage of the closed-form solution is that it provides the optimal transformation in one-step, it does not need to calculate good initial estimates and expressively decreases the demand for computer resources in contrast to the iterative method. Basically, first our method exploits RGB information. We employed a scale invariant feature transformation (SIFT) for extracting, detecting, and matching features. It is able to detect and describe local features that are invariant to scaling and rotation. To detect and filter outliers, we used random sample consensus (RANSAC) algorithm, jointly with an statistical dispersion called interquartile range (IQR). After, a new RGB-D loop-closure solution is implemented based on the volumetric information between pair of point clouds and the dispersion of the random errors. The loop-closure consists to recognize when the sensor revisits some region. Finally, a globally consistent map is created to minimize the registration errors via a graph-based optimization. The effectiveness of the proposed method is demonstrated with a Kinect dataset. The experimental results show that the proposed method can properly map the indoor environment with an absolute accuracy around 1.5% of the travel of a trajectory.

Galaxy pairs in the Sloan Digital Sky Survey - XI. A new method for measuring the influence of the closest companion out to wide separations

NASA Astrophysics Data System (ADS)

Patton, David R.; Qamar, Farid D.; Ellison, Sara L.; Bluck, Asa F. L.; Simard, Luc; Mendel, J. Trevor; Moreno, Jorge; Torrey, Paul

2016-09-01

We describe a statistical approach for measuring the influence that a galaxy's closest companion has on the galaxy's properties out to arbitrarily wide separations. We begin by identifying the closest companion for every galaxy in a large spectroscopic sample of Sloan Digital Sky Survey galaxies. We then characterize the local environment of each galaxy by using the number of galaxies within 2 Mpc and by determining the isolation of the galaxy pair from other neighbouring galaxies. We introduce a sophisticated algorithm for creating a statistical control sample for each galaxy, matching on stellar mass, redshift, local density and isolation. Unlike traditional studies of close galaxy pairs, this approach is effective in a wide range of environments, regardless of how faraway the closest companion is (although a very distant closest companion is unlikely to have a measurable influence on the galaxy in question). We apply this methodology to measurements of galaxy asymmetry, and find that the presence of nearby companions drives a clear enhancement in galaxy asymmetries. The asymmetry excess peaks at the smallest projected separations (<10 kpc), where the mean asymmetry is enhanced by a factor of 2.0 ± 0.2. Enhancements in mean asymmetry decline as pair separation increases, but remain statistically significant (1σ-2σ) out to projected separations of at least 50 kpc.

Novel fusion for hybrid optical/microcomputed tomography imaging based on natural light surface reconstruction and iterated closest point

NASA Astrophysics Data System (ADS)

Ning, Nannan; Tian, Jie; Liu, Xia; Deng, Kexin; Wu, Ping; Wang, Bo; Wang, Kun; Ma, Xibo

2014-02-01

In mathematics, optical molecular imaging including bioluminescence tomography (BLT), fluorescence tomography (FMT) and Cerenkov luminescence tomography (CLT) are concerned with a similar inverse source problem. They all involve the reconstruction of the 3D location of a single/multiple internal luminescent/fluorescent sources based on 3D surface flux distribution. To achieve that, an accurate fusion between 2D luminescent/fluorescent images and 3D structural images that may be acquired form micro-CT, MRI or beam scanning is extremely critical. However, the absence of a universal method that can effectively convert 2D optical information into 3D makes the accurate fusion challengeable. In this study, to improve the fusion accuracy, a new fusion method for dual-modality tomography (luminescence/fluorescence and micro-CT) based on natural light surface reconstruction (NLSR) and iterated closest point (ICP) was presented. It consisted of Octree structure, exact visual hull from marching cubes and ICP. Different from conventional limited projection methods, it is 360° free-space registration, and utilizes more luminescence/fluorescence distribution information from unlimited multi-orientation 2D optical images. A mouse mimicking phantom (one XPM-2 Phantom Light Source, XENOGEN Corporation) and an in-vivo BALB/C mouse with implanted one luminescent light source were used to evaluate the performance of the new fusion method. Compared with conventional fusion methods, the average error of preset markers was improved by 0.3 and 0.2 pixels from the new method, respectively. After running the same 3D internal light source reconstruction algorithm of the BALB/C mouse, the distance error between the actual and reconstructed internal source was decreased by 0.19 mm.

Probabilistic Open Set Recognition

NASA Astrophysics Data System (ADS)

Jain, Lalit Prithviraj

Real-world tasks in computer vision, pattern recognition and machine learning often touch upon the open set recognition problem: multi-class recognition with incomplete knowledge of the world and many unknown inputs. An obvious way to approach such problems is to develop a recognition system that thresholds probabilities to reject unknown classes. Traditional rejection techniques are not about the unknown; they are about the uncertain boundary and rejection around that boundary. Thus traditional techniques only represent the "known unknowns". However, a proper open set recognition algorithm is needed to reduce the risk from the "unknown unknowns". This dissertation examines this concept and finds existing probabilistic multi-class recognition approaches are ineffective for true open set recognition. We hypothesize the cause is due to weak adhoc assumptions combined with closed-world assumptions made by existing calibration techniques. Intuitively, if we could accurately model just the positive data for any known class without overfitting, we could reject the large set of unknown classes even under this assumption of incomplete class knowledge. For this, we formulate the problem as one of modeling positive training data by invoking statistical extreme value theory (EVT) near the decision boundary of positive data with respect to negative data. We provide a new algorithm called the PI-SVM for estimating the unnormalized posterior probability of class inclusion. This dissertation also introduces a new open set recognition model called Compact Abating Probability (CAP), where the probability of class membership decreases in value (abates) as points move from known data toward open space. We show that CAP models improve open set recognition for multiple algorithms. Leveraging the CAP formulation, we go on to describe the novel Weibull-calibrated SVM (W-SVM) algorithm, which combines the useful properties of statistical EVT for score calibration with one-class and binary support vector machines. Building from the success of statistical EVT based recognition methods such as PI-SVM and W-SVM on the open set problem, we present a new general supervised learning algorithm for multi-class classification and multi-class open set recognition called the Extreme Value Local Basis (EVLB). The design of this algorithm is motivated by the observation that extrema from known negative class distributions are the closest negative points to any positive sample during training, and thus should be used to define the parameters of a probabilistic decision model. In the EVLB, the kernel distribution for each positive training sample is estimated via an EVT distribution fit over the distances to the separating hyperplane between positive training sample and closest negative samples, with a subset of the overall positive training data retained to form a probabilistic decision boundary. Using this subset as a frame of reference, the probability of a sample at test time decreases as it moves away from the positive class. Possessing this property, the EVLB is well-suited to open set recognition problems where samples from unknown or novel classes are encountered at test. Our experimental evaluation shows that the EVLB provides a substantial improvement in scalability compared to standard radial basis function kernel machines, as well as P I-SVM and W-SVM, with improved accuracy in many cases. We evaluate our algorithm on open set variations of the standard visual learning benchmarks, as well as with an open subset of classes from Caltech 256 and ImageNet. Our experiments show that PI-SVM, WSVM and EVLB provide significant advances over the previous state-of-the-art solutions for the same tasks.

A Spectral Algorithm for Envelope Reduction of Sparse Matrices

NASA Technical Reports Server (NTRS)

Barnard, Stephen T.; Pothen, Alex; Simon, Horst D.

1993-01-01

The problem of reordering a sparse symmetric matrix to reduce its envelope size is considered. A new spectral algorithm for computing an envelope-reducing reordering is obtained by associating a Laplacian matrix with the given matrix and then sorting the components of a specified eigenvector of the Laplacian. This Laplacian eigenvector solves a continuous relaxation of a discrete problem related to envelope minimization called the minimum 2-sum problem. The permutation vector computed by the spectral algorithm is a closest permutation vector to the specified Laplacian eigenvector. Numerical results show that the new reordering algorithm usually computes smaller envelope sizes than those obtained from the current standard algorithms such as Gibbs-Poole-Stockmeyer (GPS) or SPARSPAK reverse Cuthill-McKee (RCM), in some cases reducing the envelope by more than a factor of two.

Muon tomography imaging improvement using optimized limited angle data

NASA Astrophysics Data System (ADS)

Bai, Chuanyong; Simon, Sean; Kindem, Joel; Luo, Weidong; Sossong, Michael J.; Steiger, Matthew

2014-05-01

Image resolution of muon tomography is limited by the range of zenith angles of cosmic ray muons and the flux rate at sea level. Low flux rate limits the use of advanced data rebinning and processing techniques to improve image quality. By optimizing the limited angle data, however, image resolution can be improved. To demonstrate the idea, physical data of tungsten blocks were acquired on a muon tomography system. The angular distribution and energy spectrum of muons measured on the system was also used to generate simulation data of tungsten blocks of different arrangement (geometry). The data were grouped into subsets using the zenith angle and volume images were reconstructed from the data subsets using two algorithms. One was a distributed PoCA (point of closest approach) algorithm and the other was an accelerated iterative maximal likelihood/expectation maximization (MLEM) algorithm. Image resolution was compared for different subsets. Results showed that image resolution was better in the vertical direction for subsets with greater zenith angles and better in the horizontal plane for subsets with smaller zenith angles. The overall image resolution appeared to be the compromise of that of different subsets. This work suggests that the acquired data can be grouped into different limited angle data subsets for optimized image resolution in desired directions. Use of multiple images with resolution optimized in different directions can improve overall imaging fidelity and the intended applications.

Reduction of artifacts in computer simulation of breast Cooper's ligaments

NASA Astrophysics Data System (ADS)

Pokrajac, David D.; Kuperavage, Adam; Maidment, Andrew D. A.; Bakic, Predrag R.

2016-03-01

Anthropomorphic software breast phantoms have been introduced as a tool for quantitative validation of breast imaging systems. Efficacy of the validation results depends on the realism of phantom images. The recursive partitioning algorithm based upon the octree simulation has been demonstrated as versatile and capable of efficiently generating large number of phantoms to support virtual clinical trials of breast imaging. Previously, we have observed specific artifacts, (here labeled "dents") on the boundaries of simulated Cooper's ligaments. In this work, we have demonstrated that these "dents" result from the approximate determination of the closest simulated ligament to an examined subvolume (i.e., octree node) of the phantom. We propose a modification of the algorithm that determines the closest ligament by considering a pre-specified number of neighboring ligaments selected based upon the functions that govern the shape of ligaments simulated in the subvolume. We have qualitatively and quantitatively demonstrated that the modified algorithm can lead to elimination or reduction of dent artifacts in software phantoms. In a proof-of concept example, we simulated a 450 ml phantom with 333 compartments at 100 micrometer resolution. After the proposed modification, we corrected 148,105 dents, with an average size of 5.27 voxels (5.27nl). We have also qualitatively analyzed the corresponding improvement in the appearance of simulated mammographic images. The proposed algorithm leads to reduction of linear and star-like artifacts in simulated phantom projections, which can be attributed to dents. Analysis of a larger number of phantoms is ongoing.

Optimisation in radiotherapy. III: Stochastic optimisation algorithms and conclusions.

PubMed

Ebert, M

1997-12-01

This is the final article in a three part examination of optimisation in radiotherapy. Previous articles have established the bases and form of the radiotherapy optimisation problem, and examined certain types of optimisation algorithm, namely, those which perform some form of ordered search of the solution space (mathematical programming), and those which attempt to find the closest feasible solution to the inverse planning problem (deterministic inversion). The current paper examines algorithms which search the space of possible irradiation strategies by stochastic methods. The resulting iterative search methods move about the solution space by sampling random variates, which gradually become more constricted as the algorithm converges upon the optimal solution. This paper also discusses the implementation of optimisation in radiotherapy practice.

Calibration of RGBD camera and cone-beam CT for 3D intra-operative mixed reality visualization.

PubMed

Lee, Sing Chun; Fuerst, Bernhard; Fotouhi, Javad; Fischer, Marius; Osgood, Greg; Navab, Nassir

2016-06-01

This work proposes a novel algorithm to register cone-beam computed tomography (CBCT) volumes and 3D optical (RGBD) camera views. The co-registered real-time RGBD camera and CBCT imaging enable a novel augmented reality solution for orthopedic surgeries, which allows arbitrary views using digitally reconstructed radiographs overlaid on the reconstructed patient's surface without the need to move the C-arm. An RGBD camera is rigidly mounted on the C-arm near the detector. We introduce a calibration method based on the simultaneous reconstruction of the surface and the CBCT scan of an object. The transformation between the two coordinate spaces is recovered using Fast Point Feature Histogram descriptors and the Iterative Closest Point algorithm. Several experiments are performed to assess the repeatability and the accuracy of this method. Target registration error is measured on multiple visual and radio-opaque landmarks to evaluate the accuracy of the registration. Mixed reality visualizations from arbitrary angles are also presented for simulated orthopedic surgeries. To the best of our knowledge, this is the first calibration method which uses only tomographic and RGBD reconstructions. This means that the method does not impose a particular shape of the phantom. We demonstrate a marker-less calibration of CBCT volumes and 3D depth cameras, achieving reasonable registration accuracy. This design requires a one-time factory calibration, is self-contained, and could be integrated into existing mobile C-arms to provide real-time augmented reality views from arbitrary angles.

A spacecraft attitude and articulation control system design for the Comet Halley intercept mission

NASA Technical Reports Server (NTRS)

Key, R. W.

1981-01-01

An attitude and articulation control system design for the Comet Halley 1986 intercept mission is presented. A spacecraft dynamics model consisting of five hinge-connected rigid bodies is used to analyze the spacecraft attitude and articulation control system performance. Inertial and optical information are combined to generate scan platform pointing commands. The comprehensive spacecraft model has been developed into a digital computer simulation program, which provides performance characteristics and insight pertaining to the control and dynamics of a Halley Intercept spacecraft. It is shown that scan platform pointing error has a maximum value of 1.8 milliradians during the four minute closest approach interval. It is also shown that the jitter or scan platform pointing rate error would have a maximum value of 2.5 milliradians/second for the nominal 1000 km closest approach distance trajectory and associated environment model.

Time-Of-Flight Camera, Optical Tracker and Computed Tomography in Pairwise Data Registration.

PubMed

Pycinski, Bartlomiej; Czajkowska, Joanna; Badura, Pawel; Juszczyk, Jan; Pietka, Ewa

2016-01-01

A growing number of medical applications, including minimal invasive surgery, depends on multi-modal or multi-sensors data processing. Fast and accurate 3D scene analysis, comprising data registration, seems to be crucial for the development of computer aided diagnosis and therapy. The advancement of surface tracking system based on optical trackers already plays an important role in surgical procedures planning. However, new modalities, like the time-of-flight (ToF) sensors, widely explored in non-medical fields are powerful and have the potential to become a part of computer aided surgery set-up. Connection of different acquisition systems promises to provide a valuable support for operating room procedures. Therefore, the detailed analysis of the accuracy of such multi-sensors positioning systems is needed. We present the system combining pre-operative CT series with intra-operative ToF-sensor and optical tracker point clouds. The methodology contains: optical sensor set-up and the ToF-camera calibration procedures, data pre-processing algorithms, and registration technique. The data pre-processing yields a surface, in case of CT, and point clouds for ToF-sensor and marker-driven optical tracker representation of an object of interest. An applied registration technique is based on Iterative Closest Point algorithm. The experiments validate the registration of each pair of modalities/sensors involving phantoms of four various human organs in terms of Hausdorff distance and mean absolute distance metrics. The best surface alignment was obtained for CT and optical tracker combination, whereas the worst for experiments involving ToF-camera. The obtained accuracies encourage to further develop the multi-sensors systems. The presented substantive discussion concerning the system limitations and possible improvements mainly related to the depth information produced by the ToF-sensor is useful for computer aided surgery developers.

Registration of 3D spectral OCT volumes combining ICP with a graph-based approach

NASA Astrophysics Data System (ADS)

Niemeijer, Meindert; Lee, Kyungmoo; Garvin, Mona K.; Abràmoff, Michael D.; Sonka, Milan

2012-02-01

The introduction of spectral Optical Coherence Tomography (OCT) scanners has enabled acquisition of high resolution, 3D cross-sectional volumetric images of the retina. 3D-OCT is used to detect and manage eye diseases such as glaucoma and age-related macular degeneration. To follow-up patients over time, image registration is a vital tool to enable more precise, quantitative comparison of disease states. In this work we present a 3D registrationmethod based on a two-step approach. In the first step we register both scans in the XY domain using an Iterative Closest Point (ICP) based algorithm. This algorithm is applied to vessel segmentations obtained from the projection image of each scan. The distance minimized in the ICP algorithm includes measurements of the vessel orientation and vessel width to allow for a more robust match. In the second step, a graph-based method is applied to find the optimal translation along the depth axis of the individual A-scans in the volume to match both scans. The cost image used to construct the graph is based on the mean squared error (MSE) between matching A-scans in both images at different translations. We have applied this method to the registration of Optic Nerve Head (ONH) centered 3D-OCT scans of the same patient. First, 10 3D-OCT scans of 5 eyes with glaucoma imaged in vivo were registered for a qualitative evaluation of the algorithm performance. Then, 17 OCT data set pairs of 17 eyes with known deformation were used for quantitative assessment of the method's robustness.

Validation of non-rigid point-set registration methods using a porcine bladder pelvic phantom

NASA Astrophysics Data System (ADS)

Zakariaee, Roja; Hamarneh, Ghassan; Brown, Colin J.; Spadinger, Ingrid

2016-01-01

The problem of accurate dose accumulation in fractionated radiotherapy treatment for highly deformable organs, such as bladder, has garnered increasing interest over the past few years. However, more research is required in order to find a robust and efficient solution and to increase the accuracy over the current methods. The purpose of this study was to evaluate the feasibility and accuracy of utilizing non-rigid (affine or deformable) point-set registration in accumulating dose in bladder of different sizes and shapes. A pelvic phantom was built to house an ex vivo porcine bladder with fiducial landmarks adhered onto its surface. Four different volume fillings of the bladder were used (90, 180, 360 and 480 cc). The performance of MATLAB implementations of five different methods were compared, in aligning the bladder contour point-sets. The approaches evaluated were coherent point drift (CPD), gaussian mixture model, shape context, thin-plate spline robust point matching (TPS-RPM) and finite iterative closest point (ICP-finite). The evaluation metrics included registration runtime, target registration error (TRE), root-mean-square error (RMS) and Hausdorff distance (HD). The reference (source) dataset was alternated through all four points-sets, in order to study the effect of reference volume on the registration outcomes. While all deformable algorithms provided reasonable registration results, CPD provided the best TRE values (6.4 mm), and TPS-RPM yielded the best mean RMS and HD values (1.4 and 6.8 mm, respectively). ICP-finite was the fastest technique and TPS-RPM, the slowest.

The relationship of lateral anatomic structures to exiting guide pins during femoral tunnel preparation utilizing an accessory medial portal.

PubMed

Farrow, Lutul D; Parker, Richard D

2010-06-01

Anatomic reconstruction of the anterior cruciate ligament through an accessory medial portal has become increasingly popular. The purpose of this study is to describe the relationship of guide pin exit points to the lateral anatomic structures when preparing the anterior cruciate ligament femoral tunnel through an accessory medial portal. We utilized seven fresh frozen cadaveric knees. Utilizing an anteromedial approach, a guide wire was placed into the center of each bundle's footprint. Each guide wire was advanced through the lateral femoral cortex. The guide pins were passed at 90, 110, and 130 degrees of knee flexion. The distances from each guide pin to the closest relevant structures on the lateral side of the knee were measured. At 90 degrees the posterolateral bundle guide pin was closest to the lateral condyle articular cartilage (mean 5.4 +/- 2.2 mm) and gastrocnemius tendon (mean 5.7 +/- 2.1 mm). At 110 degrees the posterolateral bundle pin was closest to the gastrocnemius tendon (mean 4.5 +/- 3.4 mm). At 130 degrees the posterolateral bundle pin was closest to the gastrocnemius tendon (mean 7.2 +/- 5.5 mm) and lateral collateral ligament (mean 6.8 +/- 2.1 mm). At 90 degrees the anteromedial bundle guide pin was closest to the articular cartilage (mean 2.0 +/- 2.0 mm). At 110 degrees the anteromedial bundle pin was closest to the articular cartilage (mean 7.4 +/- 3.5 mm) and gastrocnemius tendon (mean 12.3 +/- 3.1 mm). At 130 degrees the AM bundle pin was closest to the gastrocnemius tendon (mean 8.2 +/- 3.2 mm) and LCL (mean 15.1 +/- 2.9 mm). Neither guide pin (anteromedial or posterolateral bundle) put the peroneal nerve at risk at any knee flexion angle. At low knee flexion angles the anteromedial and posterolateral bundle guide pins closely approximated multiple lateral structures when using an accessory medial arthroscopic portal. Utilizing higher flexion angles increases the margin of error when preparing both femoral tunnels. During preparation of the anterior cruciate ligament femoral tunnel through an accessory anteromedial portal the tunnels should be drilled in at least 110 degrees of knee flexion in order to move guide pin exit points away from important lateral knee structures.

A Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

NASA Technical Reports Server (NTRS)

Mutambara, Arthur G. O.; Litt, Jonathan

1998-01-01

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

The Development of Mobile Application to Introduce Historical Monuments in Manado

NASA Astrophysics Data System (ADS)

Rupilu, Moshe Markhasi; Suyoto; Santoso, Albertus Joko

2018-02-01

Learning the historical value of a monument is important because it preserves cultural and historical values, as well as expanding our personal insight. In Indonesia, particularly in Manado, North Sulawesi, there are many monuments. The monuments are erected for history, religion, culture and past war, however these aren't written in detail in the monuments. To get information on specific monument, manual search was required, i.e. asking related people or sources. Based on the problem, the development of an application which can utilize LBS (Location Based Service) method and some algorithmic methods specifically designed for mobile devices such as Smartphone, was required so that information on every monument in Manado can be displayed in detail using GPS coordinate. The application was developed by KNN method with K-means algorithm and collaborative filtering to recommend monument information to tourist. Tourists will get recommended options filtered by distance. Then, this method was also used to look for the closest monument from user. KNN algorithm determines the closest location by making comparisons according to calculation of longitude and latitude of several monuments tourist wants to visit. With this application, tourists who want to know and find information on monuments in Manado can do them easily and quickly because monument information is recommended directly to user without having to make selection. Moreover, tourist can see recommended monument information and search several monuments in Manado in real time.

Landscape Response to the 1980 Eruption of Mount St. Helens: Using Historical Aerial Photography to Measure Surface Change

NASA Astrophysics Data System (ADS)

Sweeney, K.; Major, J. J.

2016-12-01

Advances in structure-from-motion (SfM) photogrammetry and point cloud comparison have fueled a proliferation of studies using modern imagery to monitor geomorphic change. These techniques also have obvious applications for reconstructing historical landscapes from vertical aerial imagery, but known challenges include insufficient photo overlap, systematic "doming" induced by photo-spacing regularity, missing metadata, and lack of ground control. Aerial imagery of landscape change in the North Fork Toutle River (NFTR) following the 1980 eruption of Mount St. Helens is a prime dataset to refine methodologies. In particular, (1) 14-μm film scans are available for 1:9600 images at 4-month intervals from 1980 - 1986, (2) the large magnitude of landscape change swamps systematic error and noise, and (3) stable areas (primary deposit features, roads, etc.) provide targets for both ground control and matching to modern lidar. Using AgiSoft PhotoScan, we create digital surface models from the NFTR imagery and examine how common steps in SfM workflows affect results. Tests of scan quality show high-resolution, professional film scans are superior to office scans of paper prints, reducing spurious points related to scan infidelity and image damage. We confirm earlier findings that cropping and rotating images improves point matching and the final surface model produced by the SfM algorithm. We demonstrate how the iterative closest point algorithm, implemented in CloudCompare and using modern lidar as a reference dataset, can serve as an adequate substitute for absolute ground control. Elevation difference maps derived from our surface models of Mount St. Helens show patterns consistent with field observations, including channel avulsion and migration, though systematic errors remain. We suggest that subtracting an empirical function fit to the long-wavelength topographic signal may be one avenue for correcting systematic error in similar datasets.

a Fast and Flexible Method for Meta-Map Building for Icp Based Slam

NASA Astrophysics Data System (ADS)

Kurian, A.; Morin, K. W.

2016-06-01

Recent developments in LiDAR sensors make mobile mapping fast and cost effective. These sensors generate a large amount of data which in turn improves the coverage and details of the map. Due to the limited range of the sensor, one has to collect a series of scans to build the entire map of the environment. If we have good GNSS coverage, building a map is a well addressed problem. But in an indoor environment, we have limited GNSS reception and an inertial solution, if available, can quickly diverge. In such situations, simultaneous localization and mapping (SLAM) is used to generate a navigation solution and map concurrently. SLAM using point clouds possesses a number of computational challenges even with modern hardware due to the shear amount of data. In this paper, we propose two strategies for minimizing the cost of computation and storage when a 3D point cloud is used for navigation and real-time map building. We have used the 3D point cloud generated by Leica Geosystems's Pegasus Backpack which is equipped with Velodyne VLP-16 LiDARs scanners. To improve the speed of the conventional iterative closest point (ICP) algorithm, we propose a point cloud sub-sampling strategy which does not throw away any key features and yet significantly reduces the number of points that needs to be processed and stored. In order to speed up the correspondence finding step, a dual kd-tree and circular buffer architecture is proposed. We have shown that the proposed method can run in real time and has excellent navigation accuracy characteristics.

Multi-Depth-Map Raytracing for Efficient Large-Scene Reconstruction.

PubMed

Arikan, Murat; Preiner, Reinhold; Wimmer, Michael

2016-02-01

With the enormous advances of the acquisition technology over the last years, fast processing and high-quality visualization of large point clouds have gained increasing attention. Commonly, a mesh surface is reconstructed from the point cloud and a high-resolution texture is generated over the mesh from the images taken at the site to represent surface materials. However, this global reconstruction and texturing approach becomes impractical with increasing data sizes. Recently, due to its potential for scalability and extensibility, a method for texturing a set of depth maps in a preprocessing and stitching them at runtime has been proposed to represent large scenes. However, the rendering performance of this method is strongly dependent on the number of depth maps and their resolution. Moreover, for the proposed scene representation, every single depth map has to be textured by the images, which in practice heavily increases processing costs. In this paper, we present a novel method to break these dependencies by introducing an efficient raytracing of multiple depth maps. In a preprocessing phase, we first generate high-resolution textured depth maps by rendering the input points from image cameras and then perform a graph-cut based optimization to assign a small subset of these points to the images. At runtime, we use the resulting point-to-image assignments (1) to identify for each view ray which depth map contains the closest ray-surface intersection and (2) to efficiently compute this intersection point. The resulting algorithm accelerates both the texturing and the rendering of the depth maps by an order of magnitude.

Accuracy of surface registration compared to conventional volumetric registration in patient positioning for head-and-neck radiotherapy: A simulation study using patient data

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kim, Youngjun; Li, Ruijiang; Na, Yong Hum

2014-12-15

Purpose: 3D optical surface imaging has been applied to patient positioning in radiation therapy (RT). The optical patient positioning system is advantageous over conventional method using cone-beam computed tomography (CBCT) in that it is radiation free, frameless, and is capable of real-time monitoring. While the conventional radiographic method uses volumetric registration, the optical system uses surface matching for patient alignment. The relative accuracy of these two methods has not yet been sufficiently investigated. This study aims to investigate the theoretical accuracy of the surface registration based on a simulation study using patient data. Methods: This study compares the relative accuracymore » of surface and volumetric registration in head-and-neck RT. The authors examined 26 patient data sets, each consisting of planning CT data acquired before treatment and patient setup CBCT data acquired at the time of treatment. As input data of surface registration, patient’s skin surfaces were created by contouring patient skin from planning CT and treatment CBCT. Surface registration was performed using the iterative closest points algorithm by point–plane closest, which minimizes the normal distance between source points and target surfaces. Six degrees of freedom (three translations and three rotations) were used in both surface and volumetric registrations and the results were compared. The accuracy of each method was estimated by digital phantom tests. Results: Based on the results of 26 patients, the authors found that the average and maximum root-mean-square translation deviation between the surface and volumetric registrations were 2.7 and 5.2 mm, respectively. The residual error of the surface registration was calculated to have an average of 0.9 mm and a maximum of 1.7 mm. Conclusions: Surface registration may lead to results different from those of the conventional volumetric registration. Only limited accuracy can be achieved for patient positioning with an approach based solely on surface information.« less

Numerical taxonomy on data: Experimental results

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cohen, J.; Farach, M.

1997-12-01

The numerical taxonomy problems associated with most of the optimization criteria described above are NP - hard [3, 5, 1, 4]. In, the first positive result for numerical taxonomy was presented. They showed that if e is the distance to the closest tree metric under the L{sub {infinity}} norm. i.e., e = min{sub T} [L{sub {infinity}} (T-D)], then it is possible to construct a tree T such that L{sub {infinity}} (T-D) {le} 3e, that is, they gave a 3-approximation algorithm for this problem. We will refer to this algorithm as the Single Pivot (SP) heuristic.

A generalized muon trajectory estimation algorithm with energy loss for application to muon tomography

NASA Astrophysics Data System (ADS)

Chatzidakis, Stylianos; Liu, Zhengzhi; Hayward, Jason P.; Scaglione, John M.

2018-03-01

This work presents a generalized muon trajectory estimation algorithm to estimate the path of a muon in either uniform or nonuniform media. The use of cosmic ray muons in nuclear nonproliferation and safeguard verification applications has recently gained attention due to the non-intrusive and passive nature of the inspection, penetrating capabilities, as well as recent advances in detectors that measure position and direction of the individual muons before and after traversing the imaged object. However, muon image reconstruction techniques are limited in resolution due to low muon flux and the effects of multiple Coulomb scattering (MCS). Current reconstruction algorithms, e.g., point of closest approach (PoCA) or straight-line path (SLP), rely on overly simple assumptions for muon path estimation through the imaged object. For robust muon tomography, efficient and flexible physics-based algorithms are needed to model the MCS process and accurately estimate the most probable trajectory of a muon as it traverses an object. In the present work, the use of a Bayesian framework and a Gaussian approximation of MCS is explored for estimation of the most likely path of a cosmic ray muon traversing uniform or nonuniform media and undergoing MCS. The algorithm's precision is compared to Monte Carlo simulated muon trajectories. It was found that the algorithm is expected to be able to predict muon tracks to less than 1.5 mm root mean square (RMS) for 0.5 GeV muons and 0.25 mm RMS for 3 GeV muons, a 50% improvement compared to SLP and 15% improvement when compared to PoCA. Further, a 30% increase in useful muon flux was observed relative to PoCA. Muon track prediction improved for higher muon energies or smaller penetration depth where energy loss is not significant. The effect of energy loss due to ionization is investigated, and a linear energy loss relation that is easy to use is proposed.

Tracking of cell nuclei for assessment of in vitro uptake kinetics in ultrasound-mediated drug delivery using fibered confocal fluorescence microscopy.

PubMed

Derieppe, Marc; de Senneville, Baudouin Denis; Kuijf, Hugo; Moonen, Chrit; Bos, Clemens

2014-10-01

Previously, we demonstrated the feasibility to monitor ultrasound-mediated uptake of a cell-impermeable model drug in real time with fibered confocal fluorescence microscopy. Here, we present a complete post-processing methodology, which corrects for cell displacements, to improve the accuracy of pharmacokinetic parameter estimation. Nucleus detection was performed based on the radial symmetry transform algorithm. Cell tracking used an iterative closest point approach. Pharmacokinetic parameters were calculated by fitting a two-compartment model to the time-intensity curves of individual cells. Cells were tracked successfully, improving time-intensity curve accuracy and pharmacokinetic parameter estimation. With tracking, 93 % of the 370 nuclei showed a fluorescence signal variation that was well-described by a two-compartment model. In addition, parameter distributions were narrower, thus increasing precision. Dedicated image analysis was implemented and enabled studying ultrasound-mediated model drug uptake kinetics in hundreds of cells per experiment, using fiber-based confocal fluorescence microscopy.

Prototype of a Muon Tomography Station with GEM detectors for Detection of Shielded Nuclear Contraband

NASA Astrophysics Data System (ADS)

Staib, Michael; Bhopatkar, Vallary; Bittner, William; Hohlmann, Marcus; Locke, Judson; Twigger, Jessie; Gnanvo, Kondo

2012-03-01

Muon tomography for homeland security aims at detecting well-shielded nuclear contraband in cargo and imaging it in 3D. The technique exploits multiple scattering of atmospheric cosmic ray muons, which is stronger in dense, high-Z materials, e.g. enriched uranium, than in low-Z and medium-Z shielding materials. We have constructed and are operating a compact Muon Tomography Station (MTS) that tracks muons with eight 30 cm x 30 cm Triple Gas Electron Multiplier (GEM) detectors placed on the sides of a cubic-foot imaging volume. A point-of-closest-approach algorithm applied to reconstructed incident and exiting tracks is used to create a tomographic reconstruction of the material within the active volume. We discuss the performance of this MTS prototype including characterization and commissioning of the GEM detectors and the data acquisition systems. We also present experimental tomographic images of small high-Z objects including depleted uranium with and without shielding and discuss the performance of material discrimination using this method.

Joint Simultaneous Reconstruction of Regularized Building Superstructures from Low-Density LIDAR Data Using Icp

NASA Astrophysics Data System (ADS)

Wichmann, Andreas; Kada, Martin

2016-06-01

There are many applications for 3D city models, e.g., in visualizations, analysis, and simulations; each one requiring a certain level of detail to be effective. The overall trend goes towards including various kinds of anthropogenic and natural objects therein with ever increasing geometric and semantic details. A few years back, the featured 3D building models had only coarse roof geometry. But nowadays, they are expected to include detailed roof superstructures like dormers and chimneys. Several methods have been proposed for the automatic reconstruction of 3D building models from airborne based point clouds. However, they are usually unable to reliably recognize and reconstruct small roof superstructures as these objects are often represented by only few point measurements, especially in low-density point clouds. In this paper, we propose a recognition and reconstruction approach that overcomes this problem by identifying and simultaneously reconstructing regularized superstructures of similar shape. For this purpose, candidate areas for superstructures are detected by taking into account virtual sub-surface points that are assumed to lie on the main roof faces below the measured points. The areas with similar superstructures are detected, extracted, grouped together, and registered to one another with the Iterative Closest Point (ICP) algorithm. As an outcome, the joint point density of each detected group is increased, which helps to recognize the shape of the superstructure more reliably and in more detail. Finally, all instances of each group of superstructures are modeled at once and transformed back to their original position. Because superstructures are reconstructed in groups, symmetries, alignments, and regularities can be enforced in a straight-forward way. The validity of the approach is presented on a number of example buildings from the Vaihingen test data set.

Minimizing the average distance to a closest leaf in a phylogenetic tree.

PubMed

Matsen, Frederick A; Gallagher, Aaron; McCoy, Connor O

2013-11-01

When performing an analysis on a collection of molecular sequences, it can be convenient to reduce the number of sequences under consideration while maintaining some characteristic of a larger collection of sequences. For example, one may wish to select a subset of high-quality sequences that represent the diversity of a larger collection of sequences. One may also wish to specialize a large database of characterized "reference sequences" to a smaller subset that is as close as possible on average to a collection of "query sequences" of interest. Such a representative subset can be useful whenever one wishes to find a set of reference sequences that is appropriate to use for comparative analysis of environmentally derived sequences, such as for selecting "reference tree" sequences for phylogenetic placement of metagenomic reads. In this article, we formalize these problems in terms of the minimization of the Average Distance to the Closest Leaf (ADCL) and investigate algorithms to perform the relevant minimization. We show that the greedy algorithm is not effective, show that a variant of the Partitioning Around Medoids (PAM) heuristic gets stuck in local minima, and develop an exact dynamic programming approach. Using this exact program we note that the performance of PAM appears to be good for simulated trees, and is faster than the exact algorithm for small trees. On the other hand, the exact program gives solutions for all numbers of leaves less than or equal to the given desired number of leaves, whereas PAM only gives a solution for the prespecified number of leaves. Via application to real data, we show that the ADCL criterion chooses chimeric sequences less often than random subsets, whereas the maximization of phylogenetic diversity chooses them more often than random. These algorithms have been implemented in publicly available software.

Feature space trajectory for distorted-object classification and pose estimation in synthetic aperture radar

NASA Astrophysics Data System (ADS)

Casasent, David P.; Shenoy, Rajesh

1997-10-01

Classification and pose estimation of distorted input objects are considered. The feature space trajectory representation of distorted views of an object is used with a new eigenfeature space. For a distorted input object, the closest trajectory denotes the class of the input and the closest line segment on it denotes its pose. If an input point is too far from a trajectory, it is rejected as clutter. New methods for selecting Fukunaga-Koontz discriminant vectors, the number of dominant eigenvectors per class and for determining training, and test set compatibility are presented.

The use of virtual fiducials in image-guided kidney surgery

NASA Astrophysics Data System (ADS)

Glisson, Courtenay; Ong, Rowena; Simpson, Amber; Clark, Peter; Herrell, S. D.; Galloway, Robert

2011-03-01

The alignment of image-space to physical-space lies at the heart of all image-guided procedures. In intracranial surgery, point-based registrations can be used with either skin-affixed or bone-implanted extrinsic objects called fiducial markers. The advantages of point-based registration techniques are that they are robust, fast, and have a well developed mathematical foundation for the assessment of registration quality. In abdominal image-guided procedures such techniques have not been successful. It is difficult to accurately locate sufficient homologous intrinsic points in imagespace and physical-space, and the implantation of extrinsic fiducial markers would constitute "surgery before the surgery." Image-space to physical-space registration for abdominal organs has therefore been dominated by surfacebased registration techniques which are iterative, prone to local minima, sensitive to initial pose, and sensitive to percentage coverage of the physical surface. In our work in image-guided kidney surgery we have developed a composite approach using "virtual fiducials." In an open kidney surgery, the perirenal fat is removed and the surface of the kidney is dotted using a surgical marker. A laser range scanner (LRS) is used to obtain a surface representation and matching high definition photograph. A surface to surface registration is performed using a modified iterative closest point (ICP) algorithm. The dots are extracted from the high definition image and assigned the three dimensional values from the LRS pixels over which they lie. As the surgery proceeds, we can then use point-based registrations to re-register the spaces and track deformations due to vascular clamping and surgical tractions.

A 3D Laser Profiling System for Rail Surface Defect Detection

PubMed Central

Li, Qingquan; Mao, Qingzhou; Zou, Qin

2017-01-01

Rail surface defects such as the abrasion, scratch and peeling often cause damages to the train wheels and rail bearings. An efficient and accurate detection of rail defects is of vital importance for the safety of railway transportation. In the past few decades, automatic rail defect detection has been studied; however, most developed methods use optic-imaging techniques to collect the rail surface data and are still suffering from a high false recognition rate. In this paper, a novel 3D laser profiling system (3D-LPS) is proposed, which integrates a laser scanner, odometer, inertial measurement unit (IMU) and global position system (GPS) to capture the rail surface profile data. For automatic defect detection, first, the deviation between the measured profile and a standard rail model profile is computed for each laser-imaging profile, and the points with large deviations are marked as candidate defect points. Specifically, an adaptive iterative closest point (AICP) algorithm is proposed to register the point sets of the measured profile with the standard rail model profile, and the registration precision is improved to the sub-millimeter level. Second, all of the measured profiles are combined together to form the rail surface through a high-precision positioning process with the IMU, odometer and GPS data. Third, the candidate defect points are merged into candidate defect regions using the K-means clustering. At last, the candidate defect regions are classified by a decision tree classifier. Experimental results demonstrate the effectiveness of the proposed laser-profiling system in rail surface defect detection and classification. PMID:28777323

40 CFR 60.613 - Monitoring of emissions and operations.

Code of Federal Regulations, 2014 CFR

2014-07-01

...) Air Oxidation Unit Processes § 60.613 Monitoring of emissions and operations. (a) The owner or... from each air oxidation reactor within an affected facility at a point closest to the inlet of each...

40 CFR 60.613 - Monitoring of emissions and operations.

Code of Federal Regulations, 2013 CFR

2013-07-01

...) Air Oxidation Unit Processes § 60.613 Monitoring of emissions and operations. (a) The owner or... from each air oxidation reactor within an affected facility at a point closest to the inlet of each...

40 CFR 60.613 - Monitoring of emissions and operations.

Code of Federal Regulations, 2012 CFR

2012-07-01

...) Air Oxidation Unit Processes § 60.613 Monitoring of emissions and operations. (a) The owner or... from each air oxidation reactor within an affected facility at a point closest to the inlet of each...

Mass Anomalies on Ganymede

NASA Technical Reports Server (NTRS)

Schubert, G.; Anderson, J. D.; Jacobson, R. A.; Lau, E. L.; Moore, W. B.; Palguta, J.

2004-01-01

Radio Doppler data from two Ganymede encounters (G1 and G2) on the first two orbits in the Galileo mission have been analyzed previously for gravity information . For a satellite in hydrostatic equilibrium, its gravitational field can be modeled adequately by a truncated spherical harmonic series of degree two. However, a fourth degree field is required in order to fit the second Galileo flyby (G2). This need for a higher degree field strongly suggests that Ganymede s gravitational field is perturbed by a gravity anomaly near the G2 closest approach point (79.29 latitude, 123.68 west longitude). In fact, a plot of the Doppler residuals , after removal of the best-fit model for the zero degree term (GM) and the second degree moments (J2 and C22), suggests that if an anomaly exists, it is located downtrack of the closest approach point, closer to the equator.

Gap filling of 3-D microvascular networks by tensor voting.

PubMed

Risser, L; Plouraboue, F; Descombes, X

2008-05-01

We present a new algorithm which merges discontinuities in 3-D images of tubular structures presenting undesirable gaps. The application of the proposed method is mainly associated to large 3-D images of microvascular networks. In order to recover the real network topology, we need to fill the gaps between the closest discontinuous vessels. The algorithm presented in this paper aims at achieving this goal. This algorithm is based on the skeletonization of the segmented network followed by a tensor voting method. It permits to merge the most common kinds of discontinuities found in microvascular networks. It is robust, easy to use, and relatively fast. The microvascular network images were obtained using synchrotron tomography imaging at the European Synchrotron Radiation Facility. These images exhibit samples of intracortical networks. Representative results are illustrated.

A difference tracking algorithm based on discrete sine transform

NASA Astrophysics Data System (ADS)

Liu, HaoPeng; Yao, Yong; Lei, HeBing; Wu, HaoKun

2018-04-01

Target tracking is an important field of computer vision. The template matching tracking algorithm based on squared difference matching (SSD) and standard correlation coefficient (NCC) matching is very sensitive to the gray change of image. When the brightness or gray change, the tracking algorithm will be affected by high-frequency information. Tracking accuracy is reduced, resulting in loss of tracking target. In this paper, a differential tracking algorithm based on discrete sine transform is proposed to reduce the influence of image gray or brightness change. The algorithm that combines the discrete sine transform and the difference algorithm maps the target image into a image digital sequence. The Kalman filter predicts the target position. Using the Hamming distance determines the degree of similarity between the target and the template. The window closest to the template is determined the target to be tracked. The target to be tracked updates the template. Based on the above achieve target tracking. The algorithm is tested in this paper. Compared with SSD and NCC template matching algorithms, the algorithm tracks target stably when image gray or brightness change. And the tracking speed can meet the read-time requirement.

Validation of model-based deformation correction in image-guided liver surgery via tracked intraoperative ultrasound: preliminary method and results

NASA Astrophysics Data System (ADS)

Clements, Logan W.; Collins, Jarrod A.; Wu, Yifei; Simpson, Amber L.; Jarnagin, William R.; Miga, Michael I.

2015-03-01

Soft tissue deformation represents a significant error source in current surgical navigation systems used for open hepatic procedures. While numerous algorithms have been proposed to rectify the tissue deformation that is encountered during open liver surgery, clinical validation of the proposed methods has been limited to surface based metrics and sub-surface validation has largely been performed via phantom experiments. Tracked intraoperative ultrasound (iUS) provides a means to digitize sub-surface anatomical landmarks during clinical procedures. The proposed method involves the validation of a deformation correction algorithm for open hepatic image-guided surgery systems via sub-surface targets digitized with tracked iUS. Intraoperative surface digitizations were acquired via a laser range scanner and an optically tracked stylus for the purposes of computing the physical-to-image space registration within the guidance system and for use in retrospective deformation correction. Upon completion of surface digitization, the organ was interrogated with a tracked iUS transducer where the iUS images and corresponding tracked locations were recorded. After the procedure, the clinician reviewed the iUS images to delineate contours of anatomical target features for use in the validation procedure. Mean closest point distances between the feature contours delineated in the iUS images and corresponding 3-D anatomical model generated from the preoperative tomograms were computed to quantify the extent to which the deformation correction algorithm improved registration accuracy. The preliminary results for two patients indicate that the deformation correction method resulted in a reduction in target error of approximately 50%.

A generalized muon trajectory estimation algorithm with energy loss for application to muon tomography

DOE PAGES

Chatzidakis, Stylianos; Liu, Zhengzhi; Hayward, Jason P.; ...

2018-03-28

Here, this work presents a generalized muon trajectory estimation (GMTE) algorithm to estimate the path of a muon in either uniform or nonuniform media. The use of cosmic ray muons in nuclear nonproliferation and safeguards verification applications has recently gained attention due to the non-intrusive and passive nature of the inspection, penetrating capabilities, as well as recent advances in detectors that measure position and direction of the individual muons before and after traversing the imaged object. However, muon image reconstruction techniques are limited in resolution due to low muon flux and the effects of multiple Coulomb scattering (MCS). Current reconstructionmore » algorithms, e.g., point of closest approach (PoCA) or straight-line path (SLP), rely on overly simple assumptions for muon path estimation through the imaged object. For robust muon tomography, efficient and flexible physics-based algorithms are needed to model the MCS process and accurately estimate the most probable trajectory of a muon as it traverses an object. In the present work, the use of a Bayesian framework and a Gaussian approximation of MCS are explored for estimation of the most likely path of a cosmic ray muon traversing uniform or nonuniform media and undergoing MCS. The algorithm’s precision is compared to Monte Carlo simulated muon trajectories. It was found that the algorithm is expected to be able to predict muon tracks to less than 1.5 mm RMS for 0.5 GeV muons and 0.25 mm RMS for 3 GeV muons, a 50% improvement compared to SLP and 15% improvement when compared to PoCA. Further, a 30% increase in useful muon flux was observed relative to PoCA. Muon track prediction improved for higher muon energies or smaller penetration depth where energy loss is not significant. Finally, the effect of energy loss due to ionization is investigated, and a linear energy loss relation that is easy to use is proposed.« less

A generalized muon trajectory estimation algorithm with energy loss for application to muon tomography

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chatzidakis, Stylianos; Liu, Zhengzhi; Hayward, Jason P.

Here, this work presents a generalized muon trajectory estimation (GMTE) algorithm to estimate the path of a muon in either uniform or nonuniform media. The use of cosmic ray muons in nuclear nonproliferation and safeguards verification applications has recently gained attention due to the non-intrusive and passive nature of the inspection, penetrating capabilities, as well as recent advances in detectors that measure position and direction of the individual muons before and after traversing the imaged object. However, muon image reconstruction techniques are limited in resolution due to low muon flux and the effects of multiple Coulomb scattering (MCS). Current reconstructionmore » algorithms, e.g., point of closest approach (PoCA) or straight-line path (SLP), rely on overly simple assumptions for muon path estimation through the imaged object. For robust muon tomography, efficient and flexible physics-based algorithms are needed to model the MCS process and accurately estimate the most probable trajectory of a muon as it traverses an object. In the present work, the use of a Bayesian framework and a Gaussian approximation of MCS are explored for estimation of the most likely path of a cosmic ray muon traversing uniform or nonuniform media and undergoing MCS. The algorithm’s precision is compared to Monte Carlo simulated muon trajectories. It was found that the algorithm is expected to be able to predict muon tracks to less than 1.5 mm RMS for 0.5 GeV muons and 0.25 mm RMS for 3 GeV muons, a 50% improvement compared to SLP and 15% improvement when compared to PoCA. Further, a 30% increase in useful muon flux was observed relative to PoCA. Muon track prediction improved for higher muon energies or smaller penetration depth where energy loss is not significant. Finally, the effect of energy loss due to ionization is investigated, and a linear energy loss relation that is easy to use is proposed.« less

Computationally-Efficient Minimum-Time Aircraft Routes in the Presence of Winds

NASA Technical Reports Server (NTRS)

Jardin, Matthew R.

2004-01-01

A computationally efficient algorithm for minimizing the flight time of an aircraft in a variable wind field has been invented. The algorithm, referred to as Neighboring Optimal Wind Routing (NOWR), is based upon neighboring-optimal-control (NOC) concepts and achieves minimum-time paths by adjusting aircraft heading according to wind conditions at an arbitrary number of wind measurement points along the flight route. The NOWR algorithm may either be used in a fast-time mode to compute minimum- time routes prior to flight, or may be used in a feedback mode to adjust aircraft heading in real-time. By traveling minimum-time routes instead of direct great-circle (direct) routes, flights across the United States can save an average of about 7 minutes, and as much as one hour of flight time during periods of strong jet-stream winds. The neighboring optimal routes computed via the NOWR technique have been shown to be within 1.5 percent of the absolute minimum-time routes for flights across the continental United States. On a typical 450-MHz Sun Ultra workstation, the NOWR algorithm produces complete minimum-time routes in less than 40 milliseconds. This corresponds to a rate of 25 optimal routes per second. The closest comparable optimization technique runs approximately 10 times slower. Airlines currently use various trial-and-error search techniques to determine which of a set of commonly traveled routes will minimize flight time. These algorithms are too computationally expensive for use in real-time systems, or in systems where many optimal routes need to be computed in a short amount of time. Instead of operating in real-time, airlines will typically plan a trajectory several hours in advance using wind forecasts. If winds change significantly from forecasts, the resulting flights will no longer be minimum-time. The need for a computationally efficient wind-optimal routing algorithm is even greater in the case of new air-traffic-control automation concepts. For air-traffic-control automation, thousands of wind-optimal routes may need to be computed and checked for conflicts in just a few minutes. These factors motivated the need for a more efficient wind-optimal routing algorithm.

Air development update: AIR-902A

DOT National Transportation Integrated Search

2015-05-04

This document describes a practical system to determine the observer-to-aircraft closest point of approach (CPA) distance during acoustic flyby tests. The system uses a digital camera to record an image of the test aircraft. A method converting the i...

Time-Of-Flight Camera, Optical Tracker and Computed Tomography in Pairwise Data Registration

PubMed Central

Badura, Pawel; Juszczyk, Jan; Pietka, Ewa

2016-01-01

Purpose A growing number of medical applications, including minimal invasive surgery, depends on multi-modal or multi-sensors data processing. Fast and accurate 3D scene analysis, comprising data registration, seems to be crucial for the development of computer aided diagnosis and therapy. The advancement of surface tracking system based on optical trackers already plays an important role in surgical procedures planning. However, new modalities, like the time-of-flight (ToF) sensors, widely explored in non-medical fields are powerful and have the potential to become a part of computer aided surgery set-up. Connection of different acquisition systems promises to provide a valuable support for operating room procedures. Therefore, the detailed analysis of the accuracy of such multi-sensors positioning systems is needed. Methods We present the system combining pre-operative CT series with intra-operative ToF-sensor and optical tracker point clouds. The methodology contains: optical sensor set-up and the ToF-camera calibration procedures, data pre-processing algorithms, and registration technique. The data pre-processing yields a surface, in case of CT, and point clouds for ToF-sensor and marker-driven optical tracker representation of an object of interest. An applied registration technique is based on Iterative Closest Point algorithm. Results The experiments validate the registration of each pair of modalities/sensors involving phantoms of four various human organs in terms of Hausdorff distance and mean absolute distance metrics. The best surface alignment was obtained for CT and optical tracker combination, whereas the worst for experiments involving ToF-camera. Conclusion The obtained accuracies encourage to further develop the multi-sensors systems. The presented substantive discussion concerning the system limitations and possible improvements mainly related to the depth information produced by the ToF-sensor is useful for computer aided surgery developers. PMID:27434396

Automatic three-dimensional registration of intravascular optical coherence tomography images

NASA Astrophysics Data System (ADS)

Ughi, Giovanni J.; Adriaenssens, Tom; Larsson, Matilda; Dubois, Christophe; Sinnaeve, Peter R.; Coosemans, Mark; Desmet, Walter; D'hooge, Jan

2012-02-01

Intravascular optical coherence tomography (IV-OCT) is a catheter-based high-resolution imaging technique able to visualize the inner wall of the coronary arteries and implanted devices in vivo with an axial resolution below 20 μm. IV-OCT is being used in several clinical trials aiming to quantify the vessel response to stent implantation over time. However, stent analysis is currently performed manually and corresponding images taken at different time points are matched through a very labor-intensive and subjective procedure. We present an automated method for the spatial registration of IV-OCT datasets. Stent struts are segmented through consecutive images and three-dimensional models of the stents are created for both datasets to be registered. The two models are initially roughly registered through an automatic initialization procedure and an iterative closest point algorithm is subsequently applied for a more precise registration. To correct for nonuniform rotational distortions (NURDs) and other potential acquisition artifacts, the registration is consecutively refined on a local level. The algorithm was first validated by using an in vitro experimental setup based on a polyvinyl-alcohol gel tubular phantom. Subsequently, an in vivo validation was obtained by exploiting stable vessel landmarks. The mean registration error in vitro was quantified to be 0.14 mm in the longitudinal axis and 7.3-deg mean rotation error. In vivo validation resulted in 0.23 mm in the longitudinal axis and 10.1-deg rotation error. These results indicate that the proposed methodology can be used for automatic registration of in vivo IV-OCT datasets. Such a tool will be indispensable for larger studies on vessel healing pathophysiology and reaction to stent implantation. As such, it will be valuable in testing the performance of new generations of intracoronary devices and new therapeutic drugs.

30 CFR 219.414 - How will MMS determine each Gulf producing State's share of the qualified OCS revenues?

Code of Federal Regulations, 2010 CFR

2010-07-01

... applicable leased tract and, using the great circle distance method, will determine the closest distance from... total, over all applicable leased tracts, the mathematical inverses of the distances between the points...

Integration of multitemporal and multisource data using point cloud based methods to quantify landscape change at the Mill Gulch earthflow, California

NASA Astrophysics Data System (ADS)

DeLong, S. B.; Avdievitch, N. N.

2014-12-01

As high-resolution topographic data become increasingly available, comparison of multitemporal and disparate datasets (e.g. airborne and terrestrial lidar) enable high-accuracy quantification of landscape change and detailed mapping of surface processes. However, if these data are not properly managed and aligned with maximum precision, results may be spurious. Often this is due to slight differences in coordinate systems that require complex geographic transformations and systematic error that is difficult to diagnose and correct. Here we present an analysis of four airborne and three terrestrial lidar datasets collected between 2003 and 2014 that we use to quantify change at an active earthflow in Mill Gulch, Sonoma County, California. We first identify and address systematic error internal to each dataset, such as registration offset between flight lines or scan positions. We then use a variant of an iterative closest point (ICP) algorithm to align point cloud data by maximizing use of stable portions of the landscape with minimal internal error. Using products derived from the aligned point clouds, we make our geomorphic analyses. These methods may be especially useful for change detection analyses in which accurate georeferencing is unavailable, as is often the case with some terrestrial lidar or "structure from motion" data. Our results show that the Mill Gulch earthflow has been active throughout the study period. We see continuous downslope flow, ongoing incorporation of new hillslope material into the flow, sediment loss from hillslopes, episodic fluvial erosion of the earthflow toe, and an indication of increased activity during periods of high precipitation.

Possibilities for Using LIDAR and Photogrammetric Data Obtained with AN Unmanned Aerial Vehicle for Levee Monitoring

NASA Astrophysics Data System (ADS)

Bakuła, K.; Ostrowski, W.; Szender, M.; Plutecki, W.; Salach, A.; Górski, K.

2016-06-01

This paper presents the possibilities for using an unmanned aerial system for evaluation of the condition of levees. The unmanned aerial system is equipped with two types of sensor. One is an ultra-light laser scanner, integrated with a GNSS receiver and an INS system; the other sensor is a digital camera that acquires data with stereoscopic coverage. Sensors have been mounted on the multirotor, unmanned platform the Hawk Moth, constructed by MSP company. LiDAR data and images of levees the length of several hundred metres were acquired during testing of the platform. Flights were performed in several variants. Control points measured with the use of the GNSS technique were considered as reference data. The obtained results are presented in this paper; the methodology of processing the acquired LiDAR data, which increase in accuracy when low accuracy of the navigation systems occurs as a result of systematic errors, is also discussed. The Iterative Closest Point (ICP) algorithm, as well as measurements of control points, were used to georeference the LiDAR data. Final accuracy in the order of centimetres was obtained for generation of the digital terrain model. The final products of the proposed UAV data processing are digital elevation models, an orthophotomap and colour point clouds. The authors conclude that such a platform offers wide possibilities for low-budget flights to deliver the data, which may compete with typical direct surveying measurements performed during monitoring of such objects. However, the biggest advantage is the density and continuity of data, which allows for detection of changes in objects being monitored.

Skull registration for prone patient position using tracked ultrasound

NASA Astrophysics Data System (ADS)

Underwood, Grace; Ungi, Tamas; Baum, Zachary; Lasso, Andras; Kronreif, Gernot; Fichtinger, Gabor

2017-03-01

PURPOSE: Tracked navigation has become prevalent in neurosurgery. Problems with registration of a patient and a preoperative image arise when the patient is in a prone position. Surfaces accessible to optical tracking on the back of the head are unreliable for registration. We investigated the accuracy of surface-based registration using points accessible through tracked ultrasound. Using ultrasound allows access to bone surfaces that are not available through optical tracking. Tracked ultrasound could eliminate the need to work (i) under the table for registration and (ii) adjust the tracker between surgery and registration. In addition, tracked ultrasound could provide a non-invasive method in comparison to an alternative method of registration involving screw implantation. METHODS: A phantom study was performed to test the feasibility of tracked ultrasound for registration. An initial registration was performed to partially align the pre-operative computer tomography data and skull phantom. The initial registration was performed by an anatomical landmark registration. Surface points accessible by tracked ultrasound were collected and used to perform an Iterative Closest Point Algorithm. RESULTS: When the surface registration was compared to a ground truth landmark registration, the average TRE was found to be 1.6+/-0.1mm and the average distance of points off the skull surface was 0.6+/-0.1mm. CONCLUSION: The use of tracked ultrasound is feasible for registration of patients in prone position and eliminates the need to perform registration under the table. The translational component of error found was minimal. Therefore, the amount of TRE in registration is due to a rotational component of error.

Feasibility study for image guided kidney surgery: assessment of required intraoperative surface for accurate image to physical space registrations

NASA Astrophysics Data System (ADS)

Benincasa, Anne B.; Clements, Logan W.; Herrell, S. Duke; Chang, Sam S.; Cookson, Michael S.; Galloway, Robert L.

2006-03-01

Currently, the removal of kidney tumor masses uses only direct or laparoscopic visualizations, resulting in prolonged procedure and recovery times and reduced clear margin. Applying current image guided surgery (IGS) techniques, as those used in liver cases, to kidney resections (nephrectomies) presents a number of complications. Most notably is the limited field of view of the intraoperative kidney surface, which constrains the ability to obtain a surface delineation that is geometrically descriptive enough to drive a surface-based registration. Two different phantom orientations were used to model the laparoscopic and traditional partial nephrectomy views. For the laparoscopic view, fiducial point sets were compiled from a CT image volume using anatomical features such as the renal artery and vein. For the traditional view, markers attached to the phantom set-up were used for fiducials and targets. The fiducial points were used to perform a point-based registration, which then served as a guide for the surface-based registration. Laser range scanner (LRS) obtained surfaces were registered to each phantom surface using a rigid iterative closest point algorithm. Subsets of each phantom's LRS surface were used in a robustness test to determine the predictability of their registrations to transform the entire surface. Results from both orientations suggest that about half of the kidney's surface needs to be obtained intraoperatively for accurate registrations between the image surface and the LRS surface, suggesting the obtained kidney surfaces were geometrically descriptive enough to perform accurate registrations. This preliminary work paves the way for further development of kidney IGS systems.

Indoor A* Pathfinding Through an Octree Representation of a Point Cloud

NASA Astrophysics Data System (ADS)

Rodenberg, O. B. P. M.; Verbree, E.; Zlatanova, S.

2016-10-01

There is a growing demand of 3D indoor pathfinding applications. Researched in the field of robotics during the last decades of the 20th century, these methods focussed on 2D navigation. Nowadays we would like to have the ability to help people navigate inside buildings or send a drone inside a building when this is too dangerous for people. What these examples have in common is that an object with a certain geometry needs to find an optimal collision free path between a start and goal point. This paper presents a new workflow for pathfinding through an octree representation of a point cloud. We applied the following steps: 1) the point cloud is processed so it fits best in an octree; 2) during the octree generation the interior empty nodes are filtered and further processed; 3) for each interior empty node the distance to the closest occupied node directly under it is computed; 4) a network graph is computed for all empty nodes; 5) the A* pathfinding algorithm is conducted. This workflow takes into account the connectivity for each node to all possible neighbours (face, edge and vertex and all sizes). Besides, a collision avoidance system is pre-processed in two steps: first, the clearance of each empty node is computed, and then the maximal crossing value between two empty neighbouring nodes is computed. The clearance is used to select interior empty nodes of appropriate size and the maximal crossing value is used to filter the network graph. Finally, both these datasets are used in A* pathfinding.

Exploring biomedical ontology mappings with graph theory methods.

PubMed

Kocbek, Simon; Kim, Jin-Dong

2017-01-01

In the era of semantic web, life science ontologies play an important role in tasks such as annotating biological objects, linking relevant data pieces, and verifying data consistency. Understanding ontology structures and overlapping ontologies is essential for tasks such as ontology reuse and development. We present an exploratory study where we examine structure and look for patterns in BioPortal, a comprehensive publicly available repository of live science ontologies. We report an analysis of biomedical ontology mapping data over time. We apply graph theory methods such as Modularity Analysis and Betweenness Centrality to analyse data gathered at five different time points. We identify communities, i.e., sets of overlapping ontologies, and define similar and closest communities. We demonstrate evolution of identified communities over time and identify core ontologies of the closest communities. We use BioPortal project and category data to measure community coherence. We also validate identified communities with their mutual mentions in scientific literature. With comparing mapping data gathered at five different time points, we identified similar and closest communities of overlapping ontologies, and demonstrated evolution of communities over time. Results showed that anatomy and health ontologies tend to form more isolated communities compared to other categories. We also showed that communities contain all or the majority of ontologies being used in narrower projects. In addition, we identified major changes in mapping data after migration to BioPortal Version 4.

A novel approach for automatic snow depth estimation using UAV-taken images without ground control points

NASA Astrophysics Data System (ADS)

Mizinski, Bartlomiej; Niedzielski, Tomasz

2017-04-01

Recent developments in snow depth reconstruction based on remote sensing techniques include the use of photographs of snow-covered terrain taken by unmanned aerial vehicles (UAVs). There are several approaches that utilize visible-light photos (RGB) or near infrared images (NIR). The majority of the methods in question are based on reconstructing the digital surface model (DSM) of the snow-covered area with the use of the Structure-from-Motion (SfM) algorithm and the stereo-vision software. Having reconstructed the above-mentioned DSM it is straightforward to calculate the snow depth map which may be produced as a difference between the DSM of snow-covered terrain and the snow-free DSM, known as the reference surface. In order to use the aforementioned procedure, the high spatial accuracy of the two DSMs must be ensured. Traditionally, this is done using the ground control points (GCPs), either artificial or natural terrain features that are visible on aerial images, the coordinates of which are measured in the field using the Global Navigation Satellite System (GNSS) receiver by qualified personnel. The field measurements may be time-taking (GCPs must be well distributed in the study area, therefore the field experts should travel over long distances) and dangerous (the field experts may be exposed to avalanche risk or cold). Thus, there is a need to elaborate methods that enable the above-mentioned automatic snow depth map production without the use of GCPs. One of such attempts is shown in this paper which aims to present the novel method which is based on real-time processing of snow-covered and snow-free dense point clouds produced by SfM. The two stage georeferencing is proposed. The initial (low accuracy) one assigns true geographic, and subsequently projected, coordinates to the two dense point clouds, while the said initially-registered dense point clouds are matched using the iterative closest point (ICP) algorithm in the final (high accuracy) stage. The stable reference is offered by specially-selected trees which are located in the vicinity of the terrain of interest. The method has already been implemented and along with the presentation of its concept, a few case studies from the Izerskie Mountains (southwestern Poland) are discussed. Although the method reveals several constraints, it may serve the purpose of generating the snow depth maps with reasonable accuracy, in particular in the absence of GCPs. The snow depth estimation algorithm has been elaborated in frame of the research grant no. LIDER/012/223/L-5/13/NCBR/2014 financed by the National Centre for Research and Development of Poland.

A Well-Clear Volume Based on Time to Entry Point

NASA Technical Reports Server (NTRS)

Narkawicz, Anthony J.; Munoz, Cesar A.; Upchurch, Jason M.; Chamberlain, James P.; Consiglio, Maria C.

2014-01-01

A well-clear volume is a key component of NASA's Separation Assurance concept for the integration of UAS in the NAS. This paper proposes a mathematical definition of the well-clear volume that uses, in addition to distance thresholds, a time threshold based on time to entry point (TEP). The mathematical model that results from this definition is more conservative than other candidate definitions of the wellclear volume that are based on range over closure rate and time to closest point of approach.

A new root-based direction-finding algorithm

NASA Astrophysics Data System (ADS)

Wasylkiwskyj, Wasyl; Kopriva, Ivica; DoroslovačKi, Miloš; Zaghloul, Amir I.

2007-04-01

Polynomial rooting direction-finding (DF) algorithms are a computationally efficient alternative to search-based DF algorithms and are particularly suitable for uniform linear arrays of physically identical elements provided that mutual interaction among the array elements can be either neglected or compensated for. A popular algorithm in such situations is Root Multiple Signal Classification (Root MUSIC (RM)), wherein the estimation of the directions of arrivals (DOA) requires the computation of the roots of a (2N - 2) -order polynomial, where N represents number of array elements. The DOA are estimated from the L pairs of roots closest to the unit circle, where L represents number of sources. In this paper we derive a modified root polynomial (MRP) algorithm requiring the calculation of only L roots in order to estimate the L DOA. We evaluate the performance of the MRP algorithm numerically and show that it is as accurate as the RM algorithm but with a significantly simpler algebraic structure. In order to demonstrate that the theoretically predicted performance can be achieved in an experimental setting, a decoupled array is emulated in hardware using phase shifters. The results are in excellent agreement with theory.

A theory of phase singularities for image representation and its applications to object tracking and image matching.

PubMed

Qiao, Yu; Wang, Wei; Minematsu, Nobuaki; Liu, Jianzhuang; Takeda, Mitsuo; Tang, Xiaoou

2009-10-01

This paper studies phase singularities (PSs) for image representation. We show that PSs calculated with Laguerre-Gauss filters contain important information and provide a useful tool for image analysis. PSs are invariant to image translation and rotation. We introduce several invariant features to characterize the core structures around PSs and analyze the stability of PSs to noise addition and scale change. We also study the characteristics of PSs in a scale space, which lead to a method to select key scales along phase singularity curves. We demonstrate two applications of PSs: object tracking and image matching. In object tracking, we use the iterative closest point algorithm to determine the correspondences of PSs between two adjacent frames. The use of PSs allows us to precisely determine the motions of tracked objects. In image matching, we combine PSs and scale-invariant feature transform (SIFT) descriptor to deal with the variations between two images and examine the proposed method on a benchmark database. The results indicate that our method can find more correct matching pairs with higher repeatability rates than some well-known methods.

Vertical Corner Feature Based Precise Vehicle Localization Using 3D LIDAR in Urban Area

PubMed Central

Im, Jun-Hyuck; Im, Sung-Hyuck; Jee, Gyu-In

2016-01-01

Tall buildings are concentrated in urban areas. The outer walls of buildings are vertically erected to the ground and almost flat. Therefore, the vertical corners that meet the vertical planes are present everywhere in urban areas. These corners act as convenient landmarks, which can be extracted by using the light detection and ranging (LIDAR) sensor. A vertical corner feature based precise vehicle localization method is proposed in this paper and implemented using 3D LIDAR (Velodyne HDL-32E). The vehicle motion is predicted by accumulating the pose increment output from the iterative closest point (ICP) algorithm based on the geometric relations between the scan data of the 3D LIDAR. The vertical corner is extracted using the proposed corner extraction method. The vehicle position is then corrected by matching the prebuilt corner map with the extracted corner. The experiment was carried out in the Gangnam area of Seoul, South Korea. In the experimental results, the maximum horizontal position error is about 0.46 m and the 2D Root Mean Square (RMS) horizontal error is about 0.138 m. PMID:27517936

A Monte Carlo model for 3D grain evolution during welding

NASA Astrophysics Data System (ADS)

Rodgers, Theron M.; Mitchell, John A.; Tikare, Veena

2017-09-01

Welding is one of the most wide-spread processes used in metal joining. However, there are currently no open-source software implementations for the simulation of microstructural evolution during a weld pass. Here we describe a Potts Monte Carlo based model implemented in the SPPARKS kinetic Monte Carlo computational framework. The model simulates melting, solidification and solid-state microstructural evolution of material in the fusion and heat-affected zones of a weld. The model does not simulate thermal behavior, but rather utilizes user input parameters to specify weld pool and heat-affect zone properties. Weld pool shapes are specified by Bézier curves, which allow for the specification of a wide range of pool shapes. Pool shapes can range from narrow and deep to wide and shallow representing different fluid flow conditions within the pool. Surrounding temperature gradients are calculated with the aide of a closest point projection algorithm. The model also allows simulation of pulsed power welding through time-dependent variation of the weld pool size. Example simulation results and comparisons with laboratory weld observations demonstrate microstructural variation with weld speed, pool shape, and pulsed-power.

First Images from the Cript Muon Tomography System

NASA Astrophysics Data System (ADS)

Armitage, J.; Botte, J.; Boudjemline, K.; Erlandson, A.; Robichaud, A.; Bueno, J.; Bryman, D.; Gazit, R.; Hydomako, R.; Liu, Z.; Anghel, V.; Golovko, V. V.; Jewett, C.; Jonkmans, G.; Thompson, M.; Charles, E.; Gallant, G.; Drouin, P.-L.; Waller, D.; Stocki, T. J.; Cousins, T.; Noel, S.

2014-02-01

The CRIPT Cosmic Ray Imaging and Passive Tomography system began data taking in September 2012. CRIPT is a “proof of principle” muon tomography system originally proposed to inspect cargo in shipping containers and to determine the presence of special nuclear materials. CRIPT uses 4 layers of 2 m x 2 m scintillation counter trackers, each layer measuring two coordinates. Two layers are used to track the incoming muon and two for the outgoing muon allowing the trajectories of the muon to be determined. The target volume is divided into voxels, and a Point of Closest Approach algorithm is used to determine the number of scattering events in each voxel, producing a 3D image. The system has been tested with various targets of depleted uranium, lead bricks, and tungsten rods. Data on the positional resolution has been taken and the intrinsic resolution is unfolded with the help of a simulation using GEANT4. The next steps include incorporation of data from the spectrometer section, which will assist in determining the muon's momentum and improve the determination of the density of the target.

ARC-1990-A91-2013

NASA Image and Video Library

1990-02-14

Range : 1.4 to 2 million miles These are enhanced versions of four views of Venus taken by Galileo's Solid State Imaging System. The pictures in the top row were taken about 4 and 5 days after closest approach, and those in the bottom row 6 days after closest approach, 2 hours apart. These show the faint Venusian cloud features vary clearly. A high-pass filter way applied to bring out broader global variations in tone. The bright polar hoods are a well-known feature of Venus. Of particular interest to planetary atmospheric scientists are the complex cloud patterns near the equator, in the vicinity of the bright subsolar point, where convection is most prevalent.

A Novel Wide-Area Backup Protection Based on Fault Component Current Distribution and Improved Evidence Theory

PubMed Central

Zhang, Zhe; Kong, Xiangping; Yin, Xianggen; Yang, Zengli; Wang, Lijun

2014-01-01

In order to solve the problems of the existing wide-area backup protection (WABP) algorithms, the paper proposes a novel WABP algorithm based on the distribution characteristics of fault component current and improved Dempster/Shafer (D-S) evidence theory. When a fault occurs, slave substations transmit to master station the amplitudes of fault component currents of transmission lines which are the closest to fault element. Then master substation identifies suspicious faulty lines according to the distribution characteristics of fault component current. After that, the master substation will identify the actual faulty line with improved D-S evidence theory based on the action states of traditional protections and direction components of these suspicious faulty lines. The simulation examples based on IEEE 10-generator-39-bus system show that the proposed WABP algorithm has an excellent performance. The algorithm has low requirement of sampling synchronization, small wide-area communication flow, and high fault tolerance. PMID:25050399

An Improved Aerial Target Localization Method with a Single Vector Sensor

PubMed Central

Zhao, Anbang; Bi, Xuejie; Hui, Juan; Zeng, Caigao; Ma, Lin

2017-01-01

This paper focuses on the problems encountered in the actual data processing with the use of the existing aerial target localization methods, analyzes the causes of the problems, and proposes an improved algorithm. Through the processing of the sea experiment data, it is found that the existing algorithms have higher requirements for the accuracy of the angle estimation. The improved algorithm reduces the requirements of the angle estimation accuracy and obtains the robust estimation results. The closest distance matching estimation algorithm and the horizontal distance estimation compensation algorithm are proposed. The smoothing effect of the data after being post-processed by using the forward and backward two-direction double-filtering method has been improved, thus the initial stage data can be filtered, so that the filtering results retain more useful information. In this paper, the aerial target height measurement methods are studied, the estimation results of the aerial target are given, so as to realize the three-dimensional localization of the aerial target and increase the understanding of the underwater platform to the aerial target, so that the underwater platform has better mobility and concealment. PMID:29135956

Effective calculation of power system low-voltage solutions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Overbye, T.J.; Klump, R.P.

1996-02-01

This paper develops a method for reliably determining the set of low-voltage solutions which are closest to the operable power flow solution. These solutions are often used in conjunction with techniques such as energy methods and the voltage instability proximity index (VIPI) for assessing system voltage stability. This paper presents an algorithm which provides good initial guesses for these solutions. The results are demonstrated on a small system and on larger systems with up to 2,000 buses.

Electromagnetic Induction Spectroscopy for the Detection of Subsurface Targets

DTIC Science & Technology

2012-12-01

curves of the proposed method and that of Fails et al.. For the kNN ROC curve, k = 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81...et al. [6] and Ramachandran et al. [7] both demonstrated success in detecting mines using the k-nearest-neighbor ( kNN ) algorithm based on the EMI...error is also included in the feature vector. The kNN labels an unknown target based on the closest targets in a training set. Collins et al. [2] and

Tsunami early warning in the Mediterranean: role, structure and tricks of pre-computed tsunami simulation databases and matching/forecasting algorithms

NASA Astrophysics Data System (ADS)

Armigliato, Alberto; Pagnoni, Gianluca; Tinti, Stefano

2014-05-01

The general idea that pre-computed simulated scenario databases can play a key role in conceiving tsunami early warning systems is commonly accepted by now. But it was only in the last decade that it started to be applied to the Mediterranean region, taking special impulse from initiatives like the GDACS and from recently concluded EU-funded projects such as TRIDEC and NearToWarn. With reference to these two projects and with the possibility of further developing this research line in the frame of the FP7 ASTARTE project, we discuss some results we obtained regarding two major topics, namely the strategies applicable to the tsunami scenario database building and the design and performance assessment of a timely and "reliable" elementary-scenario combination algorithm to be run in real-time. As for the first theme, we take advantage of the experience gained in the test areas of Western Iberia, Rhodes (Greece) and Cyprus to illustrate the criteria with which a "Matching Scenario Database" (MSDB) can be built. These involve 1) the choice of the main tectonic tsunamigenic sources (or areas), 2) their tessellation with matrices of elementary faults whose dimension heavily depend on the particular studied area and must be a compromise between the needs to represent the tsunamigenic area in sufficient detail and of limiting the number of scenarios to be simulated, 3) the computation of the scenarios themselves, 4) the choice of the relevant simulation outputs and the standardisation of their formats. Regarding the matching/forecast algorithm, we want it to select and combine the MSDB elements based on the initial earthquake magnitude and location estimate, and to produce a forecast of (at least) the tsunami arrival time, amplitude and period at the closest tide-level sensors and in all needed forecast points. We discuss the performance of the algorithm in terms of the time needed to produce the forecast after the earthquake is detected. In particular, we analyse the different contributions of a number of factors such as the efficient code development and availability of cutting-edge hardware to run the code itself, the wise selection of the MSDB outputs to be combined, the choice of the forecast points where water elevation time series must be taken into account, and few others.

CCITT (International Telegraph Consultative Committee) Study Groups XI and XVIII Draft Recommendations for ISDN (Integrated Services Digital Networks), November 8-December 2, 1983.

DTIC Science & Technology

1983-12-01

national gateway closest to an MCI interconnection point would be chosen.) Another significant principle is that mobile users area to be addresses the...duplication with E.16n. It was agreed that, from an addressing viewpoint, mobile subscribers are .. like fixed subscribers; i.e., mobile subscribers have TEs...reference points S and T, NTl, and may have NT2. Therefore, an ISDN number has the same ability to unambiguously identify points in mobile subscriber

Ray propagation in oblate atmospheres. [for Jupiter

NASA Technical Reports Server (NTRS)

Hubbard, W. B.

1976-01-01

Phinney and Anderson's (1968) exact theory for the inversion of radio-occultation data for planetary atmospheres breaks down seriously when applied to occultations by oblate atmospheres because of departures from Bouguer's law. It has been proposed that this breakdown can be overcome by transforming the theory to a local spherical symmetry which osculates a ray's point of closest approach. The accuracy of this transformation procedure is assessed by evaluating the size of terms which are intrinsic to an oblate atmosphere and which are not eliminated by a local spherical approximation. The departures from Bouguer's law are analyzed, and it is shown that in the lowest-order deviation from that law, the plane of refraction is defined by the normal to the atmosphere at closest approach. In the next order, it is found that the oblateness of the atmosphere 'warps' the ray path out of a single plane, but the effect appears to be negligible for most purposes. It is concluded that there seems to be no source of serious error in making an approximation of local spherical symmetry with the refraction plane defined by the normal at closest approach.

Rapid mapping of ultrafine fault zone topography with structure from motion

USGS Publications Warehouse

Johnson, Kendra; Nissen, Edwin; Saripalli, Srikanth; Arrowsmith, J. Ramón; McGarey, Patrick; Scharer, Katherine M.; Williams, Patrick; Blisniuk, Kimberly

2014-01-01

Structure from Motion (SfM) generates high-resolution topography and coregistered texture (color) from an unstructured set of overlapping photographs taken from varying viewpoints, overcoming many of the cost, time, and logistical limitations of Light Detection and Ranging (LiDAR) and other topographic surveying methods. This paper provides the first investigation of SfM as a tool for mapping fault zone topography in areas of sparse or low-lying vegetation. First, we present a simple, affordable SfM workflow, based on an unmanned helium balloon or motorized glider, an inexpensive camera, and semiautomated software. Second, we illustrate the system at two sites on southern California faults covered by existing airborne or terrestrial LiDAR, enabling a comparative assessment of SfM topography resolution and precision. At the first site, an ∼0.1 km2 alluvial fan on the San Andreas fault, a colored point cloud of density mostly >700 points/m2 and a 3 cm digital elevation model (DEM) and orthophoto were produced from 233 photos collected ∼50 m above ground level. When a few global positioning system ground control points are incorporated, closest point vertical distances to the much sparser (∼4 points/m2) airborne LiDAR point cloud are mostly 530 points/m2 and a 2 cm DEM and orthophoto were produced from 450 photos taken from ∼60 m above ground level. Closest point vertical distances to existing terrestrial LiDAR data of comparable density are mostly <6 cm. Each SfM survey took ∼2 h to complete and several hours to generate the scene topography and texture. SfM greatly facilitates the imaging of subtle geomorphic offsets related to past earthquakes as well as rapid response mapping or long-term monitoring of faulted landscapes.

An enhanced inertial navigation system based on a low-cost IMU and laser scanner

NASA Astrophysics Data System (ADS)

Kim, Hyung-Soon; Baeg, Seung-Ho; Yang, Kwang-Woong; Cho, Kuk; Park, Sangdeok

2012-06-01

This paper describes an enhanced fusion method for an Inertial Navigation System (INS) based on a 3-axis accelerometer sensor, a 3-axis gyroscope sensor and a laser scanner. In GPS-denied environments, indoor or dense forests, a pure INS odometry is available for estimating the trajectory of a human or robot. However it has a critical implementation problem: a drift error of velocity, position and heading angles. Commonly the problem can be solved by fusing visual landmarks, a magnetometer or radio beacons. These methods are not robust in diverse environments: darkness, fog or sunlight, an unstable magnetic field and an environmental obstacle. We propose to overcome the drift problem using an Iterative Closest Point (ICP) scan matching algorithm with a laser scanner. This system consists of three parts. The first is the INS. It estimates attitude, velocity, position based on a 6-axis Inertial Measurement Unit (IMU) with both 'Heuristic Reduction of Gyro Drift' (HRGD) and 'Heuristic Reduction of Velocity Drift' (HRVD) methods. A frame-to-frame ICP matching algorithm for estimating position and attitude by laser scan data is the second. The third is an extended kalman filter method for multi-sensor data fusing: INS and Laser Range Finder (LRF). The proposed method is simple and robust in diverse environments, so we could reduce the drift error efficiently. We confirm the result comparing an odometry of the experimental result with ICP and LRF aided-INS in a long corridor.

Selection of floating-point or fixed-point for adaptive noise canceller in somatosensory evoked potential measurement.

PubMed

Shen, Chongfei; Liu, Hongtao; Xie, Xb; Luk, Keith Dk; Hu, Yong

2007-01-01

Adaptive noise canceller (ANC) has been used to improve signal to noise ratio (SNR) of somsatosensory evoked potential (SEP). In order to efficiently apply the ANC in hardware system, fixed-point algorithm based ANC can achieve fast, cost-efficient construction, and low-power consumption in FPGA design. However, it is still questionable whether the SNR improvement performance by fixed-point algorithm is as good as that by floating-point algorithm. This study is to compare the outputs of ANC by floating-point and fixed-point algorithm ANC when it was applied to SEP signals. The selection of step-size parameter (micro) was found different in fixed-point algorithm from floating-point algorithm. In this simulation study, the outputs of fixed-point ANC showed higher distortion from real SEP signals than that of floating-point ANC. However, the difference would be decreased with increasing micro value. In the optimal selection of micro, fixed-point ANC can get as good results as floating-point algorithm.

Robust non-rigid registration algorithm based on local affine registration

NASA Astrophysics Data System (ADS)

Wu, Liyang; Xiong, Lei; Du, Shaoyi; Bi, Duyan; Fang, Ting; Liu, Kun; Wu, Dongpeng

2018-04-01

Aiming at the problem that the traditional point set non-rigid registration algorithm has low precision and slow convergence speed for complex local deformation data, this paper proposes a robust non-rigid registration algorithm based on local affine registration. The algorithm uses a hierarchical iterative method to complete the point set non-rigid registration from coarse to fine. In each iteration, the sub data point sets and sub model point sets are divided and the shape control points of each sub point set are updated. Then we use the control point guided affine ICP algorithm to solve the local affine transformation between the corresponding sub point sets. Next, the local affine transformation obtained by the previous step is used to update the sub data point sets and their shape control point sets. When the algorithm reaches the maximum iteration layer K, the loop ends and outputs the updated sub data point sets. Experimental results demonstrate that the accuracy and convergence of our algorithm are greatly improved compared with the traditional point set non-rigid registration algorithms.

Endoscopic laser range scanner for minimally invasive, image guided kidney surgery

NASA Astrophysics Data System (ADS)

Friets, Eric; Bieszczad, Jerry; Kynor, David; Norris, James; Davis, Brynmor; Allen, Lindsay; Chambers, Robert; Wolf, Jacob; Glisson, Courtenay; Herrell, S. Duke; Galloway, Robert L.

2013-03-01

Image guided surgery (IGS) has led to significant advances in surgical procedures and outcomes. Endoscopic IGS is hindered, however, by the lack of suitable intraoperative scanning technology for registration with preoperative tomographic image data. This paper describes implementation of an endoscopic laser range scanner (eLRS) system for accurate, intraoperative mapping of the kidney surface, registration of the measured kidney surface with preoperative tomographic images, and interactive image-based surgical guidance for subsurface lesion targeting. The eLRS comprises a standard stereo endoscope coupled to a steerable laser, which scans a laser fan beam across the kidney surface, and a high-speed color camera, which records the laser-illuminated pixel locations on the kidney. Through calibrated triangulation, a dense set of 3-D surface coordinates are determined. At maximum resolution, the eLRS acquires over 300,000 surface points in less than 15 seconds. Lower resolution scans of 27,500 points are acquired in one second. Measurement accuracy of the eLRS, determined through scanning of reference planar and spherical phantoms, is estimated to be 0.38 +/- 0.27 mm at a range of 2 to 6 cm. Registration of the scanned kidney surface with preoperative image data is achieved using a modified iterative closest point algorithm. Surgical guidance is provided through graphical overlay of the boundaries of subsurface lesions, vasculature, ducts, and other renal structures labeled in the CT or MR images, onto the eLRS camera image. Depth to these subsurface targets is also displayed. Proof of clinical feasibility has been established in an explanted perfused porcine kidney experiment.

Characteristics of Adolescents at Risk for Compulsive Overeating on a Brief Screening Test.

ERIC Educational Resources Information Center

Marston, Albert R.; And Others

1988-01-01

Surveyed addictive behavior, finding 26% of male and 57% of female high school students scored above cutoff point on the Overeaters Anonymous scale for assessing compulsive overeating. At-risk students perceived their life quality and relationship with person closest to them as significantly less positive, indicated overeating's defensive…

Effects of conflict alerting system reliability and task difficulty on pilots' conflict detection with cockpit display of traffic information.

PubMed

Xu, Xidong; Wickens, Christopher D; Rantanen, Esa M

2007-01-15

A total of 24 pilots viewed dynamic encounters between their own aircraft and an intruder aircraft on a 2-D cockpit display of traffic information (CDTI) and estimated the point and time of closest approach. A three-level alerting system provided a correct categorical estimate of the projected miss distance on 83% of the trials. The remaining 17% of alerts were equally divided between misses and false alarms, of large and small magnitude. Roughly half the pilots depended on automation to improve estimation of miss distance relative to the baseline pilots, who viewed identical trials without the aid of automated alerts. Moreover, they did so more on the more difficult traffic trials resulting in improved performance on the 83% correct automation trials without causing harm on the 17% automation-error trials, compared to the baseline group. The automated alerts appeared to lead pilots to inspect the raw data more closely. While assisting the accurate prediction of miss distance, the automation led to an underestimate of the time remaining until the point of closest approach. The results point to the benefits of even imperfect automation in the strategic alerts characteristic of the CDTI, at least as long as this reliability remains high (above 80%).

Fuzzy logic and A* algorithm implementation on goat foraging games

NASA Astrophysics Data System (ADS)

Harsani, P.; Mulyana, I.; Zakaria, D.

2018-03-01

Goat foraging is one of the games that apply the search techniques within the scope of artificial intelligence. This game involves several actors including players and enemies. The method used in this research is fuzzy logic and Algorithm A*. Fuzzy logic is used to determine enemy behaviour. The A* algorithm is used to search for the shortest path. There are two input variables: the distance between the player and the enemy and the anger level of the goat. The output variable that has been defined is the enemy behaviour. The A* algorithm is used to determine the closest path between the player and the enemy and define the enemy's escape path to avoid the player. There are 4 types of enemies namely farmers, planters, farmers and sellers of plants. Players are goats that aims to find a meal that is a plant. In this game goats aim to spend grass in the garden in the form of a maze while avoiding the enemy. The game provides an application of artificial intelligence and is made in four difficulty levels.

FADS: A demonstrator for MilComSat AOCS

NASA Astrophysics Data System (ADS)

Huddleston, Martin; Cope, Paul

1995-03-01

This project covers the attitude and orbit control systems (AOCS) research program being carried out as part of the MOD applied research program for AD CIS(OR)1. The project program is to evaluate the candidate sensor technologies and control algorithms, such as Kalman filters, which may be applied to future UK military ComSats. The specific needs of military satellites for robust and threat-resistant control are not offered by current civil technologies which normally use vulnerable earth sensors or RF pointing which is vulnerable to deception. The program is also to investigate ways of reducing control system complexity and improvements in attitude control precision by enabling structural modes to be controlled. The project examines the most promising attitude control system technologies required to support such future communications payloads. User requirements indicate a need for improved threat resistance and for narrower spot beams, and the program supports this perceived need by the use of improved sensors and control algorithms. Improved pointing on civil ComSats is normally by means of ground RF measurements to form a closed loop control system with the spacecraft. For threat reasons this method is unsuitable for military ComSats, and on-board sensors are therefore used. The use of Silicon array star or earth sensors are the most promising, and the sensor program is to concentrate on these. Limited development and available civil sensors will be considered. Experimental work is based on demonstrating and evaluating real hardware in-the-loop on an existing air bearing experimental rig. This offers the closest simulation of real flight performance that can be obtained. The program will develop the Filtered Attitude Determination System (FADS)rig to be fully representative of a MilSatCom satellite, threat-resistant AOCS solution, employing Silicon array star and earth sensors. Both the BAe Mosaic Earth Sensor (MES) nad Marconi Versatile Star Sensor (VSS) technologies show considerable potential as attitude sensors. The VSS and MES capabilities will be evalutated on the FADS rig.

Fast time-of-flight camera based surface registration for radiotherapy patient positioning.

PubMed

Placht, Simon; Stancanello, Joseph; Schaller, Christian; Balda, Michael; Angelopoulou, Elli

2012-01-01

This work introduces a rigid registration framework for patient positioning in radiotherapy, based on real-time surface acquisition by a time-of-flight (ToF) camera. Dynamic properties of the system are also investigated for future gating/tracking strategies. A novel preregistration algorithm, based on translation and rotation-invariant features representing surface structures, was developed. Using these features, corresponding three-dimensional points were computed in order to determine initial registration parameters. These parameters became a robust input to an accelerated version of the iterative closest point (ICP) algorithm for the fine-tuning of the registration result. Distance calibration and Kalman filtering were used to compensate for ToF-camera dependent noise. Additionally, the advantage of using the feature based preregistration over an "ICP only" strategy was evaluated, as well as the robustness of the rigid-transformation-based method to deformation. The proposed surface registration method was validated using phantom data. A mean target registration error (TRE) for translations and rotations of 1.62 ± 1.08 mm and 0.07° ± 0.05°, respectively, was achieved. There was a temporal delay of about 65 ms in the registration output, which can be seen as negligible considering the dynamics of biological systems. Feature based preregistration allowed for accurate and robust registrations even at very large initial displacements. Deformations affected the accuracy of the results, necessitating particular care in cases of deformed surfaces. The proposed solution is able to solve surface registration problems with an accuracy suitable for radiotherapy cases where external surfaces offer primary or complementary information to patient positioning. The system shows promising dynamic properties for its use in gating/tracking applications. The overall system is competitive with commonly-used surface registration technologies. Its main benefit is the usage of a cost-effective off-the-shelf technology for surface acquisition. Further strategies to improve the registration accuracy are under development.

A Monte Carlo model for 3D grain evolution during welding

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rodgers, Theron M.; Mitchell, John A.; Tikare, Veena

Welding is one of the most wide-spread processes used in metal joining. However, there are currently no open-source software implementations for the simulation of microstructural evolution during a weld pass. Here we describe a Potts Monte Carlo based model implemented in the SPPARKS kinetic Monte Carlo computational framework. The model simulates melting, solidification and solid-state microstructural evolution of material in the fusion and heat-affected zones of a weld. The model does not simulate thermal behavior, but rather utilizes user input parameters to specify weld pool and heat-affect zone properties. Weld pool shapes are specified by Bezier curves, which allow formore » the specification of a wide range of pool shapes. Pool shapes can range from narrow and deep to wide and shallow representing different fluid flow conditions within the pool. Surrounding temperature gradients are calculated with the aide of a closest point projection algorithm. Furthermore, the model also allows simulation of pulsed power welding through time-dependent variation of the weld pool size. Example simulation results and comparisons with laboratory weld observations demonstrate microstructural variation with weld speed, pool shape, and pulsed-power.« less

A Monte Carlo model for 3D grain evolution during welding

DOE PAGES

Rodgers, Theron M.; Mitchell, John A.; Tikare, Veena

2017-08-04

Welding is one of the most wide-spread processes used in metal joining. However, there are currently no open-source software implementations for the simulation of microstructural evolution during a weld pass. Here we describe a Potts Monte Carlo based model implemented in the SPPARKS kinetic Monte Carlo computational framework. The model simulates melting, solidification and solid-state microstructural evolution of material in the fusion and heat-affected zones of a weld. The model does not simulate thermal behavior, but rather utilizes user input parameters to specify weld pool and heat-affect zone properties. Weld pool shapes are specified by Bezier curves, which allow formore » the specification of a wide range of pool shapes. Pool shapes can range from narrow and deep to wide and shallow representing different fluid flow conditions within the pool. Surrounding temperature gradients are calculated with the aide of a closest point projection algorithm. Furthermore, the model also allows simulation of pulsed power welding through time-dependent variation of the weld pool size. Example simulation results and comparisons with laboratory weld observations demonstrate microstructural variation with weld speed, pool shape, and pulsed-power.« less

[A cephalometric study on determining the orientation of occlusal plane].

PubMed

Xie, J; Zhao, Y; Chao, Y; Luo, W

1993-12-01

A study of the parallel relationship between the occlusal plane and the line connecting nasal alar and tragus was made in 90 dentulous cases by using cephalometry. The results show that the line connecting the inferior point of nasal alar and the mid-point of tragus runs much more parallel with the occlusal plane. The regression equation reveals a "line of closest fitting". It was used in the prosthetic treatment for 50 edentulous patients with good clinical results. The line connecting the inferior point of nasal alar and the mid-point of tragus therefore represents a proper reference plane for determining occlusal plane and hence should be still a valuable index in clinical dentistry.

NSSEFF Designing New Higher Temperature Superconductors

DTIC Science & Technology

2017-04-13

electronic structure calculations are integrated with the synthesis of new superconducting materials, with the aim of providing a rigorous test of the...apparent association of high temperature superconductivity with electron delocalization transitions occurring at quantum critical points. We will use...realistic electronic structure calculations to assess which transition metal monopnictides are closest to electron delocalization, and hence optimal for

Using Stellar Spectra to Illustrate Thermal Radiation Laws

ERIC Educational Resources Information Center

Kaltcheva, N. T.; Pritzl, B. J.

2018-01-01

Stars are point-source emitters that are the closest to the definition of a blackbody in comparison to all other similar sources of radiation found in nature. Existing libraries on stellar spectra are thus a valuable resource that can be used to introduce the laws of thermal radiation in a classroom setting. In this article we briefly describe…

Concepts and Preliminary Data Toward the Realization of Image-guided Liver Surgery

PubMed Central

Cash, David M.; Miga, Michael I.; Glasgow, Sean C.; Dawant, Benoit M.; Clements, Logan W.; Cao, Zhujiang; Galloway, Robert L.; Chapman, William C.

2013-01-01

Image-guided surgery provides navigational assistance to the surgeon by displaying the surgical probe position on a set of preoperative tomograms in real time. In this study, the feasibility of implementing image-guided surgery concepts into liver surgery was examined during eight hepatic resection procedures. Preoperative tomographic image data were acquired and processed. Accompanying intraoperative data on liver shape and position were obtained through optically tracked probes and laser range scanning technology. The preoperative and intraoperative representations of the liver surface were aligned using the iterative closest point surface matching algorithm. Surface registrations resulted in mean residual errors from 2 to 6 mm, with errors of target surface regions being below a stated goal of 1 cm. Issues affecting registration accuracy include liver motion due to respiration, the quality of the intraoperative surface data, and intraoperative organ deformation. Respiratory motion was quantified during the procedures as cyclical, primarily along the cranial–caudal direction. The resulting registrations were more robust and accurate when using laser range scanning to rapidly acquire thousands of points on the liver surface and when capturing unique geometric regions on the liver surface, such as the inferior edge. Finally, finite element models recovered much of the observed intraoperative deformation, further decreasing errors in the registration. Image-guided liver surgery has shown the potential to provide surgeons with important navigation aids that could increase the accuracy of targeting lesions and the number of patients eligible for surgical resection. PMID:17458587

Registration of partially overlapping surfaces for range image based augmented reality on mobile devices

NASA Astrophysics Data System (ADS)

Kilgus, T.; Franz, A. M.; Seitel, A.; Marz, K.; Bartha, L.; Fangerau, M.; Mersmann, S.; Groch, A.; Meinzer, H.-P.; Maier-Hein, L.

2012-02-01

Visualization of anatomical data for disease diagnosis, surgical planning, or orientation during interventional therapy is an integral part of modern health care. However, as anatomical information is typically shown on monitors provided by a radiological work station, the physician has to mentally transfer internal structures shown on the screen to the patient. To address this issue, we recently presented a new approach to on-patient visualization of 3D medical images, which combines the concept of augmented reality (AR) with an intuitive interaction scheme. Our method requires mounting a range imaging device, such as a Time-of-Flight (ToF) camera, to a portable display (e.g. a tablet PC). During the visualization process, the pose of the camera and thus the viewing direction of the user is continuously determined with a surface matching algorithm. By moving the device along the body of the patient, the physician is given the impression of looking directly into the human body. In this paper, we present and evaluate a new method for camera pose estimation based on an anisotropic trimmed variant of the well-known iterative closest point (ICP) algorithm. According to in-silico and in-vivo experiments performed with computed tomography (CT) and ToF data of human faces, knees and abdomens, our new method is better suited for surface registration with ToF data than the established trimmed variant of the ICP, reducing the target registration error (TRE) by more than 60%. The TRE obtained (approx. 4-5 mm) is promising for AR visualization, but clinical applications require maximization of robustness and run-time.

Automatic Calibration of Stereo-Cameras Using Ordinary Chess-Board Patterns

NASA Astrophysics Data System (ADS)

Prokos, A.; Kalisperakis, I.; Petsa, E.; Karras, G.

2012-07-01

Automation of camera calibration is facilitated by recording coded 2D patterns. Our toolbox for automatic camera calibration using images of simple chess-board patterns is freely available on the Internet. But it is unsuitable for stereo-cameras whose calibration implies recovering camera geometry and their true-to-scale relative orientation. In contrast to all reported methods requiring additional specific coding to establish an object space coordinate system, a toolbox for automatic stereo-camera calibration relying on ordinary chess-board patterns is presented here. First, the camera calibration algorithm is applied to all image pairs of the pattern to extract nodes of known spacing, order them in rows and columns, and estimate two independent camera parameter sets. The actual node correspondences on stereo-pairs remain unknown. Image pairs of a textured 3D scene are exploited for finding the fundamental matrix of the stereo-camera by applying RANSAC to point matches established with the SIFT algorithm. A node is then selected near the centre of the left image; its match on the right image is assumed as the node closest to the corresponding epipolar line. This yields matches for all nodes (since these have already been ordered), which should also satisfy the 2D epipolar geometry. Measures for avoiding mismatching are taken. With automatically estimated initial orientation values, a bundle adjustment is performed constraining all pairs on a common (scaled) relative orientation. Ambiguities regarding the actual exterior orientations of the stereo-camera with respect to the pattern are irrelevant. Results from this automatic method show typical precisions not above 1/4 pixels for 640×480 web cameras.

3D registration of depth data of porous surface coatings based on 3D phase correlation and the trimmed ICP algorithm

NASA Astrophysics Data System (ADS)

Loftfield, Nina; Kästner, Markus; Reithmeier, Eduard

2017-06-01

A critical factor of endoprostheses is the quality of the tribological pairing. The objective of this research project is to manufacture stochastically porous aluminum oxide surface coatings with high wear resistance and an active friction minimization. There are many experimental and computational techniques from mercury porosimetry to imaging methods for studying porous materials, however, the characterization of disordered pore networks is still a great challenge. To meet this challenge it is striven to gain a three dimensional high resolution reconstruction of the surface. In this work, the reconstruction is approached by repeatedly milling down the surface by a fixed decrement while measuring each layer using a confocal laser scanning microscope (CLSM). The so acquired depth data of the successive layers is then registered pairwise. Within this work a direct registration approach is deployed and implemented in two steps, a coarse and a fine alignment. The coarse alignment of the depth data is limited to a translational shift which occurs in horizontal direction due to placing the sample in turns under the CLSM and the milling machine and in vertical direction due to the milling process itself. The shift is determined by an approach utilizing 3D phase correlation. The fine alignment is implemented by the Trimmed Iterative Closest Point algorithm, matching the most likely common pixels roughly specified by an estimated overlap rate. With the presented two-step approach a proper 3D registration of the successive depth data of the layer is obtained.

Roughness Estimation from Point Clouds - A Comparison of Terrestrial Laser Scanning and Image Matching by Unmanned Aerial Vehicle Acquisitions

NASA Astrophysics Data System (ADS)

Rutzinger, Martin; Bremer, Magnus; Ragg, Hansjörg

2013-04-01

Recently, terrestrial laser scanning (TLS) and matching of images acquired by unmanned arial vehicles (UAV) are operationally used for 3D geodata acquisition in Geoscience applications. However, the two systems cover different application domains in terms of acquisition conditions and data properties i.e. accuracy and line of sight. In this study we investigate the major differences between the two platforms for terrain roughness estimation. Terrain roughness is an important input for various applications such as morphometry studies, geomorphologic mapping, and natural process modeling (e.g. rockfall, avalanche, and hydraulic modeling). Data has been collected simultaneously by TLS using an Optech ILRIS3D and a rotary UAV using an octocopter from twins.nrn for a 900 m² test site located in a riverbed in Tyrol, Austria (Judenbach, Mieming). The TLS point cloud has been acquired from three scan positions. These have been registered using iterative closest point algorithm and a target-based referencing approach. For registration geometric targets (spheres) with a diameter of 20 cm were used. These targets were measured with dGPS for absolute georeferencing. The TLS point cloud has an average point density of 19,000 pts/m², which represents a point spacing of about 5 mm. 15 images where acquired by UAV in a height of 20 m using a calibrated camera with focal length of 18.3 mm. A 3D point cloud containing RGB attributes was derived using APERO/MICMAC software, by a direct georeferencing approach based on the aircraft IMU data. The point cloud is finally co-registered with the TLS data to guarantee an optimal preparation in order to perform the analysis. The UAV point cloud has an average point density of 17,500 pts/m², which represents a point spacing of 7.5 mm. After registration and georeferencing the level of detail of roughness representation in both point clouds have been compared considering elevation differences, roughness and representation of different grain sizes. UAV closes the gap between aerial and terrestrial surveys in terms of resolution and acquisition flexibility. This is also true for the data accuracy. Considering these data collection and data quality properties of both systems they have their merit on its own in terms of scale, data quality, data collection speed and application.

Dynamic origin-to-destination routing of wirelessly connected, autonomous vehicles on a congested network

NASA Astrophysics Data System (ADS)

Davis, L. C.

2017-07-01

Up-to-date information wirelessly communicated among vehicles can be used to select the optimal route between a given origin and destination. To elucidate how to make use of such information, simulations are performed for autonomous vehicles traveling on a square lattice of roads. All the possible routes between the origin and the destination (without backtracking) are of the same length. Congestion is the only determinant of delay. At each intersection, right-of-way is given to the closest vehicle. There are no traffic lights. Trip times of a subject vehicle are recorded for various initial conditions using different routing algorithms. Surprisingly, the simplest algorithm, which is based on the total number of vehicles on a route, is as good as one based on computing travel times from the average velocity of vehicles on each road segment.

Markerless rat head motion tracking using structured light for brain PET imaging of unrestrained awake small animals

NASA Astrophysics Data System (ADS)

Miranda, Alan; Staelens, Steven; Stroobants, Sigrid; Verhaeghe, Jeroen

2017-03-01

Preclinical positron emission tomography (PET) imaging in small animals is generally performed under anesthesia to immobilize the animal during scanning. More recently, for rat brain PET studies, methods to perform scans of unrestrained awake rats are being developed in order to avoid the unwanted effects of anesthesia on the brain response. Here, we investigate the use of a projected structure stereo camera to track the motion of the rat head during the PET scan. The motion information is then used to correct the PET data. The stereo camera calculates a 3D point cloud representation of the scene and the tracking is performed by point cloud matching using the iterative closest point algorithm. The main advantage of the proposed motion tracking is that no intervention, e.g. for marker attachment, is needed. A manually moved microDerenzo phantom experiment and 3 awake rat [18F]FDG experiments were performed to evaluate the proposed tracking method. The tracking accuracy was 0.33 mm rms. After motion correction image reconstruction, the microDerenzo phantom was recovered albeit with some loss of resolution. The reconstructed FWHM of the 2.5 and 3 mm rods increased with 0.94 and 0.51 mm respectively in comparison with the motion-free case. In the rat experiments, the average tracking success rate was 64.7%. The correlation of relative brain regional [18F]FDG uptake between the anesthesia and awake scan reconstructions was increased from on average 0.291 (not significant) before correction to 0.909 (p  <  0.0001) after motion correction. Markerless motion tracking using structured light can be successfully used for tracking of the rat head for motion correction in awake rat PET scans.

Paradoxes of Cosmic Flights

DTIC Science & Technology

1977-04-26

less energy than in tha case of a takeoff from the surface of the Sarth. during such a takeoff from the earth the rocket motor ought to accomplish a...the energy point of view to set the roc- ket in motion* at the point closest to the *arth, the perigee, or at the most distant from it,—the apogee...than 1/33 parts of tbat energy that is necjfjessary during initial braking at the nearest-to-the»eaa?tfl ’:■’■- :,’-::::-:’.. :’.-:--:’.--£. ■■K

Extension of the tridiagonal reduction (FEER) method for complex eigenvalue problems in NASTRAN

NASA Technical Reports Server (NTRS)

Newman, M.; Mann, F. I.

1978-01-01

As in the case of real eigenvalue analysis, the eigensolutions closest to a selected point in the eigenspectrum were extracted from a reduced, symmetric, tridiagonal eigenmatrix whose order was much lower than that of the full size problem. The reduction process was effected automatically, and thus avoided the arbitrary lumping of masses and other physical quantities at selected grid points. The statement of the algebraic eigenvalue problem admitted mass, damping, and stiffness matrices which were unrestricted in character, i.e., they might be real, symmetric or nonsymmetric, singular or nonsingular.

Applicability Analysis of Cloth Simulation Filtering Algorithm for Mobile LIDAR Point Cloud

NASA Astrophysics Data System (ADS)

Cai, S.; Zhang, W.; Qi, J.; Wan, P.; Shao, J.; Shen, A.

2018-04-01

Classifying the original point clouds into ground and non-ground points is a key step in LiDAR (light detection and ranging) data post-processing. Cloth simulation filtering (CSF) algorithm, which based on a physical process, has been validated to be an accurate, automatic and easy-to-use algorithm for airborne LiDAR point cloud. As a new technique of three-dimensional data collection, the mobile laser scanning (MLS) has been gradually applied in various fields, such as reconstruction of digital terrain models (DTM), 3D building modeling and forest inventory and management. Compared with airborne LiDAR point cloud, there are some different features (such as point density feature, distribution feature and complexity feature) for mobile LiDAR point cloud. Some filtering algorithms for airborne LiDAR data were directly used in mobile LiDAR point cloud, but it did not give satisfactory results. In this paper, we explore the ability of the CSF algorithm for mobile LiDAR point cloud. Three samples with different shape of the terrain are selected to test the performance of this algorithm, which respectively yields total errors of 0.44 %, 0.77 % and1.20 %. Additionally, large area dataset is also tested to further validate the effectiveness of this algorithm, and results show that it can quickly and accurately separate point clouds into ground and non-ground points. In summary, this algorithm is efficient and reliable for mobile LiDAR point cloud.

Mean template for tensor-based morphometry using deformation tensors.

PubMed

Leporé, Natasha; Brun, Caroline; Pennec, Xavier; Chou, Yi-Yu; Lopez, Oscar L; Aizenstein, Howard J; Becker, James T; Toga, Arthur W; Thompson, Paul M

2007-01-01

Tensor-based morphometry (TBM) studies anatomical differences between brain images statistically, to identify regions that differ between groups, over time, or correlate with cognitive or clinical measures. Using a nonlinear registration algorithm, all images are mapped to a common space, and statistics are most commonly performed on the Jacobian determinant (local expansion factor) of the deformation fields. In, it was shown that the detection sensitivity of the standard TBM approach could be increased by using the full deformation tensors in a multivariate statistical analysis. Here we set out to improve the common space itself, by choosing the shape that minimizes a natural metric on the deformation tensors from that space to the population of control subjects. This method avoids statistical bias and should ease nonlinear registration of new subjects data to a template that is 'closest' to all subjects' anatomies. As deformation tensors are symmetric positive-definite matrices and do not form a vector space, all computations are performed in the log-Euclidean framework. The control brain B that is already the closest to 'average' is found. A gradient descent algorithm is then used to perform the minimization that iteratively deforms this template and obtains the mean shape. We apply our method to map the profile of anatomical differences in a dataset of 26 HIV/AIDS patients and 14 controls, via a log-Euclidean Hotelling's T2 test on the deformation tensors. These results are compared to the ones found using the 'best' control, B. Statistics on both shapes are evaluated using cumulative distribution functions of the p-values in maps of inter-group differences.

Teaching about International Issues, Geography, and Multiple Points of View Using the Internet

ERIC Educational Resources Information Center

Risinger, C. Frederick

2006-01-01

Many Muslims truly believe that the United States is leading a new "Crusade" (to use President Bush's term) against all Islamic peoples. Many European citizens, including those in Britain, America's closest ally, believe that U.S. unilateral actions in the Middle East and elsewhere have made the world less safe than it was prior to…

Tracking a convoy of multiple targets using acoustic sensor data

NASA Astrophysics Data System (ADS)

Damarla, T. R.

2003-08-01

In this paper we present an algorithm to track a convoy of several targets in a scene using acoustic sensor array data. The tracking algorithm is based on template of the direction of arrival (DOA) angles for the leading target. Often the first target is the closest target to the sensor array and hence the loudest with good signal to noise ratio. Several steps were used to generate a template of the DOA angle for the leading target, namely, (a) the angle at the present instant should be close to the angle at the previous instant and (b) the angle at the present instant should be within error bounds of the predicted value based on the previous values. Once the template of the DOA angles of the leading target is developed, it is used to predict the DOA angle tracks of the remaining targets. In order to generate the tracks for the remaining targets, a track is established if the angles correspond to the initial track values of the first target. Second the time delay between the first track and the remaining tracks are estimated at the highest correlation points between the first track and the remaining tracks. As the vehicles move at different speeds the tracks either compress or expand depending on whether a target is moving fast or slow compared to the first target. The expansion and compression ratios are estimated and used to estimate the predicted DOA angle values of the remaining targets. Based on these predicted DOA angles of the remaining targets the DOA angles obtained from the MVDR or Incoherent MUSIC will be appropriately assigned to proper tracks. Several other rules were developed to avoid mixing the tracks. The algorithm is tested on data collected at Aberdeen Proving Ground with a convoy of 3, 4 and 5 vehicles. Some of the vehicles are tracked and some are wheeled vehicles. The tracking algorithm results are found to be good. The results will be presented at the conference and in the paper.

Automated quantitative 3D analysis of aorta size, morphology, and mural calcification distributions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kurugol, Sila, E-mail: sila.kurugol@childrens.harvard.edu; Come, Carolyn E.; Diaz, Alejandro A.

Purpose: The purpose of this work is to develop a fully automated pipeline to compute aorta morphology and calcification measures in large cohorts of CT scans that can be used to investigate the potential of these measures as imaging biomarkers of cardiovascular disease. Methods: The first step of the automated pipeline is aorta segmentation. The algorithm the authors propose first detects an initial aorta boundary by exploiting cross-sectional circularity of aorta in axial slices and aortic arch in reformatted oblique slices. This boundary is then refined by a 3D level-set segmentation that evolves the boundary to the location of nearbymore » edges. The authors then detect the aortic calcifications with thresholding and filter out the false positive regions due to nearby high intensity structures based on their anatomical location. The authors extract the centerline and oblique cross sections of the segmented aortas and compute the aorta morphology and calcification measures of the first 2500 subjects from COPDGene study. These measures include volume and number of calcified plaques and measures of vessel morphology such as average cross-sectional area, tortuosity, and arch width. Results: The authors computed the agreement between the algorithm and expert segmentations on 45 CT scans and obtained a closest point mean error of 0.62 ± 0.09 mm and a Dice coefficient of 0.92 ± 0.01. The calcification detection algorithm resulted in an improved true positive detection rate of 0.96 compared to previous work. The measurements of aorta size agreed with the measurements reported in previous work. The initial results showed associations of aorta morphology with calcification and with aging. These results may indicate aorta stiffening and unwrapping with calcification and aging. Conclusions: The authors have developed an objective tool to assess aorta morphology and aortic calcium plaques on CT scans that may be used to provide information about the presence of cardiovascular disease and its clinical impact in smokers.« less

Automated quantitative 3D analysis of aorta size, morphology, and mural calcification distributions.

PubMed

Kurugol, Sila; Come, Carolyn E; Diaz, Alejandro A; Ross, James C; Kinney, Greg L; Black-Shinn, Jennifer L; Hokanson, John E; Budoff, Matthew J; Washko, George R; San Jose Estepar, Raul

2015-09-01

The purpose of this work is to develop a fully automated pipeline to compute aorta morphology and calcification measures in large cohorts of CT scans that can be used to investigate the potential of these measures as imaging biomarkers of cardiovascular disease. The first step of the automated pipeline is aorta segmentation. The algorithm the authors propose first detects an initial aorta boundary by exploiting cross-sectional circularity of aorta in axial slices and aortic arch in reformatted oblique slices. This boundary is then refined by a 3D level-set segmentation that evolves the boundary to the location of nearby edges. The authors then detect the aortic calcifications with thresholding and filter out the false positive regions due to nearby high intensity structures based on their anatomical location. The authors extract the centerline and oblique cross sections of the segmented aortas and compute the aorta morphology and calcification measures of the first 2500 subjects from COPDGene study. These measures include volume and number of calcified plaques and measures of vessel morphology such as average cross-sectional area, tortuosity, and arch width. The authors computed the agreement between the algorithm and expert segmentations on 45 CT scans and obtained a closest point mean error of 0.62 ± 0.09 mm and a Dice coefficient of 0.92 ± 0.01. The calcification detection algorithm resulted in an improved true positive detection rate of 0.96 compared to previous work. The measurements of aorta size agreed with the measurements reported in previous work. The initial results showed associations of aorta morphology with calcification and with aging. These results may indicate aorta stiffening and unwrapping with calcification and aging. The authors have developed an objective tool to assess aorta morphology and aortic calcium plaques on CT scans that may be used to provide information about the presence of cardiovascular disease and its clinical impact in smokers.

Automated quantitative 3D analysis of aorta size, morphology, and mural calcification distributions

PubMed Central

Kurugol, Sila; Come, Carolyn E.; Diaz, Alejandro A.; Ross, James C.; Kinney, Greg L.; Black-Shinn, Jennifer L.; Hokanson, John E.; Budoff, Matthew J.; Washko, George R.; San Jose Estepar, Raul

2015-01-01

Purpose: The purpose of this work is to develop a fully automated pipeline to compute aorta morphology and calcification measures in large cohorts of CT scans that can be used to investigate the potential of these measures as imaging biomarkers of cardiovascular disease. Methods: The first step of the automated pipeline is aorta segmentation. The algorithm the authors propose first detects an initial aorta boundary by exploiting cross-sectional circularity of aorta in axial slices and aortic arch in reformatted oblique slices. This boundary is then refined by a 3D level-set segmentation that evolves the boundary to the location of nearby edges. The authors then detect the aortic calcifications with thresholding and filter out the false positive regions due to nearby high intensity structures based on their anatomical location. The authors extract the centerline and oblique cross sections of the segmented aortas and compute the aorta morphology and calcification measures of the first 2500 subjects from COPDGene study. These measures include volume and number of calcified plaques and measures of vessel morphology such as average cross-sectional area, tortuosity, and arch width. Results: The authors computed the agreement between the algorithm and expert segmentations on 45 CT scans and obtained a closest point mean error of 0.62 ± 0.09 mm and a Dice coefficient of 0.92 ± 0.01. The calcification detection algorithm resulted in an improved true positive detection rate of 0.96 compared to previous work. The measurements of aorta size agreed with the measurements reported in previous work. The initial results showed associations of aorta morphology with calcification and with aging. These results may indicate aorta stiffening and unwrapping with calcification and aging. Conclusions: The authors have developed an objective tool to assess aorta morphology and aortic calcium plaques on CT scans that may be used to provide information about the presence of cardiovascular disease and its clinical impact in smokers. PMID:26328995

A Parametric k-Means Algorithm

PubMed Central

Tarpey, Thaddeus

2007-01-01

Summary The k points that optimally represent a distribution (usually in terms of a squared error loss) are called the k principal points. This paper presents a computationally intensive method that automatically determines the principal points of a parametric distribution. Cluster means from the k-means algorithm are nonparametric estimators of principal points. A parametric k-means approach is introduced for estimating principal points by running the k-means algorithm on a very large simulated data set from a distribution whose parameters are estimated using maximum likelihood. Theoretical and simulation results are presented comparing the parametric k-means algorithm to the usual k-means algorithm and an example on determining sizes of gas masks is used to illustrate the parametric k-means algorithm. PMID:17917692

Multifractal detrending moving-average cross-correlation analysis

NASA Astrophysics Data System (ADS)

Jiang, Zhi-Qiang; Zhou, Wei-Xing

2011-07-01

There are a number of situations in which several signals are simultaneously recorded in complex systems, which exhibit long-term power-law cross correlations. The multifractal detrended cross-correlation analysis (MFDCCA) approaches can be used to quantify such cross correlations, such as the MFDCCA based on the detrended fluctuation analysis (MFXDFA) method. We develop in this work a class of MFDCCA algorithms based on the detrending moving-average analysis, called MFXDMA. The performances of the proposed MFXDMA algorithms are compared with the MFXDFA method by extensive numerical experiments on pairs of time series generated from bivariate fractional Brownian motions, two-component autoregressive fractionally integrated moving-average processes, and binomial measures, which have theoretical expressions of the multifractal nature. In all cases, the scaling exponents hxy extracted from the MFXDMA and MFXDFA algorithms are very close to the theoretical values. For bivariate fractional Brownian motions, the scaling exponent of the cross correlation is independent of the cross-correlation coefficient between two time series, and the MFXDFA and centered MFXDMA algorithms have comparative performances, which outperform the forward and backward MFXDMA algorithms. For two-component autoregressive fractionally integrated moving-average processes, we also find that the MFXDFA and centered MFXDMA algorithms have comparative performances, while the forward and backward MFXDMA algorithms perform slightly worse. For binomial measures, the forward MFXDMA algorithm exhibits the best performance, the centered MFXDMA algorithms performs worst, and the backward MFXDMA algorithm outperforms the MFXDFA algorithm when the moment order q<0 and underperforms when q>0. We apply these algorithms to the return time series of two stock market indexes and to their volatilities. For the returns, the centered MFXDMA algorithm gives the best estimates of hxy(q) since its hxy(2) is closest to 0.5, as expected, and the MFXDFA algorithm has the second best performance. For the volatilities, the forward and backward MFXDMA algorithms give similar results, while the centered MFXDMA and the MFXDFA algorithms fail to extract rational multifractal nature.

An advancing front Delaunay triangulation algorithm designed for robustness

NASA Technical Reports Server (NTRS)

Mavriplis, D. J.

1992-01-01

A new algorithm is described for generating an unstructured mesh about an arbitrary two-dimensional configuration. Mesh points are generated automatically by the algorithm in a manner which ensures a smooth variation of elements, and the resulting triangulation constitutes the Delaunay triangulation of these points. The algorithm combines the mathematical elegance and efficiency of Delaunay triangulation algorithms with the desirable point placement features, boundary integrity, and robustness traditionally associated with advancing-front-type mesh generation strategies. The method offers increased robustness over previous algorithms in that it cannot fail regardless of the initial boundary point distribution and the prescribed cell size distribution throughout the flow-field.

A curvature-based weighted fuzzy c-means algorithm for point clouds de-noising

NASA Astrophysics Data System (ADS)

Cui, Xin; Li, Shipeng; Yan, Xiutian; He, Xinhua

2018-04-01

In order to remove the noise of three-dimensional scattered point cloud and smooth the data without damnify the sharp geometric feature simultaneity, a novel algorithm is proposed in this paper. The feature-preserving weight is added to fuzzy c-means algorithm which invented a curvature weighted fuzzy c-means clustering algorithm. Firstly, the large-scale outliers are removed by the statistics of r radius neighboring points. Then, the algorithm estimates the curvature of the point cloud data by using conicoid parabolic fitting method and calculates the curvature feature value. Finally, the proposed clustering algorithm is adapted to calculate the weighted cluster centers. The cluster centers are regarded as the new points. The experimental results show that this approach is efficient to different scale and intensities of noise in point cloud with a high precision, and perform a feature-preserving nature at the same time. Also it is robust enough to different noise model.

Search automation of the generalized method of device operational characteristics improvement

NASA Astrophysics Data System (ADS)

Petrova, I. Yu; Puchkova, A. A.; Zaripova, V. M.

2017-01-01

The article presents brief results of analysis of existing search methods of the closest patents, which can be applied to determine generalized methods of device operational characteristics improvement. There were observed the most widespread clustering algorithms and metrics for determining the proximity degree between two documents. The article proposes the technique of generalized methods determination; it has two implementation variants and consists of 7 steps. This technique has been implemented in the “Patents search” subsystem of the “Intellect” system. Also the article gives an example of the use of the proposed technique.

Real time three dimensional sensing system

DOEpatents

Gordon, S.J.

1996-12-31

The invention is a three dimensional sensing system which utilizes two flexibly located cameras for receiving and recording visual information with respect to a sensed object illuminated by a series of light planes. Each pixel of each image is converted to a digital word and the words are grouped into stripes, each stripe comprising contiguous pixels. One pixel of each stripe in one image is selected and an epi-polar line of that point is drawn in the other image. The three dimensional coordinate of each selected point is determined by determining the point on said epi-polar line which also lies on a stripe in the second image and which is closest to a known light plane. 7 figs.

Real time three dimensional sensing system

DOEpatents

Gordon, Steven J.

1996-01-01

The invention is a three dimensional sensing system which utilizes two flexibly located cameras for receiving and recording visual information with respect to a sensed object illuminated by a series of light planes. Each pixel of each image is converted to a digital word and the words are grouped into stripes, each stripe comprising contiguous pixels. One pixel of each stripe in one image is selected and an epi-polar line of that point is drawn in the other image. The three dimensional coordinate of each selected point is determined by determining the point on said epi-polar line which also lies on a stripe in the second image and which is closest to a known light plane.

Quantized kernel least mean square algorithm.

PubMed

Chen, Badong; Zhao, Songlin; Zhu, Pingping; Príncipe, José C

2012-01-01

In this paper, we propose a quantization approach, as an alternative of sparsification, to curb the growth of the radial basis function structure in kernel adaptive filtering. The basic idea behind this method is to quantize and hence compress the input (or feature) space. Different from sparsification, the new approach uses the "redundant" data to update the coefficient of the closest center. In particular, a quantized kernel least mean square (QKLMS) algorithm is developed, which is based on a simple online vector quantization method. The analytical study of the mean square convergence has been carried out. The energy conservation relation for QKLMS is established, and on this basis we arrive at a sufficient condition for mean square convergence, and a lower and upper bound on the theoretical value of the steady-state excess mean square error. Static function estimation and short-term chaotic time-series prediction examples are presented to demonstrate the excellent performance.

Efficient method for computing the maximum-likelihood quantum state from measurements with additive Gaussian noise.

PubMed

Smolin, John A; Gambetta, Jay M; Smith, Graeme

2012-02-17

We provide an efficient method for computing the maximum-likelihood mixed quantum state (with density matrix ρ) given a set of measurement outcomes in a complete orthonormal operator basis subject to Gaussian noise. Our method works by first changing basis yielding a candidate density matrix μ which may have nonphysical (negative) eigenvalues, and then finding the nearest physical state under the 2-norm. Our algorithm takes at worst O(d(4)) for the basis change plus O(d(3)) for finding ρ where d is the dimension of the quantum state. In the special case where the measurement basis is strings of Pauli operators, the basis change takes only O(d(3)) as well. The workhorse of the algorithm is a new linear-time method for finding the closest probability distribution (in Euclidean distance) to a set of real numbers summing to one.

Method and apparatus for calibrating multi-axis load cells in a dexterous robot

NASA Technical Reports Server (NTRS)

Wampler, II, Charles W. (Inventor); Platt, Jr., Robert J. (Inventor)

2012-01-01

A robotic system includes a dexterous robot having robotic joints, angle sensors adapted for measuring joint angles at a corresponding one of the joints, load cells for measuring a set of strain values imparted to a corresponding one of the load cells during a predetermined pose of the robot, and a host machine. The host machine is electrically connected to the load cells and angle sensors, and receives the joint angle values and strain values during the predetermined pose. The robot presses together mating pairs of load cells to form the poses. The host machine executes an algorithm to process the joint angles and strain values, and from the set of all calibration matrices that minimize error in force balance equations, selects the set of calibration matrices that is closest in a value to a pre-specified value. A method for calibrating the load cells via the algorithm is also provided.

A noniterative greedy algorithm for multiframe point correspondence.

PubMed

Shafique, Khurram; Shah, Mubarak

2005-01-01

This paper presents a framework for finding point correspondences in monocular image sequences over multiple frames. The general problem of multiframe point correspondence is NP-hard for three or more frames. A polynomial time algorithm for a restriction of this problem is presented and is used as the basis of the proposed greedy algorithm for the general problem. The greedy nature of the proposed algorithm allows it to be used in real-time systems for tracking and surveillance, etc. In addition, the proposed algorithm deals with the problems of occlusion, missed detections, and false positives by using a single noniterative greedy optimization scheme and, hence, reduces the complexity of the overall algorithm as compared to most existing approaches where multiple heuristics are used for the same purpose. While most greedy algorithms for point tracking do not allow for entry and exit of the points from the scene, this is not a limitation for the proposed algorithm. Experiments with real and synthetic data over a wide range of scenarios and system parameters are presented to validate the claims about the performance of the proposed algorithm.

An analysis of spectral envelope-reduction via quadratic assignment problems

NASA Technical Reports Server (NTRS)

George, Alan; Pothen, Alex

1994-01-01

A new spectral algorithm for reordering a sparse symmetric matrix to reduce its envelope size was described. The ordering is computed by associating a Laplacian matrix with the given matrix and then sorting the components of a specified eigenvector of the Laplacian. In this paper, we provide an analysis of the spectral envelope reduction algorithm. We described related 1- and 2-sum problems; the former is related to the envelope size, while the latter is related to an upper bound on the work involved in an envelope Cholesky factorization scheme. We formulate the latter two problems as quadratic assignment problems, and then study the 2-sum problem in more detail. We obtain lower bounds on the 2-sum by considering a projected quadratic assignment problem, and then show that finding a permutation matrix closest to an orthogonal matrix attaining one of the lower bounds justifies the spectral envelope reduction algorithm. The lower bound on the 2-sum is seen to be tight for reasonably 'uniform' finite element meshes. We also obtain asymptotically tight lower bounds for the envelope size for certain classes of meshes.

3-D Deformation Field Of The 2010 El Mayor-Cucapah (Mexico) Earthquake From Matching Before To After Aerial Lidar Point Clouds

NASA Astrophysics Data System (ADS)

Hinojosa-Corona, A.; Nissen, E.; Arrowsmith, R.; Krishnan, A. K.; Saripalli, S.; Oskin, M. E.; Arregui, S. M.; Limon, J. F.

2012-12-01

The Mw 7.2 El Mayor-Cucapah earthquake (EMCE) of 4 April 2010 generated a ~110 km long, NW-SE trending rupture, with normal and right-lateral slip in the order of 2-3m in the Sierra Cucapah, the northern half, where the surface rupture has the most outstanding expression. Vertical and horizontal surface displacements produced by the EMCE have been addressed separately by other authors with a variety of aerial and satellite remote sensing techniques. Slip variation along fault and post-seismic scarp erosion and diffusion have been estimated in other studies using terrestrial LiDAR (TLS) on segments of the rupture. To complement these other studies, we computed the 3D deformation field by comparing pre- to post-event point clouds from aerial LiDAR surveys. The pre-event LiDAR with lower point density (0.013-0.033 pts m-2) required filtering and post-processing before comparing with the denser (9-18 pts m-2) more accurate post event dataset. The 3-dimensional surface displacement field was determined using an adaptation of the Iterative Closest Point (ICP) algorithm, implemented in the open source Point Cloud Library (PCL). The LiDAR datasets are first split into a grid of windows, and for each one, ICP iteratively converges on the rigid body transformation (comprising a translation and a rotation) that best aligns the pre- to post-event points. Testing on synthetic datasets perturbed with displacements of known magnitude showed that windows with dimensions of 100-200m gave the best results for datasets with these densities. Here we present the deformation field with detailed displacements in segments of the surface rupture where its expression was recognized by ICP from the point cloud matching, mainly the scarcely vegetated Sierra Cucapah with the Borrego and Paso Superior fault segments the most outstanding, where we are able to compare our results with values measured in the field and results from TLS reported in other works. EMC simulated displacement field for a 2m right lateral normal (east block down) slip on the pre-event point cloud along the Borrego fault on Sierra Cucapah. Shaded DEM from post-event point cloud as backdrop.

a Threshold-Free Filtering Algorithm for Airborne LIDAR Point Clouds Based on Expectation-Maximization

NASA Astrophysics Data System (ADS)

Hui, Z.; Cheng, P.; Ziggah, Y. Y.; Nie, Y.

2018-04-01

Filtering is a key step for most applications of airborne LiDAR point clouds. Although lots of filtering algorithms have been put forward in recent years, most of them suffer from parameters setting or thresholds adjusting, which will be time-consuming and reduce the degree of automation of the algorithm. To overcome this problem, this paper proposed a threshold-free filtering algorithm based on expectation-maximization. The proposed algorithm is developed based on an assumption that point clouds are seen as a mixture of Gaussian models. The separation of ground points and non-ground points from point clouds can be replaced as a separation of a mixed Gaussian model. Expectation-maximization (EM) is applied for realizing the separation. EM is used to calculate maximum likelihood estimates of the mixture parameters. Using the estimated parameters, the likelihoods of each point belonging to ground or object can be computed. After several iterations, point clouds can be labelled as the component with a larger likelihood. Furthermore, intensity information was also utilized to optimize the filtering results acquired using the EM method. The proposed algorithm was tested using two different datasets used in practice. Experimental results showed that the proposed method can filter non-ground points effectively. To quantitatively evaluate the proposed method, this paper adopted the dataset provided by the ISPRS for the test. The proposed algorithm can obtain a 4.48 % total error which is much lower than most of the eight classical filtering algorithms reported by the ISPRS.

Automatic ground control point recognition with parallel associative memory

NASA Technical Reports Server (NTRS)

Al-Tahir, Raid; Toth, Charles K.; Schenck, Anton F.

1990-01-01

The basic principle of the associative memory is to match the unknown input pattern against a stored training set, and responding with the 'closest match' and the corresponding label. Generally, an associative memory system requires two preparatory steps: selecting attributes of the pattern class, and training the system by associating patterns with labels. Experimental results gained from using Parallel Associative Memory are presented. The primary concern is an automatic search for ground control points in aerial photographs. Synthetic patterns are tested followed by real data. The results are encouraging as a relatively high level of correct matches is reached.

Improved Real-Time Scan Matching Using Corner Features

NASA Astrophysics Data System (ADS)

Mohamed, H. A.; Moussa, A. M.; Elhabiby, M. M.; El-Sheimy, N.; Sesay, Abu B.

2016-06-01

The automation of unmanned vehicle operation has gained a lot of research attention, in the last few years, because of its numerous applications. The vehicle localization is more challenging in indoor environments where absolute positioning measurements (e.g. GPS) are typically unavailable. Laser range finders are among the most widely used sensors that help the unmanned vehicles to localize themselves in indoor environments. Typically, automatic real-time matching of the successive scans is performed either explicitly or implicitly by any localization approach that utilizes laser range finders. Many accustomed approaches such as Iterative Closest Point (ICP), Iterative Matching Range Point (IMRP), Iterative Dual Correspondence (IDC), and Polar Scan Matching (PSM) handles the scan matching problem in an iterative fashion which significantly affects the time consumption. Furthermore, the solution convergence is not guaranteed especially in cases of sharp maneuvers or fast movement. This paper proposes an automated real-time scan matching algorithm where the matching process is initialized using the detected corners. This initialization step aims to increase the convergence probability and to limit the number of iterations needed to reach convergence. The corner detection is preceded by line extraction from the laser scans. To evaluate the probability of line availability in indoor environments, various data sets, offered by different research groups, have been tested and the mean numbers of extracted lines per scan for these data sets are ranging from 4.10 to 8.86 lines of more than 7 points. The set of all intersections between extracted lines are detected as corners regardless of the physical intersection of these line segments in the scan. To account for the uncertainties of the detected corners, the covariance of the corners is estimated using the extracted lines variances. The detected corners are used to estimate the transformation parameters between the successive scan using least squares. These estimated transformation parameters are used to calculate an adjusted initialization for scan matching process. The presented method can be employed solely to match the successive scans and also can be used to aid other accustomed iterative methods to achieve more effective and faster converge. The performance and time consumption of the proposed approach is compared with ICP algorithm alone without initialization in different scenarios such as static period, fast straight movement, and sharp manoeuvers.

The implement of Talmud property allocation algorithm based on graphic point-segment way

NASA Astrophysics Data System (ADS)

Cen, Haifeng

2017-04-01

Under the guidance of the Talmud allocation scheme's theory, the paper analyzes the algorithm implemented process via the perspective of graphic point-segment way, and designs the point-segment way's Talmud property allocation algorithm. Then it uses Java language to implement the core of allocation algorithm, by using Android programming to build a visual interface.

Detailed analysis of an optimized FPP-based 3D imaging system

NASA Astrophysics Data System (ADS)

Tran, Dat; Thai, Anh; Duong, Kiet; Nguyen, Thanh; Nehmetallah, Georges

2016-05-01

In this paper, we present detail analysis and a step-by-step implementation of an optimized fringe projection profilometry (FPP) based 3D shape measurement system. First, we propose a multi-frequency and multi-phase shifting sinusoidal fringe pattern reconstruction approach to increase accuracy and sensitivity of the system. Second, phase error compensation caused by the nonlinear transfer function of the projector and camera is performed through polynomial approximation. Third, phase unwrapping is performed using spatial and temporal techniques and the tradeoff between processing speed and high accuracy is discussed in details. Fourth, generalized camera and system calibration are developed for phase to real world coordinate transformation. The calibration coefficients are estimated accurately using a reference plane and several gauge blocks with precisely known heights and by employing a nonlinear least square fitting method. Fifth, a texture will be attached to the height profile by registering a 2D real photo to the 3D height map. The last step is to perform 3D image fusion and registration using an iterative closest point (ICP) algorithm for a full field of view reconstruction. The system is experimentally constructed using compact, portable, and low cost off-the-shelf components. A MATLAB® based GUI is developed to control and synchronize the whole system.

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot.

PubMed

Duan, Xingguang; Gao, Liang; Wang, Yonggui; Li, Jianxi; Li, Haoyuan; Guo, Yanjun

2018-01-01

In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, "kinematics + optics" hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

Three-Dimensional Accuracy of Facial Scan for Facial Deformities in Clinics: A New Evaluation Method for Facial Scanner Accuracy.

PubMed

Zhao, Yi-Jiao; Xiong, Yu-Xue; Wang, Yong

2017-01-01

In this study, the practical accuracy (PA) of optical facial scanners for facial deformity patients in oral clinic was evaluated. Ten patients with a variety of facial deformities from oral clinical were included in the study. For each patient, a three-dimensional (3D) face model was acquired, via a high-accuracy industrial "line-laser" scanner (Faro), as the reference model and two test models were obtained, via a "stereophotography" (3dMD) and a "structured light" facial scanner (FaceScan) separately. Registration based on the iterative closest point (ICP) algorithm was executed to overlap the test models to reference models, and "3D error" as a new measurement indicator calculated by reverse engineering software (Geomagic Studio) was used to evaluate the 3D global and partial (upper, middle, and lower parts of face) PA of each facial scanner. The respective 3D accuracy of stereophotography and structured light facial scanners obtained for facial deformities was 0.58±0.11 mm and 0.57±0.07 mm. The 3D accuracy of different facial partitions was inconsistent; the middle face had the best performance. Although the PA of two facial scanners was lower than their nominal accuracy (NA), they all met the requirement for oral clinic use.

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

PubMed Central

Duan, Xingguang; Gao, Liang; Li, Jianxi; Li, Haoyuan; Guo, Yanjun

2018-01-01

In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning. PMID:29599948

Virtual plate pre-bending for the long bone fracture based on axis pre-alignment.

PubMed

Liu, Bin; Luo, Xinjian; Huang, Rui; Wan, Chao; Zhang, Bingbing; Hu, Weihua; Yue, Zongge

2014-06-01

In this paper, a modeling and visualizing system for assisting surgeons in correctly registering for the closed fracture reduction surgery is presented. By using this system, the geometric parameters of the target fixation plate before the long bone fracture operation can be obtained. The main processing scheme consists of following steps: firstly (image data process), utilize the Curvelet transform to denoise the CT images of fracture part and then reconstruct the 3D models of the broken bones. Secondly (pre-alignment), extract the axial lines of the broken bones and spatially align them. Then drive the broken bone models to be pre-aligned. Thirdly (mesh segmentation), a method based on vertex normal feature is utilized to obtain the broken bone cross-sections mesh models. Fourthly (fine registration), the ICP (Iterative Closest Point) algorithm is used to register the cross-sections and the broken bone models are driven to achieve the fine registration posture. Lastly (plate fitting), an accurate NURBS surface fitting method is used to construct the virtual plate. The experiment proved that the obtained models of the pre-bended plates were closely bonded to the surface of the registered long bone models. Finally, the lengths, angles and other interested geometric parameters can be measured on the plate models. Copyright © 2014 Elsevier Ltd. All rights reserved.

Trends in the levels of halogenated flame retardants in the Great Lakes atmosphere over the period 2005-2013.

PubMed

Liu, Liang-Ying; Salamova, Amina; Venier, Marta; Hites, Ronald A

2016-01-01

Air (vapor and particle phase) samples were collected every 12days at five sites near the North American Great Lakes from 1 January 2005 to 31 December 2013 as a part of the Integrated Atmospheric Deposition Network (IADN). The concentrations of 35 polybrominated diphenyl ethers (PBDEs) and eight other halogenated flame retardants were measured in each of the ~1,300 samples. The levels of almost all of these flame retardants, except for pentabromoethylbenzene (PBEB), hexabromobenzene (HBB), and Dechlorane Plus (DP), were significantly higher in Chicago, Cleveland, and Sturgeon Point. The concentrations of PBEB and HBB were relatively high at Eagle Harbor and Sturgeon Point, respectively, and the concentrations of DP were relatively high at Cleveland and Sturgeon Point, the two sites closest to this compound's production site. The data were analyzed using a multiple linear regression model to determine significant temporal trends in these atmospheric concentrations. The concentrations of PBDEs were decreasing at the urban sites, Chicago and Cleveland, but were generally unchanging at the remote sites, Sleeping Bear Dunes and Eagle Harbor. The concentrations of PBEB were decreasing at almost all sites except for Eagle Harbor, where the highest PBEB levels were observed. HBB concentrations were decreasing at all sites except for Sturgeon Point, where HBB levels were the highest. DP concentrations were increasing with doubling times of 3-9years at all sites except those closest to its source (Cleveland and Sturgeon Point). The levels of 1,2-bis(2,4,6-tribromophenoxy)ethane (TBE) were unchanging at the urban sites, Chicago and Cleveland, but decreasing at the suburban and remote sites, Sturgeon Point and Eagle Harbor. The atmospheric concentrations of 2-ethylhexyl-2,3,4,5-tetrabromobenzoate (EHTBB) and bis(2-ethylhexyl)-tetrabromophthalate (BEHTBP) were increasing at almost every site with doubling times of 3-6years. Copyright © 2016 Elsevier Ltd. All rights reserved.

A quasi-Newton algorithm for large-scale nonlinear equations.

PubMed

Huang, Linghua

2017-01-01

In this paper, the algorithm for large-scale nonlinear equations is designed by the following steps: (i) a conjugate gradient (CG) algorithm is designed as a sub-algorithm to obtain the initial points of the main algorithm, where the sub-algorithm's initial point does not have any restrictions; (ii) a quasi-Newton algorithm with the initial points given by sub-algorithm is defined as main algorithm, where a new nonmonotone line search technique is presented to get the step length [Formula: see text]. The given nonmonotone line search technique can avoid computing the Jacobian matrix. The global convergence and the [Formula: see text]-order convergent rate of the main algorithm are established under suitable conditions. Numerical results show that the proposed method is competitive with a similar method for large-scale problems.

Cost-effective surgical registration using consumer depth cameras

NASA Astrophysics Data System (ADS)

Potter, Michael; Yaniv, Ziv

2016-03-01

The high costs associated with technological innovation have been previously identified as both a major contributor to the rise of health care expenses, and as a limitation for widespread adoption of new technologies. In this work we evaluate the use of two consumer grade depth cameras, the Microsoft Kinect v1 and 3DSystems Sense, as a means for acquiring point clouds for registration. These devices have the potential to replace professional grade laser range scanning devices in medical interventions that do not require sub-millimetric registration accuracy, and may do so at a significantly reduced cost. To facilitate the use of these devices we have developed a near real-time (1-4 sec/frame) rigid registration framework combining several alignment heuristics with the Iterative Closest Point (ICP) algorithm. Using nearest neighbor registration error as our evaluation criterion we found the optimal scanning distances for the Sense and Kinect to be 50-60cm and 70-80cm respectively. When imaging a skull phantom at these distances, RMS error values of 1.35mm and 1.14mm were obtained. The registration framework was then evaluated using cranial MR scans of two subjects. For the first subject, the RMS error using the Sense was 1.28 +/- 0.01 mm. Using the Kinect this error was 1.24 +/- 0.03 mm. For the second subject, whose MR scan was significantly corrupted by metal implants, the errors increased to 1.44 +/- 0.03 mm and 1.74 +/- 0.06 mm but the system nonetheless performed within acceptable bounds.

Design and characterization of a small muon tomography system

NASA Astrophysics Data System (ADS)

Jo, Woo Jin; An, Su Jung; Kim, Hyun-Il; Lee, Chae Young; Chung, Heejun; Chung, Yong Hyun

2015-02-01

Muon tomography is a useful method for monitoring special nuclear materials (SNMs) because it can provide effective information on the presence of high-Z materials, has a high enough energy to deeply penetrate large amounts of shielding, and does not lead to any health risks and danger above background. We developed a 2-D muon detector and designed a muon tomography system employing four detector modules. Two top and two bottom detectors are, respectively, employed to record the incident and the scattered muon trajectories. The detector module for the muon tomography system consists of a plastic scintillator, wavelength-shifting (WLS) fiber arrays placed orthogonally on the top and the bottom of the scintillator, and a position-sensitive photomultiplier (PSPMT). The WLS fiber arrays absorb light photons emitted by the plastic scintillator and re-emit green lights guided to the PSPMT. The light distribution among the WLS fiber arrays determines the position of the muon interaction; consequently, 3-D tomographic images can be obtained by extracting the crossing points of the individual muon trajectories by using a point-of-closest-approach algorithm. The goal of this study is to optimize the design parameters of a muon tomography system by using the Geant4 code and to experimentally evaluate the performance of the prototype detector. Images obtained by the prototype detector with a 420-nm laser light source showed good agreement with the simulation results. This indicates that the proposed detector is feasible for use in a muon tomography system and can be used to verify the Z-discrimination capability of the muon tomography system.

Quantifying Normal Craniofacial Form and Baseline Craniofacial Asymmetry in the Pediatric Population.

PubMed

Cho, Min-Jeong; Hallac, Rami R; Ramesh, Jananie; Seaward, James R; Hermann, Nuno V; Darvann, Tron A; Lipira, Angelo; Kane, Alex A

2018-03-01

Restoring craniofacial symmetry is an important objective in the treatment of many craniofacial conditions. Normal form has been measured using anthropometry, cephalometry, and photography, yet all of these modalities have drawbacks. In this study, the authors define normal pediatric craniofacial form and craniofacial asymmetry using stereophotogrammetric images, which capture a densely sampled set of points on the form. After institutional review board approval, normal, healthy children (n = 533) with no known craniofacial abnormalities were recruited at well-child visits to undergo full head stereophotogrammetric imaging. The children's ages ranged from 0 to 18 years. A symmetric three-dimensional template was registered and scaled to each individual scan using 25 manually placed landmarks. The template was deformed to each subject's three-dimensional scan using a thin-plate spline algorithm and closest point matching. Age-based normal facial models were derived. Mean facial asymmetry and statistical characteristics of the population were calculated. The mean head asymmetry across all pediatric subjects was 1.5 ± 0.5 mm (range, 0.46 to 4.78 mm), and the mean facial asymmetry was 1.2 ± 0.6 mm (range, 0.4 to 5.4 mm). There were no significant differences in the mean head or facial asymmetry with age, sex, or race. Understanding the "normal" form and baseline distribution of asymmetry is an important anthropomorphic foundation. The authors present a method to quantify normal craniofacial form and baseline asymmetry in a large pediatric sample. The authors found that the normal pediatric craniofacial form is asymmetric, and does not change in magnitude with age, sex, or race.

Multi-contrast MRI registration of carotid arteries based on cross-sectional images and lumen boundaries

NASA Astrophysics Data System (ADS)

Wu, Yu-Xia; Zhang, Xi; Xu, Xiao-Pan; Liu, Yang; Zhang, Guo-Peng; Li, Bao-Juan; Chen, Hui-Jun; Lu, Hong-Bing

2017-02-01

Ischemic stroke has great correlation with carotid atherosclerosis and is mostly caused by vulnerable plaques. It's particularly important to analysis the components of plaques for the detection of vulnerable plaques. Recently plaque analysis based on multi-contrast magnetic resonance imaging has attracted great attention. Though multi-contrast MR imaging has potentials in enhanced demonstration of carotid wall, its performance is hampered by the misalignment of different imaging sequences. In this study, a coarse-to-fine registration strategy based on cross-sectional images and wall boundaries is proposed to solve the problem. It includes two steps: a rigid step using the iterative closest points to register the centerlines of carotid artery extracted from multi-contrast MR images, and a non-rigid step using the thin plate spline to register the lumen boundaries of carotid artery. In the rigid step, the centerline was extracted by tracking the crosssectional images along the vessel direction calculated by Hessian matrix. In the non-rigid step, a shape context descriptor is introduced to find corresponding points of two similar boundaries. In addition, the deterministic annealing technique is used to find a globally optimized solution. The proposed strategy was evaluated by newly developed three-dimensional, fast and high resolution multi-contrast black blood MR imaging. Quantitative validation indicated that after registration, the overlap of two boundaries from different sequences is 95%, and their mean surface distance is 0.12 mm. In conclusion, the proposed algorithm has improved the accuracy of registration effectively for further component analysis of carotid plaques.

a Photogrammetric Pipeline for the 3d Reconstruction of Cassis Images on Board Exomars Tgo

NASA Astrophysics Data System (ADS)

Simioni, E.; Re, C.; Mudric, T.; Pommerol, A.; Thomas, N.; Cremonese, G.

2017-07-01

CaSSIS (Colour and Stereo Surface Imaging System) is the stereo imaging system onboard the European Space Agency and ROSCOSMOS ExoMars Trace Gas Orbiter (TGO) that has been launched on 14 March 2016 and entered a Mars elliptical orbit on 19 October 2016. During the first bounded orbits, CaSSIS returned its first multiband images taken on 22 and 26 November 2016. The telescope acquired 11 images, each composed by 30 framelets, of the Martian surface near Hebes Chasma and Noctis Labyrithus regions reaching at closest approach at a distance of 250 km from the surface. Despite of the eccentricity of this first orbit, CaSSIS has provided one stereo pair with a mean ground resolution of 6 m from a mean distance of 520 km. The team at the Astronomical Observatory of Padova (OAPD-INAF) is involved into different stereo oriented missions and it is realizing a software for the generation of Digital Terrain Models from the CaSSIS images. The SW will be then adapted also for other projects involving stereo camera systems. To compute accurate 3D models, several sequential methods and tools have been developed. The preliminary pipeline provides: the generation of rectified images from the CaSSIS framelets, a matching core and post-processing methods. The software includes in particular: an automatic tie points detection by the Speeded Up Robust Features (SURF) operator, an initial search for the correspondences through Normalize Cross Correlation (NCC) algorithm and the Adaptive Least Square Matching (LSM) algorithm in a hierarchical approach. This work will show a preliminary DTM generated by the first CaSSIS stereo images.

Navigable points estimation for mobile robots using binary image skeletonization

NASA Astrophysics Data System (ADS)

Martinez S., Fernando; Jacinto G., Edwar; Montiel A., Holman

2017-02-01

This paper describes the use of image skeletonization for the estimation of all the navigable points, inside a scene of mobile robots navigation. Those points are used for computing a valid navigation path, using standard methods. The main idea is to find the middle and the extreme points of the obstacles in the scene, taking into account the robot size, and create a map of navigable points, in order to reduce the amount of information for the planning algorithm. Those points are located by means of the skeletonization of a binary image of the obstacles and the scene background, along with some other digital image processing algorithms. The proposed algorithm automatically gives a variable number of navigable points per obstacle, depending on the complexity of its shape. As well as, the way how the algorithm can change some of their parameters in order to change the final number of the resultant key points is shown. The results shown here were obtained applying different kinds of digital image processing algorithms on static scenes.

Image Registration Algorithm Based on Parallax Constraint and Clustering Analysis

NASA Astrophysics Data System (ADS)

Wang, Zhe; Dong, Min; Mu, Xiaomin; Wang, Song

2018-01-01

To resolve the problem of slow computation speed and low matching accuracy in image registration, a new image registration algorithm based on parallax constraint and clustering analysis is proposed. Firstly, Harris corner detection algorithm is used to extract the feature points of two images. Secondly, use Normalized Cross Correlation (NCC) function to perform the approximate matching of feature points, and the initial feature pair is obtained. Then, according to the parallax constraint condition, the initial feature pair is preprocessed by K-means clustering algorithm, which is used to remove the feature point pairs with obvious errors in the approximate matching process. Finally, adopt Random Sample Consensus (RANSAC) algorithm to optimize the feature points to obtain the final feature point matching result, and the fast and accurate image registration is realized. The experimental results show that the image registration algorithm proposed in this paper can improve the accuracy of the image matching while ensuring the real-time performance of the algorithm.

Algorithm of the automated choice of points of the acupuncture for EHF-therapy

NASA Astrophysics Data System (ADS)

Lyapina, E. P.; Chesnokov, I. A.; Anisimov, Ya. E.; Bushuev, N. A.; Murashov, E. P.; Eliseev, Yu. Yu.; Syuzanna, H.

2007-05-01

Offered algorithm of the automated choice of points of the acupuncture for EHF-therapy. The recipe formed by algorithm of an automated choice of points for acupunctural actions has a recommendational character. Clinical investigations showed that application of the developed algorithm in EHF-therapy allows to normalize energetic state of the meridians and to effectively solve many problems of an organism functioning.

Comparison of dermatoscopic diagnostic algorithms based on calculation: The ABCD rule of dermatoscopy, the seven-point checklist, the three-point checklist and the CASH algorithm in dermatoscopic evaluation of melanocytic lesions.

PubMed

Unlu, Ezgi; Akay, Bengu N; Erdem, Cengizhan

2014-07-01

Dermatoscopic analysis of melanocytic lesions using the CASH algorithm has rarely been described in the literature. The purpose of this study was to compare the sensitivity, specificity, and diagnostic accuracy rates of the ABCD rule of dermatoscopy, the seven-point checklist, the three-point checklist, and the CASH algorithm in the diagnosis and dermatoscopic evaluation of melanocytic lesions on the hairy skin. One hundred and fifteen melanocytic lesions of 115 patients were examined retrospectively using dermatoscopic images and compared with the histopathologic diagnosis. Four dermatoscopic algorithms were carried out for all lesions. The ABCD rule of dermatoscopy showed sensitivity of 91.6%, specificity of 60.4%, and diagnostic accuracy of 66.9%. The seven-point checklist showed sensitivity, specificity, and diagnostic accuracy of 87.5, 65.9, and 70.4%, respectively; the three-point checklist 79.1, 62.6, 66%; and the CASH algorithm 91.6, 64.8, and 70.4%, respectively. To our knowledge, this is the first study that compares the sensitivity, specificity and diagnostic accuracy of the ABCD rule of dermatoscopy, the three-point checklist, the seven-point checklist, and the CASH algorithm for the diagnosis of melanocytic lesions on the hairy skin. In our study, the ABCD rule of dermatoscopy and the CASH algorithm showed the highest sensitivity for the diagnosis of melanoma. © 2014 Japanese Dermatological Association.

MM Algorithms for Geometric and Signomial Programming

PubMed Central

Lange, Kenneth; Zhou, Hua

2013-01-01

This paper derives new algorithms for signomial programming, a generalization of geometric programming. The algorithms are based on a generic principle for optimization called the MM algorithm. In this setting, one can apply the geometric-arithmetic mean inequality and a supporting hyperplane inequality to create a surrogate function with parameters separated. Thus, unconstrained signomial programming reduces to a sequence of one-dimensional minimization problems. Simple examples demonstrate that the MM algorithm derived can converge to a boundary point or to one point of a continuum of minimum points. Conditions under which the minimum point is unique or occurs in the interior of parameter space are proved for geometric programming. Convergence to an interior point occurs at a linear rate. Finally, the MM framework easily accommodates equality and inequality constraints of signomial type. For the most important special case, constrained quadratic programming, the MM algorithm involves very simple updates. PMID:24634545

MM Algorithms for Geometric and Signomial Programming.

PubMed

Lange, Kenneth; Zhou, Hua

2014-02-01

This paper derives new algorithms for signomial programming, a generalization of geometric programming. The algorithms are based on a generic principle for optimization called the MM algorithm. In this setting, one can apply the geometric-arithmetic mean inequality and a supporting hyperplane inequality to create a surrogate function with parameters separated. Thus, unconstrained signomial programming reduces to a sequence of one-dimensional minimization problems. Simple examples demonstrate that the MM algorithm derived can converge to a boundary point or to one point of a continuum of minimum points. Conditions under which the minimum point is unique or occurs in the interior of parameter space are proved for geometric programming. Convergence to an interior point occurs at a linear rate. Finally, the MM framework easily accommodates equality and inequality constraints of signomial type. For the most important special case, constrained quadratic programming, the MM algorithm involves very simple updates.

A density based algorithm to detect cavities and holes from planar points

NASA Astrophysics Data System (ADS)

Zhu, Jie; Sun, Yizhong; Pang, Yueyong

2017-12-01

Delaunay-based shape reconstruction algorithms are widely used in approximating the shape from planar points. However, these algorithms cannot ensure the optimality of varied reconstructed cavity boundaries and hole boundaries. This inadequate reconstruction can be primarily attributed to the lack of efficient mathematic formulation for the two structures (hole and cavity). In this paper, we develop an efficient algorithm for generating cavities and holes from planar points. The algorithm yields the final boundary based on an iterative removal of the Delaunay triangulation. Our algorithm is mainly divided into two steps, namely, rough and refined shape reconstructions. The rough shape reconstruction performed by the algorithm is controlled by a relative parameter. Based on the rough result, the refined shape reconstruction mainly aims to detect holes and pure cavities. Cavity and hole are conceptualized as a structure with a low-density region surrounded by the high-density region. With this structure, cavity and hole are characterized by a mathematic formulation called as compactness of point formed by the length variation of the edges incident to point in Delaunay triangulation. The boundaries of cavity and hole are then found by locating a shape gradient change in compactness of point set. The experimental comparison with other shape reconstruction approaches shows that the proposed algorithm is able to accurately yield the boundaries of cavity and hole with varying point set densities and distributions.

Augmented Reality for Maintenance and Repair (ARMAR)

DTIC Science & Technology

2007-08-01

800×600 resolution monocular display, whose small size and lack of an opaque “ frame ”, provides the closest experience to an eyeglass form factor, and...Alternatively, fiducials could be mounted on lightweight rigid frames that are attached to predetermined points on the maintained system. Figure...stereo at 800×600 resolution, thirty frames per second, creating a compelling experience of an augmented workspace. Based on our preliminary

The detailed measurement of foot clearance by young adults during stair descent.

PubMed

Telonio, A; Blanchet, S; Maganaris, C N; Baltzopoulos, V; McFadyen, B J

2013-04-26

Foot clearance is an important variable for understanding safe stair negotiation, but few studies have provided detailed measures of it. This paper presents a new method to calculate minimal shoe clearance during stair descent and compares it to previous literature. Seventeen healthy young subjects descended a five step staircase with step treads of 300 mm and step heights of 188 mm. Kinematic data were collected with an Optotrak system (model 3020) and three non-colinear infrared markers on the feet. Ninety points were digitized on the foot sole prior to data collection using a 6 marker probe and related to the triad of markers on the foot. The foot sole was reconstructed using the Matlab (version 7.0) "meshgrid" function and minimal distance to each step edge was calculated for the heel, toe and foot sole. Results showed significant differences in minimum clearance between sole, heel and toe, with the shoe sole being the closest and the toe the furthest. While the hind foot sole was closest for 69% of the time, the actual minimum clearance point on the sole did vary across subjects and staircase steps. This new method, and the findings on healthy young subjects, can be applied to future studies of other populations and staircase dimensions. Copyright © 2013 Elsevier Ltd. All rights reserved.

Elucidating the significance of spatial memory on movement decisions by African savannah elephants using state–space models

PubMed Central

Polansky, Leo; Kilian, Werner; Wittemyer, George

2015-01-01

Spatial memory facilitates resource acquisition where resources are patchy, but how it influences movement behaviour of wide-ranging species remains to be resolved. We examined African elephant spatial memory reflected in movement decisions regarding access to perennial waterholes. State–space models of movement data revealed a rapid, highly directional movement behaviour almost exclusively associated with visiting perennial water. Behavioural change point (BCP) analyses demonstrated that these goal-oriented movements were initiated on average 4.59 km, and up to 49.97 km, from the visited waterhole, with the closest waterhole accessed 90% of the time. Distances of decision points increased when switching to different waterholes, during the dry season, or for female groups relative to males, while selection of the closest waterhole decreased when switching. Overall, our analyses indicated detailed spatial knowledge over large scales, enabling elephants to minimize travel distance through highly directional movement when accessing water. We discuss the likely cognitive and socioecological mechanisms driving these spatially precise movements that are most consistent with our findings. By applying modern analytic techniques to high-resolution movement data, this study illustrates emerging approaches for studying how cognition structures animal movement behaviour in different ecological and social contexts. PMID:25808888

The Pointing Self-calibration Algorithm for Aperture Synthesis Radio Telescopes

NASA Astrophysics Data System (ADS)

Bhatnagar, S.; Cornwell, T. J.

2017-11-01

This paper is concerned with algorithms for calibration of direction-dependent effects (DDE) in aperture synthesis radio telescopes (ASRT). After correction of direction-independent effects (DIE) using self-calibration, imaging performance can be limited by the imprecise knowledge of the forward gain of the elements in the array. In general, the forward gain pattern is directionally dependent and varies with time due to a number of reasons. Some factors, such as rotation of the primary beam with Parallactic Angle for Azimuth-Elevation mount antennas are known a priori. Some, such as antenna pointing errors and structural deformation/projection effects for aperture-array elements cannot be measured a priori. Thus, in addition to algorithms to correct for DD effects known a priori, algorithms to solve for DD gains are required for high dynamic range imaging. Here, we discuss a mathematical framework for antenna-based DDE calibration algorithms and show that this framework leads to computationally efficient optimal algorithms that scale well in a parallel computing environment. As an example of an antenna-based DD calibration algorithm, we demonstrate the Pointing SelfCal (PSC) algorithm to solve for the antenna pointing errors. Our analysis show that the sensitivity of modern ASRT is sufficient to solve for antenna pointing errors and other DD effects. We also discuss the use of the PSC algorithm in real-time calibration systems and extensions for antenna Shape SelfCal algorithm for real-time tracking and corrections for pointing offsets and changes in antenna shape.

The Pointing Self-calibration Algorithm for Aperture Synthesis Radio Telescopes

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bhatnagar, S.; Cornwell, T. J., E-mail: sbhatnag@nrao.edu

This paper is concerned with algorithms for calibration of direction-dependent effects (DDE) in aperture synthesis radio telescopes (ASRT). After correction of direction-independent effects (DIE) using self-calibration, imaging performance can be limited by the imprecise knowledge of the forward gain of the elements in the array. In general, the forward gain pattern is directionally dependent and varies with time due to a number of reasons. Some factors, such as rotation of the primary beam with Parallactic Angle for Azimuth–Elevation mount antennas are known a priori. Some, such as antenna pointing errors and structural deformation/projection effects for aperture-array elements cannot be measuredmore » a priori. Thus, in addition to algorithms to correct for DD effects known a priori, algorithms to solve for DD gains are required for high dynamic range imaging. Here, we discuss a mathematical framework for antenna-based DDE calibration algorithms and show that this framework leads to computationally efficient optimal algorithms that scale well in a parallel computing environment. As an example of an antenna-based DD calibration algorithm, we demonstrate the Pointing SelfCal (PSC) algorithm to solve for the antenna pointing errors. Our analysis show that the sensitivity of modern ASRT is sufficient to solve for antenna pointing errors and other DD effects. We also discuss the use of the PSC algorithm in real-time calibration systems and extensions for antenna Shape SelfCal algorithm for real-time tracking and corrections for pointing offsets and changes in antenna shape.« less

Using standard clinical assessments for home care to identify vulnerable populations before, during, and after disasters.

PubMed

van Solm, Alexandra I T; Hirdes, John P; Eckel, Leslie A; Heckman, George A; Bigelow, Philip L

Several studies have shown the increased vulnerability of and disproportionate mortality rate among frail community-dwelling older adults as a result of emergencies and disasters. This article will discuss the applicability of the Vulnerable Persons at Risk (VPR) and VPR Plus decision support algorithms designed based on the Resident Assessment Instrument-Home Care (RAI-HC) to identify the most vulnerable community-dwelling (older) adults. A sample was taken from the Ontario RAI-HC database by selecting unique home care clients with assessments closest to December 31, 2014 (N = 275,797). Statistical methods used include cross tabulation, bivariate logistic regression as well as Kaplan-Meier survival plotting and Cox proportional hazards ratios calculations. The VPR and VPR Plus algorithms, were highly predictive of mortality, long-term care admission and hospitalization in ordinary circumstances. This provides a good indication of the strength of the algorithms in identifying vulnerable persons at times of emergencies. Access to real-time person-level information of persons with functional care needs is a vital enabler for emergency responders in prioritizing and allocating resources during a disaster, and has great utility for emergency planning and recovery efforts. The development of valid and reliable algorithms supports the rapid identification and response to vulnerable community-dwelling persons for all phases of emergency management.

Using a genetic algorithm to optimize a water-monitoring network for accuracy and cost effectiveness

NASA Astrophysics Data System (ADS)

Julich, R. J.

2004-05-01

The purpose of this project is to determine the optimal spatial distribution of water-monitoring wells to maximize important data collection and to minimize the cost of managing the network. We have employed a genetic algorithm (GA) towards this goal. The GA uses a simple fitness measure with two parts: the first part awards a maximal score to those combinations of hydraulic head observations whose net uncertainty is closest to the value representing all observations present, thereby maximizing accuracy; the second part applies a penalty function to minimize the number of observations, thereby minimizing the overall cost of the monitoring network. We used the linear statistical inference equation to calculate standard deviations on predictions from a numerical model generated for the 501-observation Death Valley Regional Flow System as the basis for our uncertainty calculations. We have organized the results to address the following three questions: 1) what is the optimal design strategy for a genetic algorithm to optimize this problem domain; 2) what is the consistency of solutions over several optimization runs; and 3) how do these results compare to what is known about the conceptual hydrogeology? Our results indicate the genetic algorithms are a more efficient and robust method for solving this class of optimization problems than have been traditional optimization approaches.

A maximum power point tracking algorithm for buoy-rope-drum wave energy converters

NASA Astrophysics Data System (ADS)

Wang, J. Q.; Zhang, X. C.; Zhou, Y.; Cui, Z. C.; Zhu, L. S.

2016-08-01

The maximum power point tracking control is the key link to improve the energy conversion efficiency of wave energy converters (WEC). This paper presents a novel variable step size Perturb and Observe maximum power point tracking algorithm with a power classification standard for control of a buoy-rope-drum WEC. The algorithm and simulation model of the buoy-rope-drum WEC are presented in details, as well as simulation experiment results. The results show that the algorithm tracks the maximum power point of the WEC fast and accurately.

Trajectory data privacy protection based on differential privacy mechanism

NASA Astrophysics Data System (ADS)

Gu, Ke; Yang, Lihao; Liu, Yongzhi; Liao, Niandong

2018-05-01

In this paper, we propose a trajectory data privacy protection scheme based on differential privacy mechanism. In the proposed scheme, the algorithm first selects the protected points from the user’s trajectory data; secondly, the algorithm forms the polygon according to the protected points and the adjacent and high frequent accessed points that are selected from the accessing point database, then the algorithm calculates the polygon centroids; finally, the noises are added to the polygon centroids by the differential privacy method, and the polygon centroids replace the protected points, and then the algorithm constructs and issues the new trajectory data. The experiments show that the running time of the proposed algorithms is fast, the privacy protection of the scheme is effective and the data usability of the scheme is higher.

Pluto Seen from Saturn

NASA Image and Video Library

2015-07-16

As one NASA spacecraft sailed past the distant ice world of Pluto, collecting never-before-seen vistas and invaluable science data, another spacecraft turned its gaze in that direction from its outpost at Saturn. NASA's Cassini spacecraft took a momentary break from its duties to capture this far-off portrait around the time of the New Horizons encounter with Pluto. The image was taken within a few minutes of New Horizons' closest approach to Pluto. After New Horizons, Cassini was the closest spacecraft to Pluto at the time of the flyby. Pluto is the bright dot closest to the center of the field of stars seen in this view. A labeled version of the image, indicating Pluto's position, is also presented here. The four stars identified in the labeled view have visual magnitudes between about 11 and 12. The entire Pluto system -- the dwarf planet and all of its moons -- is below the resolution of this image, thus the small bright specks near the main dot representing Pluto are likely noise (possibly due to what astronomers call the point-spread function). Charon and the other moons would not be resolved at this scale. The image was obtained using the Cassini spacecraft narrow-angle camera on July 14, 2015 at a distance of about 2.4 billion miles (3.9 billion kilometers) from Pluto. http://photojournal.jpl.nasa.gov/catalog/PIA19641

Robust Assignment Of Eigensystems For Flexible Structures

NASA Technical Reports Server (NTRS)

Juang, Jer-Nan; Lim, Kyong B.; Junkins, John L.

1992-01-01

Improved method for placement of eigenvalues and eigenvectors of closed-loop control system by use of either state or output feedback. Applied to reduced-order finite-element mathematical model of NASA's MAST truss beam structure. Model represents deployer/retractor assembly, inertial properties of Space Shuttle, and rigid platforms for allocation of sensors and actuators. Algorithm formulated in real arithmetic for efficient implementation. Choice of open-loop eigenvector matrix and its closest unitary matrix believed suitable for generating well-conditioned eigensystem with small control gains. Implication of this approach is that element of iterative search for "optimal" unitary matrix appears unnecessary in practice for many test problems.

An adaptive clustering algorithm for image matching based on corner feature

NASA Astrophysics Data System (ADS)

Wang, Zhe; Dong, Min; Mu, Xiaomin; Wang, Song

2018-04-01

The traditional image matching algorithm always can not balance the real-time and accuracy better, to solve the problem, an adaptive clustering algorithm for image matching based on corner feature is proposed in this paper. The method is based on the similarity of the matching pairs of vector pairs, and the adaptive clustering is performed on the matching point pairs. Harris corner detection is carried out first, the feature points of the reference image and the perceived image are extracted, and the feature points of the two images are first matched by Normalized Cross Correlation (NCC) function. Then, using the improved algorithm proposed in this paper, the matching results are clustered to reduce the ineffective operation and improve the matching speed and robustness. Finally, the Random Sample Consensus (RANSAC) algorithm is used to match the matching points after clustering. The experimental results show that the proposed algorithm can effectively eliminate the most wrong matching points while the correct matching points are retained, and improve the accuracy of RANSAC matching, reduce the computation load of whole matching process at the same time.

A Parallel Point Matching Algorithm for Landmark Based Image Registration Using Multicore Platform

PubMed Central

Yang, Lin; Gong, Leiguang; Zhang, Hong; Nosher, John L.; Foran, David J.

2013-01-01

Point matching is crucial for many computer vision applications. Establishing the correspondence between a large number of data points is a computationally intensive process. Some point matching related applications, such as medical image registration, require real time or near real time performance if applied to critical clinical applications like image assisted surgery. In this paper, we report a new multicore platform based parallel algorithm for fast point matching in the context of landmark based medical image registration. We introduced a non-regular data partition algorithm which utilizes the K-means clustering algorithm to group the landmarks based on the number of available processing cores, which optimize the memory usage and data transfer. We have tested our method using the IBM Cell Broadband Engine (Cell/B.E.) platform. The results demonstrated a significant speed up over its sequential implementation. The proposed data partition and parallelization algorithm, though tested only on one multicore platform, is generic by its design. Therefore the parallel algorithm can be extended to other computing platforms, as well as other point matching related applications. PMID:24308014

Design and FPGA Implementation of a Universal Chaotic Signal Generator Based on the Verilog HDL Fixed-Point Algorithm and State Machine Control

NASA Astrophysics Data System (ADS)

Qiu, Mo; Yu, Simin; Wen, Yuqiong; Lü, Jinhu; He, Jianbin; Lin, Zhuosheng

In this paper, a novel design methodology and its FPGA hardware implementation for a universal chaotic signal generator is proposed via the Verilog HDL fixed-point algorithm and state machine control. According to continuous-time or discrete-time chaotic equations, a Verilog HDL fixed-point algorithm and its corresponding digital system are first designed. In the FPGA hardware platform, each operation step of Verilog HDL fixed-point algorithm is then controlled by a state machine. The generality of this method is that, for any given chaotic equation, it can be decomposed into four basic operation procedures, i.e. nonlinear function calculation, iterative sequence operation, iterative values right shifting and ceiling, and chaotic iterative sequences output, each of which corresponds to only a state via state machine control. Compared with the Verilog HDL floating-point algorithm, the Verilog HDL fixed-point algorithm can save the FPGA hardware resources and improve the operation efficiency. FPGA-based hardware experimental results validate the feasibility and reliability of the proposed approach.

A color gamut description algorithm for liquid crystal displays in CIELAB space.

PubMed

Sun, Bangyong; Liu, Han; Li, Wenli; Zhou, Shisheng

2014-01-01

Because the accuracy of gamut boundary description is significant for gamut mapping process, a gamut boundary calculating method for LCD monitors is proposed in this paper. Within most of the previous gamut boundary calculation algorithms, the gamut boundary is calculated in CIELAB space directly, and part of inside-gamut points are mistaken for the boundary points. While, in the new proposed algorithm, the points on the surface of RGB cube are selected as the boundary points, and then converted and described in CIELAB color space. Thus, in our algorithm, the true gamut boundary points are found and a more accurate gamut boundary is described. In experiment, a Toshiba LCD monitor's 3D CIELAB gamut for evaluation is firstly described which has regular-shaped outer surface, and then two 2D gamut boundaries ( CIE-a*b* boundary and CIE-C*L* boundary) are calculated which are often used in gamut mapping process. When our algorithm is compared with several famous gamut calculating algorithms, the gamut volumes are very close, which indicates that our algorithm's accuracy is precise and acceptable.

A Color Gamut Description Algorithm for Liquid Crystal Displays in CIELAB Space

PubMed Central

Sun, Bangyong; Liu, Han; Li, Wenli; Zhou, Shisheng

2014-01-01

Because the accuracy of gamut boundary description is significant for gamut mapping process, a gamut boundary calculating method for LCD monitors is proposed in this paper. Within most of the previous gamut boundary calculation algorithms, the gamut boundary is calculated in CIELAB space directly, and part of inside-gamut points are mistaken for the boundary points. While, in the new proposed algorithm, the points on the surface of RGB cube are selected as the boundary points, and then converted and described in CIELAB color space. Thus, in our algorithm, the true gamut boundary points are found and a more accurate gamut boundary is described. In experiment, a Toshiba LCD monitor's 3D CIELAB gamut for evaluation is firstly described which has regular-shaped outer surface, and then two 2D gamut boundaries ( CIE-a*b* boundary and CIE-C*L* boundary) are calculated which are often used in gamut mapping process. When our algorithm is compared with several famous gamut calculating algorithms, the gamut volumes are very close, which indicates that our algorithm's accuracy is precise and acceptable. PMID:24892068

High gain antenna pointing on the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Vanelli, C. Anthony; Ali, Khaled S.

2005-01-01

This paper describes the algorithm used to point the high gain antennae on NASA/JPL's Mars Exploration Rovers. The gimballed antennae must track the Earth as it moves across the Martian sky during communication sessions. The algorithm accounts for (1) gimbal range limitations, (2) obstructions both on the rover and in the surrounding environment, (3) kinematic singularities in the gimbal design, and (4) up to two joint-space solutions for a given pointing direction. The algorithm computes the intercept-times for each of the occlusions and chooses the jointspace solution that provides the longest track time before encountering an occlusion. Upon encountering an occlusion, the pointing algorithm automatically switches to the other joint-space solution if it is not also occluded. The algorithm has successfully provided flop-free pointing for both rovers throughout the mission.

Effects of Varying Epoch Lengths, Wear Time Algorithms, and Activity Cut-Points on Estimates of Child Sedentary Behavior and Physical Activity from Accelerometer Data.

PubMed

Banda, Jorge A; Haydel, K Farish; Davila, Tania; Desai, Manisha; Bryson, Susan; Haskell, William L; Matheson, Donna; Robinson, Thomas N

2016-01-01

To examine the effects of accelerometer epoch lengths, wear time (WT) algorithms, and activity cut-points on estimates of WT, sedentary behavior (SB), and physical activity (PA). 268 7-11 year-olds with BMI ≥ 85th percentile for age and sex wore accelerometers on their right hips for 4-7 days. Data were processed and analyzed at epoch lengths of 1-, 5-, 10-, 15-, 30-, and 60-seconds. For each epoch length, WT minutes/day was determined using three common WT algorithms, and minutes/day and percent time spent in SB, light (LPA), moderate (MPA), and vigorous (VPA) PA were determined using five common activity cut-points. ANOVA tested differences in WT, SB, LPA, MPA, VPA, and MVPA when using the different epoch lengths, WT algorithms, and activity cut-points. WT minutes/day varied significantly by epoch length when using the NHANES WT algorithm (p < .0001), but did not vary significantly by epoch length when using the ≥ 20 minute consecutive zero or Choi WT algorithms. Minutes/day and percent time spent in SB, LPA, MPA, VPA, and MVPA varied significantly by epoch length for all sets of activity cut-points tested with all three WT algorithms (all p < .0001). Across all epoch lengths, minutes/day and percent time spent in SB, LPA, MPA, VPA, and MVPA also varied significantly across all sets of activity cut-points with all three WT algorithms (all p < .0001). The common practice of converting WT algorithms and activity cut-point definitions to match different epoch lengths may introduce significant errors. Estimates of SB and PA from studies that process and analyze data using different epoch lengths, WT algorithms, and/or activity cut-points are not comparable, potentially leading to very different results, interpretations, and conclusions, misleading research and public policy.

Complex eigenvalue extraction in NASTRAN by the tridiagonal reduction (FEER) method

NASA Technical Reports Server (NTRS)

Newman, M.; Mann, F. I.

1977-01-01

An extension of the Tridiagonal Reduction (FEER) method to complex eigenvalue analysis in NASTRAN is described. As in the case of real eigenvalue analysis, the eigensolutions closest to a selected point in the eigenspectrum are extracted from a reduced, symmetric, tridiagonal eigenmatrix whose order is much lower than that of the full size problem. The reduction process is effected automatically, and thus avoids the arbitrary lumping of masses and other physical quantities at selected grid points. The statement of the algebraic eigenvalue problem admits mass, damping and stiffness matrices which are unrestricted in character, i.e., they may be real, complex, symmetric or unsymmetric, singular or non-singular.

Verification of IEEE Compliant Subtractive Division Algorithms

NASA Technical Reports Server (NTRS)

Miner, Paul S.; Leathrum, James F., Jr.

1996-01-01

A parameterized definition of subtractive floating point division algorithms is presented and verified using PVS. The general algorithm is proven to satisfy a formal definition of an IEEE standard for floating point arithmetic. The utility of the general specification is illustrated using a number of different instances of the general algorithm.

The Development of Military Night Aviation to 1919

DTIC Science & Technology

1991-01-01

aerodrome. At the center of the airfield was positioned a large square glass window, flush with the ground, and sufficiently thick to withstand the...impact of an aircraft landing. At night an electric lamp located beneath the glass continuously radiated white light into the darkened sky, acting as a...to the east would be illuminated. If the wind was blowing in a direction between cardinal points, the two outer lamps closest to the actual wind

Buried Underwater Munitions and Clutter Discrimination

DTIC Science & Technology

2010-10-01

closest point of approach of the cylinder. The k space amplitude beam pattern, sin Δ( ) Δ , in Stanton’s treatment is obtained from the Fourier ...simple modifications to be useful here. First, the amplitude of the incident plane wave P0 should be replaced by P1r0/r, where P1 is the magnitude of...Instrument Source Information Site Selec- tion MACC Phase I Input Location Resolution Age Bathymetry SEA Ltd. SWATHPlus McNinch

Detection and Purging of Specular Reflective and Transparent Object Influences in 3d Range Measurements

NASA Astrophysics Data System (ADS)

Koch, R.; May, S.; Nüchter, A.

2017-02-01

3D laser scanners are favoured sensors for mapping in mobile service robotics at indoor and outdoor applications, since they deliver precise measurements at a wide scanning range. The resulting maps are detailed since they have a high resolution. Based on these maps robots navigate through rough terrain, fulfil advanced manipulation, and inspection tasks. In case of specular reflective and transparent objects, e.g., mirrors, windows, shiny metals, the laser measurements get corrupted. Based on the type of object and the incident angle of the incoming laser beam there are three results possible: a measurement point on the object plane, a measurement behind the object plane, and a measurement of a reflected object. It is important to detect such situations to be able to handle these corrupted points. This paper describes why it is difficult to distinguish between specular reflective and transparent surfaces. It presents a 3DReflection- Pre-Filter Approach to identify specular reflective and transparent objects in point clouds of a multi-echo laser scanner. Furthermore, it filters point clouds from influences of such objects and extract the object properties for further investigations. Based on an Iterative-Closest-Point-algorithm reflective objects are identified. Object surfaces and points behind surfaces are masked according to their location. Finally, the processed point cloud is forwarded to a mapping module. Furthermore, the object surface corners and the type of the surface is broadcasted. Four experiments demonstrate the usability of the 3D-Reflection-Pre-Filter. The first experiment was made in a empty room containing a mirror, the second experiment was made in a stairway containing a glass door, the third experiment was made in a empty room containing two mirrors, the fourth experiment was made in an office room containing a mirror. This paper demonstrate that for single scans the detection of specular reflective and transparent objects in 3D is possible. It is more reliable in 3D as in 2D. Nevertheless, collect the data of multiple scans and post-filter them as soon as the object was bypassed should pursued. This is why future work concentrates on implementing a post-filter module. Besides, it is the aim to improve the discrimination between specular reflective and transparent objects.

Anatomical relation between S1 sacroiliac screws' entrance points and superior gluteal artery.

PubMed

Zhao, Yong; You, Libo; Lian, Wei; Zou, Dexin; Dong, Shengjie; Sun, Tao; Zhang, Shudong; Wang, Dan; Li, Jingning; Li, Wenliang; Zhao, Yuchi

2018-01-18

To conduct radiologic anatomical study on the relation between S1 sacroiliac screws' entry points and the route of the pelvic outer superior gluteal artery branches with the aim to provide the anatomical basis and technical reference for the avoidance of damage to the superior gluteal artery during the horizontal sacroiliac screw placement. Superior gluteal artery CTA (CT angiography) vascular imaging of 74 healthy adults (37 women and 37 men) was done with 128-slice spiral CT (computed tomography). The CT attendant-measuring software was used to portray the "safe bony entrance area" (hereinafter referred to as "Safe Area") of the S1 segment in the standard lateral pelvic view of three-dimensional reconstruction. The anatomical relation between S1 sacroiliac screws' Safe Area and the pelvic outer superior gluteal artery branches was observed and recorded. The number of cases in which artery branches intersected the Safe Area was counted. The cases in which superior gluteal artery branches disjointed from the Safe Area were identified, and the shortest distance between the Safe Area and the superior gluteal artery branch closest to the Safe Area was measured. Three cases out of the 74 sample cases were excluded from this study as they were found to have no bony space for horizontal screw placement in S1 segment. Among the remaining 71 sample cases, there are 32 cases (45.1%) where the deep superior branch of superior gluteal artery passes through the Safe Area of S1 entrance point. There was no distinguishing feature and rule on how the deep superior branches and the Safe Area overlapped. In the 39 cases in which superior gluteal artery branches disjointed from the Safe Area, the deep superior branches of superior gluteal artery were the branches closest to the Safe Area and the part of the branch closest to the Safe Area was located in front of the widest part of the Safe Area. The shortest distance between the deep superior branch and the Safe Area is 0.86 ± 0.84 cm. There is a high risk of accidental injury of the deep superior branches of superior gluteal artery in the process of S1 sacroiliac screw placement. Even if the entry points are located in the safe bony entrance area, the absolute secure placement cannot be assured. We suggest that great attention should be paid to make thorough preoperative plans.

a Voxel-Based Filtering Algorithm for Mobile LIDAR Data

NASA Astrophysics Data System (ADS)

Qin, H.; Guan, G.; Yu, Y.; Zhong, L.

2018-04-01

This paper presents a stepwise voxel-based filtering algorithm for mobile LiDAR data. In the first step, to improve computational efficiency, mobile LiDAR points, in xy-plane, are first partitioned into a set of two-dimensional (2-D) blocks with a given block size, in each of which all laser points are further organized into an octree partition structure with a set of three-dimensional (3-D) voxels. Then, a voxel-based upward growing processing is performed to roughly separate terrain from non-terrain points with global and local terrain thresholds. In the second step, the extracted terrain points are refined by computing voxel curvatures. This voxel-based filtering algorithm is comprehensively discussed in the analyses of parameter sensitivity and overall performance. An experimental study performed on multiple point cloud samples, collected by different commercial mobile LiDAR systems, showed that the proposed algorithm provides a promising solution to terrain point extraction from mobile point clouds.

Filtering method of star control points for geometric correction of remote sensing image based on RANSAC algorithm

NASA Astrophysics Data System (ADS)

Tan, Xiangli; Yang, Jungang; Deng, Xinpu

2018-04-01

In the process of geometric correction of remote sensing image, occasionally, a large number of redundant control points may result in low correction accuracy. In order to solve this problem, a control points filtering algorithm based on RANdom SAmple Consensus (RANSAC) was proposed. The basic idea of the RANSAC algorithm is that using the smallest data set possible to estimate the model parameters and then enlarge this set with consistent data points. In this paper, unlike traditional methods of geometric correction using Ground Control Points (GCPs), the simulation experiments are carried out to correct remote sensing images, which using visible stars as control points. In addition, the accuracy of geometric correction without Star Control Points (SCPs) optimization is also shown. The experimental results show that the SCPs's filtering method based on RANSAC algorithm has a great improvement on the accuracy of remote sensing image correction.

Hessian-LoG filtering for enhancement and detection of photoreceptor cells in adaptive optics retinal images.

PubMed

Lazareva, Anfisa; Liatsis, Panos; Rauscher, Franziska G

2016-01-01

Automated analysis of retinal images plays a vital role in the examination, diagnosis, and prognosis of healthy and pathological retinas. Retinal disorders and the associated visual loss can be interpreted via quantitative correlations, based on measurements of photoreceptor loss. Therefore, it is important to develop reliable tools for identification of photoreceptor cells. In this paper, an automated algorithm is proposed, based on the use of the Hessian-Laplacian of Gaussian filter, which allows enhancement and detection of photoreceptor cells. The performance of the proposed technique is evaluated on both synthetic and high-resolution retinal images, in terms of packing density. The results on the synthetic data were compared against ground truth as well as cone counts obtained by the Li and Roorda algorithm. For the synthetic datasets, our method showed an average detection accuracy of 98.8%, compared to 93.9% for the Li and Roorda approach. The packing density estimates calculated on the retinal datasets were validated against manual counts and the results obtained by a proprietary software from Imagine Eyes and the Li and Roorda algorithm. Among the tested methods, the proposed approach showed the closest agreement with manual counting.

Pose estimation for augmented reality applications using genetic algorithm.

PubMed

Yu, Ying Kin; Wong, Kin Hong; Chang, Michael Ming Yuen

2005-12-01

This paper describes a genetic algorithm that tackles the pose-estimation problem in computer vision. Our genetic algorithm can find the rotation and translation of an object accurately when the three-dimensional structure of the object is given. In our implementation, each chromosome encodes both the pose and the indexes to the selected point features of the object. Instead of only searching for the pose as in the existing work, our algorithm, at the same time, searches for a set containing the most reliable feature points in the process. This mismatch filtering strategy successfully makes the algorithm more robust under the presence of point mismatches and outliers in the images. Our algorithm has been tested with both synthetic and real data with good results. The accuracy of the recovered pose is compared to the existing algorithms. Our approach outperformed the Lowe's method and the other two genetic algorithms under the presence of point mismatches and outliers. In addition, it has been used to estimate the pose of a real object. It is shown that the proposed method is applicable to augmented reality applications.

Mathematical detection of aortic valve opening (B point) in impedance cardiography: A comparison of three popular algorithms.

PubMed

Árbol, Javier Rodríguez; Perakakis, Pandelis; Garrido, Alba; Mata, José Luis; Fernández-Santaella, M Carmen; Vila, Jaime

2017-03-01

The preejection period (PEP) is an index of left ventricle contractility widely used in psychophysiological research. Its computation requires detecting the moment when the aortic valve opens, which coincides with the B point in the first derivative of impedance cardiogram (ICG). Although this operation has been traditionally made via visual inspection, several algorithms based on derivative calculations have been developed to enable an automatic performance of the task. However, despite their popularity, data about their empirical validation are not always available. The present study analyzes the performance in the estimation of the aortic valve opening of three popular algorithms, by comparing their performance with the visual detection of the B point made by two independent scorers. Algorithm 1 is based on the first derivative of the ICG, Algorithm 2 on the second derivative, and Algorithm 3 on the third derivative. Algorithm 3 showed the highest accuracy rate (78.77%), followed by Algorithm 1 (24.57%) and Algorithm 2 (13.82%). In the automatic computation of PEP, Algorithm 2 resulted in significantly more missed cycles (48.57%) than Algorithm 1 (6.3%) and Algorithm 3 (3.5%). Algorithm 2 also estimated a significantly lower average PEP (70 ms), compared with the values obtained by Algorithm 1 (119 ms) and Algorithm 3 (113 ms). Our findings indicate that the algorithm based on the third derivative of the ICG performs significantly better. Nevertheless, a visual inspection of the signal proves indispensable, and this article provides a novel visual guide to facilitate the manual detection of the B point. © 2016 Society for Psychophysiological Research.

Stationary states in quantum walk search

NASA Astrophysics Data System (ADS)

PrÅ«sis, Krišjānis; Vihrovs, Jevgěnijs; Wong, Thomas G.

2016-09-01

When classically searching a database, having additional correct answers makes the search easier. For a discrete-time quantum walk searching a graph for a marked vertex, however, additional marked vertices can make the search harder by causing the system to approximately begin in a stationary state, so the system fails to evolve. In this paper, we completely characterize the stationary states, or 1-eigenvectors, of the quantum walk search operator for general graphs and configurations of marked vertices by decomposing their amplitudes into uniform and flip states. This infinitely expands the number of known stationary states and gives an optimization procedure to find the stationary state closest to the initial uniform state of the walk. We further prove theorems on the existence of stationary states, with them conditionally existing if the marked vertices form a bipartite connected component and always existing if nonbipartite. These results utilize the standard oracle in Grover's algorithm, but we show that a different type of oracle prevents stationary states from interfering with the search algorithm.

Robust Vision-Based Pose Estimation Algorithm for AN Uav with Known Gravity Vector

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2016-06-01

Accurate estimation of camera external orientation with respect to a known object is one of the central problems in photogrammetry and computer vision. In recent years this problem is gaining an increasing attention in the field of UAV autonomous flight. Such application requires a real-time performance and robustness of the external orientation estimation algorithm. The accuracy of the solution is strongly dependent on the number of reference points visible on the given image. The problem only has an analytical solution if 3 or more reference points are visible. However, in limited visibility conditions it is often needed to perform external orientation with only 2 visible reference points. In such case the solution could be found if the gravity vector direction in the camera coordinate system is known. A number of algorithms for external orientation estimation for the case of 2 known reference points and a gravity vector were developed to date. Most of these algorithms provide analytical solution in the form of polynomial equation that is subject to large errors in the case of complex reference points configurations. This paper is focused on the development of a new computationally effective and robust algorithm for external orientation based on positions of 2 known reference points and a gravity vector. The algorithm implementation for guidance of a Parrot AR.Drone 2.0 micro-UAV is discussed. The experimental evaluation of the algorithm proved its computational efficiency and robustness against errors in reference points positions and complex configurations.

Drift-Free Indoor Navigation Using Simultaneous Localization and Mapping of the Ambient Heterogeneous Magnetic Field

NASA Astrophysics Data System (ADS)

Chow, J. C. K.

2017-09-01

In the absence of external reference position information (e.g. surveyed targets or Global Navigation Satellite Systems) Simultaneous Localization and Mapping (SLAM) has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend, thus achieving a good balance between exploration and exploitation. Although vision-based systems like laser scanners are typically deployed for SLAM, these sensors are heavy, energy inefficient, and expensive, making them unattractive for wearables or smartphone applications. However, the concept of SLAM can be extended to non-optical systems such as magnetometers. Instead of matching features such as walls and furniture using some variation of the Iterative Closest Point algorithm, the local magnetic field can be matched to provide loop-closure and global trajectory updates in a Gaussian Process (GP) SLAM framework. With a MEMS-based inertial measurement unit providing a continuous trajectory, and the matching of locally distinct magnetic field maps, experimental results in this paper show that a drift-free navigation solution in an indoor environment with millimetre-level accuracy can be achieved. The GP-SLAM approach presented can be formulated as a maximum a posteriori estimation problem and it can naturally perform loop-detection, feature-to-feature distance minimization, global trajectory optimization, and magnetic field map estimation simultaneously. Spatially continuous features (i.e. smooth magnetic field signatures) are used instead of discrete feature correspondences (e.g. point-to-point) as in conventional vision-based SLAM. These position updates from the ambient magnetic field also provide enough information for calibrating the accelerometer bias and gyroscope bias in-use. The only restriction for this method is the need for magnetic disturbances (which is typically not an issue for indoor environments); however, no assumptions are required for the general motion of the sensor (e.g. static periods).

Comparison of Nonequilibrium Solution Algorithms Applied to Chemically Stiff Hypersonic Flows

NASA Technical Reports Server (NTRS)

Palmer, Grant; Venkatapathy, Ethiraj

1995-01-01

Three solution algorithms, explicit under-relaxation, point implicit, and lower-upper symmetric Gauss-Seidel, are used to compute nonequilibrium flow around the Apollo 4 return capsule at the 62-km altitude point in its descent trajectory. By varying the Mach number, the efficiency and robustness of the solution algorithms were tested for different levels of chemical stiffness.The performance of the solution algorithms degraded as the Mach number and stiffness of the flow increased. At Mach 15 and 30, the lower-upper symmetric Gauss-Seidel method produces an eight order of magnitude drop in the energy residual in one-third to one-half the Cray C-90 computer time as compared to the point implicit and explicit under-relaxation methods. The explicit under-relaxation algorithm experienced convergence difficulties at Mach 30 and above. At Mach 40 the performance of the lower-upper symmetric Gauss-Seidel algorithm deteriorates to the point that it is out performed by the point implicit method. The effects of the viscous terms are investigated. Grid dependency questions are explored.

A novel orbiter mission concept for venus with the EnVision proposal

NASA Astrophysics Data System (ADS)

de Oliveira, Marta R. R.; Gil, Paulo J. S.; Ghail, Richard

2018-07-01

In space exploration, planetary orbiter missions are essential to gain insight into planets as a whole, and to help uncover unanswered scientific questions. In particular, the planets closest to the Earth have been a privileged target of the world's leading space agencies. EnVision is a mission proposal designed for Venus and competing for ESA's next launch opportunity with the objective of studying Earth's closest neighbor. The main goal is to study geological and atmospheric processes, namely surface processes, interior dynamics and atmosphere, to determine the reasons behind Venus and Earth's radically different evolution despite the planets' similarities. To achieve these goals, the operational orbit selection is a fundamental element of the mission design process. The design of an orbit around Venus faces specific challenges, such as the impossibility of choosing Sun-synchronous orbits. In this paper, an innovative genetic algorithm optimization was applied to select the optimal orbit based on the parameters with more influence in the mission planning, in particular the mission duration and the coverage of sites of interest on the Venusian surface. The solution obtained is a near-polar circular orbit with an altitude of 259 km that enables the coverage of all priority targets almost two times faster than with the parameters considered before this study.

A hardware-oriented algorithm for floating-point function generation

NASA Technical Reports Server (NTRS)

O'Grady, E. Pearse; Young, Baek-Kyu

1991-01-01

An algorithm is presented for performing accurate, high-speed, floating-point function generation for univariate functions defined at arbitrary breakpoints. Rapid identification of the breakpoint interval, which includes the input argument, is shown to be the key operation in the algorithm. A hardware implementation which makes extensive use of read/write memories is used to illustrate the algorithm.

Inverse consistent non-rigid image registration based on robust point set matching

PubMed Central

2014-01-01

Background Robust point matching (RPM) has been extensively used in non-rigid registration of images to robustly register two sets of image points. However, except for the location at control points, RPM cannot estimate the consistent correspondence between two images because RPM is a unidirectional image matching approach. Therefore, it is an important issue to make an improvement in image registration based on RPM. Methods In our work, a consistent image registration approach based on the point sets matching is proposed to incorporate the property of inverse consistency and improve registration accuracy. Instead of only estimating the forward transformation between the source point sets and the target point sets in state-of-the-art RPM algorithms, the forward and backward transformations between two point sets are estimated concurrently in our algorithm. The inverse consistency constraints are introduced to the cost function of RPM and the fuzzy correspondences between two point sets are estimated based on both the forward and backward transformations simultaneously. A modified consistent landmark thin-plate spline registration is discussed in detail to find the forward and backward transformations during the optimization of RPM. The similarity of image content is also incorporated into point matching in order to improve image matching. Results Synthetic data sets, medical images are employed to demonstrate and validate the performance of our approach. The inverse consistent errors of our algorithm are smaller than RPM. Especially, the topology of transformations is preserved well for our algorithm for the large deformation between point sets. Moreover, the distance errors of our algorithm are similar to that of RPM, and they maintain a downward trend as whole, which demonstrates the convergence of our algorithm. The registration errors for image registrations are evaluated also. Again, our algorithm achieves the lower registration errors in same iteration number. The determinant of the Jacobian matrix of the deformation field is used to analyse the smoothness of the forward and backward transformations. The forward and backward transformations estimated by our algorithm are smooth for small deformation. For registration of lung slices and individual brain slices, large or small determinant of the Jacobian matrix of the deformation fields are observed. Conclusions Results indicate the improvement of the proposed algorithm in bi-directional image registration and the decrease of the inverse consistent errors of the forward and the reverse transformations between two images. PMID:25559889

Sources of Wind Variability at a Single Station in Complex Terrain During Tropical Cyclone Passage

DTIC Science & Technology

2013-12-01

Mesoscale Prediction System CPA Closest point of approach ET Extratropical transition FNMOC Fleet Numerical Meteorology and Oceanography Center...forecasts. However, 2 the TC forecast tracks and warnings they issue necessarily focus on the large-scale structure of the storm , and are not...winds at one station. Also, this technique is a storm - centered forecast and even if the grid spacing is on order of one kilometer, it is unlikely

VizieR Online Data Catalog: NIR proper motion catalogue from UKIDSS-LAS (Smith+, 2014)

NASA Astrophysics Data System (ADS)

Smith, L.; Lucas, P. W.; Burningham, B.; Jones, H. R. A.; Smart, R. L.; Andrei, A. H.; Catalan, S.; Pinfield, D. J.

2015-07-01

We constructed two epoch catalogues for each pointing by matching sources within the pairs of multiframes using the Starlink Tables Infrastructure Library Tool Set (STILTS; Taylor 2006, ASP conf. Ser. 351, 666). We required pairs of sources to be uniquely paired to their closest match within 6-arcsec, and we required the J band magnitudes for the two epochs to agree within 0.5mag, to minimize mismatches. (1 data file).

A Stochastic Approach to Path Planning in the Weighted-Region Problem

DTIC Science & Technology

1991-03-01

polynomial time. However, the polyhedrons in this three-dimensional obstacle-avoidance problem are all obstacles (i.e. travel is not permitted within...them). Therefore, optimal paths tend to avoid their vertices, and settle into closest approach tangents across polyhedron edges. So, in a sense...intersection update map database with new vertex for this edge 3. IF (C1 > D) and (C2 > D) THEN edge intersects ellipse at two points OR edge is

VizieR Online Data Catalog: Outer satellites occultation predictions (Gomes-Junior+, 2016)

NASA Astrophysics Data System (ADS)

Gomes-Junior, A. R.; Assafin, M.; Beauvalet, L.; Desmars, J.; Vieira-Martins, R.; Camargo, J. I. B.; Morgado, B. E.; Braga-Ribas, F.

2016-07-01

Tables contain the day of the year and UTC central instant of the prediction; right ascension and declination of the occulted star - at the central instant of the occultation (corrected by proper motions); C/A: apparent geocentric distance between the satellite and the star (a.k.a. the distance between the shadow and the center of the Earth) at the moment of the geocentric closest approach, in arcseconds; P/A: the satellite position angle with respect to the occulted star at C/A, in degrees (zero at north of the star, increasing clockwise); v: relative velocity of event in km/s: positive = prograde, negative = retrograde; D: Geocentric distance to the occulting object in AU; R*: normalized UCAC4 magnitude in the R-band to a common shadow of 20km/s by the relationship R*=RUCAC4+2.5xlog(velocity/(20km/s)), the value 20km/s is typical of events around the opposition; long: east longitude of subplanet point in degrees, positive towards east, at the instant of the geocentric closest approach; LST: UT + long: local solar time at subplanet point, hh:mm; pmra and pmdec: proper motions in right ascension and declination, respectively (mas/year). For more detailed information about the definition and use of these stellar occultation geometric elements see Assafin et al. (2010, Cat. J/A+A/515/A32). (2 data files).

Dynamic 3D scanning as a markerless method to calculate multi-segment foot kinematics during stance phase: methodology and first application.

PubMed

Van den Herrewegen, Inge; Cuppens, Kris; Broeckx, Mario; Barisch-Fritz, Bettina; Vander Sloten, Jos; Leardini, Alberto; Peeraer, Louis

2014-08-22

Multi-segmental foot kinematics have been analyzed by means of optical marker-sets or by means of inertial sensors, but never by markerless dynamic 3D scanning (D3DScanning). The use of D3DScans implies a radically different approach for the construction of the multi-segment foot model: the foot anatomy is identified via the surface shape instead of distinct landmark points. We propose a 4-segment foot model consisting of the shank (Sha), calcaneus (Cal), metatarsus (Met) and hallux (Hal). These segments are manually selected on a static scan. To track the segments in the dynamic scan, the segments of the static scan are matched on each frame of the dynamic scan using the iterative closest point (ICP) fitting algorithm. Joint rotations are calculated between Sha-Cal, Cal-Met, and Met-Hal. Due to the lower quality scans at heel strike and toe off, the first and last 10% of the stance phase is excluded. The application of the method to 5 healthy subjects, 6 trials each, shows a good repeatability (intra-subject standard deviations between 1° and 2.5°) for Sha-Cal and Cal-Met joints, and inferior results for the Met-Hal joint (>3°). The repeatability seems to be subject-dependent. For the validation, a qualitative comparison with joint kinematics from a corresponding established marker-based multi-segment foot model is made. This shows very consistent patterns of rotation. The ease of subject preparation and also the effective and easy to interpret visual output, make the present technique very attractive for functional analysis of the foot, enhancing usability in clinical practice. Copyright © 2014 The Authors. Published by Elsevier Ltd.. All rights reserved.

Quality assessment of DInSAR deformation measurements in volcanic areas by comparing GPS and SBAS results

NASA Astrophysics Data System (ADS)

Bonforte, A.; Casu, F.; de Martino, P.; Guglielmino, F.; Lanari, R.; Manzo, M.; Obrizzo, F.; Puglisi, G.; Sansosti, E.; Tammaro, U.

2009-04-01

Differential Synthetic Aperture Radar Interferometry (DInSAR) is a methodology able to measure ground deformation rates and time series of relatively large areas. Several different approaches have been developed over the past few years: they all have in common the capability to measure deformations on a relatively wide area (say 100 km by 100 km) with a high density of the measuring points. For these reasons, DInSAR represents a very useful tool for investigating geophysical phenomena, with particular reference to volcanic areas. As for any measuring technique, the knowledge of the attainable accuracy is of fundamental importance. In the case of DInSAR technology, we have several error sources, such as orbital inaccuracies, phase unwrapping errors, atmospheric artifacts, effects related to the reference point selection, thus making very difficult to define a theoretical error model. A practical way to obtain assess the accuracy is to compare DInSAR results with independent measurements, such as GPS or levelling. Here we present an in-deep comparison between the deformation measurement obtained by exploiting the DInSAR technique referred to as Small BAseline Subset (SBAS) algorithm and by continuous GPS stations. The selected volcanic test-sites are Etna, Vesuvio and Campi Flegrei, in Italy. From continuous GPS data, solutions are computed at the same days SAR data are acquired for direct comparison. Moreover, three dimensional GPS displacement vectors are projected along the radar line of sight of both ascending and descending acquisition orbits. GPS data are then compared with the coherent DInSAR pixels closest to the GPS station. Relevant statistics of the differences between the two measurements are computed and correlated to some scene parameter that may affect DInSAR accuracy (altitude, terrain slope, etc.).

Determining the Number of Clusters in a Data Set Without Graphical Interpretation

NASA Technical Reports Server (NTRS)

Aguirre, Nathan S.; Davies, Misty D.

2011-01-01

Cluster analysis is a data mining technique that is meant ot simplify the process of classifying data points. The basic clustering process requires an input of data points and the number of clusters wanted. The clustering algorithm will then pick starting C points for the clusters, which can be either random spatial points or random data points. It then assigns each data point to the nearest C point where "nearest usually means Euclidean distance, but some algorithms use another criterion. The next step is determining whether the clustering arrangement this found is within a certain tolerance. If it falls within this tolerance, the process ends. Otherwise the C points are adjusted based on how many data points are in each cluster, and the steps repeat until the algorithm converges,

Automatic detection of blood versus non-blood regions on intravascular ultrasound (IVUS) images using wavelet packet signatures

NASA Astrophysics Data System (ADS)

Katouzian, Amin; Baseri, Babak; Konofagou, Elisa E.; Laine, Andrew F.

2008-03-01

Intravascular ultrasound (IVUS) has been proven a reliable imaging modality that is widely employed in cardiac interventional procedures. It can provide morphologic as well as pathologic information on the occluded plaques in the coronary arteries. In this paper, we present a new technique using wavelet packet analysis that differentiates between blood and non-blood regions on the IVUS images. We utilized the multi-channel texture segmentation algorithm based on the discrete wavelet packet frames (DWPF). A k-mean clustering algorithm was deployed to partition the extracted textural features into blood and non-blood in an unsupervised fashion. Finally, the geometric and statistical information of the segmented regions was used to estimate the closest set of pixels to the lumen border and a spline curve was fitted to the set. The presented algorithm may be helpful in delineating the lumen border automatically and more reliably prior to the process of plaque characterization, especially with 40 MHz transducers, where appearance of the red blood cells renders the border detection more challenging, even manually. Experimental results are shown and they are quantitatively compared with manually traced borders by an expert. It is concluded that our two dimensional (2-D) algorithm, which is independent of the cardiac and catheter motions performs well in both in-vivo and in-vitro cases.

Distribution majorization of corner points by reinforcement learning for moving object detection

NASA Astrophysics Data System (ADS)

Wu, Hao; Yu, Hao; Zhou, Dongxiang; Cheng, Yongqiang

2018-04-01

Corner points play an important role in moving object detection, especially in the case of free-moving camera. Corner points provide more accurate information than other pixels and reduce the computation which is unnecessary. Previous works only use intensity information to locate the corner points, however, the information that former and the last frames provided also can be used. We utilize the information to focus on more valuable area and ignore the invaluable area. The proposed algorithm is based on reinforcement learning, which regards the detection of corner points as a Markov process. In the Markov model, the video to be detected is regarded as environment, the selections of blocks for one corner point are regarded as actions and the performance of detection is regarded as state. Corner points are assigned to be the blocks which are seperated from original whole image. Experimentally, we select a conventional method which uses marching and Random Sample Consensus algorithm to obtain objects as the main framework and utilize our algorithm to improve the result. The comparison between the conventional method and the same one with our algorithm show that our algorithm reduce 70% of the false detection.

Longitudinal Analysis of Mouse SDOCT Volumes

PubMed Central

Antony, Bhavna J.; Carass, Aaron; Lang, Andrew; Kim, Byung-Jin; Zack, Donald J.; Prince, Jerry L.

2017-01-01

Spectral-domain optical coherence tomography (SDOCT), in addition to its routine clinical use in the diagnosis of ocular diseases, has begun to find increasing use in animal studies. Animal models are frequently used to study disease mechanisms as well as to test drug efficacy. In particular, SDOCT provides the ability to study animals longitudinally and non-invasively over long periods of time. However, the lack of anatomical landmarks makes the longitudinal scan acquisition prone to inconsistencies in orientation. Here, we propose a method for the automated registration of mouse SDOCT volumes. The method begins by accurately segmenting the blood vessels and the optic nerve head region in the scans using a pixel classification approach. The segmented vessel maps from follow-up scans were registered using an iterative closest point (ICP) algorithm to the baseline scan to allow for the accurate longitudinal tracking of thickness changes. Eighteen SDOCT volumes from a light damage model study were used to train a random forest utilized in the pixel classification step. The area under the curve (AUC) in a leave-one-out study for the retinal blood vessels and the optic nerve head (ONH) was found to be 0.93 and 0.98, respectively. The complete proposed framework, the retinal vasculature segmentation and the ICP registration, was applied to a secondary set of scans obtained from a light damage model. A qualitative assessment of the registration showed no registration failures. PMID:29138527

A global optimization algorithm for protein surface alignment

PubMed Central

2010-01-01

Background A relevant problem in drug design is the comparison and recognition of protein binding sites. Binding sites recognition is generally based on geometry often combined with physico-chemical properties of the site since the conformation, size and chemical composition of the protein surface are all relevant for the interaction with a specific ligand. Several matching strategies have been designed for the recognition of protein-ligand binding sites and of protein-protein interfaces but the problem cannot be considered solved. Results In this paper we propose a new method for local structural alignment of protein surfaces based on continuous global optimization techniques. Given the three-dimensional structures of two proteins, the method finds the isometric transformation (rotation plus translation) that best superimposes active regions of two structures. We draw our inspiration from the well-known Iterative Closest Point (ICP) method for three-dimensional (3D) shapes registration. Our main contribution is in the adoption of a controlled random search as a more efficient global optimization approach along with a new dissimilarity measure. The reported computational experience and comparison show viability of the proposed approach. Conclusions Our method performs well to detect similarity in binding sites when this in fact exists. In the future we plan to do a more comprehensive evaluation of the method by considering large datasets of non-redundant proteins and applying a clustering technique to the results of all comparisons to classify binding sites. PMID:20920230

Performance evaluation of Maxwell and Cercignani-Lampis gas-wall interaction models in the modeling of thermally driven rarefied gas transport.

PubMed

Liang, Tengfei; Li, Qi; Ye, Wenjing

2013-07-01

A systematic study on the performance of two empirical gas-wall interaction models, the Maxwell model and the Cercignani-Lampis (CL) model, in the entire Knudsen range is conducted. The models are evaluated by examining the accuracy of key macroscopic quantities such as temperature, density, and pressure, in three benchmark thermal problems, namely the Fourier thermal problem, the Knudsen force problem, and the thermal transpiration problem. The reference solutions are obtained from a validated hybrid DSMC-MD algorithm developed in-house. It has been found that while both models predict temperature and density reasonably well in the Fourier thermal problem, the pressure profile obtained from Maxwell model exhibits a trend that opposes that from the reference solution. As a consequence, the Maxwell model is unable to predict the orientation change of the Knudsen force acting on a cold cylinder embedded in a hot cylindrical enclosure at a certain Knudsen number. In the simulation of the thermal transpiration coefficient, although all three models overestimate the coefficient, the coefficient obtained from CL model is the closest to the reference solution. The Maxwell model performs the worst. The cause of the overestimated coefficient is investigated and its link to the overly constrained correlation between the tangential momentum accommodation coefficient and the tangential energy accommodation coefficient inherent in the models is pointed out. Directions for further improvement of models are suggested.

Alternative face models for 3D face registration

NASA Astrophysics Data System (ADS)

Salah, Albert Ali; Alyüz, Neşe; Akarun, Lale

2007-01-01

3D has become an important modality for face biometrics. The accuracy of a 3D face recognition system depends on a correct registration that aligns the facial surfaces and makes a comparison possible. The best results obtained so far use a one-to-all registration approach, which means each new facial surface is registered to all faces in the gallery, at a great computational cost. We explore the approach of registering the new facial surface to an average face model (AFM), which automatically establishes correspondence to the pre-registered gallery faces. Going one step further, we propose that using a couple of well-selected AFMs can trade-off computation time with accuracy. Drawing on cognitive justifications, we propose to employ category-specific alternative average face models for registration, which is shown to increase the accuracy of the subsequent recognition. We inspect thin-plate spline (TPS) and iterative closest point (ICP) based registration schemes under realistic assumptions on manual or automatic landmark detection prior to registration. We evaluate several approaches for the coarse initialization of ICP. We propose a new algorithm for constructing an AFM, and show that it works better than a recent approach. Finally, we perform simulations with multiple AFMs that correspond to different clusters in the face shape space and compare these with gender and morphology based groupings. We report our results on the FRGC 3D face database.

Longitudinal analysis of mouse SDOCT volumes

NASA Astrophysics Data System (ADS)

Antony, Bhavna J.; Carass, Aaron; Lang, Andrew; Kim, Byung-Jin; Zack, Donald J.; Prince, Jerry L.

2017-03-01

Spectral-domain optical coherence tomography (SDOCT), in addition to its routine clinical use in the diagnosis of ocular diseases, has begun to fund increasing use in animal studies. Animal models are frequently used to study disease mechanisms as well as to test drug efficacy. In particular, SDOCT provides the ability to study animals longitudinally and non-invasively over long periods of time. However, the lack of anatomical landmarks makes the longitudinal scan acquisition prone to inconsistencies in orientation. Here, we propose a method for the automated registration of mouse SDOCT volumes. The method begins by accurately segmenting the blood vessels and the optic nerve head region in the scans using a pixel classification approach. The segmented vessel maps from follow-up scans were registered using an iterative closest point (ICP) algorithm to the baseline scan to allow for the accurate longitudinal tracking of thickness changes. Eighteen SDOCT volumes from a light damage model study were used to train a random forest utilized in the pixel classification step. The area under the curve (AUC) in a leave-one-out study for the retinal blood vessels and the optic nerve head (ONH) was found to be 0.93 and 0.98, respectively. The complete proposed framework, the retinal vasculature segmentation and the ICP registration, was applied to a secondary set of scans obtained from a light damage model. A qualitative assessment of the registration showed no registration failures.

LiveWire interactive boundary extraction algorithm based on Haar wavelet transform and control point set direction search

NASA Astrophysics Data System (ADS)

Cheng, Jun; Zhang, Jun; Tian, Jinwen

2015-12-01

Based on deep analysis of the LiveWire interactive boundary extraction algorithm, a new algorithm focusing on improving the speed of LiveWire algorithm is proposed in this paper. Firstly, the Haar wavelet transform is carried on the input image, and the boundary is extracted on the low resolution image obtained by the wavelet transform of the input image. Secondly, calculating LiveWire shortest path is based on the control point set direction search by utilizing the spatial relationship between the two control points users provide in real time. Thirdly, the search order of the adjacent points of the starting node is set in advance. An ordinary queue instead of a priority queue is taken as the storage pool of the points when optimizing their shortest path value, thus reducing the complexity of the algorithm from O[n2] to O[n]. Finally, A region iterative backward projection method based on neighborhood pixel polling has been used to convert dual-pixel boundary of the reconstructed image to single-pixel boundary after Haar wavelet inverse transform. The algorithm proposed in this paper combines the advantage of the Haar wavelet transform and the advantage of the optimal path searching method based on control point set direction search. The former has fast speed of image decomposition and reconstruction and is more consistent with the texture features of the image and the latter can reduce the time complexity of the original algorithm. So that the algorithm can improve the speed in interactive boundary extraction as well as reflect the boundary information of the image more comprehensively. All methods mentioned above have a big role in improving the execution efficiency and the robustness of the algorithm.

Control strategy of grid-connected photovoltaic generation system based on GMPPT method

NASA Astrophysics Data System (ADS)

Wang, Zhongfeng; Zhang, Xuyang; Hu, Bo; Liu, Jun; Li, Ligang; Gu, Yongqiang; Zhou, Bowen

2018-02-01

There are multiple local maximum power points when photovoltaic (PV) array runs under partial shading condition (PSC).However, the traditional maximum power point tracking (MPPT) algorithm might be easily trapped in local maximum power points (MPPs) and cannot find the global maximum power point (GMPP). To solve such problem, a global maximum power point tracking method (GMPPT) is improved, combined with traditional MPPT method and particle swarm optimization (PSO) algorithm. Under different operating conditions of PV cells, different tracking algorithms are used. When the environment changes, the improved PSO algorithm is adopted to realize the global optimal search, and the variable step incremental conductance (INC) method is adopted to achieve MPPT in optimal local location. Based on the simulation model of the PV grid system built in Matlab/Simulink, comparative analysis of the tracking effect of MPPT by the proposed control algorithm and the traditional MPPT method under the uniform solar condition and PSC, validate the correctness, feasibility and effectiveness of the proposed control strategy.

A comparison of three-dimensional nonequilibrium solution algorithms applied to hypersonic flows with stiff chemical source terms

NASA Technical Reports Server (NTRS)

Palmer, Grant; Venkatapathy, Ethiraj

1993-01-01

Three solution algorithms, explicit underrelaxation, point implicit, and lower upper symmetric Gauss-Seidel (LUSGS), are used to compute nonequilibrium flow around the Apollo 4 return capsule at 62 km altitude. By varying the Mach number, the efficiency and robustness of the solution algorithms were tested for different levels of chemical stiffness. The performance of the solution algorithms degraded as the Mach number and stiffness of the flow increased. At Mach 15, 23, and 30, the LUSGS method produces an eight order of magnitude drop in the L2 norm of the energy residual in 1/3 to 1/2 the Cray C-90 computer time as compared to the point implicit and explicit under-relaxation methods. The explicit under-relaxation algorithm experienced convergence difficulties at Mach 23 and above. At Mach 40 the performance of the LUSGS algorithm deteriorates to the point it is out-performed by the point implicit method. The effects of the viscous terms are investigated. Grid dependency questions are explored.

Efficient clustering aggregation based on data fragments.

PubMed

Wu, Ou; Hu, Weiming; Maybank, Stephen J; Zhu, Mingliang; Li, Bing

2012-06-01

Clustering aggregation, known as clustering ensembles, has emerged as a powerful technique for combining different clustering results to obtain a single better clustering. Existing clustering aggregation algorithms are applied directly to data points, in what is referred to as the point-based approach. The algorithms are inefficient if the number of data points is large. We define an efficient approach for clustering aggregation based on data fragments. In this fragment-based approach, a data fragment is any subset of the data that is not split by any of the clustering results. To establish the theoretical bases of the proposed approach, we prove that clustering aggregation can be performed directly on data fragments under two widely used goodness measures for clustering aggregation taken from the literature. Three new clustering aggregation algorithms are described. The experimental results obtained using several public data sets show that the new algorithms have lower computational complexity than three well-known existing point-based clustering aggregation algorithms (Agglomerative, Furthest, and LocalSearch); nevertheless, the new algorithms do not sacrifice the accuracy.

Improving GPU-accelerated adaptive IDW interpolation algorithm using fast kNN search.

PubMed

Mei, Gang; Xu, Nengxiong; Xu, Liangliang

2016-01-01

This paper presents an efficient parallel Adaptive Inverse Distance Weighting (AIDW) interpolation algorithm on modern Graphics Processing Unit (GPU). The presented algorithm is an improvement of our previous GPU-accelerated AIDW algorithm by adopting fast k-nearest neighbors (kNN) search. In AIDW, it needs to find several nearest neighboring data points for each interpolated point to adaptively determine the power parameter; and then the desired prediction value of the interpolated point is obtained by weighted interpolating using the power parameter. In this work, we develop a fast kNN search approach based on the space-partitioning data structure, even grid, to improve the previous GPU-accelerated AIDW algorithm. The improved algorithm is composed of the stages of kNN search and weighted interpolating. To evaluate the performance of the improved algorithm, we perform five groups of experimental tests. The experimental results indicate: (1) the improved algorithm can achieve a speedup of up to 1017 over the corresponding serial algorithm; (2) the improved algorithm is at least two times faster than our previous GPU-accelerated AIDW algorithm; and (3) the utilization of fast kNN search can significantly improve the computational efficiency of the entire GPU-accelerated AIDW algorithm.

Automatic and Robust Delineation of the Fiducial Points of the Seismocardiogram Signal for Non-invasive Estimation of Cardiac Time Intervals.

PubMed

Khosrow-Khavar, Farzad; Tavakolian, Kouhyar; Blaber, Andrew; Menon, Carlo

2016-10-12

The purpose of this research was to design a delineation algorithm that could detect specific fiducial points of the seismocardiogram (SCG) signal with or without using the electrocardiogram (ECG) R-wave as the reference point. The detected fiducial points were used to estimate cardiac time intervals. Due to complexity and sensitivity of the SCG signal, the algorithm was designed to robustly discard the low-quality cardiac cycles, which are the ones that contain unrecognizable fiducial points. The algorithm was trained on a dataset containing 48,318 manually annotated cardiac cycles. It was then applied to three test datasets: 65 young healthy individuals (dataset 1), 15 individuals above 44 years old (dataset 2), and 25 patients with previous heart conditions (dataset 3). The algorithm accomplished high prediction accuracy with the rootmean- square-error of less than 5 ms for all the test datasets. The algorithm overall mean detection rate per individual recordings (DRI) were 74, 68, and 42 percent for the three test datasets when concurrent ECG and SCG were used. For the standalone SCG case, the mean DRI was 32, 14 and 21 percent. When the proposed algorithm applied to concurrent ECG and SCG signals, the desired fiducial points of the SCG signal were successfully estimated with a high detection rate. For the standalone case, however, the algorithm achieved high prediction accuracy and detection rate for only the young individual dataset. The presented algorithm could be used for accurate and non-invasive estimation of cardiac time intervals.

Performance analysis of a dual-tree algorithm for computing spatial distance histograms

PubMed Central

Chen, Shaoping; Tu, Yi-Cheng; Xia, Yuni

2011-01-01

Many scientific and engineering fields produce large volume of spatiotemporal data. The storage, retrieval, and analysis of such data impose great challenges to database systems design. Analysis of scientific spatiotemporal data often involves computing functions of all point-to-point interactions. One such analytics, the Spatial Distance Histogram (SDH), is of vital importance to scientific discovery. Recently, algorithms for efficient SDH processing in large-scale scientific databases have been proposed. These algorithms adopt a recursive tree-traversing strategy to process point-to-point distances in the visited tree nodes in batches, thus require less time when compared to the brute-force approach where all pairwise distances have to be computed. Despite the promising experimental results, the complexity of such algorithms has not been thoroughly studied. In this paper, we present an analysis of such algorithms based on a geometric modeling approach. The main technique is to transform the analysis of point counts into a problem of quantifying the area of regions where pairwise distances can be processed in batches by the algorithm. From the analysis, we conclude that the number of pairwise distances that are left to be processed decreases exponentially with more levels of the tree visited. This leads to the proof of a time complexity lower than the quadratic time needed for a brute-force algorithm and builds the foundation for a constant-time approximate algorithm. Our model is also general in that it works for a wide range of point spatial distributions, histogram types, and space-partitioning options in building the tree. PMID:21804753

Is the closest facility the one actually used? An assessment of travel time estimation based on mammography facilities.

PubMed

Alford-Teaster, Jennifer; Lange, Jane M; Hubbard, Rebecca A; Lee, Christoph I; Haas, Jennifer S; Shi, Xun; Carlos, Heather A; Henderson, Louise; Hill, Deirdre; Tosteson, Anna N A; Onega, Tracy

2016-02-18

Characterizing geographic access depends on a broad range of methods available to researchers and the healthcare context to which the method is applied. Globally, travel time is one frequently used measure of geographic access with known limitations associated with data availability. Specifically, due to lack of available utilization data, many travel time studies assume that patients use the closest facility. To examine this assumption, an example using mammography screening data, which is considered a geographically abundant health care service in the United States, is explored. This work makes an important methodological contribution to measuring access--which is a critical component of health care planning and equity almost everywhere. We analyzed one mammogram from each of 646,553 women participating in the US based Breast Cancer Surveillance Consortium for years 2005-2012. We geocoded each record to street level address data in order to calculate travel time to the closest and to the actually used mammography facility. Travel time between the closest and the actual facility used was explored by woman-level and facility characteristics. Only 35% of women in the study population used their closest facility, but nearly three-quarters of women not using their closest facility used a facility within 5 min of the closest facility. Individuals that by-passed the closest facility tended to live in an urban core, within higher income neighborhoods, or in areas where the average travel times to work was longer. Those living in small towns or isolated rural areas had longer closer and actual median drive times. Since the majority of US women accessed a facility within a few minutes of their closest facility this suggests that distance to the closest facility may serve as an adequate proxy for utilization studies of geographically abundant services like mammography in areas where the transportation networks are well established.

Geographic Modeling to Quantify the Impact of Primary and Comprehensive Stroke Center Destination Policies.

PubMed

Mullen, Michael T; Pajerowski, William; Messé, Steven R; Mechem, C Crawford; Jia, Judy; Abboud, Michael; David, Guy; Carr, Brendan G; Band, Roger

2018-04-01

We evaluated the impact of a primary stroke center (PSC) destination policy in a major metropolitan city and used geographic modeling to evaluate expected changes for a comprehensive stroke center policy. We identified suspected stroke emergency medical services encounters from 1/1/2004 to 12/31/2013 in Philadelphia, PA. Transport times were compared before and after initiation of a PSC destination policy on 10/3/2011. Geographic modeling estimated the impact of bypassing the closest hospital for the closest PSC and for the closest comprehensive stroke center. There were 2 326 943 emergency medical services runs during the study period, of which 15 099 had a provider diagnosis of stroke. Bypassing the closest hospital for a PSC was common before the official policy and increased steadily over time. Geographic modeling suggested that bypassing the closest hospital in favor of the closest PSC adds a median of 3.1 minutes to transport time. Bypassing to the closest comprehensive stroke center would add a median of 8.3 minutes. Within a large metropolitan area, the time cost of routing patients preferentially to PSCs and comprehensive stroke centers is low. © 2018 American Heart Association, Inc.

Image-Based Navigation for Functional Endoscopic Sinus Surgery Using Structure From Motion.

PubMed

Leonard, Simon; Reiter, Austin; Sinha, Ayushi; Ishii, Masaru; Taylor, Russel H; Hager, Gregory D

2016-01-01

Functional Endoscopic Sinus Surgery (FESS) is a challenging procedure for otolaryngologists and is the main surgical approach for treating chronic sinusitis, to remove nasal polyps and open up passageways. To reach the source of the problem and to ultimately remove it, the surgeons must often remove several layers of cartilage and tissues. Often, the cartilage occludes or is within a few millimeters of critical anatomical structures such as nerves, arteries and ducts. To make FESS safer, surgeons use navigation systems that register a patient to his/her CT scan and track the position of the tools inside the patient. Current navigation systems, however, suffer from tracking errors greater than 1 mm, which is large when compared to the scale of the sinus cavities, and errors of this magnitude prevent from accurately overlaying virtual structures on the endoscope images. In this paper, we present a method to facilitate this task by 1) registering endoscopic images to CT data and 2) overlaying areas of interests on endoscope images to improve the safety of the procedure. First, our system uses structure from motion (SfM) to generate a small cloud of 3D points from a short video sequence. Then, it uses iterative closest point (ICP) algorithm to register the points to a 3D mesh that represents a section of a patients sinuses. The scale of the point cloud is approximated by measuring the magnitude of the endoscope's motion during the sequence. We have recorded several video sequences from five patients and, given a reasonable initial registration estimate, our results demonstrate an average registration error of 1.21 mm when the endoscope is viewing erectile tissues and an average registration error of 0.91 mm when the endoscope is viewing non-erectile tissues. Our implementation SfM + ICP can execute in less than 7 seconds and can use as few as 15 frames (0.5 second of video). Future work will involve clinical validation of our results and strengthening the robustness to initial guesses and erectile tissues.

Image-based navigation for functional endoscopic sinus surgery using structure from motion

NASA Astrophysics Data System (ADS)

Leonard, Simon; Reiter, Austin; Sinha, Ayushi; Ishii, Masaru; Taylor, Russell H.; Hager, Gregory D.

2016-03-01

Functional Endoscopic Sinus Surgery (FESS) is a challenging procedure for otolaryngologists and is the main surgical approach for treating chronic sinusitis, to remove nasal polyps and open up passageways. To reach the source of the problem and to ultimately remove it, the surgeons must often remove several layers of cartilage and tissues. Often, the cartilage occludes or is within a few millimeters of critical anatomical structures such as nerves, arteries and ducts. To make FESS safer, surgeons use navigation systems that register a patient to his/her CT scan and track the position of the tools inside the patient. Current navigation systems, however, suffer from tracking errors greater than 1 mm, which is large when compared to the scale of the sinus cavities, and errors of this magnitude prevent from accurately overlaying virtual structures on the endoscope images. In this paper, we present a method to facilitate this task by 1) registering endoscopic images to CT data and 2) overlaying areas of interests on endoscope images to improve the safety of the procedure. First, our system uses structure from motion (SfM) to generate a small cloud of 3D points from a short video sequence. Then, it uses iterative closest point (ICP) algorithm to register the points to a 3D mesh that represents a section of a patients sinuses. The scale of the point cloud is approximated by measuring the magnitude of the endoscope's motion during the sequence. We have recorded several video sequences from five patients and, given a reasonable initial registration estimate, our results demonstrate an average registration error of 1.21 mm when the endoscope is viewing erectile tissues and an average registration error of 0.91 mm when the endoscope is viewing non-erectile tissues. Our implementation SfM + ICP can execute in less than 7 seconds and can use as few as 15 frames (0.5 second of video). Future work will involve clinical validation of our results and strengthening the robustness to initial guesses and erectile tissues.

An extended affinity propagation clustering method based on different data density types.

PubMed

Zhao, XiuLi; Xu, WeiXiang

2015-01-01

Affinity propagation (AP) algorithm, as a novel clustering method, does not require the users to specify the initial cluster centers in advance, which regards all data points as potential exemplars (cluster centers) equally and groups the clusters totally by the similar degree among the data points. But in many cases there exist some different intensive areas within the same data set, which means that the data set does not distribute homogeneously. In such situation the AP algorithm cannot group the data points into ideal clusters. In this paper, we proposed an extended AP clustering algorithm to deal with such a problem. There are two steps in our method: firstly the data set is partitioned into several data density types according to the nearest distances of each data point; and then the AP clustering method is, respectively, used to group the data points into clusters in each data density type. Two experiments are carried out to evaluate the performance of our algorithm: one utilizes an artificial data set and the other uses a real seismic data set. The experiment results show that groups are obtained more accurately by our algorithm than OPTICS and AP clustering algorithm itself.

Experimental Evaluation of a Deformable Registration Algorithm for Motion Correction in PET-CT Guided Biopsy.

PubMed

Khare, Rahul; Sala, Guillaume; Kinahan, Paul; Esposito, Giuseppe; Banovac, Filip; Cleary, Kevin; Enquobahrie, Andinet

2013-01-01

Positron emission tomography computed tomography (PET-CT) images are increasingly being used for guidance during percutaneous biopsy. However, due to the physics of image acquisition, PET-CT images are susceptible to problems due to respiratory and cardiac motion, leading to inaccurate tumor localization, shape distortion, and attenuation correction. To address these problems, we present a method for motion correction that relies on respiratory gated CT images aligned using a deformable registration algorithm. In this work, we use two deformable registration algorithms and two optimization approaches for registering the CT images obtained over the respiratory cycle. The two algorithms are the BSpline and the symmetric forces Demons registration. In the first optmization approach, CT images at each time point are registered to a single reference time point. In the second approach, deformation maps are obtained to align each CT time point with its adjacent time point. These deformations are then composed to find the deformation with respect to a reference time point. We evaluate these two algorithms and optimization approaches using respiratory gated CT images obtained from 7 patients. Our results show that overall the BSpline registration algorithm with the reference optimization approach gives the best results.

Using stellar spectra to illustrate thermal radiation laws

NASA Astrophysics Data System (ADS)

Kaltcheva, N. T.; Pritzl, B. J.

2018-05-01

Stars are point-source emitters that are the closest to the definition of a blackbody in comparison to all other similar sources of radiation found in nature. Existing libraries on stellar spectra are thus a valuable resource that can be used to introduce the laws of thermal radiation in a classroom setting. In this article we briefly describe some of the opportunities that available databases on stellar spectra provide for students to gain a deeper understanding on thermal radiation and spectral line characteristics.

Maritime Mobile Force Protection (MMFP) Program

DTIC Science & Technology

2010-05-28

to draw or write on the screen.  Thin design has a starting weight of 4.65lbs.  Capture handwriting : scrawl onscreen with the included dockable...Will say “Past CPA” if CPA has already occurred. Range at CPA DDD Yards Range at Closest Point of Approach to HVU Closing Speed DDD knots Speed of...closing to HVU, if greater than or equal to zero. Will say “Opening” if the closing speed is less than zero. Data Source Radar, AIS, Correlated Source

Pearl Harbor and South Coast of OAHU Hurricane Haven Study.

DTIC Science & Technology

1984-09-01

LASNIS. (TERN Is. NEKE 1 /AA*s**OAH/ DISAPPEARING IS. /NIHOA MOLOKAI NIIHAU MU 20ON LANAI-’ ’ KAHOOLAWE 0 0 lo HAWAII (0 U) Figure 1...of Niihau and Kauai near 240300Z. Its closest point of approach to Oahu occurred when it was northwest of the island at approximatly 240430Z and...Section 4.2, the most exten- sively documented occurrence of storm surge in the Hawaiian Islands came with Hurricane Iwa. Kauai and Niihau bore the

An Independent and Coordinated Criterion for Kinematic Aircraft Maneuvers

NASA Technical Reports Server (NTRS)

Narkawicz, Anthony J.; Munoz, Cesar A.; Hagen, George

2014-01-01

This paper proposes a mathematical definition of an aircraft-separation criterion for kinematic-based horizontal maneuvers. It has been formally proved that kinematic maneu- vers that satisfy the new criterion are independent and coordinated for repulsiveness, i.e., the distance at closest point of approach increases whether one or both aircraft maneuver according to the criterion. The proposed criterion is currently used in NASA's Airborne Coordinated Resolution and Detection (ACCoRD) set of tools for the design and analysis of separation assurance systems.

Multiple-Point Temperature Gradient Algorithm for Ring Laser Gyroscope Bias Compensation

PubMed Central

Li, Geng; Zhang, Pengfei; Wei, Guo; Xie, Yuanping; Yu, Xudong; Long, Xingwu

2015-01-01

To further improve ring laser gyroscope (RLG) bias stability, a multiple-point temperature gradient algorithm is proposed for RLG bias compensation in this paper. Based on the multiple-point temperature measurement system, a complete thermo-image of the RLG block is developed. Combined with the multiple-point temperature gradients between different points of the RLG block, the particle swarm optimization algorithm is used to tune the support vector machine (SVM) parameters, and an optimized design for selecting the thermometer locations is also discussed. The experimental results validate the superiority of the introduced method and enhance the precision and generalizability in the RLG bias compensation model. PMID:26633401

The Use of Computer Vision Algorithms for Automatic Orientation of Terrestrial Laser Scanning Data

NASA Astrophysics Data System (ADS)

Markiewicz, Jakub Stefan

2016-06-01

The paper presents analysis of the orientation of terrestrial laser scanning (TLS) data. In the proposed data processing methodology, point clouds are considered as panoramic images enriched by the depth map. Computer vision (CV) algorithms are used for orientation, which are applied for testing the correctness of the detection of tie points and time of computations, and for assessing difficulties in their implementation. The BRISK, FASRT, MSER, SIFT, SURF, ASIFT and CenSurE algorithms are used to search for key-points. The source data are point clouds acquired using a Z+F 5006h terrestrial laser scanner on the ruins of Iłża Castle, Poland. Algorithms allowing combination of the photogrammetric and CV approaches are also presented.

Voyager planetary radio astronomy at neptune.

PubMed

Warwick, J W; Evans, D R; Peltzer, G R; Peltzer, R G; Romig, J H; Sawyer, C B; Riddle, A C; Schweitzer, A E; Desch, M D; Kaiser, M L; Farrell, W M; Carr, T D; de Pater, I; Staelin, D H; Gulkis, S; Poynter, R L; Boischot, A; Genova, F; Leblanc, Y; Lecacheux, A; Pedersen, B M; Zarka, P

1989-12-15

Detection of very intense short radio bursts from Neptune was possible as early as 30 days before closest approach and at least 22 days after closest approach. The bursts lay at frequencies in the range 100 to 1300 kilohertz, were narrowband and strongly polarized, and presumably originated in southern polar regions ofthe planet. Episodes of smooth emissions in the frequency range from 20 to 865 kilohertz were detected during an interval of at least 10 days around closest approach. The bursts and the smooth emissions can be described in terms of rotation in a period of 16.11 +/- 0.05 hours. The bursts came at regular intervals throughout the encounter, including episodes both before and after closest approach. The smooth emissions showed a half-cycle phase shift between the five episodes before and after closest approach. This experiment detected the foreshock of Neptune's magnetosphere and the impacts of dust at the times of ring-plane crossings and also near the time of closest approach. Finally, there is no evidence for Neptunian electrostatic discharges.

a Hadoop-Based Algorithm of Generating dem Grid from Point Cloud Data

NASA Astrophysics Data System (ADS)

Jian, X.; Xiao, X.; Chengfang, H.; Zhizhong, Z.; Zhaohui, W.; Dengzhong, Z.

2015-04-01

Airborne LiDAR technology has proven to be the most powerful tools to obtain high-density, high-accuracy and significantly detailed surface information of terrain and surface objects within a short time, and from which the Digital Elevation Model of high quality can be extracted. Point cloud data generated from the pre-processed data should be classified by segmentation algorithms, so as to differ the terrain points from disorganized points, then followed by a procedure of interpolating the selected points to turn points into DEM data. The whole procedure takes a long time and huge computing resource due to high-density, that is concentrated on by a number of researches. Hadoop is a distributed system infrastructure developed by the Apache Foundation, which contains a highly fault-tolerant distributed file system (HDFS) with high transmission rate and a parallel programming model (Map/Reduce). Such a framework is appropriate for DEM generation algorithms to improve efficiency. Point cloud data of Dongting Lake acquired by Riegl LMS-Q680i laser scanner was utilized as the original data to generate DEM by a Hadoop-based algorithms implemented in Linux, then followed by another traditional procedure programmed by C++ as the comparative experiment. Then the algorithm's efficiency, coding complexity, and performance-cost ratio were discussed for the comparison. The results demonstrate that the algorithm's speed depends on size of point set and density of DEM grid, and the non-Hadoop implementation can achieve a high performance when memory is big enough, but the multiple Hadoop implementation can achieve a higher performance-cost ratio, while point set is of vast quantities on the other hand.

Semantics of directly manipulating spatializations.

PubMed

Hu, Xinran; Bradel, Lauren; Maiti, Dipayan; House, Leanna; North, Chris; Leman, Scotland

2013-12-01

When high-dimensional data is visualized in a 2D plane by using parametric projection algorithms, users may wish to manipulate the layout of the data points to better reflect their domain knowledge or to explore alternative structures. However, few users are well-versed in the algorithms behind the visualizations, making parameter tweaking more of a guessing game than a series of decisive interactions. Translating user interactions into algorithmic input is a key component of Visual to Parametric Interaction (V2PI) [13]. Instead of adjusting parameters, users directly move data points on the screen, which then updates the underlying statistical model. However, we have found that some data points that are not moved by the user are just as important in the interactions as the data points that are moved. Users frequently move some data points with respect to some other 'unmoved' data points that they consider as spatially contextual. However, in current V2PI interactions, these points are not explicitly identified when directly manipulating the moved points. We design a richer set of interactions that makes this context more explicit, and a new algorithm and sophisticated weighting scheme that incorporates the importance of these unmoved data points into V2PI.

Line-drawing algorithms for parallel machines

NASA Technical Reports Server (NTRS)

Pang, Alex T.

1990-01-01

The fact that conventional line-drawing algorithms, when applied directly on parallel machines, can lead to very inefficient codes is addressed. It is suggested that instead of modifying an existing algorithm for a parallel machine, a more efficient implementation can be produced by going back to the invariants in the definition. Popular line-drawing algorithms are compared with two alternatives; distance to a line (a point is on the line if sufficiently close to it) and intersection with a line (a point on the line if an intersection point). For massively parallel single-instruction-multiple-data (SIMD) machines (with thousands of processors and up), the alternatives provide viable line-drawing algorithms. Because of the pixel-per-processor mapping, their performance is independent of the line length and orientation.

On the Critical Behaviour, Crossover Point and Complexity of the Exact Cover Problem

NASA Technical Reports Server (NTRS)

Morris, Robin D.; Smelyanskiy, Vadim N.; Shumow, Daniel; Koga, Dennis (Technical Monitor)

2003-01-01

Research into quantum algorithms for NP-complete problems has rekindled interest in the detailed study a broad class of combinatorial problems. A recent paper applied the quantum adiabatic evolution algorithm to the Exact Cover problem for 3-sets (EC3), and provided an empirical evidence that the algorithm was polynomial. In this paper we provide a detailed study of the characteristics of the exact cover problem. We present the annealing approximation applied to EC3, which gives an over-estimate of the phase transition point. We also identify empirically the phase transition point. We also study the complexity of two classical algorithms on this problem: Davis-Putnam and Simulated Annealing. For these algorithms, EC3 is significantly easier than 3-SAT.

LSAH: a fast and efficient local surface feature for point cloud registration

NASA Astrophysics Data System (ADS)

Lu, Rongrong; Zhu, Feng; Wu, Qingxiao; Kong, Yanzi

2018-04-01

Point cloud registration is a fundamental task in high level three dimensional applications. Noise, uneven point density and varying point cloud resolutions are the three main challenges for point cloud registration. In this paper, we design a robust and compact local surface descriptor called Local Surface Angles Histogram (LSAH) and propose an effectively coarse to fine algorithm for point cloud registration. The LSAH descriptor is formed by concatenating five normalized sub-histograms into one histogram. The five sub-histograms are created by accumulating a different type of angle from a local surface patch respectively. The experimental results show that our LSAH is more robust to uneven point density and point cloud resolutions than four state-of-the-art local descriptors in terms of feature matching. Moreover, we tested our LSAH based coarse to fine algorithm for point cloud registration. The experimental results demonstrate that our algorithm is robust and efficient as well.

Multidirectional hybrid algorithm for the split common fixed point problem and application to the split common null point problem.

PubMed

Li, Xia; Guo, Meifang; Su, Yongfu

2016-01-01

In this article, a new multidirectional monotone hybrid iteration algorithm for finding a solution to the split common fixed point problem is presented for two countable families of quasi-nonexpansive mappings in Banach spaces. Strong convergence theorems are proved. The application of the result is to consider the split common null point problem of maximal monotone operators in Banach spaces. Strong convergence theorems for finding a solution of the split common null point problem are derived. This iteration algorithm can accelerate the convergence speed of iterative sequence. The results of this paper improve and extend the recent results of Takahashi and Yao (Fixed Point Theory Appl 2015:87, 2015) and many others .

a Gross Error Elimination Method for Point Cloud Data Based on Kd-Tree

NASA Astrophysics Data System (ADS)

Kang, Q.; Huang, G.; Yang, S.

2018-04-01

Point cloud data has been one type of widely used data sources in the field of remote sensing. Key steps of point cloud data's pro-processing focus on gross error elimination and quality control. Owing to the volume feature of point could data, existed gross error elimination methods need spend massive memory both in space and time. This paper employed a new method which based on Kd-tree algorithm to construct, k-nearest neighbor algorithm to search, settled appropriate threshold to determine with result turns out a judgement that whether target point is or not an outlier. Experimental results show that, our proposed algorithm will help to delete gross error in point cloud data and facilitate to decrease memory consumption, improve efficiency.

Application of a single-objective, hybrid genetic algorithm approach to pharmacokinetic model building.

PubMed

Sherer, Eric A; Sale, Mark E; Pollock, Bruce G; Belani, Chandra P; Egorin, Merrill J; Ivy, Percy S; Lieberman, Jeffrey A; Manuck, Stephen B; Marder, Stephen R; Muldoon, Matthew F; Scher, Howard I; Solit, David B; Bies, Robert R

2012-08-01

A limitation in traditional stepwise population pharmacokinetic model building is the difficulty in handling interactions between model components. To address this issue, a method was previously introduced which couples NONMEM parameter estimation and model fitness evaluation to a single-objective, hybrid genetic algorithm for global optimization of the model structure. In this study, the generalizability of this approach for pharmacokinetic model building is evaluated by comparing (1) correct and spurious covariate relationships in a simulated dataset resulting from automated stepwise covariate modeling, Lasso methods, and single-objective hybrid genetic algorithm approaches to covariate identification and (2) information criteria values, model structures, convergence, and model parameter values resulting from manual stepwise versus single-objective, hybrid genetic algorithm approaches to model building for seven compounds. Both manual stepwise and single-objective, hybrid genetic algorithm approaches to model building were applied, blinded to the results of the other approach, for selection of the compartment structure as well as inclusion and model form of inter-individual and inter-occasion variability, residual error, and covariates from a common set of model options. For the simulated dataset, stepwise covariate modeling identified three of four true covariates and two spurious covariates; Lasso identified two of four true and 0 spurious covariates; and the single-objective, hybrid genetic algorithm identified three of four true covariates and one spurious covariate. For the clinical datasets, the Akaike information criterion was a median of 22.3 points lower (range of 470.5 point decrease to 0.1 point decrease) for the best single-objective hybrid genetic-algorithm candidate model versus the final manual stepwise model: the Akaike information criterion was lower by greater than 10 points for four compounds and differed by less than 10 points for three compounds. The root mean squared error and absolute mean prediction error of the best single-objective hybrid genetic algorithm candidates were a median of 0.2 points higher (range of 38.9 point decrease to 27.3 point increase) and 0.02 points lower (range of 0.98 point decrease to 0.74 point increase), respectively, than that of the final stepwise models. In addition, the best single-objective, hybrid genetic algorithm candidate models had successful convergence and covariance steps for each compound, used the same compartment structure as the manual stepwise approach for 6 of 7 (86 %) compounds, and identified 54 % (7 of 13) of covariates included by the manual stepwise approach and 16 covariate relationships not included by manual stepwise models. The model parameter values between the final manual stepwise and best single-objective, hybrid genetic algorithm models differed by a median of 26.7 % (q₁ = 4.9 % and q₃ = 57.1 %). Finally, the single-objective, hybrid genetic algorithm approach was able to identify models capable of estimating absorption rate parameters for four compounds that the manual stepwise approach did not identify. The single-objective, hybrid genetic algorithm represents a general pharmacokinetic model building methodology whose ability to rapidly search the feasible solution space leads to nearly equivalent or superior model fits to pharmacokinetic data.

A Minimum Path Algorithm Among 3D-Polyhedral Objects

NASA Astrophysics Data System (ADS)

Yeltekin, Aysin

1989-03-01

In this work we introduce a minimum path theorem for 3D case. We also develop an algorithm based on the theorem we prove. The algorithm will be implemented on the software package we develop using C language. The theorem we introduce states that; "Given the initial point I, final point F and S be the set of finite number of static obstacles then an optimal path P from I to F, such that PA S = 0 is composed of straight line segments which are perpendicular to the edge segments of the objects." We prove the theorem as well as we develop the following algorithm depending on the theorem to find the minimum path among 3D-polyhedral objects. The algorithm generates the point Qi on edge ei such that at Qi one can find the line which is perpendicular to the edge and the IF line. The algorithm iteratively provides a new set of initial points from Qi and exploits all possible paths. Then the algorithm chooses the minimum path among the possible ones. The flowchart of the program as well as the examination of its numerical properties are included.

Autonomous subpixel satellite track end point determination for space-based images.

PubMed

Simms, Lance M

2011-08-01

An algorithm for determining satellite track end points with subpixel resolution in spaced-based images is presented. The algorithm allows for significant curvature in the imaged track due to rotation of the spacecraft capturing the image. The motivation behind the subpixel end point determination is first presented, followed by a description of the methodology used. Results from running the algorithm on real ground-based and simulated spaced-based images are shown to highlight its effectiveness.

Development of a generalized algorithm of satellite remote sensing using multi-wavelength and multi-pixel information (MWP method) for aerosol properties by satellite-borne imager

NASA Astrophysics Data System (ADS)

Hashimoto, M.; Nakajima, T.; Morimoto, S.; Takenaka, H.

2014-12-01

We have developed a new satellite remote sensing algorithm to retrieve the aerosol optical characteristics using multi-wavelength and multi-pixel information of satellite imagers (MWP method). In this algorithm, the inversion method is a combination of maximum a posteriori (MAP) method (Rodgers, 2000) and the Phillips-Twomey method (Phillips, 1962; Twomey, 1963) as a smoothing constraint for the state vector. Furthermore, with the progress of computing technique, this method has being combined with the direct radiation transfer calculation numerically solved by each iteration step of the non-linear inverse problem, without using LUT (Look Up Table) with several constraints.Retrieved parameters in our algorithm are aerosol optical properties, such as aerosol optical thickness (AOT) of fine and coarse mode particles, a volume soot fraction in fine mode particles, and ground surface albedo of each observed wavelength. We simultaneously retrieve all the parameters that characterize pixels in each of horizontal sub-domains consisting the target area. Then we successively apply the retrieval method to all the sub-domains in the target area.We conducted numerical tests for the retrieval of aerosol properties and ground surface albedo for GOSAT/CAI imager data to test the algorithm for the land area. The result of the experiment showed that AOTs of fine mode and coarse mode, soot fraction and ground surface albedo are successfully retrieved within expected accuracy. We discuss the accuracy of the algorithm for various land surface types. Then, we applied this algorithm to GOSAT/CAI imager data, and we compared retrieved and surface-observed AOTs at the CAI pixel closest to an AERONET (Aerosol Robotic Network) or SKYNET site in each region. Comparison at several sites in urban area indicated that AOTs retrieved by our method are in agreement with surface-observed AOT within ±0.066.Our future work is to extend the algorithm for analysis of AGEOS-II/GLI and GCOM/C-SGLI data.

Lifetime Prediction of IGBT in a STATCOM Using Modified-Graphical Rainflow Counting Algorithm

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gopi Reddy, Lakshmi Reddy; Tolbert, Leon M; Ozpineci, Burak

Rainflow algorithms are one of the best counting methods used in fatigue and failure analysis [17]. There have been many approaches to the rainflow algorithm, some proposing modifications. Graphical Rainflow Method (GRM) was proposed recently with a claim of faster execution times [10]. However, the steps of the graphical method of rainflow algorithm, when implemented, do not generate the same output as the four-point or ASTM standard algorithm. A modified graphical method is presented and discussed in this paper to overcome the shortcomings of graphical rainflow algorithm. A fast rainflow algorithm based on four-point algorithm but considering point comparison thanmore » range comparison is also presented. A comparison between the performances of the common rainflow algorithms [6-10], including the proposed methods, in terms of execution time, memory used, and efficiency, complexity, and load sequences is presented. Finally, the rainflow algorithm is applied to temperature data of an IGBT in assessing the lifetime of a STATCOM operating for power factor correction of the load. From 5-minute data load profiles available, the lifetime is estimated to be at 3.4 years.« less

Multiscale registration algorithm for alignment of meshes

NASA Astrophysics Data System (ADS)

Vadde, Srikanth; Kamarthi, Sagar V.; Gupta, Surendra M.

2004-03-01

Taking a multi-resolution approach, this research work proposes an effective algorithm for aligning a pair of scans obtained by scanning an object's surface from two adjacent views. This algorithm first encases each scan in the pair with an array of cubes of equal and fixed size. For each scan in the pair a surrogate scan is created by the centroids of the cubes that encase the scan. The Gaussian curvatures of points across the surrogate scan pair are compared to find the surrogate corresponding points. If the difference between the Gaussian curvatures of any two points on the surrogate scan pair is less than a predetermined threshold, then those two points are accepted as a pair of surrogate corresponding points. The rotation and translation values between the surrogate scan pair are determined by using a set of surrogate corresponding points. Using the same rotation and translation values the original scan pairs are aligned. The resulting registration (or alignment) error is computed to check the accuracy of the scan alignment. When the registration error becomes acceptably small, the algorithm is terminated. Otherwise the above process is continued with cubes of smaller and smaller sizes until the algorithm is terminated. However at each finer resolution the search space for finding the surrogate corresponding points is restricted to the regions in the neighborhood of the surrogate points that were at found at the preceding coarser level. The surrogate corresponding points, as the resolution becomes finer and finer, converge to the true corresponding points on the original scans. This approach offers three main benefits: it improves the chances of finding the true corresponding points on the scans, minimize the adverse effects of noise in the scans, and reduce the computational load for finding the corresponding points.

Symbiotic organisms search algorithm for dynamic economic dispatch with valve-point effects

NASA Astrophysics Data System (ADS)

Sonmez, Yusuf; Kahraman, H. Tolga; Dosoglu, M. Kenan; Guvenc, Ugur; Duman, Serhat

2017-05-01

In this study, symbiotic organisms search (SOS) algorithm is proposed to solve the dynamic economic dispatch with valve-point effects problem, which is one of the most important problems of the modern power system. Some practical constraints like valve-point effects, ramp rate limits and prohibited operating zones have been considered as solutions. Proposed algorithm was tested on five different test cases in 5 units, 10 units and 13 units systems. The obtained results have been compared with other well-known metaheuristic methods reported before. Results show that proposed algorithm has a good convergence and produces better results than other methods.

Photovoltaic Cells Mppt Algorithm and Design of Controller Monitoring System

NASA Astrophysics Data System (ADS)

Meng, X. Z.; Feng, H. B.

2017-10-01

This paper combined the advantages of each maximum power point tracking (MPPT) algorithm, put forward a kind of algorithm with higher speed and higher precision, based on this algorithm designed a maximum power point tracking controller with ARM. The controller, communication technology and PC software formed a control system. Results of the simulation and experiment showed that the process of maximum power tracking was effective, and the system was stable.

Random Walk Quantum Clustering Algorithm Based on Space

NASA Astrophysics Data System (ADS)

Xiao, Shufen; Dong, Yumin; Ma, Hongyang

2018-01-01

In the random quantum walk, which is a quantum simulation of the classical walk, data points interacted when selecting the appropriate walk strategy by taking advantage of quantum-entanglement features; thus, the results obtained when the quantum walk is used are different from those when the classical walk is adopted. A new quantum walk clustering algorithm based on space is proposed by applying the quantum walk to clustering analysis. In this algorithm, data points are viewed as walking participants, and similar data points are clustered using the walk function in the pay-off matrix according to a certain rule. The walk process is simplified by implementing a space-combining rule. The proposed algorithm is validated by a simulation test and is proved superior to existing clustering algorithms, namely, Kmeans, PCA + Kmeans, and LDA-Km. The effects of some of the parameters in the proposed algorithm on its performance are also analyzed and discussed. Specific suggestions are provided.

Application of Least Mean Square Algorithms to Spacecraft Vibration Compensation

NASA Technical Reports Server (NTRS)

Woodard , Stanley E.; Nagchaudhuri, Abhijit

1998-01-01

This paper describes the application of the Least Mean Square (LMS) algorithm in tandem with the Filtered-X Least Mean Square algorithm for controlling a science instrument's line-of-sight pointing. Pointing error is caused by a periodic disturbance and spacecraft vibration. A least mean square algorithm is used on-orbit to produce the transfer function between the instrument's servo-mechanism and error sensor. The result is a set of adaptive transversal filter weights tuned to the transfer function. The Filtered-X LMS algorithm, which is an extension of the LMS, tunes a set of transversal filter weights to the transfer function between the disturbance source and the servo-mechanism's actuation signal. The servo-mechanism's resulting actuation counters the disturbance response and thus maintains accurate science instrumental pointing. A simulation model of the Upper Atmosphere Research Satellite is used to demonstrate the algorithms.

A novel artificial immune algorithm for spatial clustering with obstacle constraint and its applications.

PubMed

Sun, Liping; Luo, Yonglong; Ding, Xintao; Zhang, Ji

2014-01-01

An important component of a spatial clustering algorithm is the distance measure between sample points in object space. In this paper, the traditional Euclidean distance measure is replaced with innovative obstacle distance measure for spatial clustering under obstacle constraints. Firstly, we present a path searching algorithm to approximate the obstacle distance between two points for dealing with obstacles and facilitators. Taking obstacle distance as similarity metric, we subsequently propose the artificial immune clustering with obstacle entity (AICOE) algorithm for clustering spatial point data in the presence of obstacles and facilitators. Finally, the paper presents a comparative analysis of AICOE algorithm and the classical clustering algorithms. Our clustering model based on artificial immune system is also applied to the case of public facility location problem in order to establish the practical applicability of our approach. By using the clone selection principle and updating the cluster centers based on the elite antibodies, the AICOE algorithm is able to achieve the global optimum and better clustering effect.

Possibility Study of Scale Invariant Feature Transform (SIFT) Algorithm Application to Spine Magnetic Resonance Imaging

PubMed Central

Lee, Dong-Hoon; Lee, Do-Wan; Han, Bong-Soo

2016-01-01

The purpose of this study is an application of scale invariant feature transform (SIFT) algorithm to stitch the cervical-thoracic-lumbar (C-T-L) spine magnetic resonance (MR) images to provide a view of the entire spine in a single image. All MR images were acquired with fast spin echo (FSE) pulse sequence using two MR scanners (1.5 T and 3.0 T). The stitching procedures for each part of spine MR image were performed and implemented on a graphic user interface (GUI) configuration. Moreover, the stitching process is performed in two categories; manual point-to-point (mPTP) selection that performed by user specified corresponding matching points, and automated point-to-point (aPTP) selection that performed by SIFT algorithm. The stitched images using SIFT algorithm showed fine registered results and quantitatively acquired values also indicated little errors compared with commercially mounted stitching algorithm in MRI systems. Our study presented a preliminary validation of the SIFT algorithm application to MRI spine images, and the results indicated that the proposed approach can be performed well for the improvement of diagnosis. We believe that our approach can be helpful for the clinical application and extension of other medical imaging modalities for image stitching. PMID:27064404

Direct volumetric rendering based on point primitives in OpenGL.

PubMed

da Rosa, André Luiz Miranda; de Almeida Souza, Ilana; Yuuji Hira, Adilson; Zuffo, Marcelo Knörich

2006-01-01

The aim of this project is to present a renderization by software algorithm of acquired volumetric data. The algorithm was implemented in Java language and the LWJGL graphical library was used, allowing the volume renderization by software and thus preventing the necessity to acquire specific graphical boards for the 3D reconstruction. The considered algorithm creates a model in OpenGL, through point primitives, where each voxel becomes a point with the color values related to this pixel position in the corresponding images.

Battling demons with medical authority: werewolves, physicians and rationalization.

PubMed

Metzger, Nadine

2013-09-01

Werewolves and physicians experienced their closest contact in the context of early modern witch and werewolf trials. For medical critics of the trials, melancholic diseases served as reference points for medical explanations of both individual cases and werewolf beliefs in general. This paper attempts to construct a conceptual history of werewolf beliefs and their respective medical responses. After differentiating the relevant terms, pre-modern werewolf concepts and medical lycanthropy are introduced. The early modern controversy between medical and demonological explanations forms the main part of this study. The history of werewolves and their medical explanations is then traced through to present times. An important point of discussion is to what extent the physicians' engagements with werewolves can be characterized as rationalization.

Battling demons with medical authority: werewolves, physicians and rationalization

PubMed Central

Metzger, Nadine

2014-01-01

Werewolves and physicians experienced their closest contact in the context of early modern witch and werewolf trials. For medical critics of the trials, melancholic diseases served as reference points for medical explanations of both individual cases and werewolf beliefs in general. This paper attempts to construct a conceptual history of werewolf beliefs and their respective medical responses. After differentiating the relevant terms, pre-modern werewolf concepts and medical lycanthropy are introduced. The early modern controversy between medical and demonological explanations forms the main part of this study. The history of werewolves and their medical explanations is then traced through to present times. An important point of discussion is to what extent the physicians’ engagements with werewolves can be characterized as rationalization. PMID:24573449

Testing photogrammetry-based techniques for three-dimensional surface documentation in forensic pathology.

PubMed

Urbanová, Petra; Hejna, Petr; Jurda, Mikoláš

2015-05-01

Three-dimensional surface technologies particularly close range photogrammetry and optical surface scanning have recently advanced into affordable, flexible and accurate techniques. Forensic postmortem investigation as performed on a daily basis, however, has not yet fully benefited from their potentials. In the present paper, we tested two approaches to 3D external body documentation - digital camera-based photogrammetry combined with commercial Agisoft PhotoScan(®) software and stereophotogrammetry-based Vectra H1(®), a portable handheld surface scanner. In order to conduct the study three human subjects were selected, a living person, a 25-year-old female, and two forensic cases admitted for postmortem examination at the Department of Forensic Medicine, Hradec Králové, Czech Republic (both 63-year-old males), one dead to traumatic, self-inflicted, injuries (suicide by hanging), the other diagnosed with the heart failure. All three cases were photographed in 360° manner with a Nikon 7000 digital camera and simultaneously documented with the handheld scanner. In addition to having recorded the pre-autopsy phase of the forensic cases, both techniques were employed in various stages of autopsy. The sets of collected digital images (approximately 100 per case) were further processed to generate point clouds and 3D meshes. Final 3D models (a pair per individual) were counted for numbers of points and polygons, then assessed visually and compared quantitatively using ICP alignment algorithm and a cloud point comparison technique based on closest point to point distances. Both techniques were proven to be easy to handle and equally laborious. While collecting the images at autopsy took around 20min, the post-processing was much more time-demanding and required up to 10h of computation time. Moreover, for the full-body scanning the post-processing of the handheld scanner required rather time-consuming manual image alignment. In all instances the applied approaches produced high-resolution photorealistic, real sized or easy to calibrate 3D surface models. Both methods equally failed when the scanned body surface was covered with body hair or reflective moist areas. Still, it can be concluded that single camera close range photogrammetry and optical surface scanning using Vectra H1 scanner represent relatively low-cost solutions which were shown to be beneficial for postmortem body documentation in forensic pathology. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

Observations of beach cusp evolution using a stationary, shore-based lidar system

NASA Astrophysics Data System (ADS)

O'Dea, A.; Whitesides, E. T.; Brodie, K.; Spore, N.

2016-12-01

Although beach cusps are common features on beaches around the world, questions still remain regarding the range of conditions in which they form, the initial forcing conditions under which they form, and the erosive or accretionary nature of cusp events. While many prior studies have focused on the formation and morphology of beach cusps, many of these are limited in the spatial extent of observations, in their spatial or temporal resolution, or in the availability of accompanying hydrodynamic data. In this study, beach cusp formation and evolution is investigated using an automated lidar system that provides hourly three-dimensional scans of subaerial beach topography with high spatial resolution ([O(1 cm)]). The stationary lidar scanner is mounted on a 4-m tower located on the crest of a shore-backing dune on an Atlantic Ocean beach near Duck, North Carolina. The device measures a 237°-framescan of the nearshore region over a 15 minute period each hour. Individual scans are coregistered to a baseline scan using an iterative closest point (ICP) algorithm and then filtered to remove noise, dune vegetation, and water. To assess the accuracy of the coregistration algorithm, the 3-dimensional location of five permanent reflectors near the device are found for each scan and compared to their measured GPS location. Precisely coregistered scans allow for an assessment of elevation change across cuspate features in addition to traditional measurements of cusp wavelength. Beach cusp events are assessed over a three month period from September through November 2015. Wave and current data from a cross-shore array of sensors deployed continuously throughout the three month period as well as from two alongshore arrays of ADV sensors deployed from October 13 through November 1 are used to determine the forcing conditions under which the cusps formed and evolved. Funded by the USACE Coastal Field Data Collection Program.

Head-to-Head Comparison of Two Popular Cortical Thickness Extraction Algorithms: A Cross-Sectional and Longitudinal Study

PubMed Central

Redolfi, Alberto; Manset, David; Barkhof, Frederik; Wahlund, Lars-Olof; Glatard, Tristan; Mangin, Jean-François; Frisoni, Giovanni B.

2015-01-01

Background and Purpose The measurement of cortical shrinkage is a candidate marker of disease progression in Alzheimer’s. This study evaluated the performance of two pipelines: Civet-CLASP (v1.1.9) and Freesurfer (v5.3.0). Methods Images from 185 ADNI1 cases (69 elderly controls (CTR), 37 stable MCI (sMCI), 27 progressive MCI (pMCI), and 52 Alzheimer (AD) patients) scanned at baseline, month 12, and month 24 were processed using the two pipelines and two interconnected e-infrastructures: neuGRID (https://neugrid4you.eu) and VIP (http://vip.creatis.insa-lyon.fr). The vertex-by-vertex cross-algorithm comparison was made possible applying the 3D gradient vector flow (GVF) and closest point search (CPS) techniques. Results The cortical thickness measured with Freesurfer was systematically lower by one third if compared to Civet’s. Cross-sectionally, Freesurfer’s effect size was significantly different in the posterior division of the temporal fusiform cortex. Both pipelines were weakly or mildly correlated with the Mini Mental State Examination score (MMSE) and the hippocampal volumetry. Civet differed significantly from Freesurfer in large frontal, parietal, temporal and occipital regions (p<0.05). In a discriminant analysis with cortical ROIs having effect size larger than 0.8, both pipelines gave no significant differences in area under the curve (AUC). Longitudinally, effect sizes were not significantly different in any of the 28 ROIs tested. Both pipelines weakly correlated with MMSE decay, showing no significant differences. Freesurfer mildly correlated with hippocampal thinning rate and differed in the supramarginal gyrus, temporal gyrus, and in the lateral occipital cortex compared to Civet (p<0.05). In a discriminant analysis with ROIs having effect size larger than 0.6, both pipelines yielded no significant differences in the AUC. Conclusions Civet appears slightly more sensitive to the typical AD atrophic pattern at the MCI stage, but both pipelines can accurately characterize the topography of cortical thinning at the dementia stage. PMID:25781983

A fingerprint classification algorithm based on combination of local and global information

NASA Astrophysics Data System (ADS)

Liu, Chongjin; Fu, Xiang; Bian, Junjie; Feng, Jufu

2011-12-01

Fingerprint recognition is one of the most important technologies in biometric identification and has been wildly applied in commercial and forensic areas. Fingerprint classification, as the fundamental procedure in fingerprint recognition, can sharply decrease the quantity for fingerprint matching and improve the efficiency of fingerprint recognition. Most fingerprint classification algorithms are based on the number and position of singular points. Because the singular points detecting method only considers the local information commonly, the classification algorithms are sensitive to noise. In this paper, we propose a novel fingerprint classification algorithm combining the local and global information of fingerprint. Firstly we use local information to detect singular points and measure their quality considering orientation structure and image texture in adjacent areas. Furthermore the global orientation model is adopted to measure the reliability of singular points group. Finally the local quality and global reliability is weighted to classify fingerprint. Experiments demonstrate the accuracy and effectivity of our algorithm especially for the poor quality fingerprint images.

Multiple Ordinal Regression by Maximizing the Sum of Margins

PubMed Central

Hamsici, Onur C.; Martinez, Aleix M.

2016-01-01

Human preferences are usually measured using ordinal variables. A system whose goal is to estimate the preferences of humans and their underlying decision mechanisms requires to learn the ordering of any given sample set. We consider the solution of this ordinal regression problem using a Support Vector Machine algorithm. Specifically, the goal is to learn a set of classifiers with common direction vectors and different biases correctly separating the ordered classes. Current algorithms are either required to solve a quadratic optimization problem, which is computationally expensive, or are based on maximizing the minimum margin (i.e., a fixed margin strategy) between a set of hyperplanes, which biases the solution to the closest margin. Another drawback of these strategies is that they are limited to order the classes using a single ranking variable (e.g., perceived length). In this paper, we define a multiple ordinal regression algorithm based on maximizing the sum of the margins between every consecutive class with respect to one or more rankings (e.g., perceived length and weight). We provide derivations of an efficient, easy-to-implement iterative solution using a Sequential Minimal Optimization procedure. We demonstrate the accuracy of our solutions in several datasets. In addition, we provide a key application of our algorithms in estimating human subjects’ ordinal classification of attribute associations to object categories. We show that these ordinal associations perform better than the binary one typically employed in the literature. PMID:26529784

Classifying elementary cellular automata using compressibility, diversity and sensitivity measures

NASA Astrophysics Data System (ADS)

Ninagawa, Shigeru; Adamatzky, Andrew

2014-10-01

An elementary cellular automaton (ECA) is a one-dimensional, synchronous, binary automaton, where each cell update depends on its own state and states of its two closest neighbors. We attempt to uncover correlations between the following measures of ECA behavior: compressibility, sensitivity and diversity. The compressibility of ECA configurations is calculated using the Lempel-Ziv (LZ) compression algorithm LZ78. The sensitivity of ECA rules to initial conditions and perturbations is evaluated using Derrida coefficients. The generative morphological diversity shows how many different neighborhood states are produced from a single nonquiescent cell. We found no significant correlation between sensitivity and compressibility. There is a substantial correlation between generative diversity and compressibility. Using sensitivity, compressibility and diversity, we uncover and characterize novel groupings of rules.

Distributed Computation of the knn Graph for Large High-Dimensional Point Sets

PubMed Central

Plaku, Erion; Kavraki, Lydia E.

2009-01-01

High-dimensional problems arising from robot motion planning, biology, data mining, and geographic information systems often require the computation of k nearest neighbor (knn) graphs. The knn graph of a data set is obtained by connecting each point to its k closest points. As the research in the above-mentioned fields progressively addresses problems of unprecedented complexity, the demand for computing knn graphs based on arbitrary distance metrics and large high-dimensional data sets increases, exceeding resources available to a single machine. In this work we efficiently distribute the computation of knn graphs for clusters of processors with message passing. Extensions to our distributed framework include the computation of graphs based on other proximity queries, such as approximate knn or range queries. Our experiments show nearly linear speedup with over one hundred processors and indicate that similar speedup can be obtained with several hundred processors. PMID:19847318

Research of PV Power Generation MPPT based on GABP Neural Network

NASA Astrophysics Data System (ADS)

Su, Yu; Lin, Xianfu

2018-05-01

Photovoltaic power generation has become the main research direction of new energy power generation. But high investment and low efficiency of photovoltaic industry arouse concern in some extent. So maximum power point tracking of photovoltaic power generation has been a popular study point. Due to slow response, oscillation at maximum power point and low precision, the algorithm based on genetic algorithm combined with BP neural network are designed detailedly in this paper. And the modeling and simulation are completed by use of MATLAB/SIMULINK. The results show that the algorithm is effective and the maximum power point can be tracked accurately and quickly.

The "Best Worst" Field Optimization and Focusing

NASA Technical Reports Server (NTRS)

Vaughnn, David; Moore, Ken; Bock, Noah; Zhou, Wei; Ming, Liang; Wilson, Mark

2008-01-01

A simple algorithm for optimizing and focusing lens designs is presented. The goal of the algorithm is to simultaneously create the best and most uniform image quality over the field of view. Rather than relatively weighting multiple field points, only the image quality from the worst field point is considered. When optimizing a lens design, iterations are made to make this worst field point better until such a time as a different field point becomes worse. The same technique is used to determine focus position. The algorithm works with all the various image quality metrics. It works with both symmetrical and asymmetrical systems. It works with theoretical models and real hardware.

On spinodal points and Lee-Yang edge singularities

NASA Astrophysics Data System (ADS)

An, X.; Mesterházy, D.; Stephanov, M. A.

2018-03-01

We address a number of outstanding questions associated with the analytic properties of the universal equation of state of the φ4 theory, which describes the critical behavior of the Ising model and ubiquitous critical points of the liquid–gas type. We focus on the relation between spinodal points that limit the domain of metastability for temperatures below the critical temperature, i.e. T < Tc , and Lee-Yang edge singularities that restrict the domain of analyticity around the point of zero magnetic field H for T > Tc . The extended analyticity conjecture (due to Fonseca and Zamolodchikov) posits that, for T < Tc , the Lee-Yang edge singularities are the closest singularities to the real H axis. This has interesting implications, in particular, that the spinodal singularities must lie off the real H axis for d < 4 , in contrast to the commonly known result of the mean-field approximation. We find that the parametric representation of the Ising equation of state obtained in the \\renewcommandε{\\varepsilon} \

Novel techniques for data decomposition and load balancing for parallel processing of vision systems: Implementation and evaluation using a motion estimation system

NASA Technical Reports Server (NTRS)

Choudhary, Alok Nidhi; Leung, Mun K.; Huang, Thomas S.; Patel, Janak H.

1989-01-01

Computer vision systems employ a sequence of vision algorithms in which the output of an algorithm is the input of the next algorithm in the sequence. Algorithms that constitute such systems exhibit vastly different computational characteristics, and therefore, require different data decomposition techniques and efficient load balancing techniques for parallel implementation. However, since the input data for a task is produced as the output data of the previous task, this information can be exploited to perform knowledge based data decomposition and load balancing. Presented here are algorithms for a motion estimation system. The motion estimation is based on the point correspondence between the involved images which are a sequence of stereo image pairs. Researchers propose algorithms to obtain point correspondences by matching feature points among stereo image pairs at any two consecutive time instants. Furthermore, the proposed algorithms employ non-iterative procedures, which results in saving considerable amounts of computation time. The system consists of the following steps: (1) extraction of features; (2) stereo match of images in one time instant; (3) time match of images from consecutive time instants; (4) stereo match to compute final unambiguous points; and (5) computation of motion parameters.

[An Improved Cubic Spline Interpolation Method for Removing Electrocardiogram Baseline Drift].

PubMed

Wang, Xiangkui; Tang, Wenpu; Zhang, Lai; Wu, Minghu

2016-04-01

The selection of fiducial points has an important effect on electrocardiogram(ECG)denoise with cubic spline interpolation.An improved cubic spline interpolation algorithm for suppressing ECG baseline drift is presented in this paper.Firstly the first order derivative of original ECG signal is calculated,and the maximum and minimum points of each beat are obtained,which are treated as the position of fiducial points.And then the original ECG is fed into a high pass filter with 1.5Hz cutoff frequency.The difference between the original and the filtered ECG at the fiducial points is taken as the amplitude of the fiducial points.Then cubic spline interpolation curve fitting is used to the fiducial points,and the fitting curve is the baseline drift curve.For the two simulated case test,the correlation coefficients between the fitting curve by the presented algorithm and the simulated curve were increased by 0.242and0.13 compared with that from traditional cubic spline interpolation algorithm.And for the case of clinical baseline drift data,the average correlation coefficient from the presented algorithm achieved 0.972.

Bouc-Wen hysteresis model identification using Modified Firefly Algorithm

NASA Astrophysics Data System (ADS)

Zaman, Mohammad Asif; Sikder, Urmita

2015-12-01

The parameters of Bouc-Wen hysteresis model are identified using a Modified Firefly Algorithm. The proposed algorithm uses dynamic process control parameters to improve its performance. The algorithm is used to find the model parameter values that results in the least amount of error between a set of given data points and points obtained from the Bouc-Wen model. The performance of the algorithm is compared with the performance of conventional Firefly Algorithm, Genetic Algorithm and Differential Evolution algorithm in terms of convergence rate and accuracy. Compared to the other three optimization algorithms, the proposed algorithm is found to have good convergence rate with high degree of accuracy in identifying Bouc-Wen model parameters. Finally, the proposed method is used to find the Bouc-Wen model parameters from experimental data. The obtained model is found to be in good agreement with measured data.

Preconditioning 2D Integer Data for Fast Convex Hull Computations.

PubMed

Cadenas, José Oswaldo; Megson, Graham M; Luengo Hendriks, Cris L

2016-01-01

In order to accelerate computing the convex hull on a set of n points, a heuristic procedure is often applied to reduce the number of points to a set of s points, s ≤ n, which also contains the same hull. We present an algorithm to precondition 2D data with integer coordinates bounded by a box of size p × q before building a 2D convex hull, with three distinct advantages. First, we prove that under the condition min(p, q) ≤ n the algorithm executes in time within O(n); second, no explicit sorting of data is required; and third, the reduced set of s points forms a simple polygonal chain and thus can be directly pipelined into an O(n) time convex hull algorithm. This paper empirically evaluates and quantifies the speed up gained by preconditioning a set of points by a method based on the proposed algorithm before using common convex hull algorithms to build the final hull. A speedup factor of at least four is consistently found from experiments on various datasets when the condition min(p, q) ≤ n holds; the smaller the ratio min(p, q)/n is in the dataset, the greater the speedup factor achieved.

Point-in-convex polygon and point-in-convex polyhedron algorithms with O(1) complexity using space subdivision

NASA Astrophysics Data System (ADS)

Skala, Vaclav

2016-06-01

There are many space subdivision and space partitioning techniques used in many algorithms to speed up computations. They mostly rely on orthogonal space subdivision, resp. using hierarchical data structures, e.g. BSP trees, quadtrees, octrees, kd-trees, bounding volume hierarchies etc. However in some applications a non-orthogonal space subdivision can offer new ways for actual speed up. In the case of convex polygon in E2 a simple Point-in-Polygon test is of the O(N) complexity and the optimal algorithm is of O(log N) computational complexity. In the E3 case, the complexity is O(N) even for the convex polyhedron as no ordering is defined. New Point-in-Convex Polygon and Point-in-Convex Polyhedron algorithms are presented based on space subdivision in the preprocessing stage resulting to O(1) run-time complexity. The presented approach is simple to implement. Due to the principle of duality, dual problems, e.g. line-convex polygon, line clipping, can be solved in a similarly.

Human body motion tracking based on quantum-inspired immune cloning algorithm

NASA Astrophysics Data System (ADS)

Han, Hong; Yue, Lichuan; Jiao, Licheng; Wu, Xing

2009-10-01

In a static monocular camera system, to gain a perfect 3D human body posture is a great challenge for Computer Vision technology now. This paper presented human postures recognition from video sequences using the Quantum-Inspired Immune Cloning Algorithm (QICA). The algorithm included three parts. Firstly, prior knowledge of human beings was used, the key joint points of human could be detected automatically from the human contours and skeletons which could be thinning from the contours; And due to the complexity of human movement, a forecasting mechanism of occlusion joint points was addressed to get optimum 2D key joint points of human body; And then pose estimation recovered by optimizing between the 2D projection of 3D human key joint points and 2D detection key joint points using QICA, which recovered the movement of human body perfectly, because this algorithm could acquire not only the global optimal solution, but the local optimal solution.

Data reduction using cubic rational B-splines

NASA Technical Reports Server (NTRS)

Chou, Jin J.; Piegl, Les A.

1992-01-01

A geometric method is proposed for fitting rational cubic B-spline curves to data that represent smooth curves including intersection or silhouette lines. The algorithm is based on the convex hull and the variation diminishing properties of Bezier/B-spline curves. The algorithm has the following structure: it tries to fit one Bezier segment to the entire data set and if it is impossible it subdivides the data set and reconsiders the subset. After accepting the subset the algorithm tries to find the longest run of points within a tolerance and then approximates this set with a Bezier cubic segment. The algorithm uses this procedure repeatedly to the rest of the data points until all points are fitted. It is concluded that the algorithm delivers fitting curves which approximate the data with high accuracy even in cases with large tolerances.

A multimedia retrieval framework based on semi-supervised ranking and relevance feedback.

PubMed

Yang, Yi; Nie, Feiping; Xu, Dong; Luo, Jiebo; Zhuang, Yueting; Pan, Yunhe

2012-04-01

We present a new framework for multimedia content analysis and retrieval which consists of two independent algorithms. First, we propose a new semi-supervised algorithm called ranking with Local Regression and Global Alignment (LRGA) to learn a robust Laplacian matrix for data ranking. In LRGA, for each data point, a local linear regression model is used to predict the ranking scores of its neighboring points. A unified objective function is then proposed to globally align the local models from all the data points so that an optimal ranking score can be assigned to each data point. Second, we propose a semi-supervised long-term Relevance Feedback (RF) algorithm to refine the multimedia data representation. The proposed long-term RF algorithm utilizes both the multimedia data distribution in multimedia feature space and the history RF information provided by users. A trace ratio optimization problem is then formulated and solved by an efficient algorithm. The algorithms have been applied to several content-based multimedia retrieval applications, including cross-media retrieval, image retrieval, and 3D motion/pose data retrieval. Comprehensive experiments on four data sets have demonstrated its advantages in precision, robustness, scalability, and computational efficiency.

STARBLADE: STar and Artefact Removal with a Bayesian Lightweight Algorithm from Diffuse Emission

NASA Astrophysics Data System (ADS)

Knollmüller, Jakob; Frank, Philipp; Ensslin, Torsten A.

2018-05-01

STARBLADE (STar and Artefact Removal with a Bayesian Lightweight Algorithm from Diffuse Emission) separates superimposed point-like sources from a diffuse background by imposing physically motivated models as prior knowledge. The algorithm can also be used on noisy and convolved data, though performing a proper reconstruction including a deconvolution prior to the application of the algorithm is advised; the algorithm could also be used within a denoising imaging method. STARBLADE learns the correlation structure of the diffuse emission and takes it into account to determine the occurrence and strength of a superimposed point source.

Hierarchical Higher Order Crf for the Classification of Airborne LIDAR Point Clouds in Urban Areas

NASA Astrophysics Data System (ADS)

Niemeyer, J.; Rottensteiner, F.; Soergel, U.; Heipke, C.

2016-06-01

We propose a novel hierarchical approach for the classification of airborne 3D lidar points. Spatial and semantic context is incorporated via a two-layer Conditional Random Field (CRF). The first layer operates on a point level and utilises higher order cliques. Segments are generated from the labelling obtained in this way. They are the entities of the second layer, which incorporates larger scale context. The classification result of the segments is introduced as an energy term for the next iteration of the point-based layer. This framework iterates and mutually propagates context to improve the classification results. Potentially wrong decisions can be revised at later stages. The output is a labelled point cloud as well as segments roughly corresponding to object instances. Moreover, we present two new contextual features for the segment classification: the distance and the orientation of a segment with respect to the closest road. It is shown that the classification benefits from these features. In our experiments the hierarchical framework improve the overall accuracies by 2.3% on a point-based level and by 3.0% on a segment-based level, respectively, compared to a purely point-based classification.

A contribution to the systematics of Australasian Tanytarsini (Diptera: Chironomidae): first descriptions from New Caledonia.

PubMed

Giłka, Wojciech; Dobosz, Roland

2015-06-26

First specific records of chironomids of the tribe Tanytarsini from New Caledonia based on detailed descriptions of new species are presented. Cladotanytarsus (Cladotanytarsus) stylifer sp. nov. and its closest relatives, i.a. Cladotanytarsus (C.) isigacedeus (Sasa et Suzuki, 2000), comb. nov., known from males bearing extraordinarily elongate hypopygial anal points are diagnosed. Paratanytarsus mirificus sp. nov. is described as adult male with unique structure of its hypopygium and shortened antennae. Diagnostic description of Tanytarsus fuscithorax Skuse, 1889 is also complemented.

A Parallel Particle Swarm Optimization Algorithm Accelerated by Asynchronous Evaluations

NASA Technical Reports Server (NTRS)

Venter, Gerhard; Sobieszczanski-Sobieski, Jaroslaw

2005-01-01

A parallel Particle Swarm Optimization (PSO) algorithm is presented. Particle swarm optimization is a fairly recent addition to the family of non-gradient based, probabilistic search algorithms that is based on a simplified social model and is closely tied to swarming theory. Although PSO algorithms present several attractive properties to the designer, they are plagued by high computational cost as measured by elapsed time. One approach to reduce the elapsed time is to make use of coarse-grained parallelization to evaluate the design points. Previous parallel PSO algorithms were mostly implemented in a synchronous manner, where all design points within a design iteration are evaluated before the next iteration is started. This approach leads to poor parallel speedup in cases where a heterogeneous parallel environment is used and/or where the analysis time depends on the design point being analyzed. This paper introduces an asynchronous parallel PSO algorithm that greatly improves the parallel e ciency. The asynchronous algorithm is benchmarked on a cluster assembled of Apple Macintosh G5 desktop computers, using the multi-disciplinary optimization of a typical transport aircraft wing as an example.

A GENERAL ALGORITHM FOR THE CONSTRUCTION OF CONTOUR PLOTS

NASA Technical Reports Server (NTRS)

Johnson, W.

1994-01-01

The graphical presentation of experimentally or theoretically generated data sets frequently involves the construction of contour plots. A general computer algorithm has been developed for the construction of contour plots. The algorithm provides for efficient and accurate contouring with a modular approach which allows flexibility in modifying the algorithm for special applications. The algorithm accepts as input data values at a set of points irregularly distributed over a plane. The algorithm is based on an interpolation scheme in which the points in the plane are connected by straight line segments to form a set of triangles. In general, the data is smoothed using a least-squares-error fit of the data to a bivariate polynomial. To construct the contours, interpolation along the edges of the triangles is performed, using the bivariable polynomial if data smoothing was performed. Once the contour points have been located, the contour may be drawn. This program is written in FORTRAN IV for batch execution and has been implemented on an IBM 360 series computer with a central memory requirement of approximately 100K of 8-bit bytes. This computer algorithm was developed in 1981.

A globally convergent Lagrange and barrier function iterative algorithm for the traveling salesman problem.

PubMed

Dang, C; Xu, L

2001-03-01

In this paper a globally convergent Lagrange and barrier function iterative algorithm is proposed for approximating a solution of the traveling salesman problem. The algorithm employs an entropy-type barrier function to deal with nonnegativity constraints and Lagrange multipliers to handle linear equality constraints, and attempts to produce a solution of high quality by generating a minimum point of a barrier problem for a sequence of descending values of the barrier parameter. For any given value of the barrier parameter, the algorithm searches for a minimum point of the barrier problem in a feasible descent direction, which has a desired property that the nonnegativity constraints are always satisfied automatically if the step length is a number between zero and one. At each iteration the feasible descent direction is found by updating Lagrange multipliers with a globally convergent iterative procedure. For any given value of the barrier parameter, the algorithm converges to a stationary point of the barrier problem without any condition on the objective function. Theoretical and numerical results show that the algorithm seems more effective and efficient than the softassign algorithm.

Small target detection using objectness and saliency

NASA Astrophysics Data System (ADS)

Zhang, Naiwen; Xiao, Yang; Fang, Zhiwen; Yang, Jian; Wang, Li; Li, Tao

2017-10-01

We are motived by the need for generic object detection algorithm which achieves high recall for small targets in complex scenes with acceptable computational efficiency. We propose a novel object detection algorithm, which has high localization quality with acceptable computational cost. Firstly, we obtain the objectness map as in BING[1] and use NMS to get the top N points. Then, k-means algorithm is used to cluster them into K classes according to their location. We set the center points of the K classes as seed points. For each seed point, an object potential region is extracted. Finally, a fast salient object detection algorithm[2] is applied to the object potential regions to highlight objectlike pixels, and a series of efficient post-processing operations are proposed to locate the targets. Our method runs at 5 FPS on 1000*1000 images, and significantly outperforms previous methods on small targets in cluttered background.

CCOMP: An efficient algorithm for complex roots computation of determinantal equations

NASA Astrophysics Data System (ADS)

Zouros, Grigorios P.

2018-01-01

In this paper a free Python algorithm, entitled CCOMP (Complex roots COMPutation), is developed for the efficient computation of complex roots of determinantal equations inside a prescribed complex domain. The key to the method presented is the efficient determination of the candidate points inside the domain which, in their close neighborhood, a complex root may lie. Once these points are detected, the algorithm proceeds to a two-dimensional minimization problem with respect to the minimum modulus eigenvalue of the system matrix. In the core of CCOMP exist three sub-algorithms whose tasks are the efficient estimation of the minimum modulus eigenvalues of the system matrix inside the prescribed domain, the efficient computation of candidate points which guarantee the existence of minima, and finally, the computation of minima via bound constrained minimization algorithms. Theoretical results and heuristics support the development and the performance of the algorithm, which is discussed in detail. CCOMP supports general complex matrices, and its efficiency, applicability and validity is demonstrated to a variety of microwave applications.

Bell-Curve Based Evolutionary Optimization Algorithm

NASA Technical Reports Server (NTRS)

Sobieszczanski-Sobieski, J.; Laba, K.; Kincaid, R.

1998-01-01

The paper presents an optimization algorithm that falls in the category of genetic, or evolutionary algorithms. While the bit exchange is the basis of most of the Genetic Algorithms (GA) in research and applications in America, some alternatives, also in the category of evolutionary algorithms, but use a direct, geometrical approach have gained popularity in Europe and Asia. The Bell-Curve Based Evolutionary Algorithm (BCB) is in this alternative category and is distinguished by the use of a combination of n-dimensional geometry and the normal distribution, the bell-curve, in the generation of the offspring. The tool for creating a child is a geometrical construct comprising a line connecting two parents and a weighted point on that line. The point that defines the child deviates from the weighted point in two directions: parallel and orthogonal to the connecting line, the deviation in each direction obeying a probabilistic distribution. Tests showed satisfactory performance of BCB. The principal advantage of BCB is its controllability via the normal distribution parameters and the geometrical construct variables.

Evolutionary pattern search algorithms

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hart, W.E.

1995-09-19

This paper defines a class of evolutionary algorithms called evolutionary pattern search algorithms (EPSAs) and analyzes their convergence properties. This class of algorithms is closely related to evolutionary programming, evolutionary strategie and real-coded genetic algorithms. EPSAs are self-adapting systems that modify the step size of the mutation operator in response to the success of previous optimization steps. The rule used to adapt the step size can be used to provide a stationary point convergence theory for EPSAs on any continuous function. This convergence theory is based on an extension of the convergence theory for generalized pattern search methods. An experimentalmore » analysis of the performance of EPSAs demonstrates that these algorithms can perform a level of global search that is comparable to that of canonical EAs. We also describe a stopping rule for EPSAs, which reliably terminated near stationary points in our experiments. This is the first stopping rule for any class of EAs that can terminate at a given distance from stationary points.« less

Application of Deconvolution Algorithm of Point Spread Function in Improving Image Quality: An Observer Preference Study on Chest Radiography.

PubMed

Chae, Kum Ju; Goo, Jin Mo; Ahn, Su Yeon; Yoo, Jin Young; Yoon, Soon Ho

2018-01-01

To evaluate the preference of observers for image quality of chest radiography using the deconvolution algorithm of point spread function (PSF) (TRUVIEW ART algorithm, DRTECH Corp.) compared with that of original chest radiography for visualization of anatomic regions of the chest. Prospectively enrolled 50 pairs of posteroanterior chest radiographs collected with standard protocol and with additional TRUVIEW ART algorithm were compared by four chest radiologists. This algorithm corrects scattered signals generated by a scintillator. Readers independently evaluated the visibility of 10 anatomical regions and overall image quality with a 5-point scale of preference. The significance of the differences in reader's preference was tested with a Wilcoxon's signed rank test. All four readers preferred the images applied with the algorithm to those without algorithm for all 10 anatomical regions (mean, 3.6; range, 3.2-4.0; p < 0.001) and for the overall image quality (mean, 3.8; range, 3.3-4.0; p < 0.001). The most preferred anatomical regions were the azygoesophageal recess, thoracic spine, and unobscured lung. The visibility of chest anatomical structures applied with the deconvolution algorithm of PSF was superior to the original chest radiography.

Spiral bacterial foraging optimization method: Algorithm, evaluation and convergence analysis

NASA Astrophysics Data System (ADS)

Kasaiezadeh, Alireza; Khajepour, Amir; Waslander, Steven L.

2014-04-01

A biologically-inspired algorithm called Spiral Bacterial Foraging Optimization (SBFO) is investigated in this article. SBFO, previously proposed by the same authors, is a multi-agent, gradient-based algorithm that minimizes both the main objective function (local cost) and the distance between each agent and a temporary central point (global cost). A random jump is included normal to the connecting line of each agent to the central point, which produces a vortex around the temporary central point. This random jump is also suitable to cope with premature convergence, which is a feature of swarm-based optimization methods. The most important advantages of this algorithm are as follows: First, this algorithm involves a stochastic type of search with a deterministic convergence. Second, as gradient-based methods are employed, faster convergence is demonstrated over GA, DE, BFO, etc. Third, the algorithm can be implemented in a parallel fashion in order to decentralize large-scale computation. Fourth, the algorithm has a limited number of tunable parameters, and finally SBFO has a strong certainty of convergence which is rare in existing global optimization algorithms. A detailed convergence analysis of SBFO for continuously differentiable objective functions has also been investigated in this article.

Registration algorithm of point clouds based on multiscale normal features

NASA Astrophysics Data System (ADS)

Lu, Jun; Peng, Zhongtao; Su, Hang; Xia, GuiHua

2015-01-01

The point cloud registration technology for obtaining a three-dimensional digital model is widely applied in many areas. To improve the accuracy and speed of point cloud registration, a registration method based on multiscale normal vectors is proposed. The proposed registration method mainly includes three parts: the selection of key points, the calculation of feature descriptors, and the determining and optimization of correspondences. First, key points are selected from the point cloud based on the changes of magnitude of multiscale curvatures obtained by using principal components analysis. Then the feature descriptor of each key point is proposed, which consists of 21 elements based on multiscale normal vectors and curvatures. The correspondences in a pair of two point clouds are determined according to the descriptor's similarity of key points in the source point cloud and target point cloud. Correspondences are optimized by using a random sampling consistency algorithm and clustering technology. Finally, singular value decomposition is applied to optimized correspondences so that the rigid transformation matrix between two point clouds is obtained. Experimental results show that the proposed point cloud registration algorithm has a faster calculation speed, higher registration accuracy, and better antinoise performance.

Synthetic vaccines.

PubMed

Lerner, R A

1983-02-01

Synthetic vaccines are designed with the help of computer-graphics programs. These displays generated by Arthur J. Olson of the Research Institute of Scripps Clinic show a method whereby parts of a viral protein that are on the surface of a virus, and therefore accessible to antibodies, can be identified. The backbone of the surface domain of the protein on the outer shell of the tomato bushy-stunt virus is displayed (1) on the basis of coordinates determined by Stephen C. Harrison of Harvard University and his colleagues. A single peptide of the protein is picked out in yellow, with the side chains of its component amino acids indicated in atomic detail (2). The peptide is enlarged and a sphere representing a water molecule is displayed (3). The sphere is rolled around the peptide to generate a map of the surface accessible to water (4); it does so, following an algorithm developed by Michael L. Connolly, by placing a dot at each point of its closest contact with the peptide, taking account of the sphere's own van der Waals radius (zone of influence, in effect) and that of each atom of the peptide and the rest of the protein. A similar-dot-surface map is generated to show what parts of the peptide are still accessible to water when three copies of the protein are associated in an array on the surface of the virus (5) and when four such arrays (out of 60) are in position on the outer surface of the virus (6).

Terrestrial laser scanning and a degenerated cylinder model to determine gross morphological change of cadavers under conditions of natural decomposition.

PubMed

Zhang, Xiao; Glennie, Craig L; Bucheli, Sibyl R; Lindgren, Natalie K; Lynne, Aaron M

2014-08-01

Decomposition can be a highly variable process with stages that are difficult to quantify. Using high accuracy terrestrial laser scanning a repeated three-dimensional (3D) documentation of volumetric changes of a human body during early decomposition is recorded. To determine temporal volumetric variations as well as 3D distribution of the changed locations in the body over time, this paper introduces the use of multiple degenerated cylinder models to provide a reasonable approximation of body parts against which 3D change can be measured and visualized. An iterative closest point algorithm is used for 3D registration, and a method for determining volumetric change is presented. Comparison of the laser scanning estimates of volumetric change shows good agreement with repeated in-situ measurements of abdomen and limb circumference that were taken diurnally. The 3D visualizations of volumetric changes demonstrate that bloat is a process with a beginning, middle, and end rather than a state of presence or absence. Additionally, the 3D visualizations show conclusively that cadaver bloat is not isolated to the abdominal cavity, but also occurs in the limbs. Detailed quantification of the bloat stage of decay has the potential to alter how the beginning and end of bloat are determined by researchers and can provide further insight into the effects of the ecosystem on decomposition. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

New insight on the increasing seismicity during Tenerife's 2004 volcanic reactivation

NASA Astrophysics Data System (ADS)

Cerdeña, I. Domínguez; del Fresno, C.; Rivera, L.

2011-09-01

Starting in April 2004, unusual seismic activity was observed in the interior of the island of Tenerife (Canary Islands, Spain) with much evidence pointing to a reawakening of volcanic activity. This seismicity is now analyzed with techniques unprecedented in previous studies of this crisis. The 200 earthquakes located onshore during 2004 and 2005 have been classified by cross-correlation, resulting in a small number of significant families. The application of a relative location algorithm (hypoDD) revealed important features about the spatial distribution of the earthquakes. The seismic catalog has been enhanced with more than 800 additional events, detected only by the closest seismic station. These events were assigned to families by correlation and as a consequence their hypocentral location and magnitude were estimated by comparing them to the earthquakes of each family. The new catalog obtained by these methods identifies two major seismogenic zones, one to the northwest and the other to the southwest of the Teide-Pico Viejo complex and having a separation of at least 10 km between them. These regions alternate their activity starting in January 2004, i.e., three months earlier than previously thought. We propose a simple model based on the results of this work which will also concur with all previous geophysical and geochemical studies of the 2004 crisis. The model proposes a single magma intrusion affecting the central part of the island with lateral dikes driven by the rifts to the northwest and southwest.

Multimodal registration of three-dimensional maxillodental cone beam CT and photogrammetry data over time.

PubMed

Bolandzadeh, N; Bischof, W; Flores-Mir, C; Boulanger, P

2013-01-01

In recent years, one of the foci of orthodontics has been on systems for the evaluation of treatment results and the tracking of tissue variations over time. This can be accomplished through analysing three-dimensional orthodontic images obtained before and after the treatments. Since complementary information is achieved by integrating multiple imaging modalities, cone beam CT (CBCT) and stereophotogrammetry technologies are used in this study to develop a method for tracking bone, teeth and facial soft-tissue variations over time. We propose a two-phase procedure of multimodal (Phase 1) and multitemporal (Phase 2) registration which aligns images taken from the same patient by different imaging modalities and at different times. Extrinsic (for Phase 1) and intrinsic (for Phase 2) landmark-based registration methods are employed as an initiation for a robust iterative closest points algorithm. Since the mandible moves independently of the upper skull, the registration procedure is applied separately on the mandible and the upper skull. The results show that the signed error distributions of both mandible and skull registrations follow a mixture of two Gaussian distributions, corresponding to alignment errors (due to our method) and temporal change over time. We suggest that the large values among the total registration errors correspond to the temporal change resulting from (1) the effect of treatment (i.e. the orthodontic changes of teeth positions); (2) the biological changes such as teeth growth over time, especially for teenagers; and (3) the segmentation procedure and CBCT precision change over time.

Multimodal optimization by using hybrid of artificial bee colony algorithm and BFGS algorithm

NASA Astrophysics Data System (ADS)

Anam, S.

2017-10-01

Optimization has become one of the important fields in Mathematics. Many problems in engineering and science can be formulated into optimization problems. They maybe have many local optima. The optimization problem with many local optima, known as multimodal optimization problem, is how to find the global solution. Several metaheuristic methods have been proposed to solve multimodal optimization problems such as Particle Swarm Optimization (PSO), Genetics Algorithm (GA), Artificial Bee Colony (ABC) algorithm, etc. The performance of the ABC algorithm is better than or similar to those of other population-based algorithms with the advantage of employing a fewer control parameters. The ABC algorithm also has the advantages of strong robustness, fast convergence and high flexibility. However, it has the disadvantages premature convergence in the later search period. The accuracy of the optimal value cannot meet the requirements sometimes. Broyden-Fletcher-Goldfarb-Shanno (BFGS) algorithm is a good iterative method for finding a local optimum. Compared with other local optimization methods, the BFGS algorithm is better. Based on the advantages of the ABC algorithm and the BFGS algorithm, this paper proposes a hybrid of the artificial bee colony algorithm and the BFGS algorithm to solve the multimodal optimization problem. The first step is that the ABC algorithm is run to find a point. In the second step is that the point obtained by the first step is used as an initial point of BFGS algorithm. The results show that the hybrid method can overcome from the basic ABC algorithm problems for almost all test function. However, if the shape of function is flat, the proposed method cannot work well.

WE-DE-BRA-09: Fast Megavoltage CT Imaging with Rapid Scan Time and Low Imaging Dose in Helical Tomotherapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Magome, T; University of Tokyo Hospital, Tokyo; University of Minnesota, Minneapolis, MN

Purpose: Megavoltage computed tomography (MVCT) imaging has been widely used for daily patient setup with helical tomotherapy (HT). One drawback of MVCT is its very long imaging time, owing to slow couch speed. The purpose of this study was to develop an MVCT imaging method allowing faster couch speeds, and to assess its accuracy for image guidance for HT. Methods: Three cadavers (mimicking closest physiological and physical system of patients) were scanned four times with couch speeds of 1, 2, 3, and 4 mm/s. The resulting MVCT images were reconstructed using an iterative reconstruction (IR) algorithm. The MVCT images weremore » registered with kilovoltage CT images, and the registration errors were compared with the errors with conventional filtered back projection (FBP) algorithm. Moreover, the fast MVCT imaging was tested in three cases of total marrow irradiation as a clinical trial. Results: Three-dimensional registration errors of the MVCT images reconstructed with the IR algorithm were significantly smaller (p < 0.05) than the errors of images reconstructed with the FBP algorithm at fast couch speeds (3, 4 mm/s). The scan time and imaging dose at a speed of 4 mm/s were reduced to 30% of those from a conventional coarse mode scan. For the patient imaging, a limited number of conventional MVCT (1.2 mm/s) and fast MVCT (3 mm/s) reveals acceptable reduced imaging time and dose able to use for anatomical registration. Conclusion: Fast MVCT with IR algorithm maybe clinically feasible alternative for rapid 3D patient localization. This technique may also be useful for calculating daily dose distributions or organ motion analyses in HT treatment over a wide area.« less

Image registration of naval IR images

NASA Astrophysics Data System (ADS)

Rodland, Arne J.

1996-06-01

In a real world application an image from a stabilized sensor on a moving platform will not be 100 percent stabilized. There will always be a small unknown error in the stabilization due to factors such as dynamic deformations in the structure between sensor and reference Inertial Navigation Unit, servo inaccuracies, etc. For a high resolution imaging sensor this stabilization error causes the image to move several pixels in unknown direction between frames. TO be able to detect and track small moving objects from such a sensor, this unknown movement of the sensor image must be estimated. An algorithm that searches for land contours in the image has been evaluated. The algorithm searches for high contrast points distributed over the whole image. As long as moving objects in the scene only cover a small area of the scene, most of the points are located on solid ground. By matching the list of points from frame to frame, the movement of the image due to stabilization errors can be estimated and compensated. The point list is searched for points with diverging movement from the estimated stabilization error. These points are then assumed to be located on moving objects. Points assumed to be located on moving objects are gradually exchanged with new points located in the same area. Most of the processing is performed on the list of points and not on the complete image. The algorithm is therefore very fast and well suited for real time implementation. The algorithm has been tested on images from an experimental IR scanner. Stabilization errors were added artificially to the image such that the output from the algorithm could be compared with the artificially added stabilization errors.

Experimental designs for detecting synergy and antagonism between two drugs in a pre-clinical study.

PubMed

Sperrin, Matthew; Thygesen, Helene; Su, Ting-Li; Harbron, Chris; Whitehead, Anne

2015-01-01

The identification of synergistic interactions between combinations of drugs is an important area within drug discovery and development. Pre-clinically, large numbers of screening studies to identify synergistic pairs of compounds can often be ran, necessitating efficient and robust experimental designs. We consider experimental designs for detecting interaction between two drugs in a pre-clinical in vitro assay in the presence of uncertainty of the monotherapy response. The monotherapies are assumed to follow the Hill equation with common lower and upper asymptotes, and a common variance. The optimality criterion used is the variance of the interaction parameter. We focus on ray designs and investigate two algorithms for selecting the optimum set of dose combinations. The first is a forward algorithm in which design points are added sequentially. This is found to give useful solutions in simple cases but can lack robustness when knowledge about the monotherapy parameters is insufficient. The second algorithm is a more pragmatic approach where the design points are constrained to be distributed log-normally along the rays and monotherapy doses. We find that the pragmatic algorithm is more stable than the forward algorithm, and even when the forward algorithm has converged, the pragmatic algorithm can still out-perform it. Practically, we find that good designs for detecting an interaction have equal numbers of points on monotherapies and combination therapies, with those points typically placed in positions where a 50% response is expected. More uncertainty in monotherapy parameters leads to an optimal design with design points that are more spread out. Copyright © 2015 John Wiley & Sons, Ltd.

Evaluating progressive-rendering algorithms in appearance design tasks.

PubMed

Jiawei Ou; Karlik, Ondrej; Křivánek, Jaroslav; Pellacini, Fabio

2013-01-01

Progressive rendering is becoming a popular alternative to precomputational approaches to appearance design. However, progressive algorithms create images exhibiting visual artifacts at early stages. A user study investigated these artifacts' effects on user performance in appearance design tasks. Novice and expert subjects performed lighting and material editing tasks with four algorithms: random path tracing, quasirandom path tracing, progressive photon mapping, and virtual-point-light rendering. Both the novices and experts strongly preferred path tracing to progressive photon mapping and virtual-point-light rendering. None of the participants preferred random path tracing to quasirandom path tracing or vice versa; the same situation held between progressive photon mapping and virtual-point-light rendering. The user workflow didn’t differ significantly with the four algorithms. The Web Extras include a video showing how four progressive-rendering algorithms converged (at http://youtu.be/ck-Gevl1e9s), the source code used, and other supplementary materials.

A Machine-Checked Proof of A State-Space Construction Algorithm

NASA Technical Reports Server (NTRS)

Catano, Nestor; Siminiceanu, Radu I.

2010-01-01

This paper presents the correctness proof of Saturation, an algorithm for generating state spaces of concurrent systems, implemented in the SMART tool. Unlike the Breadth First Search exploration algorithm, which is easy to understand and formalise, Saturation is a complex algorithm, employing a mutually-recursive pair of procedures that compute a series of non-trivial, nested local fixed points, corresponding to a chaotic fixed point strategy. A pencil-and-paper proof of Saturation exists, but a machine checked proof had never been attempted. The key element of the proof is the characterisation theorem of saturated nodes in decision diagrams, stating that a saturated node represents a set of states encoding a local fixed-point with respect to firing all events affecting only the node s level and levels below. For our purpose, we have employed the Prototype Verification System (PVS) for formalising the Saturation algorithm, its data structures, and for conducting the proofs.

Salient Point Detection in Protrusion Parts of 3D Object Robust to Isometric Variations

NASA Astrophysics Data System (ADS)

Mirloo, Mahsa; Ebrahimnezhad, Hosein

2018-03-01

In this paper, a novel method is proposed to detect 3D object salient points robust to isometric variations and stable against scaling and noise. Salient points can be used as the representative points from object protrusion parts in order to improve the object matching and retrieval algorithms. The proposed algorithm is started by determining the first salient point of the model based on the average geodesic distance of several random points. Then, according to the previous salient point, a new point is added to this set of points in each iteration. By adding every salient point, decision function is updated. Hence, a condition is created for selecting the next point in which the iterative point is not extracted from the same protrusion part so that drawing out of a representative point from every protrusion part is guaranteed. This method is stable against model variations with isometric transformations, scaling, and noise with different levels of strength due to using a feature robust to isometric variations and considering the relation between the salient points. In addition, the number of points used in averaging process is decreased in this method, which leads to lower computational complexity in comparison with the other salient point detection algorithms.

Charge interaction between particle-laden fluid interfaces.

PubMed

Xu, Hui; Kirkwood, John; Lask, Mauricio; Fuller, Gerald

2010-03-02

Experiments are described where two oil/water interfaces laden with charged particles move at close proximity relative to one another. The particles on one of the interfaces were observed to be attracted toward the point of closest approach, forming a denser particle monolayer, while the particles on the opposite interface were repelled away from this point, forming a particle depletion zone. Such particle attraction/repulsion was observed even if one of the interfaces was free of particles. This phenomenon can be explained by the electrostatic interaction between the two interfaces, which causes surface charges (charged particles and ions) to redistribute in order to satisfy surface electric equipotential at each interface. In a forced particle oscillation experiment, we demonstrated the control of charged particle positions on the interface by manipulating charge interaction between interfaces.

Visual Mislocalization of Moving Objects in an Audiovisual Event.

PubMed

Kawachi, Yousuke

2016-01-01

The present study investigated the influence of an auditory tone on the localization of visual objects in the stream/bounce display (SBD). In this display, two identical visual objects move toward each other, overlap, and then return to their original positions. These objects can be perceived as either streaming through or bouncing off each other. In this study, the closest distance between object centers on opposing trajectories and tone presentation timing (none, 0 ms, ± 90 ms, and ± 390 ms relative to the instant for the closest distance) were manipulated. Observers were asked to judge whether the two objects overlapped with each other and whether the objects appeared to stream through, bounce off each other, or reverse their direction of motion. A tone presented at or around the instant of the objects' closest distance biased judgments toward "non-overlapping," and observers overestimated the physical distance between objects. A similar bias toward direction change judgments (bounce and reverse, not stream judgments) was also observed, which was always stronger than the non-overlapping bias. Thus, these two types of judgments were not always identical. Moreover, another experiment showed that it was unlikely that this observed mislocalization could be explained by other previously known mislocalization phenomena (i.e., representational momentum, the Fröhlich effect, and a turn-point shift). These findings indicate a new example of crossmodal mislocalization, which can be obtained without temporal offsets between audiovisual stimuli. The mislocalization effect is also specific to a more complex stimulus configuration of objects on opposing trajectories, with a tone that is presented simultaneously. The present study promotes an understanding of relatively complex audiovisual interactions beyond simple one-to-one audiovisual stimuli used in previous studies.

Visual Mislocalization of Moving Objects in an Audiovisual Event

PubMed Central

Kawachi, Yousuke

2016-01-01

The present study investigated the influence of an auditory tone on the localization of visual objects in the stream/bounce display (SBD). In this display, two identical visual objects move toward each other, overlap, and then return to their original positions. These objects can be perceived as either streaming through or bouncing off each other. In this study, the closest distance between object centers on opposing trajectories and tone presentation timing (none, 0 ms, ± 90 ms, and ± 390 ms relative to the instant for the closest distance) were manipulated. Observers were asked to judge whether the two objects overlapped with each other and whether the objects appeared to stream through, bounce off each other, or reverse their direction of motion. A tone presented at or around the instant of the objects’ closest distance biased judgments toward “non-overlapping,” and observers overestimated the physical distance between objects. A similar bias toward direction change judgments (bounce and reverse, not stream judgments) was also observed, which was always stronger than the non-overlapping bias. Thus, these two types of judgments were not always identical. Moreover, another experiment showed that it was unlikely that this observed mislocalization could be explained by other previously known mislocalization phenomena (i.e., representational momentum, the Fröhlich effect, and a turn-point shift). These findings indicate a new example of crossmodal mislocalization, which can be obtained without temporal offsets between audiovisual stimuli. The mislocalization effect is also specific to a more complex stimulus configuration of objects on opposing trajectories, with a tone that is presented simultaneously. The present study promotes an understanding of relatively complex audiovisual interactions beyond simple one-to-one audiovisual stimuli used in previous studies. PMID:27111759

Hole-ness of point clouds

NASA Astrophysics Data System (ADS)

Gronz, Oliver; Seeger, Manuel; Klaes, Björn; Casper, Markus C.; Ries, Johannes B.

2015-04-01

Accurate and dense 3D models of soil surfaces can be used in various ways: They can be used as initial shapes for erosion models. They can be used as benchmark shapes for erosion model outputs. They can be used to derive metrics, such as random roughness... One easy and low-cost method to produce these models is structure from motion (SfM). Using this method, two questions arise: Does the soil moisture, which changes the colour, albedo and reflectivity of the soil, influence the model quality? How can the model quality be evaluated? To answer these questions, a suitable data set has been produced: soil has been placed on a tray and areas with different roughness structures have been formed. For different moisture states - dry, medium, saturated - and two different lighting conditions - direct and indirect - sets of high-resolution images at the same camera positions have been taken. From the six image sets, 3D point clouds have been produced using VisualSfM. The visual inspection of the 3D models showed that all models have different areas, where holes of different sizes occur. But it is obviously a subjective task to determine the model's quality by visual inspection. One typical approach to evaluate model quality objectively is to estimate the point density on a regular, two-dimensional grid: the number of 3D points in each grid cell projected on a plane is calculated. This works well for surfaces that do not show vertical structures. Along vertical structures, many points will be projected on the same grid cell and thus the point density rather depends on the shape of the surface but less on the quality of the model. Another approach has been applied by using the points resulting from Poisson Surface Reconstructions. One of this algorithm's properties is the filling of holes: new points are interpolated inside the holes. Using the original 3D point cloud and the interpolated Poisson point set, two analyses have been performed: For all Poisson points, the distance to the closest original point cloud member has been calculated. For the resulting set of distances, histograms have been produced that show the distribution of point distances. As the Poisson points also make up a connected mesh, the size and distribution of single holes can also be estimated by labeling Poisson points that belong to the same hole: each hole gets a specific number. Afterwards, the area of the mesh formed by each set of Poisson hole points can be calculated. The result is a set of distinctive holes and their sizes. The two approaches showed that the hole-ness of the point cloud depends on the soil moisture respectively the reflectivity: the distance distribution of the model of the saturated soil shows the smallest number of large distances. The histogram of the medium state shows more large distances and the dry model shows the largest distances. Models resulting from indirect lighting are better than the models resulting from direct light for all moisture states.

A reconstruction algorithm for helical CT imaging on PI-planes.

PubMed

Liang, Hongzhu; Zhang, Cishen; Yan, Ming

2006-01-01

In this paper, a Feldkamp type approximate reconstruction algorithm is presented for helical cone-beam Computed Tomography. To effectively suppress artifacts due to large cone angle scanning, it is proposed to reconstruct the object point-wisely on unique customized tilted PI-planes which are close to the data collecting helices of the corresponding points. Such a reconstruction scheme can considerably suppress the artifacts in the cone-angle scanning. Computer simulations show that the proposed algorithm can provide improved imaging performance compared with the existing approximate cone-beam reconstruction algorithms.

Solving the multiple-set split equality common fixed-point problem of firmly quasi-nonexpansive operators.

PubMed

Zhao, Jing; Zong, Haili

2018-01-01

In this paper, we propose parallel and cyclic iterative algorithms for solving the multiple-set split equality common fixed-point problem of firmly quasi-nonexpansive operators. We also combine the process of cyclic and parallel iterative methods and propose two mixed iterative algorithms. Our several algorithms do not need any prior information about the operator norms. Under mild assumptions, we prove weak convergence of the proposed iterative sequences in Hilbert spaces. As applications, we obtain several iterative algorithms to solve the multiple-set split equality problem.

Shortest path problem on a grid network with unordered intermediate points

NASA Astrophysics Data System (ADS)

Saw, Veekeong; Rahman, Amirah; Eng Ong, Wen

2017-10-01

We consider a shortest path problem with single cost factor on a grid network with unordered intermediate points. A two stage heuristic algorithm is proposed to find a feasible solution path within a reasonable amount of time. To evaluate the performance of the proposed algorithm, computational experiments are performed on grid maps of varying size and number of intermediate points. Preliminary results for the problem are reported. Numerical comparisons against brute forcing show that the proposed algorithm consistently yields solutions that are within 10% of the optimal solution and uses significantly less computation time.

Extreme-Scale Algorithms & Software Resilience (EASIR) Architecture-Aware Algorithms for Scalable Performance and Resilience on Heterogeneous Architectures

DOE Office of Scientific and Technical Information (OSTI.GOV)

Demmel, James W.

This project addresses both communication-avoiding algorithms, and reproducible floating-point computation. Communication, i.e. moving data, either between levels of memory or processors over a network, is much more expensive per operation than arithmetic (measured in time or energy), so we seek algorithms that greatly reduce communication. We developed many new algorithms for both dense and sparse, and both direct and iterative linear algebra, attaining new communication lower bounds, and getting large speedups in many cases. We also extended this work in several ways: (1) We minimize writes separately from reads, since writes may be much more expensive than reads on emergingmore » memory technologies, like Flash, sometimes doing asymptotically fewer writes than reads. (2) We extend the lower bounds and optimal algorithms to arbitrary algorithms that may be expressed as perfectly nested loops accessing arrays, where the array subscripts may be arbitrary affine functions of the loop indices (eg A(i), B(i,j+k, k+3*m-7, …) etc.). (3) We extend our communication-avoiding approach to some machine learning algorithms, such as support vector machines. This work has won a number of awards. We also address reproducible floating-point computation. We define reproducibility to mean getting bitwise identical results from multiple runs of the same program, perhaps with different hardware resources or other changes that should ideally not change the answer. Many users depend on reproducibility for debugging or correctness. However, dynamic scheduling of parallel computing resources, combined with nonassociativity of floating point addition, makes attaining reproducibility a challenge even for simple operations like summing a vector of numbers, or more complicated operations like the Basic Linear Algebra Subprograms (BLAS). We describe an algorithm that computes a reproducible sum of floating point numbers, independent of the order of summation. The algorithm depends only on a subset of the IEEE Floating Point Standard 754-2008, uses just 6 words to represent a “reproducible accumulator,” and requires just one read-only pass over the data, or one reduction in parallel. New instructions based on this work are being considered for inclusion in the future IEEE 754-2018 floating-point standard, and new reproducible BLAS are being considered for the next version of the BLAS standard.« less

Operationalizing hippocampal volume as an enrichment biomarker for amnestic MCI trials: effect of algorithm, test-retest variability and cut-point on trial cost, duration and sample size

PubMed Central

Yu, P.; Sun, J.; Wolz, R.; Stephenson, D.; Brewer, J.; Fox, N.C.; Cole, P.E.; Jack, C.R.; Hill, D.L.G.; Schwarz, A.J.

2014-01-01

Objective To evaluate the effect of computational algorithm, measurement variability and cut-point on hippocampal volume (HCV)-based patient selection for clinical trials in mild cognitive impairment (MCI). Methods We used normal control and amnestic MCI subjects from ADNI-1 as normative reference and screening cohorts. We evaluated the enrichment performance of four widely-used hippocampal segmentation algorithms (FreeSurfer, HMAPS, LEAP and NeuroQuant) in terms of two-year changes in MMSE, ADAS-Cog and CDR-SB. We modeled the effect of algorithm, test-retest variability and cut-point on sample size, screen fail rates and trial cost and duration. Results HCV-based patient selection yielded not only reduced sample sizes (by ~40–60%) but also lower trial costs (by ~30–40%) across a wide range of cut-points. Overall, the dependence on the cut-point value was similar for the three clinical instruments considered. Conclusion These results provide a guide to the choice of HCV cut-point for aMCI clinical trials, allowing an informed trade-off between statistical and practical considerations. PMID:24211008

Preconditioning 2D Integer Data for Fast Convex Hull Computations

PubMed Central

2016-01-01

In order to accelerate computing the convex hull on a set of n points, a heuristic procedure is often applied to reduce the number of points to a set of s points, s ≤ n, which also contains the same hull. We present an algorithm to precondition 2D data with integer coordinates bounded by a box of size p × q before building a 2D convex hull, with three distinct advantages. First, we prove that under the condition min(p, q) ≤ n the algorithm executes in time within O(n); second, no explicit sorting of data is required; and third, the reduced set of s points forms a simple polygonal chain and thus can be directly pipelined into an O(n) time convex hull algorithm. This paper empirically evaluates and quantifies the speed up gained by preconditioning a set of points by a method based on the proposed algorithm before using common convex hull algorithms to build the final hull. A speedup factor of at least four is consistently found from experiments on various datasets when the condition min(p, q) ≤ n holds; the smaller the ratio min(p, q)/n is in the dataset, the greater the speedup factor achieved. PMID:26938221

Using a focal-plane array to estimate antenna pointing errors

NASA Technical Reports Server (NTRS)

Zohar, S.; Vilnrotter, V. A.

1991-01-01

The use of extra collecting horns in the focal plane of an antenna as a means of determining the Direction of Arrival (DOA) of the signal impinging on it, provided it is within the antenna beam, is considered. Our analysis yields a relatively simple algorithm to extract the DOA from the horns' outputs. An algorithm which, in effect, measures the thermal noise of the horns' signals and determines its effect on the uncertainty of the extracted DOA parameters is developed. Both algorithms were implemented in software and tested in simulated data. Based on these tests, it is concluded that this is a viable approach to the DOA determination. Though the results obtained are of general applicability, the particular motivation for the present work is their application to the pointing of a mechanically deformed antenna. It is anticipated that the pointing algorithm developed for a deformed antenna could be obtained as a small perturbation of the algorithm developed for an undeformed antenna. In this context, it should be pointed out that, with a deformed antenna, the array of horns and its associated circuitry constitute the main part of the deformation-compensation system. In this case, the pointing system proposed may be viewed as an additional task carried out by the deformation-compensation hardware.

A method of inferring collision ratio based on maneuverability of own ship under critical collision conditions

NASA Astrophysics Data System (ADS)

You, Youngjun; Rhee, Key-Pyo; Ahn, Kyoungsoo

2013-06-01

In constructing a collision avoidance system, it is important to determine the time for starting collision avoidance maneuver. Many researchers have attempted to formulate various indices by applying a range of techniques. Among these indices, collision risk obtained by combining Distance to the Closest Point of Approach (DCPA) and Time to the Closest Point of Approach (TCPA) information with fuzzy theory is mostly used. However, the collision risk has a limit, in that membership functions of DCPA and TCPA are empirically determined. In addition, the collision risk is not able to consider several critical collision conditions where the target ship fails to take appropriate actions. It is therefore necessary to design a new concept based on logical approaches. In this paper, a collision ratio is proposed, which is the expected ratio of unavoidable paths to total paths under suitably characterized operation conditions. Total paths are determined by considering categories such as action space and methodology of avoidance. The International Regulations for Preventing Collisions at Sea (1972) and collision avoidance rules (2001) are considered to solve the slower ship's dilemma. Different methods which are based on a constant speed model and simulated speed model are used to calculate the relative positions between own ship and target ship. In the simulated speed model, fuzzy control is applied to determination of command rudder angle. At various encounter situations, the time histories of the collision ratio based on the simulated speed model are compared with those based on the constant speed model.

GSFC_20180130_M12842_Supermoon

NASA Image and Video Library

2018-01-30

Get ready for the Super Blue Blood Moon! Our closest celestial neighbor is always a wondrous sight, but on the morning of Jan. 31, 2018, three special lunar events are all happening at the same time, providing an excellent excuse to go out and enjoy the nighttime sky. 1 - The full Moon is near the closest point of its orbit so it appears a little larger than usual, what many call a Supermoon. 2 - It’s the second full Moon of the month, what many call a Blue Moon, though the Moon is not literally blue. 3 - There’s a total lunar eclipse, what many call a Blood Moon, visible before sunrise for the western half of the U.S. and other countries near the Pacific. During a total lunar eclipse, the Moon crosses through the shadow of the Earth and LITERALLY appears red as it reflects all of Earth’s sunrises and sunsets. Join NASA scientists Michelle Thaller and Noah Petro live from the Goddard Space Flight Center as we discuss where, when, and how to view this lunar extravaganza and the latest Moon science brought to us by NASA’s Lunar Reconnaissance Orbiter.

On the theoretical link between LLL-reduction and Lambda-decorrelation

NASA Astrophysics Data System (ADS)

Lannes, A.

2013-04-01

The LLL algorithm, introduced by Lenstra et al. (Math Ann 261:515-534, 1982), plays a key role in many fields of applied mathematics. In particular, it is used as an effective numerical tool for preconditioning the integer least-squares problems arising in high-precision geodetic positioning and Global Navigation Satellite Systems (GNSS). In 1992, Teunissen developed a method for solving these nearest-lattice point (NLP) problems. This method is referred to as Lambda (for Least-squares AMBiguity Decorrelation Adjustment). The preconditioning stage of Lambda corresponds to its decorrelation algorithm. From an epistemological point of view, the latter was devised through an innovative statistical approach completely independent of the LLL algorithm. Recent papers pointed out some similarities between the LLL algorithm and the Lambda-decorrelation algorithm. We try to clarify this point in the paper. We first introduce a parameter measuring the orthogonality defect of the integer basis in which the NLP problem is solved, the LLL-reduced basis of the LLL algorithm, or the Λ -basis of the Lambda method. With regard to this problem, the potential qualities of these bases can then be compared. The Λ -basis is built by working at the level of the variance-covariance matrix of the float solution, while the LLL-reduced basis is built by working at the level of its inverse. As a general rule, the orthogonality defect of the Λ -basis is greater than that of the corresponding LLL-reduced basis; these bases are however very close to one another. To specify this tight relationship, we present a method that provides the dual LLL-reduced basis of a given Λ -basis. As a consequence of this basic link, all the recent developments made on the LLL algorithm can be applied to the Lambda-decorrelation algorithm. This point is illustrated in a concrete manner: we present a parallel Λ -type decorrelation algorithm derived from the parallel LLL algorithm of Luo and Qiao (Proceedings of the fourth international C^* conference on computer science and software engineering. ACM Int Conf P Series. ACM Press, pp 93-101, 2012).

Improving Estimations of Spatial Distribution of Soil Respiration Using the Bayesian Maximum Entropy Algorithm and Soil Temperature as Auxiliary Data.

PubMed

Hu, Junguo; Zhou, Jian; Zhou, Guomo; Luo, Yiqi; Xu, Xiaojun; Li, Pingheng; Liang, Junyi

2016-01-01

Soil respiration inherently shows strong spatial variability. It is difficult to obtain an accurate characterization of soil respiration with an insufficient number of monitoring points. However, it is expensive and cumbersome to deploy many sensors. To solve this problem, we proposed employing the Bayesian Maximum Entropy (BME) algorithm, using soil temperature as auxiliary information, to study the spatial distribution of soil respiration. The BME algorithm used the soft data (auxiliary information) effectively to improve the estimation accuracy of the spatiotemporal distribution of soil respiration. Based on the functional relationship between soil temperature and soil respiration, the BME algorithm satisfactorily integrated soil temperature data into said spatial distribution. As a means of comparison, we also applied the Ordinary Kriging (OK) and Co-Kriging (Co-OK) methods. The results indicated that the root mean squared errors (RMSEs) and absolute values of bias for both Day 1 and Day 2 were the lowest for the BME method, thus demonstrating its higher estimation accuracy. Further, we compared the performance of the BME algorithm coupled with auxiliary information, namely soil temperature data, and the OK method without auxiliary information in the same study area for 9, 21, and 37 sampled points. The results showed that the RMSEs for the BME algorithm (0.972 and 1.193) were less than those for the OK method (1.146 and 1.539) when the number of sampled points was 9 and 37, respectively. This indicates that the former method using auxiliary information could reduce the required number of sampling points for studying spatial distribution of soil respiration. Thus, the BME algorithm, coupled with soil temperature data, can not only improve the accuracy of soil respiration spatial interpolation but can also reduce the number of sampling points.

Improving Estimations of Spatial Distribution of Soil Respiration Using the Bayesian Maximum Entropy Algorithm and Soil Temperature as Auxiliary Data

PubMed Central

Hu, Junguo; Zhou, Jian; Zhou, Guomo; Luo, Yiqi; Xu, Xiaojun; Li, Pingheng; Liang, Junyi

2016-01-01

Soil respiration inherently shows strong spatial variability. It is difficult to obtain an accurate characterization of soil respiration with an insufficient number of monitoring points. However, it is expensive and cumbersome to deploy many sensors. To solve this problem, we proposed employing the Bayesian Maximum Entropy (BME) algorithm, using soil temperature as auxiliary information, to study the spatial distribution of soil respiration. The BME algorithm used the soft data (auxiliary information) effectively to improve the estimation accuracy of the spatiotemporal distribution of soil respiration. Based on the functional relationship between soil temperature and soil respiration, the BME algorithm satisfactorily integrated soil temperature data into said spatial distribution. As a means of comparison, we also applied the Ordinary Kriging (OK) and Co-Kriging (Co-OK) methods. The results indicated that the root mean squared errors (RMSEs) and absolute values of bias for both Day 1 and Day 2 were the lowest for the BME method, thus demonstrating its higher estimation accuracy. Further, we compared the performance of the BME algorithm coupled with auxiliary information, namely soil temperature data, and the OK method without auxiliary information in the same study area for 9, 21, and 37 sampled points. The results showed that the RMSEs for the BME algorithm (0.972 and 1.193) were less than those for the OK method (1.146 and 1.539) when the number of sampled points was 9 and 37, respectively. This indicates that the former method using auxiliary information could reduce the required number of sampling points for studying spatial distribution of soil respiration. Thus, the BME algorithm, coupled with soil temperature data, can not only improve the accuracy of soil respiration spatial interpolation but can also reduce the number of sampling points. PMID:26807579

A hardware-oriented concurrent TZ search algorithm for High-Efficiency Video Coding

NASA Astrophysics Data System (ADS)

Doan, Nghia; Kim, Tae Sung; Rhee, Chae Eun; Lee, Hyuk-Jae

2017-12-01

High-Efficiency Video Coding (HEVC) is the latest video coding standard, in which the compression performance is double that of its predecessor, the H.264/AVC standard, while the video quality remains unchanged. In HEVC, the test zone (TZ) search algorithm is widely used for integer motion estimation because it effectively searches the good-quality motion vector with a relatively small amount of computation. However, the complex computation structure of the TZ search algorithm makes it difficult to implement it in the hardware. This paper proposes a new integer motion estimation algorithm which is designed for hardware execution by modifying the conventional TZ search to allow parallel motion estimations of all prediction unit (PU) partitions. The algorithm consists of the three phases of zonal, raster, and refinement searches. At the beginning of each phase, the algorithm obtains the search points required by the original TZ search for all PU partitions in a coding unit (CU). Then, all redundant search points are removed prior to the estimation of the motion costs, and the best search points are then selected for all PUs. Compared to the conventional TZ search algorithm, experimental results show that the proposed algorithm significantly decreases the Bjøntegaard Delta bitrate (BD-BR) by 0.84%, and it also reduces the computational complexity by 54.54%.

Verifying a Computer Algorithm Mathematically.

ERIC Educational Resources Information Center

Olson, Alton T.

1986-01-01

Presents an example of mathematics from an algorithmic point of view, with emphasis on the design and verification of this algorithm. The program involves finding roots for algebraic equations using the half-interval search algorithm. The program listing is included. (JN)

Inference from clustering with application to gene-expression microarrays.

PubMed

Dougherty, Edward R; Barrera, Junior; Brun, Marcel; Kim, Seungchan; Cesar, Roberto M; Chen, Yidong; Bittner, Michael; Trent, Jeffrey M

2002-01-01

There are many algorithms to cluster sample data points based on nearness or a similarity measure. Often the implication is that points in different clusters come from different underlying classes, whereas those in the same cluster come from the same class. Stochastically, the underlying classes represent different random processes. The inference is that clusters represent a partition of the sample points according to which process they belong. This paper discusses a model-based clustering toolbox that evaluates cluster accuracy. Each random process is modeled as its mean plus independent noise, sample points are generated, the points are clustered, and the clustering error is the number of points clustered incorrectly according to the generating random processes. Various clustering algorithms are evaluated based on process variance and the key issue of the rate at which algorithmic performance improves with increasing numbers of experimental replications. The model means can be selected by hand to test the separability of expected types of biological expression patterns. Alternatively, the model can be seeded by real data to test the expected precision of that output or the extent of improvement in precision that replication could provide. In the latter case, a clustering algorithm is used to form clusters, and the model is seeded with the means and variances of these clusters. Other algorithms are then tested relative to the seeding algorithm. Results are averaged over various seeds. Output includes error tables and graphs, confusion matrices, principal-component plots, and validation measures. Five algorithms are studied in detail: K-means, fuzzy C-means, self-organizing maps, hierarchical Euclidean-distance-based and correlation-based clustering. The toolbox is applied to gene-expression clustering based on cDNA microarrays using real data. Expression profile graphics are generated and error analysis is displayed within the context of these profile graphics. A large amount of generated output is available over the web.

Multigrid methods for bifurcation problems: The self adjoint case

NASA Technical Reports Server (NTRS)

Taasan, Shlomo

1987-01-01

This paper deals with multigrid methods for computational problems that arise in the theory of bifurcation and is restricted to the self adjoint case. The basic problem is to solve for arcs of solutions, a task that is done successfully with an arc length continuation method. Other important issues are, for example, detecting and locating singular points as part of the continuation process, switching branches at bifurcation points, etc. Multigrid methods have been applied to continuation problems. These methods work well at regular points and at limit points, while they may encounter difficulties in the vicinity of bifurcation points. A new continuation method that is very efficient also near bifurcation points is presented here. The other issues mentioned above are also treated very efficiently with appropriate multigrid algorithms. For example, it is shown that limit points and bifurcation points can be solved for directly by a multigrid algorithm. Moreover, the algorithms presented here solve the corresponding problems in just a few work units (about 10 or less), where a work unit is the work involved in one local relaxation on the finest grid.

Parallel algorithm for determining motion vectors in ice floe images by matching edge features

NASA Technical Reports Server (NTRS)

Manohar, M.; Ramapriyan, H. K.; Strong, J. P.

1988-01-01

A parallel algorithm is described to determine motion vectors of ice floes using time sequences of images of the Arctic ocean obtained from the Synthetic Aperture Radar (SAR) instrument flown on-board the SEASAT spacecraft. Researchers describe a parallel algorithm which is implemented on the MPP for locating corresponding objects based on their translationally and rotationally invariant features. The algorithm first approximates the edges in the images by polygons or sets of connected straight-line segments. Each such edge structure is then reduced to a seed point. Associated with each seed point are the descriptions (lengths, orientations and sequence numbers) of the lines constituting the corresponding edge structure. A parallel matching algorithm is used to match packed arrays of such descriptions to identify corresponding seed points in the two images. The matching algorithm is designed such that fragmentation and merging of ice floes are taken into account by accepting partial matches. The technique has been demonstrated to work on synthetic test patterns and real image pairs from SEASAT in times ranging from .5 to 0.7 seconds for 128 x 128 images.

Foliage penetration by using 4-D point cloud data

NASA Astrophysics Data System (ADS)

Méndez Rodríguez, Javier; Sánchez-Reyes, Pedro J.; Cruz-Rivera, Sol M.

2012-06-01

Real-time awareness and rapid target detection are critical for the success of military missions. New technologies capable of detecting targets concealed in forest areas are needed in order to track and identify possible threats. Currently, LAser Detection And Ranging (LADAR) systems are capable of detecting obscured targets; however, tracking capabilities are severely limited. Now, a new LADAR-derived technology is under development to generate 4-D datasets (3-D video in a point cloud format). As such, there is a new need for algorithms that are able to process data in real time. We propose an algorithm capable of removing vegetation and other objects that may obfuscate concealed targets in a real 3-D environment. The algorithm is based on wavelets and can be used as a pre-processing step in a target recognition algorithm. Applications of the algorithm in a real-time 3-D system could help make pilots aware of high risk hidden targets such as tanks and weapons, among others. We will be using a 4-D simulated point cloud data to demonstrate the capabilities of our algorithm.

Integration of Libration Point Orbit Dynamics into a Universal 3-D Autonomous Formation Flying Algorithm

NASA Technical Reports Server (NTRS)

Folta, David; Bauer, Frank H. (Technical Monitor)

2001-01-01

The autonomous formation flying control algorithm developed by the Goddard Space Flight Center (GSFC) for the New Millennium Program (NMP) Earth Observing-1 (EO-1) mission is investigated for applicability to libration point orbit formations. In the EO-1 formation-flying algorithm, control is accomplished via linearization about a reference transfer orbit with a state transition matrix (STM) computed from state inputs. The effect of libration point orbit dynamics on this algorithm architecture is explored via computation of STMs using the flight proven code, a monodromy matrix developed from a N-body model of a libration orbit, and a standard STM developed from the gravitational and coriolis effects as measured at the libration point. A comparison of formation flying Delta-Vs calculated from these methods is made to a standard linear quadratic regulator (LQR) method. The universal 3-D approach is optimal in the sense that it can be accommodated as an open-loop or closed-loop control using only state information.

An efficient reliability algorithm for locating design point using the combination of importance sampling concepts and response surface method

NASA Astrophysics Data System (ADS)

Shayanfar, Mohsen Ali; Barkhordari, Mohammad Ali; Roudak, Mohammad Amin

2017-06-01

Monte Carlo simulation (MCS) is a useful tool for computation of probability of failure in reliability analysis. However, the large number of required random samples makes it time-consuming. Response surface method (RSM) is another common method in reliability analysis. Although RSM is widely used for its simplicity, it cannot be trusted in highly nonlinear problems due to its linear nature. In this paper, a new efficient algorithm, employing the combination of importance sampling, as a class of MCS, and RSM is proposed. In the proposed algorithm, analysis starts with importance sampling concepts and using a represented two-step updating rule of design point. This part finishes after a small number of samples are generated. Then RSM starts to work using Bucher experimental design, with the last design point and a represented effective length as the center point and radius of Bucher's approach, respectively. Through illustrative numerical examples, simplicity and efficiency of the proposed algorithm and the effectiveness of the represented rules are shown.

Constrained optimization by radial basis function interpolation for high-dimensional expensive black-box problems with infeasible initial points

NASA Astrophysics Data System (ADS)

Regis, Rommel G.

2014-02-01

This article develops two new algorithms for constrained expensive black-box optimization that use radial basis function surrogates for the objective and constraint functions. These algorithms are called COBRA and Extended ConstrLMSRBF and, unlike previous surrogate-based approaches, they can be used for high-dimensional problems where all initial points are infeasible. They both follow a two-phase approach where the first phase finds a feasible point while the second phase improves this feasible point. COBRA and Extended ConstrLMSRBF are compared with alternative methods on 20 test problems and on the MOPTA08 benchmark automotive problem (D.R. Jones, Presented at MOPTA 2008), which has 124 decision variables and 68 black-box inequality constraints. The alternatives include a sequential penalty derivative-free algorithm, a direct search method with kriging surrogates, and two multistart methods. Numerical results show that COBRA algorithms are competitive with Extended ConstrLMSRBF and they generally outperform the alternatives on the MOPTA08 problem and most of the test problems.

Efficient Delaunay Tessellation through K-D Tree Decomposition

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morozov, Dmitriy; Peterka, Tom

Delaunay tessellations are fundamental data structures in computational geometry. They are important in data analysis, where they can represent the geometry of a point set or approximate its density. The algorithms for computing these tessellations at scale perform poorly when the input data is unbalanced. We investigate the use of k-d trees to evenly distribute points among processes and compare two strategies for picking split points between domain regions. Because resulting point distributions no longer satisfy the assumptions of existing parallel Delaunay algorithms, we develop a new parallel algorithm that adapts to its input and prove its correctness. We evaluatemore » the new algorithm using two late-stage cosmology datasets. The new running times are up to 50 times faster using k-d tree compared with regular grid decomposition. Moreover, in the unbalanced data sets, decomposing the domain into a k-d tree is up to five times faster than decomposing it into a regular grid.« less

Does the Level of Graphical Detail of a Virtual Handball Thrower Influence a Goalkeeper’s Motor Response?

PubMed Central

Vignais, Nicolas; Bideau, Benoit; Craig, Cathy; Brault, Sébastien; Multon, Franck; Delamarche, Paul; Kulpa, Richard

2009-01-01

The authors investigated how different levels of detail (LODs) of a virtual throwing action can influence a handball goalkeeper’s motor response. Goalkeepers attempted to stop a virtual ball emanating from five different graphical LODs of the same virtual throwing action. The five levels of detail were: a textured reference level (L0), a non-textured level (L1), a wire-frame level (L2), a point-light-display (PLD) representation (L3) and a PLD level with reduced ball size (L4). For each motor response made by the goalkeeper we measured and analyzed the time to respond (TTR), the percentage of successful motor responses, the distance between the ball and the closest limb (when the stopping motion was incorrect) and the kinematics of the motion. Results showed that TTR, percentage of successful motor responses and distance with the closest limb were not significantly different for any of the five different graphical LODs. However the kinematics of the motion revealed that the trajectory of the stopping limb was significantly different when comparing the L1 and L3 levels, and when comparing the L1 and L4 levels. These differences in the control of the goalkeeper’s actions suggests that the different level of information available in the PLD representations (L3 and L4) are causing the goalkeeper to adopt different motor strategies to control the approach of their limb to stop the ball. Key points Virtual reality technology can be used to analyze sport performance because it enables standardization and reproduction of sport situations. Defining a minimal graphical level of detail of a virtual action could decrease the real time calculation of a virtual reality system. A Point Light Display graphical representation of a virtual throwing motion seems to influence the regulation of action of real handball goalkeepers. PMID:24149589

N leaching to groundwater from dairy production involving grazing over the winter on a clay-loam soil.

PubMed

Necpalova, M; Fenton, O; Casey, I; Humphreys, J

2012-08-15

This study investigated concentrations of various N species in shallow groundwater (<2.2m below ground level) and N losses from dairy production involving grazing over the winter period on a clay loam soil with a high natural attenuation capacity in southern Ireland (52°51'N, 08°21'W) over a 2-year period. A dense network of shallow groundwater piezometers was installed to determine groundwater flow direction and N spatial and temporal variation. Estimated vertical travel times through the unsaturated zone (<0.5 yr, time lag) allowed the correlation of management with groundwater N within a short space of time. There was a two way interaction of the system and sampling date (P<0.05) on concentrations of DON, oxidised N and NO(3)(-)-N. In contrast, concentrations of NH(4)(+)-N and NO(2)(-)-N were unaffected by the dairy system. Grazing over the winter had no effect on N losses to groundwater. Mean concentrations of DON, NH(4)(+)-N, NO(2)(-)-N and NO(3)(-)-N were 2.16, 0.35, 0.01 and 0.37 mg L(-1) respectively. Soil attenuation processes such as denitrification and DNRA resulted in increased NH(4)(+)-N levels. For this reason, DON and NH(4)(+)-N represented the highest proportion of N losses from the site. Some of the spatial and temporal variation of N concentrations was explained by correlations with selected chemical and hydro-topographical parameters (NO(3)(-)-N/Cl(-) ratio, distance of the sampling point from the closest receptor, watertable depth, depth of sampling piezometer, DOC concentration). A high explanatory power of NO(3)(-)-N/Cl(-) ratio and the distance of the sampling point from the closest receptor indicated the influence of point sources and groundwater-surface water interactions. Copyright © 2012 Elsevier B.V. All rights reserved.

Curve Set Feature-Based Robust and Fast Pose Estimation Algorithm

PubMed Central

Hashimoto, Koichi

2017-01-01

Bin picking refers to picking the randomly-piled objects from a bin for industrial production purposes, and robotic bin picking is always used in automated assembly lines. In order to achieve a higher productivity, a fast and robust pose estimation algorithm is necessary to recognize and localize the randomly-piled parts. This paper proposes a pose estimation algorithm for bin picking tasks using point cloud data. A novel descriptor Curve Set Feature (CSF) is proposed to describe a point by the surface fluctuation around this point and is also capable of evaluating poses. The Rotation Match Feature (RMF) is proposed to match CSF efficiently. The matching process combines the idea of the matching in 2D space of origin Point Pair Feature (PPF) algorithm with nearest neighbor search. A voxel-based pose verification method is introduced to evaluate the poses and proved to be more than 30-times faster than the kd-tree-based verification method. Our algorithm is evaluated against a large number of synthetic and real scenes and proven to be robust to noise, able to detect metal parts, more accurately and more than 10-times faster than PPF and Oriented, Unique and Repeatable (OUR)-Clustered Viewpoint Feature Histogram (CVFH). PMID:28771216

Algorithms used in the Airborne Lidar Processing System (ALPS)

USGS Publications Warehouse

Nagle, David B.; Wright, C. Wayne

2016-05-23

The Airborne Lidar Processing System (ALPS) analyzes Experimental Advanced Airborne Research Lidar (EAARL) data—digitized laser-return waveforms, position, and attitude data—to derive point clouds of target surfaces. A full-waveform airborne lidar system, the EAARL seamlessly and simultaneously collects mixed environment data, including submerged, sub-aerial bare earth, and vegetation-covered topographies.ALPS uses three waveform target-detection algorithms to determine target positions within a given waveform: centroid analysis, leading edge detection, and bottom detection using water-column backscatter modeling. The centroid analysis algorithm detects opaque hard surfaces. The leading edge algorithm detects topography beneath vegetation and shallow, submerged topography. The bottom detection algorithm uses water-column backscatter modeling for deeper submerged topography in turbid water.The report describes slant range calculations and explains how ALPS uses laser range and orientation measurements to project measurement points into the Universal Transverse Mercator coordinate system. Parameters used for coordinate transformations in ALPS are described, as are Interactive Data Language-based methods for gridding EAARL point cloud data to derive digital elevation models. Noise reduction in point clouds through use of a random consensus filter is explained, and detailed pseudocode, mathematical equations, and Yorick source code accompany the report.

Automatic detection of zebra crossings from mobile LiDAR data

NASA Astrophysics Data System (ADS)

Riveiro, B.; González-Jorge, H.; Martínez-Sánchez, J.; Díaz-Vilariño, L.; Arias, P.

2015-07-01

An algorithm for the automatic detection of zebra crossings from mobile LiDAR data is developed and tested to be applied for road management purposes. The algorithm consists of several subsequent processes starting with road segmentation by performing a curvature analysis for each laser cycle. Then, intensity images are created from the point cloud using rasterization techniques, in order to detect zebra crossing using the Standard Hough Transform and logical constrains. To optimize the results, image processing algorithms are applied to the intensity images from the point cloud. These algorithms include binarization to separate the painting area from the rest of the pavement, median filtering to avoid noisy points, and mathematical morphology to fill the gaps between the pixels in the border of white marks. Once the road marking is detected, its position is calculated. This information is valuable for inventorying purposes of road managers that use Geographic Information Systems. The performance of the algorithm has been evaluated over several mobile LiDAR strips accounting for a total of 30 zebra crossings. That test showed a completeness of 83%. Non-detected marks mainly come from painting deterioration of the zebra crossing or by occlusions in the point cloud produced by other vehicles on the road.

High-precision positioning system of four-quadrant detector based on the database query

NASA Astrophysics Data System (ADS)

Zhang, Xin; Deng, Xiao-guo; Su, Xiu-qin; Zheng, Xiao-qiang

2015-02-01

The fine pointing mechanism of the Acquisition, Pointing and Tracking (APT) system in free space laser communication usually use four-quadrant detector (QD) to point and track the laser beam accurately. The positioning precision of QD is one of the key factors of the pointing accuracy to APT system. A positioning system is designed based on FPGA and DSP in this paper, which can realize the sampling of AD, the positioning algorithm and the control of the fast swing mirror. We analyze the positioning error of facular center calculated by universal algorithm when the facular energy obeys Gauss distribution from the working principle of QD. A database is built by calculation and simulation with MatLab software, in which the facular center calculated by universal algorithm is corresponded with the facular center of Gaussian beam, and the database is stored in two pieces of E2PROM as the external memory of DSP. The facular center of Gaussian beam is inquiry in the database on the basis of the facular center calculated by universal algorithm in DSP. The experiment results show that the positioning accuracy of the high-precision positioning system is much better than the positioning accuracy calculated by universal algorithm.

Scaled Runge-Kutta algorithms for handling dense output

NASA Technical Reports Server (NTRS)

Horn, M. K.

1981-01-01

Low order Runge-Kutta algorithms are developed which determine the solution of a system of ordinary differential equations at any point within a given integration step, as well as at the end of each step. The scaled Runge-Kutta methods are designed to be used with existing Runge-Kutta formulas, using the derivative evaluations of these defining algorithms as the core of the system. For a slight increase in computing time, the solution may be generated within the integration step, improving the efficiency of the Runge-Kutta algorithms, since the step length need no longer be severely reduced to coincide with the desired output point. Scaled Runge-Kutta algorithms are presented for orders 3 through 5, along with accuracy comparisons between the defining algorithms and their scaled versions for a test problem.

SU-E-J-184: Stereo Time-Of-Flight System for Patient Positioning in Radiotherapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wentz, T; Gilles, M; Visvikis, D

2014-06-01

Purpose: The objective of this work is to test the advantage of using the surface acquired by two stereo Time-of-Flight (ToF) cameras in comparison of the use of one camera only for patient positioning in radiotherapy. Methods: A first step consisted on validating the use of a stereo ToFcamera system for positioning management of a phantom mounted on a linear actuator producing very accurate and repeatable displacements. The displacements between two positions were computed from the surface point cloud acquired by either one or two cameras thanks to an iterative closest point algorithm. A second step consisted on determining themore » displacements on patient datasets, with two cameras fixed on the ceiling of the radiotherapy room. Measurements were done first on voluntary subject with fixed translations, then on patients during the normal clinical radiotherapy routine. Results: The phantom tests showed a major improvement in lateral and depth axis for motions above 10 mm when using the stereo-system instead of a unique camera (Fig1). Patient measurements validate these results with a mean real and measured displacement differences in the depth direction of 1.5 mm when using one camera and 0.9 mm when using two cameras (Fig2). In the lateral direction, a mean difference of 1 mm was obtained by the stereo-system instead of 3.2 mm. Along the longitudinal axis mean differences of 5.4 and 3.4 mm with one and two cameras respectively were noticed but these measurements were still inaccurate and globally underestimated in this direction as in the literature. Similar results were also found for patient subjects with a mean difference reduction of 35%, 7%, and 25% for the lateral, depth, and longitudinal displacement with the stereo-system. Conclusion: The addition of a second ToF-camera to determine patient displacement strongly improved patient repositioning results and therefore insures better radiation delivery.« less

A Flexible VHDL Floating Point Module for Control Algorithm Implementation in Space Applications

NASA Astrophysics Data System (ADS)

Padierna, A.; Nicoleau, C.; Sanchez, J.; Hidalgo, I.; Elvira, S.

2012-08-01

The implementation of control loops for space applications is an area with great potential. However, the characteristics of this kind of systems, such as its wide dynamic range of numeric values, make inadequate the use of fixed-point algorithms.However, because the generic chips available for the treatment of floating point data are, in general, not qualified to operate in space environments and the possibility of using an IP module in a FPGA/ASIC qualified for space is not viable due to the low amount of logic cells available for these type of devices, it is necessary to find a viable alternative.For these reasons, in this paper a VHDL Floating Point Module is presented. This proposal allows the design and execution of floating point algorithms with acceptable occupancy to be implemented in FPGAs/ASICs qualified for space environments.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Martin, Shawn

This code consists of Matlab routines which enable the user to perform non-manifold surface reconstruction via triangulation from high dimensional point cloud data. The code was based on an algorithm originally developed in [Freedman (2007), An Incremental Algorithm for Reconstruction of Surfaces of Arbitrary Codimension Computational Geometry: Theory and Applications, 36(2):106-116]. This algorithm has been modified to accommodate non-manifold surface according to the work described in [S. Martin and J.-P. Watson (2009), Non-Manifold Surface Reconstruction from High Dimensional Point Cloud DataSAND #5272610].The motivation for developing the code was a point cloud describing the molecular conformation space of cyclooctane (C8H16). Cyclooctanemore » conformation space was represented using points in 72 dimensions (3 coordinates for each molecule). The code was used to triangulate the point cloud and thereby study the geometry and topology of cyclooctane. Futures applications are envisioned for peptides and proteins.« less

Outdoor Illegal Construction Identification Algorithm Based on 3D Point Cloud Segmentation

NASA Astrophysics Data System (ADS)

An, Lu; Guo, Baolong

2018-03-01

Recently, various illegal constructions occur significantly in our surroundings, which seriously restrict the orderly development of urban modernization. The 3D point cloud data technology is used to identify the illegal buildings, which could address the problem above effectively. This paper proposes an outdoor illegal construction identification algorithm based on 3D point cloud segmentation. Initially, in order to save memory space and reduce processing time, a lossless point cloud compression method based on minimum spanning tree is proposed. Then, a ground point removing method based on the multi-scale filtering is introduced to increase accuracy. Finally, building clusters on the ground can be obtained using a region growing method, as a result, the illegal construction can be marked. The effectiveness of the proposed algorithm is verified using a publicly data set collected from the International Society for Photogrammetry and Remote Sensing (ISPRS).

Nearby Search Indekos Based Android Using A Star (A*) Algorithm

NASA Astrophysics Data System (ADS)

Siregar, B.; Nababan, EB; Rumahorbo, JA; Andayani, U.; Fahmi, F.

2018-03-01

Indekos or rented room is a temporary residence for months or years. Society of academicians who come from out of town need a temporary residence, such as Indekos or rented room during their education, teaching, or duties. They are often found difficulty in finding a Indekos because lack of information about the Indekos. Besides, new society of academicians don’t recognize the areas around the campus and desire the shortest path from Indekos to get to the campus. The problem can be solved by implementing A Star (A*) algorithm. This algorithm is one of the shortest path algorithm to a finding shortest path from campus to the Indekos application, where the faculties in the campus as the starting point of the finding. Determination of the starting point used in this study aims to allow students to determine the starting point in finding the Indekos. The mobile based application facilitates the finding anytime and anywhere. Based on the experimental results, A* algorithm can find the shortest path with 86,67% accuracy.

Effect of deformable registration on the dose calculated in radiation therapy planning CT scans of lung cancer patients

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cunliffe, Alexandra R.; Armato, Samuel G.; White, Bradley

2015-01-15

Purpose: To characterize the effects of deformable image registration of serial computed tomography (CT) scans on the radiation dose calculated from a treatment planning scan. Methods: Eighteen patients who received curative doses (≥60 Gy, 2 Gy/fraction) of photon radiation therapy for lung cancer treatment were retrospectively identified. For each patient, a diagnostic-quality pretherapy (4–75 days) CT scan and a treatment planning scan with an associated dose map were collected. To establish correspondence between scan pairs, a researcher manually identified anatomically corresponding landmark point pairs between the two scans. Pretherapy scans then were coregistered with planning scans (and associated dose maps)more » using the demons deformable registration algorithm and two variants of the Fraunhofer MEVIS algorithm (“Fast” and “EMPIRE10”). Landmark points in each pretherapy scan were automatically mapped to the planning scan using the displacement vector field output from each of the three algorithms. The Euclidean distance between manually and automatically mapped landmark points (d{sub E}) and the absolute difference in planned dose (|ΔD|) were calculated. Using regression modeling, |ΔD| was modeled as a function of d{sub E}, dose (D), dose standard deviation (SD{sub dose}) in an eight-pixel neighborhood, and the registration algorithm used. Results: Over 1400 landmark point pairs were identified, with 58–93 (median: 84) points identified per patient. Average |ΔD| across patients was 3.5 Gy (range: 0.9–10.6 Gy). Registration accuracy was highest using the Fraunhofer MEVIS EMPIRE10 algorithm, with an average d{sub E} across patients of 5.2 mm (compared with >7 mm for the other two algorithms). Consequently, average |ΔD| was also lowest using the Fraunhofer MEVIS EMPIRE10 algorithm. |ΔD| increased significantly as a function of d{sub E} (0.42 Gy/mm), D (0.05 Gy/Gy), SD{sub dose} (1.4 Gy/Gy), and the algorithm used (≤1 Gy). Conclusions: An average error of <4 Gy in radiation dose was introduced when points were mapped between CT scan pairs using deformable registration, with the majority of points yielding dose-mapping error <2 Gy (approximately 3% of the total prescribed dose). Registration accuracy was highest using the Fraunhofer MEVIS EMPIRE10 algorithm, resulting in the smallest errors in mapped dose. Dose differences following registration increased significantly with increasing spatial registration errors, dose, and dose gradient (i.e., SD{sub dose}). This model provides a measurement of the uncertainty in the radiation dose when points are mapped between serial CT scans through deformable registration.« less

An absolute interval scale of order for point patterns

PubMed Central

Protonotarios, Emmanouil D.; Baum, Buzz; Johnston, Alan; Hunter, Ginger L.; Griffin, Lewis D.

2014-01-01

Human observers readily make judgements about the degree of order in planar arrangements of points (point patterns). Here, based on pairwise ranking of 20 point patterns by degree of order, we have been able to show that judgements of order are highly consistent across individuals and the dimension of order has an interval scale structure spanning roughly 10 just-notable-differences (jnd) between disorder and order. We describe a geometric algorithm that estimates order to an accuracy of half a jnd by quantifying the variability of the size and shape of spaces between points. The algorithm is 70% more accurate than the best available measures. By anchoring the output of the algorithm so that Poisson point processes score on average 0, perfect lattices score 10 and unit steps correspond closely to jnds, we construct an absolute interval scale of order. We demonstrate its utility in biology by using this scale to quantify order during the development of the pattern of bristles on the dorsal thorax of the fruit fly. PMID:25079866

An analysis of neural receptive field plasticity by point process adaptive filtering

PubMed Central

Brown, Emery N.; Nguyen, David P.; Frank, Loren M.; Wilson, Matthew A.; Solo, Victor

2001-01-01

Neural receptive fields are plastic: with experience, neurons in many brain regions change their spiking responses to relevant stimuli. Analysis of receptive field plasticity from experimental measurements is crucial for understanding how neural systems adapt their representations of relevant biological information. Current analysis methods using histogram estimates of spike rate functions in nonoverlapping temporal windows do not track the evolution of receptive field plasticity on a fine time scale. Adaptive signal processing is an established engineering paradigm for estimating time-varying system parameters from experimental measurements. We present an adaptive filter algorithm for tracking neural receptive field plasticity based on point process models of spike train activity. We derive an instantaneous steepest descent algorithm by using as the criterion function the instantaneous log likelihood of a point process spike train model. We apply the point process adaptive filter algorithm in a study of spatial (place) receptive field properties of simulated and actual spike train data from rat CA1 hippocampal neurons. A stability analysis of the algorithm is sketched in the Appendix. The adaptive algorithm can update the place field parameter estimates on a millisecond time scale. It reliably tracked the migration, changes in scale, and changes in maximum firing rate characteristic of hippocampal place fields in a rat running on a linear track. Point process adaptive filtering offers an analytic method for studying the dynamics of neural receptive fields. PMID:11593043

The small low SNR target tracking using sparse representation information

NASA Astrophysics Data System (ADS)

Yin, Lifan; Zhang, Yiqun; Wang, Shuo; Sun, Chenggang

2017-11-01

Tracking small targets, such as missile warheads, from a remote distance is a difficult task since the targets are "points" which are similar to sensor's noise points. As a result, traditional tracking algorithms only use the information contained in point measurement, such as the position information and intensity information, as characteristics to identify targets from noise points. But in fact, as a result of the diffusion of photon, any small target is not a point in the focal plane array and it occupies an area which is larger than one sensor cell. So, if we can take the geometry characteristic into account as a new dimension of information, it will be of helpful in distinguishing targets from noise points. In this paper, we use a novel method named sparse representation (SR) to depict the geometry information of target intensity and define it as the SR information of target. Modeling the intensity spread and solving its SR coefficients, the SR information is represented by establishing its likelihood function. Further, the SR information likelihood is incorporated in the conventional Probability Hypothesis Density (PHD) filter algorithm with point measurement. To illustrate the different performances of algorithm with or without the SR information, the detection capability and estimation error have been compared through simulation. Results demonstrate the proposed method has higher estimation accuracy and probability of detecting target than the conventional algorithm without the SR information.

Stride search: A general algorithm for storm detection in high resolution climate data

DOE PAGES

Bosler, Peter Andrew; Roesler, Erika Louise; Taylor, Mark A.; ...

2015-09-08

This article discusses the problem of identifying extreme climate events such as intense storms within large climate data sets. The basic storm detection algorithm is reviewed, which splits the problem into two parts: a spatial search followed by a temporal correlation problem. Two specific implementations of the spatial search algorithm are compared. The commonly used grid point search algorithm is reviewed, and a new algorithm called Stride Search is introduced. Stride Search is designed to work at all latitudes, while grid point searches may fail in polar regions. Results from the two algorithms are compared for the application of tropicalmore » cyclone detection, and shown to produce similar results for the same set of storm identification criteria. The time required for both algorithms to search the same data set is compared. Furthermore, Stride Search's ability to search extreme latitudes is demonstrated for the case of polar low detection.« less

Accurate Grid-based Clustering Algorithm with Diagonal Grid Searching and Merging

NASA Astrophysics Data System (ADS)

Liu, Feng; Ye, Chengcheng; Zhu, Erzhou

2017-09-01

Due to the advent of big data, data mining technology has attracted more and more attentions. As an important data analysis method, grid clustering algorithm is fast but with relatively lower accuracy. This paper presents an improved clustering algorithm combined with grid and density parameters. The algorithm first divides the data space into the valid meshes and invalid meshes through grid parameters. Secondly, from the starting point located at the first point of the diagonal of the grids, the algorithm takes the direction of “horizontal right, vertical down” to merge the valid meshes. Furthermore, by the boundary grid processing, the invalid grids are searched and merged when the adjacent left, above, and diagonal-direction grids are all the valid ones. By doing this, the accuracy of clustering is improved. The experimental results have shown that the proposed algorithm is accuracy and relatively faster when compared with some popularly used algorithms.

Research on sparse feature matching of improved RANSAC algorithm

NASA Astrophysics Data System (ADS)

Kong, Xiangsi; Zhao, Xian

2018-04-01

In this paper, a sparse feature matching method based on modified RANSAC algorithm is proposed to improve the precision and speed. Firstly, the feature points of the images are extracted using the SIFT algorithm. Then, the image pair is matched roughly by generating SIFT feature descriptor. At last, the precision of image matching is optimized by the modified RANSAC algorithm,. The RANSAC algorithm is improved from three aspects: instead of the homography matrix, this paper uses the fundamental matrix generated by the 8 point algorithm as the model; the sample is selected by a random block selecting method, which ensures the uniform distribution and the accuracy; adds sequential probability ratio test(SPRT) on the basis of standard RANSAC, which cut down the overall running time of the algorithm. The experimental results show that this method can not only get higher matching accuracy, but also greatly reduce the computation and improve the matching speed.

Determining Hypocentral Parameters for Local Earthquakes in 1-D Using a Genetic Algorithm and Two-point ray tracing

NASA Astrophysics Data System (ADS)

Kim, W.; Hahm, I.; Ahn, S. J.; Lim, D. H.

2005-12-01

This paper introduces a powerful method for determining hypocentral parameters for local earthquakes in 1-D using a genetic algorithm (GA) and two-point ray tracing. Using existing algorithms to determine hypocentral parameters is difficult, because these parameters can vary based on initial velocity models. We developed a new method to solve this problem by applying a GA to an existing algorithm, HYPO-71 (Lee and Larh, 1975). The original HYPO-71 algorithm was modified by applying two-point ray tracing and a weighting factor with respect to the takeoff angle at the source to reduce errors from the ray path and hypocenter depth. Artificial data, without error, were generated by computer using two-point ray tracing in a true model, in which velocity structure and hypocentral parameters were known. The accuracy of the calculated results was easily determined by comparing calculated and actual values. We examined the accuracy of this method for several cases by changing the true and modeled layer numbers and thicknesses. The computational results show that this method determines nearly exact hypocentral parameters without depending on initial velocity models. Furthermore, accurate and nearly unique hypocentral parameters were obtained, although the number of modeled layers and thicknesses differed from those in the true model. Therefore, this method can be a useful tool for determining hypocentral parameters in regions where reliable local velocity values are unknown. This method also provides the basic a priori information for 3-D studies. KEY -WORDS: hypocentral parameters, genetic algorithm (GA), two-point ray tracing

The Pioneer 11 1976 solar conjunction: A unique opportunity to explore the heliographic latitudinal variations of the solar corona

NASA Technical Reports Server (NTRS)

Berman, A. L.; Wackley, J. A.; Rockwell, S. T.; Yee, J. G.

1976-01-01

The 1976 Pioneer II Solar Conjunction provided the opportunity to accumulate a substantial quantity of doppler noise data over a dynamic range of signal closest approach point heliographic latitudes. The observed doppler noise data were fit to the doppler noise model ISED, and the deviations of the observed doppler noise data from the model were used to construct a (multiplicative) function to describe the effect of heliographic latitude. This expression was then incorporated into the ISED model to produce a new doppler noise model-ISEDB.

Map of Moessbauer Placement

NASA Technical Reports Server (NTRS)

2004-01-01

This elevation map of a soil target called 'Peak' was created from images taken by the microscopic imager located on the Mars Exploration Rover Spirit's instrument deployment device or 'arm.' The image reveals the various high and low points of this spot of soil after the Moessbauer spectrometer, another instrument on the rover's arm, was gently placed down on it. The blue areas are farthest away from the instrument; the red areas are closest. The variation in distance between blue and red areas is only 2 millimeters, or .08 of an inch. The images were acquired on sol 39 (February 11, 2004).

Configuration interaction of hydropathic waves enables ubiquitin functionality

NASA Astrophysics Data System (ADS)

Allan, Douglas C.; Phillips, J. C.

2018-02-01

Ubiquitin, discovered less than 50 years ago, tags thousands of diseased proteins for destruction. It is small (only 76 amino acids), and is found unchanged in mammals, birds, fish and even worms. Key features of its functionality are identified here using critical point thermodynamic scaling theory. These include Fano interference between first- and second-order elements of correlated long-range globular surface shape transitions. Comparison with its closest relative, 76 amino acid Nedd8, shows that the latter lacks these features. A cracked elastic network model is proposed for the common target shared by many diseased proteins.

On the assessment of spatial resolution of PET systems with iterative image reconstruction

NASA Astrophysics Data System (ADS)

Gong, Kuang; Cherry, Simon R.; Qi, Jinyi

2016-03-01

Spatial resolution is an important metric for performance characterization in PET systems. Measuring spatial resolution is straightforward with a linear reconstruction algorithm, such as filtered backprojection, and can be performed by reconstructing a point source scan and calculating the full-width-at-half-maximum (FWHM) along the principal directions. With the widespread adoption of iterative reconstruction methods, it is desirable to quantify the spatial resolution using an iterative reconstruction algorithm. However, the task can be difficult because the reconstruction algorithms are nonlinear and the non-negativity constraint can artificially enhance the apparent spatial resolution if a point source image is reconstructed without any background. Thus, it was recommended that a background should be added to the point source data before reconstruction for resolution measurement. However, there has been no detailed study on the effect of the point source contrast on the measured spatial resolution. Here we use point source scans from a preclinical PET scanner to investigate the relationship between measured spatial resolution and the point source contrast. We also evaluate whether the reconstruction of an isolated point source is predictive of the ability of the system to resolve two adjacent point sources. Our results indicate that when the point source contrast is below a certain threshold, the measured FWHM remains stable. Once the contrast is above the threshold, the measured FWHM monotonically decreases with increasing point source contrast. In addition, the measured FWHM also monotonically decreases with iteration number for maximum likelihood estimate. Therefore, when measuring system resolution with an iterative reconstruction algorithm, we recommend using a low-contrast point source and a fixed number of iterations.

Block Iterative Methods for Elliptic and Parabolic Difference Equations.

DTIC Science & Technology

1981-09-01

S V PARTER, M STEUERWALT N0OO14-7A-C-0341 UNCLASSIFIED CSTR -447 NL ENN.EEEEEN LLf SCOMPUTER SCIENCES c~DEPARTMENT SUniversity of Wisconsin- SMadison...suggests that iterative algorithms that solve for several points at once will converge more rapidly than point algorithms . The Gaussian elimination... algorithm is seen in this light to converge in one step. Frankel [14], Young [34], Arms, Gates, and Zondek [1], and Varga [32], using the algebraic structure

Damage diagnosis algorithm using a sequential change point detection method with an unknown distribution for damage

NASA Astrophysics Data System (ADS)

Noh, Hae Young; Rajagopal, Ram; Kiremidjian, Anne S.

2012-04-01

This paper introduces a damage diagnosis algorithm for civil structures that uses a sequential change point detection method for the cases where the post-damage feature distribution is unknown a priori. This algorithm extracts features from structural vibration data using time-series analysis and then declares damage using the change point detection method. The change point detection method asymptotically minimizes detection delay for a given false alarm rate. The conventional method uses the known pre- and post-damage feature distributions to perform a sequential hypothesis test. In practice, however, the post-damage distribution is unlikely to be known a priori. Therefore, our algorithm estimates and updates this distribution as data are collected using the maximum likelihood and the Bayesian methods. We also applied an approximate method to reduce the computation load and memory requirement associated with the estimation. The algorithm is validated using multiple sets of simulated data and a set of experimental data collected from a four-story steel special moment-resisting frame. Our algorithm was able to estimate the post-damage distribution consistently and resulted in detection delays only a few seconds longer than the delays from the conventional method that assumes we know the post-damage feature distribution. We confirmed that the Bayesian method is particularly efficient in declaring damage with minimal memory requirement, but the maximum likelihood method provides an insightful heuristic approach.

A Robust Method for Ego-Motion Estimation in Urban Environment Using Stereo Camera.

PubMed

Ci, Wenyan; Huang, Yingping

2016-10-17

Visual odometry estimates the ego-motion of an agent (e.g., vehicle and robot) using image information and is a key component for autonomous vehicles and robotics. This paper proposes a robust and precise method for estimating the 6-DoF ego-motion, using a stereo rig with optical flow analysis. An objective function fitted with a set of feature points is created by establishing the mathematical relationship between optical flow, depth and camera ego-motion parameters through the camera's 3-dimensional motion and planar imaging model. Accordingly, the six motion parameters are computed by minimizing the objective function, using the iterative Levenberg-Marquard method. One of key points for visual odometry is that the feature points selected for the computation should contain inliers as much as possible. In this work, the feature points and their optical flows are initially detected by using the Kanade-Lucas-Tomasi (KLT) algorithm. A circle matching is followed to remove the outliers caused by the mismatching of the KLT algorithm. A space position constraint is imposed to filter out the moving points from the point set detected by the KLT algorithm. The Random Sample Consensus (RANSAC) algorithm is employed to further refine the feature point set, i.e., to eliminate the effects of outliers. The remaining points are tracked to estimate the ego-motion parameters in the subsequent frames. The approach presented here is tested on real traffic videos and the results prove the robustness and precision of the method.

A Robust Method for Ego-Motion Estimation in Urban Environment Using Stereo Camera

PubMed Central

Ci, Wenyan; Huang, Yingping

2016-01-01

Visual odometry estimates the ego-motion of an agent (e.g., vehicle and robot) using image information and is a key component for autonomous vehicles and robotics. This paper proposes a robust and precise method for estimating the 6-DoF ego-motion, using a stereo rig with optical flow analysis. An objective function fitted with a set of feature points is created by establishing the mathematical relationship between optical flow, depth and camera ego-motion parameters through the camera’s 3-dimensional motion and planar imaging model. Accordingly, the six motion parameters are computed by minimizing the objective function, using the iterative Levenberg–Marquard method. One of key points for visual odometry is that the feature points selected for the computation should contain inliers as much as possible. In this work, the feature points and their optical flows are initially detected by using the Kanade–Lucas–Tomasi (KLT) algorithm. A circle matching is followed to remove the outliers caused by the mismatching of the KLT algorithm. A space position constraint is imposed to filter out the moving points from the point set detected by the KLT algorithm. The Random Sample Consensus (RANSAC) algorithm is employed to further refine the feature point set, i.e., to eliminate the effects of outliers. The remaining points are tracked to estimate the ego-motion parameters in the subsequent frames. The approach presented here is tested on real traffic videos and the results prove the robustness and precision of the method. PMID:27763508

Dynamic Leading-Edge Stagnation Point Determination Utilizing an Array of Hot-Film Sensors with Unknown Calibration

NASA Technical Reports Server (NTRS)

Ellsworth, Joel C.

2017-01-01

During flight-testing of the National Aeronautics and Space Administration (NASA) Gulfstream III (G-III) airplane (Gulfstream Aerospace Corporation, Savannah, Georgia) SubsoniC Research Aircraft Testbed (SCRAT) between March 2013 and April 2015 it became evident that the sensor array used for stagnation point detection was not functioning as expected. The stagnation point detection system is a self calibrating hot-film array; the calibration was unknown and varied between flights, however, the channel with the lowest power consumption was expected to correspond with the point of least surface shear. While individual channels showed the expected behavior for the hot-film sensors, more often than not the lowest power consumption occurred at a single sensor (despite in-flight maneuvering) in the array located far from the expected stagnation point. An algorithm was developed to process the available system output and determine the stagnation point location. After multiple updates and refinements, the final algorithm was not sensitive to the failure of a single sensor in the array, but adjacent failures beneath the stagnation point crippled the algorithm.

Knee point search using cascading top-k sorting with minimized time complexity.

PubMed

Wang, Zheng; Tseng, Shian-Shyong

2013-01-01

Anomaly detection systems and many other applications are frequently confronted with the problem of finding the largest knee point in the sorted curve for a set of unsorted points. This paper proposes an efficient knee point search algorithm with minimized time complexity using the cascading top-k sorting when a priori probability distribution of the knee point is known. First, a top-k sort algorithm is proposed based on a quicksort variation. We divide the knee point search problem into multiple steps. And in each step an optimization problem of the selection number k is solved, where the objective function is defined as the expected time cost. Because the expected time cost in one step is dependent on that of the afterwards steps, we simplify the optimization problem by minimizing the maximum expected time cost. The posterior probability of the largest knee point distribution and the other parameters are updated before solving the optimization problem in each step. An example of source detection of DNS DoS flooding attacks is provided to illustrate the applications of the proposed algorithm.

A robust correspondence matching algorithm of ground images along the optic axis

NASA Astrophysics Data System (ADS)

Jia, Fengman; Kang, Zhizhong

2013-10-01

Facing challenges of nontraditional geometry, multiple resolutions and the same features sensed from different angles, there are more difficulties of robust correspondence matching for ground images along the optic axis. A method combining SIFT algorithm and the geometric constraint of the ratio of coordinate differences between image point and image principal point is proposed in this paper. As it can provide robust matching across a substantial range of affine distortion addition of change in 3D viewpoint and noise, we use SIFT algorithm to tackle the problem of image distortion. By analyzing the nontraditional geometry of ground image along the optic axis, this paper derivates that for one correspondence pair, the ratio of distances between image point and image principal point in an image pair should be a value not far from 1. Therefore, a geometric constraint for gross points detection is formed. The proposed approach is tested with real image data acquired by Kodak. The results show that with SIFT and the proposed geometric constraint, the robustness of correspondence matching on the ground images along the optic axis can be effectively improved, and thus prove the validity of the proposed algorithm.

Improving energy efficiency in handheld biometric applications

NASA Astrophysics Data System (ADS)

Hoyle, David C.; Gale, John W.; Schultz, Robert C.; Rakvic, Ryan N.; Ives, Robert W.

2012-06-01

With improved smartphone and tablet technology, it is becoming increasingly feasible to implement powerful biometric recognition algorithms on portable devices. Typical iris recognition algorithms, such as Ridge Energy Direction (RED), utilize two-dimensional convolution in their implementation. This paper explores the energy consumption implications of 12 different methods of implementing two-dimensional convolution on a portable device. Typically, convolution is implemented using floating point operations. If a given algorithm implemented integer convolution vice floating point convolution, it could drastically reduce the energy consumed by the processor. The 12 methods compared include 4 major categories: Integer C, Integer Java, Floating Point C, and Floating Point Java. Each major category is further divided into 3 implementations: variable size looped convolution, static size looped convolution, and unrolled looped convolution. All testing was performed using the HTC Thunderbolt with energy measured directly using a Tektronix TDS5104B Digital Phosphor oscilloscope. Results indicate that energy savings as high as 75% are possible by using Integer C versus Floating Point C. Considering the relative proportion of processing time that convolution is responsible for in a typical algorithm, the savings in energy would likely result in significantly greater time between battery charges.

Phylogenetic Analyses of Meloidogyne Small Subunit rDNA.

PubMed

De Ley, Irma Tandingan; De Ley, Paul; Vierstraete, Andy; Karssen, Gerrit; Moens, Maurice; Vanfleteren, Jacques

2002-12-01

Phylogenies were inferred from nearly complete small subunit (SSU) 18S rDNA sequences of 12 species of Meloidogyne and 4 outgroup taxa (Globodera pallida, Nacobbus abberans, Subanguina radicicola, and Zygotylenchus guevarai). Alignments were generated manually from a secondary structure model, and computationally using ClustalX and Treealign. Trees were constructed using distance, parsimony, and likelihood algorithms in PAUP* 4.0b4a. Obtained tree topologies were stable across algorithms and alignments, supporting 3 clades: clade I = [M. incognita (M. javanica, M. arenaria)]; clade II = M. duytsi and M. maritima in an unresolved trichotomy with (M. hapla, M. microtyla); and clade III = (M. exigua (M. graminicola, M. chitwoodi)). Monophyly of [(clade I, clade II) clade III] was given maximal bootstrap support (mbs). M. artiellia was always a sister taxon to this joint clade, while M. ichinohei was consistently placed with mbs as a basal taxon within the genus. Affinities with the outgroup taxa remain unclear, although G. pallida and S. radicicola were never placed as closest relatives of Meloidogyne. Our results show that SSU sequence data are useful in addressing deeper phylogeny within Meloidogyne, and that both M. ichinohei and M. artiellia are credible outgroups for phylogenetic analysis of speciations among the major species.

Finding reproducible cluster partitions for the k-means algorithm

PubMed Central

2013-01-01

K-means clustering is widely used for exploratory data analysis. While its dependence on initialisation is well-known, it is common practice to assume that the partition with lowest sum-of-squares (SSQ) total i.e. within cluster variance, is both reproducible under repeated initialisations and also the closest that k-means can provide to true structure, when applied to synthetic data. We show that this is generally the case for small numbers of clusters, but for values of k that are still of theoretical and practical interest, similar values of SSQ can correspond to markedly different cluster partitions. This paper extends stability measures previously presented in the context of finding optimal values of cluster number, into a component of a 2-d map of the local minima found by the k-means algorithm, from which not only can values of k be identified for further analysis but, more importantly, it is made clear whether the best SSQ is a suitable solution or whether obtaining a consistently good partition requires further application of the stability index. The proposed method is illustrated by application to five synthetic datasets replicating a real world breast cancer dataset with varying data density, and a large bioinformatics dataset. PMID:23369085

Finding reproducible cluster partitions for the k-means algorithm.

PubMed

Lisboa, Paulo J G; Etchells, Terence A; Jarman, Ian H; Chambers, Simon J

2013-01-01

K-means clustering is widely used for exploratory data analysis. While its dependence on initialisation is well-known, it is common practice to assume that the partition with lowest sum-of-squares (SSQ) total i.e. within cluster variance, is both reproducible under repeated initialisations and also the closest that k-means can provide to true structure, when applied to synthetic data. We show that this is generally the case for small numbers of clusters, but for values of k that are still of theoretical and practical interest, similar values of SSQ can correspond to markedly different cluster partitions. This paper extends stability measures previously presented in the context of finding optimal values of cluster number, into a component of a 2-d map of the local minima found by the k-means algorithm, from which not only can values of k be identified for further analysis but, more importantly, it is made clear whether the best SSQ is a suitable solution or whether obtaining a consistently good partition requires further application of the stability index. The proposed method is illustrated by application to five synthetic datasets replicating a real world breast cancer dataset with varying data density, and a large bioinformatics dataset.

Phylogenetic Analyses of Meloidogyne Small Subunit rDNA

PubMed Central

De Ley, Irma Tandingan; De Ley, Paul; Vierstraete, Andy; Karssen, Gerrit; Moens, Maurice; Vanfleteren, Jacques

2002-01-01

Phylogenies were inferred from nearly complete small subunit (SSU) 18S rDNA sequences of 12 species of Meloidogyne and 4 outgroup taxa (Globodera pallida, Nacobbus abberans, Subanguina radicicola, and Zygotylenchus guevarai). Alignments were generated manually from a secondary structure model, and computationally using ClustalX and Treealign. Trees were constructed using distance, parsimony, and likelihood algorithms in PAUP* 4.0b4a. Obtained tree topologies were stable across algorithms and alignments, supporting 3 clades: clade I = [M. incognita (M. javanica, M. arenaria)]; clade II = M. duytsi and M. maritima in an unresolved trichotomy with (M. hapla, M. microtyla); and clade III = (M. exigua (M. graminicola, M. chitwoodi)). Monophyly of [(clade I, clade II) clade III] was given maximal bootstrap support (mbs). M. artiellia was always a sister taxon to this joint clade, while M. ichinohei was consistently placed with mbs as a basal taxon within the genus. Affinities with the outgroup taxa remain unclear, although G. pallida and S. radicicola were never placed as closest relatives of Meloidogyne. Our results show that SSU sequence data are useful in addressing deeper phylogeny within Meloidogyne, and that both M. ichinohei and M. artiellia are credible outgroups for phylogenetic analysis of speciations among the major species. PMID:19265950

An algorithm to locate optimal bond breaking points on a potential energy surface for applications in mechanochemistry and catalysis.

PubMed

Bofill, Josep Maria; Ribas-Ariño, Jordi; García, Sergio Pablo; Quapp, Wolfgang

2017-10-21

The reaction path of a mechanically induced chemical transformation changes under stress. It is well established that the force-induced structural changes of minima and saddle points, i.e., the movement of the stationary points on the original or stress-free potential energy surface, can be described by a Newton Trajectory (NT). Given a reactive molecular system, a well-fitted pulling direction, and a sufficiently large value of the force, the minimum configuration of the reactant and the saddle point configuration of a transition state collapse at a point on the corresponding NT trajectory. This point is called barrier breakdown point or bond breaking point (BBP). The Hessian matrix at the BBP has a zero eigenvector which coincides with the gradient. It indicates which force (both in magnitude and direction) should be applied to the system to induce the reaction in a barrierless process. Within the manifold of BBPs, there exist optimal BBPs which indicate what is the optimal pulling direction and what is the minimal magnitude of the force to be applied for a given mechanochemical transformation. Since these special points are very important in the context of mechanochemistry and catalysis, it is crucial to develop efficient algorithms for their location. Here, we propose a Gauss-Newton algorithm that is based on the minimization of a positively defined function (the so-called σ-function). The behavior and efficiency of the new algorithm are shown for 2D test functions and for a real chemical example.

a Robust Registration Algorithm for Point Clouds from Uav Images for Change Detection

NASA Astrophysics Data System (ADS)

Al-Rawabdeh, A.; Al-Gurrani, H.; Al-Durgham, K.; Detchev, I.; He, F.; El-Sheimy, N.; Habib, A.

2016-06-01

Landslides are among the major threats to urban landscape and manmade infrastructure. They often cause economic losses, property damages, and loss of lives. Temporal monitoring data of landslides from different epochs empowers the evaluation of landslide progression. Alignment of overlapping surfaces from two or more epochs is crucial for the proper analysis of landslide dynamics. The traditional methods for point-cloud-based landslide monitoring rely on using a variation of the Iterative Closest Point (ICP) registration procedure to align any reconstructed surfaces from different epochs to a common reference frame. However, sometimes the ICP-based registration can fail or may not provide sufficient accuracy. For example, point clouds from different epochs might fit to local minima due to lack of geometrical variability within the data. Also, manual interaction is required to exclude any non-stable areas from the registration process. In this paper, a robust image-based registration method is introduced for the simultaneous evaluation of all registration parameters. This includes the Interior Orientation Parameters (IOPs) of the camera and the Exterior Orientation Parameters (EOPs) of the involved images from all available observation epochs via a bundle block adjustment with self-calibration. Next, a semi-global dense matching technique is implemented to generate dense 3D point clouds for each epoch using the images captured in a particular epoch separately. The normal distances between any two consecutive point clouds can then be readily computed, because the point clouds are already effectively co-registered. A low-cost DJI Phantom II Unmanned Aerial Vehicle (UAV) was customised and used in this research for temporal data collection over an active soil creep area in Lethbridge, Alberta, Canada. The customisation included adding a GPS logger and a Large-Field-Of-View (LFOV) action camera which facilitated capturing high-resolution geo-tagged images in two epochs over the period of one year (i.e., May 2014 and May 2015). Note that due to the coarse accuracy of the on-board GPS receiver (e.g., +/- 5-10 m) the geo-tagged positions of the images were only used as initial values in the bundle block adjustment. Normal distances, signifying detected changes, varying from 20 cm to 4 m were identified between the two epochs. The accuracy of the co-registered surfaces was estimated by comparing non-active patches within the monitored area of interest. Since these non-active sub-areas are stationary, the computed normal distances should theoretically be close to zero. The quality control of the registration results showed that the average normal distance was approximately 4 cm, which is within the noise level of the reconstructed surfaces.

B4 2 After, 3D Deformation Field From Matching Pre- To Post-Event Aerial LiDAR Point Clouds, The 2010 El Mayor-Cucapah M7.2 Earthquake Case

NASA Astrophysics Data System (ADS)

Hinojosa-Corona, A.; Nissen, E.; Limon-Tirado, J. F.; Arrowsmith, R.; Krishnan, A.; Saripalli, S.; Oskin, M. E.; Glennie, C. L.; Arregui, S. M.; Fletcher, J. M.; Teran, O. J.

2013-05-01

Aerial LiDAR surveys reconstruct with amazing fidelity the sinuosity of terrain relief. In this research we explore the 3D deformation field at the surface after a big earthquake (M7.2) by comparing pre- to post-event aerial LiDAR point clouds. The April 4 2010 earthquake produced a NW-SE surface rupture ~110km long with right-lateral normal slip up to 3m in magnitude over a very favorable target: scarcely vegetated and unaltered desert mountain range, sierras El Mayor and Cucapah, in northern Baja California, close to the US-México border. It is a plate boundary region between the Pacific and North American plates. The pre-event LiDAR with lower point density (0.013-0.033 pts m-2) required filtering and post-processing before comparing with the denser (9-18 pts m-2) more accurate post event dataset. The 3D surface displacement field was determined using an adaptation of the Iterative Closest Point (ICP) algorithm, implemented in the open source Point Cloud Library (PCL). The LiDAR datasets are first split into a grid of windows, and for each one, ICP iteratively converges on the rigid body transformation (comprising translations and rotations) that best aligns the pre- to post-event points. Perturbing the pre- and post-event point clouds independently with a synthetic right lateral inverse displacements of known magnitude along a proposed fault, ICP recovered the synthetically introduced translations. Windows with dimensions of 100-200m gave the best results for datasets with these densities. The simplified surface rupture photo interpreted and mapped in the field, delineates very well the vertical displacements patterns unveiled by ICP. The method revealed block rotations, some with clockwise and others counter clockwise direction along the simplified surface rupture. As ground truth, displacements from ICP have similar values as those measured in the field along the main rupture by Fletcher and collaborators. The vertical component was better estimated than the horizontal having the latter problems in flat areas as expected. Hybrid approaches, as simple differencing, could be taken in these areas. Outliers were removed from results. ICP detected extraction from quarries developed between the two dates of LiDAR collection and expressed as a negative vertical displacement close to the sites. To improve the accuracy of the 3D displacement field, we intend to reprocess the pre-event source survey data to reduce the systematic error introduced by the sensor. Multidisciplinary approach will be needed to make tectonic inferences from the 3D displacement field revealed by ICP, about the processes at depth expressed at surface.

Adaptive Cross-correlation Algorithm and Experiment of Extended Scene Shack-Hartmann Wavefront Sensing

NASA Technical Reports Server (NTRS)

Sidick, Erkin; Morgan, Rhonda M.; Green, Joseph J.; Ohara, Catherine M.; Redding, David C.

2007-01-01

We have developed a new, adaptive cross-correlation (ACC) algorithm to estimate with high accuracy the shift as large as several pixels in two extended-scene images captured by a Shack-Hartmann wavefront sensor (SH-WFS). It determines the positions of all of the extended-scene image cells relative to a reference cell using an FFT-based iterative image shifting algorithm. It works with both point-source spot images as well as extended scene images. We have also set up a testbed for extended0scene SH-WFS, and tested the ACC algorithm with the measured data of both point-source and extended-scene images. In this paper we describe our algorithm and present out experimental results.

Parallel, stochastic measurement of molecular surface area.

PubMed

Juba, Derek; Varshney, Amitabh

2008-08-01

Biochemists often wish to compute surface areas of proteins. A variety of algorithms have been developed for this task, but they are designed for traditional single-processor architectures. The current trend in computer hardware is towards increasingly parallel architectures for which these algorithms are not well suited. We describe a parallel, stochastic algorithm for molecular surface area computation that maps well to the emerging multi-core architectures. Our algorithm is also progressive, providing a rough estimate of surface area immediately and refining this estimate as time goes on. Furthermore, the algorithm generates points on the molecular surface which can be used for point-based rendering. We demonstrate a GPU implementation of our algorithm and show that it compares favorably with several existing molecular surface computation programs, giving fast estimates of the molecular surface area with good accuracy.

Large-Scale Parallel Viscous Flow Computations using an Unstructured Multigrid Algorithm

NASA Technical Reports Server (NTRS)

Mavriplis, Dimitri J.

1999-01-01

The development and testing of a parallel unstructured agglomeration multigrid algorithm for steady-state aerodynamic flows is discussed. The agglomeration multigrid strategy uses a graph algorithm to construct the coarse multigrid levels from the given fine grid, similar to an algebraic multigrid approach, but operates directly on the non-linear system using the FAS (Full Approximation Scheme) approach. The scalability and convergence rate of the multigrid algorithm are examined on the SGI Origin 2000 and the Cray T3E. An argument is given which indicates that the asymptotic scalability of the multigrid algorithm should be similar to that of its underlying single grid smoothing scheme. For medium size problems involving several million grid points, near perfect scalability is obtained for the single grid algorithm, while only a slight drop-off in parallel efficiency is observed for the multigrid V- and W-cycles, using up to 128 processors on the SGI Origin 2000, and up to 512 processors on the Cray T3E. For a large problem using 25 million grid points, good scalability is observed for the multigrid algorithm using up to 1450 processors on a Cray T3E, even when the coarsest grid level contains fewer points than the total number of processors.

Powered Descent Guidance with General Thrust-Pointing Constraints

NASA Technical Reports Server (NTRS)

Carson, John M., III; Acikmese, Behcet; Blackmore, Lars

2013-01-01

The Powered Descent Guidance (PDG) algorithm and software for generating Mars pinpoint or precision landing guidance profiles has been enhanced to incorporate thrust-pointing constraints. Pointing constraints would typically be needed for onboard sensor and navigation systems that have specific field-of-view requirements to generate valid ground proximity and terrain-relative state measurements. The original PDG algorithm was designed to enforce both control and state constraints, including maximum and minimum thrust bounds, avoidance of the ground or descent within a glide slope cone, and maximum speed limits. The thrust-bound and thrust-pointing constraints within PDG are non-convex, which in general requires nonlinear optimization methods to generate solutions. The short duration of Mars powered descent requires guaranteed PDG convergence to a solution within a finite time; however, nonlinear optimization methods have no guarantees of convergence to the global optimal or convergence within finite computation time. A lossless convexification developed for the original PDG algorithm relaxed the non-convex thrust bound constraints. This relaxation was theoretically proven to provide valid and optimal solutions for the original, non-convex problem within a convex framework. As with the thrust bound constraint, a relaxation of the thrust-pointing constraint also provides a lossless convexification that ensures the enhanced relaxed PDG algorithm remains convex and retains validity for the original nonconvex problem. The enhanced PDG algorithm provides guidance profiles for pinpoint and precision landing that minimize fuel usage, minimize landing error to the target, and ensure satisfaction of all position and control constraints, including thrust bounds and now thrust-pointing constraints.

C-5M Super Galaxy Utilization with Joint Precision Airdrop System

DTIC Science & Technology

2012-03-22

System Notes FireFly 900-2,200 Steerable Parafoil Screamer 500-2,200 Steerable Parafoil w/additional chutes to slow touchdown Dragonfly...setting . This initial feasible solution provides the Nonlinear Program algorithm a starting point to continue its calculations. The model continues...provides the NLP with a starting point of 1. This provides the NLP algorithm a point within the feasible region to begin its calculations in an attempt

Mercury at First Encounter Closest Approach

NASA Image and Video Library

2000-08-24

This picture, taken only minutes after NASA Mariner 10 made its closest approach to Mercury, is one of the highest resolution pictures obtained. Abundant craters in various stages of degradation dot the surface.

A cascade method for TFT-LCD defect detection

NASA Astrophysics Data System (ADS)

Yi, Songsong; Wu, Xiaojun; Yu, Zhiyang; Mo, Zhuoya

2017-07-01

In this paper, we propose a novel cascade detection algorithm which focuses on point and line defects on TFT-LCD. At the first step of the algorithm, we use the gray level difference of su-bimage to segment the abnormal area. The second step is based on phase only transform (POT) which corresponds to the Discrete Fourier Transform (DFT), normalized by the magnitude. It can remove regularities like texture and noise. After that, we improve the method of setting regions of interest (ROI) with the method of edge segmentation and polar transformation. The algorithm has outstanding performance in both computation speed and accuracy. It can solve most of the defect detections including dark point, light point, dark line, etc.

Automated analysis of plethysmograms for functional studies of hemodynamics

NASA Astrophysics Data System (ADS)

Zatrudina, R. Sh.; Isupov, I. B.; Gribkov, V. Yu.

2018-04-01

The most promising method for the quantitative determination of cardiovascular tone indicators and of cerebral hemodynamics indicators is the method of impedance plethysmography. The accurate determination of these indicators requires the correct identification of the characteristic points in the thoracic impedance plethysmogram and the cranial impedance plethysmogram respectively. An algorithm for automatic analysis of these plethysmogram is presented. The algorithm is based on the hard temporal relationships between the phases of the cardiac cycle and the characteristic points of the plethysmogram. The proposed algorithm does not require estimation of initial data and selection of processing parameters. Use of the method on healthy subjects showed a very low detection error of characteristic points.

An Indoor Continuous Positioning Algorithm on the Move by Fusing Sensors and Wi-Fi on Smartphones.

PubMed

Li, Huaiyu; Chen, Xiuwan; Jing, Guifei; Wang, Yuan; Cao, Yanfeng; Li, Fei; Zhang, Xinlong; Xiao, Han

2015-12-11

Wi-Fi indoor positioning algorithms experience large positioning error and low stability when continuously positioning terminals that are on the move. This paper proposes a novel indoor continuous positioning algorithm that is on the move, fusing sensors and Wi-Fi on smartphones. The main innovative points include an improved Wi-Fi positioning algorithm and a novel positioning fusion algorithm named the Trust Chain Positioning Fusion (TCPF) algorithm. The improved Wi-Fi positioning algorithm was designed based on the properties of Wi-Fi signals on the move, which are found in a novel "quasi-dynamic" Wi-Fi signal experiment. The TCPF algorithm is proposed to realize the "process-level" fusion of Wi-Fi and Pedestrians Dead Reckoning (PDR) positioning, including three parts: trusted point determination, trust state and positioning fusion algorithm. An experiment is carried out for verification in a typical indoor environment, and the average positioning error on the move is 1.36 m, a decrease of 28.8% compared to an existing algorithm. The results show that the proposed algorithm can effectively reduce the influence caused by the unstable Wi-Fi signals, and improve the accuracy and stability of indoor continuous positioning on the move.

Improvements on the minimax algorithm for the Laplace transformation of orbital energy denominators

DOE Office of Scientific and Technical Information (OSTI.GOV)

Helmich-Paris, Benjamin, E-mail: b.helmichparis@vu.nl; Visscher, Lucas, E-mail: l.visscher@vu.nl

2016-09-15

We present a robust and non-heuristic algorithm that finds all extremum points of the error distribution function of numerically Laplace-transformed orbital energy denominators. The extremum point search is one of the two key steps for finding the minimax approximation. If pre-tabulation of initial guesses is supposed to be avoided, strategies for a sufficiently robust algorithm have not been discussed so far. We compare our non-heuristic approach with a bracketing and bisection algorithm and demonstrate that 3 times less function evaluations are required altogether when applying it to typical non-relativistic and relativistic quantum chemical systems.

Registration of 4D time-series of cardiac images with multichannel Diffeomorphic Demons.

PubMed

Peyrat, Jean-Marc; Delingette, Hervé; Sermesant, Maxime; Pennec, Xavier; Xu, Chenyang; Ayache, Nicholas

2008-01-01

In this paper, we propose a generic framework for intersubject non-linear registration of 4D time-series images. In this framework, spatio-temporal registration is defined by mapping trajectories of physical points as opposed to spatial registration that solely aims at mapping homologous points. First, we determine the trajectories we want to register in each sequence using a motion tracking algorithm based on the Diffeomorphic Demons algorithm. Then, we perform simultaneously pairwise registrations of corresponding time-points with the constraint to map the same physical points over time. We show this trajectory registration can be formulated as a multichannel registration of 3D images. We solve it using the Diffeomorphic Demons algorithm extended to vector-valued 3D images. This framework is applied to the inter-subject non-linear registration of 4D cardiac CT sequences.

The algorithm of fast image stitching based on multi-feature extraction

NASA Astrophysics Data System (ADS)

Yang, Chunde; Wu, Ge; Shi, Jing

2018-05-01

This paper proposed an improved image registration method combining Hu-based invariant moment contour information and feature points detection, aiming to solve the problems in traditional image stitching algorithm, such as time-consuming feature points extraction process, redundant invalid information overload and inefficiency. First, use the neighborhood of pixels to extract the contour information, employing the Hu invariant moment as similarity measure to extract SIFT feature points in those similar regions. Then replace the Euclidean distance with Hellinger kernel function to improve the initial matching efficiency and get less mismatching points, further, estimate affine transformation matrix between the images. Finally, local color mapping method is adopted to solve uneven exposure, using the improved multiresolution fusion algorithm to fuse the mosaic images and realize seamless stitching. Experimental results confirm high accuracy and efficiency of method proposed in this paper.

Modification and fixed-point analysis of a Kalman filter for orientation estimation based on 9D inertial measurement unit data.

PubMed

Brückner, Hans-Peter; Spindeldreier, Christian; Blume, Holger

2013-01-01

A common approach for high accuracy sensor fusion based on 9D inertial measurement unit data is Kalman filtering. State of the art floating-point filter algorithms differ in their computational complexity nevertheless, real-time operation on a low-power microcontroller at high sampling rates is not possible. This work presents algorithmic modifications to reduce the computational demands of a two-step minimum order Kalman filter. Furthermore, the required bit-width of a fixed-point filter version is explored. For evaluation real-world data captured using an Xsens MTx inertial sensor is used. Changes in computational latency and orientation estimation accuracy due to the proposed algorithmic modifications and fixed-point number representation are evaluated in detail on a variety of processing platforms enabling on-board processing on wearable sensor platforms.

An algorithm for engineering regime shifts in one-dimensional dynamical systems

NASA Astrophysics Data System (ADS)

Tan, James P. L.

2018-01-01

Regime shifts are discontinuous transitions between stable attractors hosting a system. They can occur as a result of a loss of stability in an attractor as a bifurcation is approached. In this work, we consider one-dimensional dynamical systems where attractors are stable equilibrium points. Relying on critical slowing down signals related to the stability of an equilibrium point, we present an algorithm for engineering regime shifts such that a system may escape an undesirable attractor into a desirable one. We test the algorithm on synthetic data from a one-dimensional dynamical system with a multitude of stable equilibrium points and also on a model of the population dynamics of spruce budworms in a forest. The algorithm and other ideas discussed here contribute to an important part of the literature on exercising greater control over the sometimes unpredictable nature of nonlinear systems.

Applying Workspace Limitations in a Velocity-Controlled Robotic Mechanism

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E. (Inventor); Hargrave, Brian (Inventor); Platt, Robert J., Jr. (Inventor)

2014-01-01

A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position.

Stochastic derivative-free optimization using a trust region framework

DOE PAGES

Larson, Jeffrey; Billups, Stephen C.

2016-02-17

This study presents a trust region algorithm to minimize a function f when one has access only to noise-corrupted function values f¯. The model-based algorithm dynamically adjusts its step length, taking larger steps when the model and function agree and smaller steps when the model is less accurate. The method does not require the user to specify a fixed pattern of points used to build local models and does not repeatedly sample points. If f is sufficiently smooth and the noise is independent and identically distributed with mean zero and finite variance, we prove that our algorithm produces iterates suchmore » that the corresponding function gradients converge in probability to zero. As a result, we present a prototype of our algorithm that, while simplistic in its management of previously evaluated points, solves benchmark problems in fewer function evaluations than do existing stochastic approximation methods.« less

Computing the Feasible Spaces of Optimal Power Flow Problems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Molzahn, Daniel K.

The solution to an optimal power flow (OPF) problem provides a minimum cost operating point for an electric power system. The performance of OPF solution techniques strongly depends on the problem’s feasible space. This paper presents an algorithm that is guaranteed to compute the entire feasible spaces of small OPF problems to within a specified discretization tolerance. Specifically, the feasible space is computed by discretizing certain of the OPF problem’s inequality constraints to obtain a set of power flow equations. All solutions to the power flow equations at each discretization point are obtained using the Numerical Polynomial Homotopy Continuation (NPHC)more » algorithm. To improve computational tractability, “bound tightening” and “grid pruning” algorithms use convex relaxations to preclude consideration of many discretization points that are infeasible for the OPF problem. Here, the proposed algorithm is used to generate the feasible spaces of two small test cases.« less

Detecting P and S-wave of Mt. Rinjani seismic based on a locally stationary autoregressive (LSAR) model

NASA Astrophysics Data System (ADS)

Nurhaida, Subanar, Abdurakhman, Abadi, Agus Maman

2017-08-01

Seismic data is usually modelled using autoregressive processes. The aim of this paper is to find the arrival times of the seismic waves of Mt. Rinjani in Indonesia. Kitagawa algorithm's is used to detect the seismic P and S-wave. Householder transformation used in the algorithm made it effectively finding the number of change points and parameters of the autoregressive models. The results show that the use of Box-Cox transformation on the variable selection level makes the algorithm works well in detecting the change points. Furthermore, when the basic span of the subinterval is set 200 seconds and the maximum AR order is 20, there are 8 change points which occur at 1601, 2001, 7401, 7601,7801, 8001, 8201 and 9601. Finally, The P and S-wave arrival times are detected at time 1671 and 2045 respectively using a precise detection algorithm.

Design of Automatic Extraction Algorithm of Knowledge Points for MOOCs

PubMed Central

Chen, Haijian; Han, Dongmei; Zhao, Lina

2015-01-01

In recent years, Massive Open Online Courses (MOOCs) are very popular among college students and have a powerful impact on academic institutions. In the MOOCs environment, knowledge discovery and knowledge sharing are very important, which currently are often achieved by ontology techniques. In building ontology, automatic extraction technology is crucial. Because the general methods of text mining algorithm do not have obvious effect on online course, we designed automatic extracting course knowledge points (AECKP) algorithm for online course. It includes document classification, Chinese word segmentation, and POS tagging for each document. Vector Space Model (VSM) is used to calculate similarity and design the weight to optimize the TF-IDF algorithm output values, and the higher scores will be selected as knowledge points. Course documents of “C programming language” are selected for the experiment in this study. The results show that the proposed approach can achieve satisfactory accuracy rate and recall rate. PMID:26448738

A superlinear interior points algorithm for engineering design optimization

NASA Technical Reports Server (NTRS)

Herskovits, J.; Asquier, J.

1990-01-01

We present a quasi-Newton interior points algorithm for nonlinear constrained optimization. It is based on a general approach consisting of the iterative solution in the primal and dual spaces of the equalities in Karush-Kuhn-Tucker optimality conditions. This is done in such a way to have primal and dual feasibility at each iteration, which ensures satisfaction of those optimality conditions at the limit points. This approach is very strong and efficient, since at each iteration it only requires the solution of two linear systems with the same matrix, instead of quadratic programming subproblems. It is also particularly appropriate for engineering design optimization inasmuch at each iteration a feasible design is obtained. The present algorithm uses a quasi-Newton approximation of the second derivative of the Lagrangian function in order to have superlinear asymptotic convergence. We discuss theoretical aspects of the algorithm and its computer implementation.

Implementation of Maximum Power Point Tracking (MPPT) Solar Charge Controller using Arduino

NASA Astrophysics Data System (ADS)

Abdelilah, B.; Mouna, A.; KouiderM’Sirdi, N.; El Hossain, A.

2018-05-01

the platform Arduino with a number of sensors standard can be used as components of an electronic system for acquiring measures and controls. This paper presents the design of a low-cost and effective solar charge controller. This system includes several elements such as the solar panel converter DC/DC, battery, circuit MPPT using Microcontroller, sensors, and the MPPT algorithm. The MPPT (Maximum Power Point Tracker) algorithm has been implemented using an Arduino Nano with the preferred program. The voltage and current of the Panel are taken where the program implemented will work and using this algorithm that MPP will be reached. This paper provides details on the solar charge control device at the maximum power point. The results include the change of the duty cycle with the change in load and thus mean the variation of the buck converter output voltage and current controlled by the MPPT algorithm.

Computing the Feasible Spaces of Optimal Power Flow Problems

DOE PAGES

Molzahn, Daniel K.

2017-03-15

The solution to an optimal power flow (OPF) problem provides a minimum cost operating point for an electric power system. The performance of OPF solution techniques strongly depends on the problem’s feasible space. This paper presents an algorithm that is guaranteed to compute the entire feasible spaces of small OPF problems to within a specified discretization tolerance. Specifically, the feasible space is computed by discretizing certain of the OPF problem’s inequality constraints to obtain a set of power flow equations. All solutions to the power flow equations at each discretization point are obtained using the Numerical Polynomial Homotopy Continuation (NPHC)more » algorithm. To improve computational tractability, “bound tightening” and “grid pruning” algorithms use convex relaxations to preclude consideration of many discretization points that are infeasible for the OPF problem. Here, the proposed algorithm is used to generate the feasible spaces of two small test cases.« less

Research on fully distributed optical fiber sensing security system localization algorithm

NASA Astrophysics Data System (ADS)

Wu, Xu; Hou, Jiacheng; Liu, Kun; Liu, Tiegen

2013-12-01

A new fully distributed optical fiber sensing and location technology based on the Mach-Zehnder interferometers is studied. In this security system, a new climbing point locating algorithm based on short-time average zero-crossing rate is presented. By calculating the zero-crossing rates of the multiple grouped data separately, it not only utilizes the advantages of the frequency analysis method to determine the most effective data group more accurately, but also meets the requirement of the real-time monitoring system. Supplemented with short-term energy calculation group signal, the most effective data group can be quickly picked out. Finally, the accurate location of the climbing point can be effectively achieved through the cross-correlation localization algorithm. The experimental results show that the proposed algorithm can realize the accurate location of the climbing point and meanwhile the outside interference noise of the non-climbing behavior can be effectively filtered out.

Functional grouping of similar genes using eigenanalysis on minimum spanning tree based neighborhood graph.

PubMed

Jothi, R; Mohanty, Sraban Kumar; Ojha, Aparajita

2016-04-01

Gene expression data clustering is an important biological process in DNA microarray analysis. Although there have been many clustering algorithms for gene expression analysis, finding a suitable and effective clustering algorithm is always a challenging problem due to the heterogeneous nature of gene profiles. Minimum Spanning Tree (MST) based clustering algorithms have been successfully employed to detect clusters of varying shapes and sizes. This paper proposes a novel clustering algorithm using Eigenanalysis on Minimum Spanning Tree based neighborhood graph (E-MST). As MST of a set of points reflects the similarity of the points with their neighborhood, the proposed algorithm employs a similarity graph obtained from k(') rounds of MST (k(')-MST neighborhood graph). By studying the spectral properties of the similarity matrix obtained from k(')-MST graph, the proposed algorithm achieves improved clustering results. We demonstrate the efficacy of the proposed algorithm on 12 gene expression datasets. Experimental results show that the proposed algorithm performs better than the standard clustering algorithms. Copyright © 2016 Elsevier Ltd. All rights reserved.

A uniform energy consumption algorithm for wireless sensor and actuator networks based on dynamic polling point selection.

PubMed

Li, Shuo; Peng, Jun; Liu, Weirong; Zhu, Zhengfa; Lin, Kuo-Chi

2013-12-19

Recent research has indicated that using the mobility of the actuator in wireless sensor and actuator networks (WSANs) to achieve mobile data collection can greatly increase the sensor network lifetime. However, mobile data collection may result in unacceptable collection delays in the network if the path of the actuator is too long. Because real-time network applications require meeting data collection delay constraints, planning the path of the actuator is a very important issue to balance the prolongation of the network lifetime and the reduction of the data collection delay. In this paper, a multi-hop routing mobile data collection algorithm is proposed based on dynamic polling point selection with delay constraints to address this issue. The algorithm can actively update the selection of the actuator's polling points according to the sensor nodes' residual energies and their locations while also considering the collection delay constraint. It also dynamically constructs the multi-hop routing trees rooted by these polling points to balance the sensor node energy consumption and the extension of the network lifetime. The effectiveness of the algorithm is validated by simulation.

Study on Low Illumination Simultaneous Polarization Image Registration Based on Improved SURF Algorithm

NASA Astrophysics Data System (ADS)

Zhang, Wanjun; Yang, Xu

2017-12-01

Registration of simultaneous polarization images is the premise of subsequent image fusion operations. However, in the process of shooting all-weather, the polarized camera exposure time need to be kept unchanged, sometimes polarization images under low illumination conditions due to too dark result in SURF algorithm can not extract feature points, thus unable to complete the registration, therefore this paper proposes an improved SURF algorithm. Firstly, the luminance operator is used to improve overall brightness of low illumination image, and then create integral image, using Hession matrix to extract the points of interest to get the main direction of characteristic points, calculate Haar wavelet response in X and Y directions to get the SURF descriptor information, then use the RANSAC function to make precise matching, the function can eliminate wrong matching points and improve accuracy rate. And finally resume the brightness of the polarized image after registration, the effect of the polarized image is not affected. Results show that the improved SURF algorithm can be applied well under low illumination conditions.

Communication target object recognition for D2D connection with feature size limit

NASA Astrophysics Data System (ADS)

Ok, Jiheon; Kim, Soochang; Kim, Young-hoon; Lee, Chulhee

2015-03-01

Recently, a new concept of device-to-device (D2D) communication, which is called "point-and-link communication" has attracted great attentions due to its intuitive and simple operation. This approach enables user to communicate with target devices without any pre-identification information such as SSIDs, MAC addresses by selecting the target image displayed on the user's own device. In this paper, we present an efficient object matching algorithm that can be applied to look(point)-and-link communications for mobile services. Due to the limited channel bandwidth and low computational power of mobile terminals, the matching algorithm should satisfy low-complexity, low-memory and realtime requirements. To meet these requirements, we propose fast and robust feature extraction by considering the descriptor size and processing time. The proposed algorithm utilizes a HSV color histogram, SIFT (Scale Invariant Feature Transform) features and object aspect ratios. To reduce the descriptor size under 300 bytes, a limited number of SIFT key points were chosen as feature points and histograms were binarized while maintaining required performance. Experimental results show the robustness and the efficiency of the proposed algorithm.

Highest Resolution Image of Europa

NASA Technical Reports Server (NTRS)

1998-01-01

During its twelfth orbit around Jupiter, on Dec. 16, 1997, NASA's Galileo spacecraft made its closest pass of Jupiter's icy moon Europa, soaring 200 kilometers (124 miles) kilometers above the icy surface. This image was taken near the closest approach point, at a range of 560 kilometers (335 miles) and is the highest resolution picture of Europa that will be obtained by Galileo. The image was taken at a highly oblique angle, providing a vantage point similar to that of someone looking out an airplane window. The features at the bottom of the image are much closer to the viewer than those at the top of the image. Many bright ridges are seen in the picture, with dark material in the low-lying valleys. In the center of the image, the regular ridges and valleys give way to a darker region of jumbled hills, which may be one of the many dark pits observed on the surface of Europa. Smaller dark, circular features seen here are probably impact craters.

North is to the right of the picture, and the sun illuminates the surface from that direction. This image, centered at approximately 13 degrees south latitude and 235 degrees west longitude, is approximately 1.8 kilometers (1 mile) wide. The resolution is 6 meters (19 feet) per picture element. This image was taken on December 16, 1997 by the solid state imaging system camera on NASA's Galileo spacecraft.

The Jet Propulsion Laboratory, Pasadena, CA manages the Galileo mission for NASA's Office of Space Science, Washington, DC. JPL is an operating division of California Institute of Technology (Caltech).

This image and other images and data received from Galileo are posted on the World Wide Web, on the Galileo mission home page at URL http://www.jpl.nasa.gov/ galileo.

THE 2-3 kHz HELIOSPHERIC RADIATION, THE IBEX RIBBON, AND THE THREE-DIMENSIONAL SHAPE OF THE HELIOPAUSE

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fuselier, Stephen A.; Cairns, Iver H.

2013-07-10

Recent Interstellar Boundary Explorer (IBEX) observations indicate that the total dynamic pressure in the interstellar medium is closely partitioned between the plasma and the magnetic field, with an Alfven Mach number M{sub A} {approx} 1 and a sonic Mach number {approx}2. Observations of the IBEX Ribbon provide a unique determination of the orientation of the undraped interstellar magnetic field along the heliopause. There is also a striking correspondence between the Ribbon location and the source locations of 2-3 kHz radiation determined from Voyager observations: the radiation sources north of the ecliptic form a line parallel to but offset by aboutmore » 30 Degree-Sign from the Ribbon. A general Rankine-Hugoniot analysis is used to argue that the heliopause should not be symmetric about the velocity vector V{sub ISM} of the interstellar medium relative to the Sun (the nominal nose direction). Furthermore, the closest point on the heliopause to the Sun should be on the Ribbon for M{sub A} = 0 and at least 9 Degree-Sign from the nominal nose direction toward the Ribbon for M{sub A} = 1. These new results are combined into a conceptual model of the heliopause that includes (1) a plasma depletion layer formed as the interstellar magnetic field drapes against the heliopause, (2) a minimum inner heliosheath thickness and closest point between the Sun and heliopause along (or close to) the Ribbon rather than in the nominal nose direction (along V{sub ISM}), and (3) inference of an asymmetric heliopause shape from the angular offset of the radio sources and Ribbon and from the Rankine-Hugoniot analysis.« less

Automated Stitching of Microtubule Centerlines across Serial Electron Tomograms

PubMed Central

Weber, Britta; Tranfield, Erin M.; Höög, Johanna L.; Baum, Daniel; Antony, Claude; Hyman, Tony; Verbavatz, Jean-Marc; Prohaska, Steffen

2014-01-01

Tracing microtubule centerlines in serial section electron tomography requires microtubules to be stitched across sections, that is lines from different sections need to be aligned, endpoints need to be matched at section boundaries to establish a correspondence between neighboring sections, and corresponding lines need to be connected across multiple sections. We present computational methods for these tasks: 1) An initial alignment is computed using a distance compatibility graph. 2) A fine alignment is then computed with a probabilistic variant of the iterative closest points algorithm, which we extended to handle the orientation of lines by introducing a periodic random variable to the probabilistic formulation. 3) Endpoint correspondence is established by formulating a matching problem in terms of a Markov random field and computing the best matching with belief propagation. Belief propagation is not generally guaranteed to converge to a minimum. We show how convergence can be achieved, nonetheless, with minimal manual input. In addition to stitching microtubule centerlines, the correspondence is also applied to transform and merge the electron tomograms. We applied the proposed methods to samples from the mitotic spindle in C. elegans, the meiotic spindle in X. laevis, and sub-pellicular microtubule arrays in T. brucei. The methods were able to stitch microtubules across section boundaries in good agreement with experts' opinions for the spindle samples. Results, however, were not satisfactory for the microtubule arrays. For certain experiments, such as an analysis of the spindle, the proposed methods can replace manual expert tracing and thus enable the analysis of microtubules over long distances with reasonable manual effort. PMID:25438148

Application of the simplex method to the optimal adjustment of the parameters of a ventilation network

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kamba, G.M.; Jacques, E.; Patigny, J.

1995-12-31

Literature is rather abundant on the topic of steady-state network analysis programs. Many versions exist, some of them have real extended facilities such as full graphical manipulation, fire simulation in motion, etc. These programs are certainly of great help to any ventilation planning and often assist the ventilation engineer in his operational decision making. However, what ever the efficiency of the calculation algorithms might be, their weak point still is the overall validity of the model. This numerical model, apart from maybe the questionable application of some physical laws, depends directly on the quality of the data used to identifymore » its most influencing parameters such as the passive (resistance) or active (fan) characteristic of each of the branches in the network. Considering the non-linear character of the problem and the great number of variables involved, finding the closest numerical model of a real mine ventilation network is without any doubt a very difficult problem. This problem, often referred to as the parameter adjustment problem, is in almost every practical case solved on an experimental and {open_quotes}feeling{close_quotes} basis. Only a few papers put forward a mathematical solution based on a least square approach as the best fit criterion. The aim of this paper is to examine the possibility to apply the well-known simplex method to this problem. The performance of this method and its capability to reach the global optimum which corresponds to the best fit is discussed and compared to that of other methods.« less

Automated stitching of microtubule centerlines across serial electron tomograms.

PubMed

Weber, Britta; Tranfield, Erin M; Höög, Johanna L; Baum, Daniel; Antony, Claude; Hyman, Tony; Verbavatz, Jean-Marc; Prohaska, Steffen

2014-01-01

Tracing microtubule centerlines in serial section electron tomography requires microtubules to be stitched across sections, that is lines from different sections need to be aligned, endpoints need to be matched at section boundaries to establish a correspondence between neighboring sections, and corresponding lines need to be connected across multiple sections. We present computational methods for these tasks: 1) An initial alignment is computed using a distance compatibility graph. 2) A fine alignment is then computed with a probabilistic variant of the iterative closest points algorithm, which we extended to handle the orientation of lines by introducing a periodic random variable to the probabilistic formulation. 3) Endpoint correspondence is established by formulating a matching problem in terms of a Markov random field and computing the best matching with belief propagation. Belief propagation is not generally guaranteed to converge to a minimum. We show how convergence can be achieved, nonetheless, with minimal manual input. In addition to stitching microtubule centerlines, the correspondence is also applied to transform and merge the electron tomograms. We applied the proposed methods to samples from the mitotic spindle in C. elegans, the meiotic spindle in X. laevis, and sub-pellicular microtubule arrays in T. brucei. The methods were able to stitch microtubules across section boundaries in good agreement with experts' opinions for the spindle samples. Results, however, were not satisfactory for the microtubule arrays. For certain experiments, such as an analysis of the spindle, the proposed methods can replace manual expert tracing and thus enable the analysis of microtubules over long distances with reasonable manual effort.

A structured light system to guide percutaneous punctures in interventional radiology

NASA Astrophysics Data System (ADS)

Nicolau, S. A.; Brenot, J.; Goffin, L.; Graebling, P.; Soler, L.; Marescaux, J.

2008-04-01

Interventional radiology is a new medical field which allows percutaneous punctures on patients for tumoral destruction or tissue analysis. The patient lies on a CT or MRI table and the practitioner guides the needle insertion iteratively using repetitive acquisitions (2D slices). We aim at designing a guidance system to reduce the number of CT/MRI acquisitions, and therefore decrease the irradiation and shorten the duration of intervention. We propose a system composed of two calibrated cameras and a structured light videoprojector. The cameras track at 15Hz the needle manipulated by the practitioner and a software displays the needle position with respect to a preoperative segmented image of the patient. To register the preoperative image in the camera frame, we firstly reconstruct the patient skin in 3D using the structured light. Then, the surfacic registration between the reconstructed skin and the segmented skin from the preoperative image is performed using the Iterative Closest Point (ICP) algorithm. Ensuring the quality of this registration is the most challenging task of the system. Indeed, a surfacic registration cannot correctly converge if the surfaces to be registered are too smooth. The main contribution of our work is the evaluation on patients of the conditions that can ensure a correct registration of the preoperative skin surface with the reconstructed one. Furthermore, in case of unfavourable conditions, we propose a method to create enough singularities on the patient abdomen so that the convergence is guaranteed. In the coming months, we plan to evaluate the full system during standard needle insertion on patients.

Microseismic Event Location Improvement Using Adaptive Filtering for Noise Attenuation

NASA Astrophysics Data System (ADS)

de Santana, F. L., Sr.; do Nascimento, A. F.; Leandro, W. P. D. N., Sr.; de Carvalho, B. M., Sr.

2017-12-01

In this work we show how adaptive filtering noise suppression improves the effectiveness of the Source Scanning Algorithm (SSA; Kao & Shan, 2004) in microseism location in the context of fracking operations. The SSA discretizes the time and region of interest in a 4D vector and, for each grid point and origin time, a brigthness value (seismogram stacking) is calculated. For a given set of velocity model parameters, when origin time and hypocenter of the seismic event are correct, a maximum value for coherence (or brightness) is achieved. The result is displayed on brightness maps for each origin time. Location methods such as SSA are most effective when the noise present in the seismograms is incoherent, however, the method may present false positives when the noise present in the data is coherent as occurs in fracking operations. To remove from the seismograms, the coherent noise from the pump and engines used in the operation, we use an adaptive filter. As the noise reference, we use the seismogram recorded at the station closest to the machinery employed. Our methodology was tested on semi-synthetic data. The microseismic was represented by Ricker pulses (with central frequency of 30Hz) on synthetics seismograms, and to simulate real seismograms on a surface microseismic monitoring situation, we added real noise recorded in a fracking operation to these synthetics seismograms. The results show that after the filtering of the seismograms, we were able to improve our detection threshold and to achieve a better resolution on the brightness maps of the located events.

Efficient terrestrial laser scan segmentation exploiting data structure

NASA Astrophysics Data System (ADS)

Mahmoudabadi, Hamid; Olsen, Michael J.; Todorovic, Sinisa

2016-09-01

New technologies such as lidar enable the rapid collection of massive datasets to model a 3D scene as a point cloud. However, while hardware technology continues to advance, processing 3D point clouds into informative models remains complex and time consuming. A common approach to increase processing efficiently is to segment the point cloud into smaller sections. This paper proposes a novel approach for point cloud segmentation using computer vision algorithms to analyze panoramic representations of individual laser scans. These panoramas can be quickly created using an inherent neighborhood structure that is established during the scanning process, which scans at fixed angular increments in a cylindrical or spherical coordinate system. In the proposed approach, a selected image segmentation algorithm is applied on several input layers exploiting this angular structure including laser intensity, range, normal vectors, and color information. These segments are then mapped back to the 3D point cloud so that modeling can be completed more efficiently. This approach does not depend on pre-defined mathematical models and consequently setting parameters for them. Unlike common geometrical point cloud segmentation methods, the proposed method employs the colorimetric and intensity data as another source of information. The proposed algorithm is demonstrated on several datasets encompassing variety of scenes and objects. Results show a very high perceptual (visual) level of segmentation and thereby the feasibility of the proposed algorithm. The proposed method is also more efficient compared to Random Sample Consensus (RANSAC), which is a common approach for point cloud segmentation.

Hiding Techniques for Dynamic Encryption Text based on Corner Point

NASA Astrophysics Data System (ADS)

Abdullatif, Firas A.; Abdullatif, Alaa A.; al-Saffar, Amna

2018-05-01

Hiding technique for dynamic encryption text using encoding table and symmetric encryption method (AES algorithm) is presented in this paper. The encoding table is generated dynamically from MSB of the cover image points that used as the first phase of encryption. The Harris corner point algorithm is applied on cover image to generate the corner points which are used to generate dynamic AES key to second phase of text encryption. The embedded process in the LSB for the image pixels except the Harris corner points for more robust. Experimental results have demonstrated that the proposed scheme have embedding quality, error-free text recovery, and high value in PSNR.

a Global Registration Algorithm of the Single-Closed Ring Multi-Stations Point Cloud

NASA Astrophysics Data System (ADS)

Yang, R.; Pan, L.; Xiang, Z.; Zeng, H.

2018-04-01

Aimed at the global registration problem of the single-closed ring multi-stations point cloud, a formula in order to calculate the error of rotation matrix was constructed according to the definition of error. The global registration algorithm of multi-station point cloud was derived to minimize the error of rotation matrix. And fast-computing formulas of transformation matrix with whose implementation steps and simulation experiment scheme was given. Compared three different processing schemes of multi-station point cloud, the experimental results showed that the effectiveness of the new global registration method was verified, and it could effectively complete the global registration of point cloud.

Algorithms for Computing the Magnetic Field, Vector Potential, and Field Derivatives for a Thin Solenoid with Uniform Current Density

DOE Office of Scientific and Technical Information (OSTI.GOV)

Walstrom, Peter Lowell

A numerical algorithm for computing the field components B r and B z and their r and z derivatives with open boundaries in cylindrical coordinates for radially thin solenoids with uniform current density is described in this note. An algorithm for computing the vector potential A θ is also described. For the convenience of the reader, derivations of the final expressions from their defining integrals are given in detail, since their derivations are not all easily found in textbooks. Numerical calculations are based on evaluation of complete elliptic integrals using the Bulirsch algorithm cel. The (apparently) new feature of themore » algorithms described in this note applies to cases where the field point is outside of the bore of the solenoid and the field-point radius approaches the solenoid radius. Since the elliptic integrals of the third kind normally used in computing B z and A θ become infinite in this region of parameter space, fields for points with the axial coordinate z outside of the ends of the solenoid and near the solenoid radius are treated by use of elliptic integrals of the third kind of modified argument, derived by use of an addition theorem. Also, the algorithms also avoid the numerical difficulties the textbook solutions have for points near the axis arising from explicit factors of 1/r or 1/r 2 in the some of the expressions.« less

A Depth Map Generation Algorithm Based on Saliency Detection for 2D to 3D Conversion

NASA Astrophysics Data System (ADS)

Yang, Yizhong; Hu, Xionglou; Wu, Nengju; Wang, Pengfei; Xu, Dong; Rong, Shen

2017-09-01

In recent years, 3D movies attract people's attention more and more because of their immersive stereoscopic experience. However, 3D movies is still insufficient, so estimating depth information for 2D to 3D conversion from a video is more and more important. In this paper, we present a novel algorithm to estimate depth information from a video via scene classification algorithm. In order to obtain perceptually reliable depth information for viewers, the algorithm classifies them into three categories: landscape type, close-up type, linear perspective type firstly. Then we employ a specific algorithm to divide the landscape type image into many blocks, and assign depth value by similar relative height cue with the image. As to the close-up type image, a saliency-based method is adopted to enhance the foreground in the image and the method combine it with the global depth gradient to generate final depth map. By vanishing line detection, the calculated vanishing point which is regarded as the farthest point to the viewer is assigned with deepest depth value. According to the distance between the other points and the vanishing point, the entire image is assigned with corresponding depth value. Finally, depth image-based rendering is employed to generate stereoscopic virtual views after bilateral filter. Experiments show that the proposed algorithm can achieve realistic 3D effects and yield satisfactory results, while the perception scores of anaglyph images lie between 6.8 and 7.8.

Filtering Airborne LIDAR Data by AN Improved Morphological Method Based on Multi-Gradient Analysis

NASA Astrophysics Data System (ADS)

Li, Y.

2013-05-01

The technology of airborne Light Detection And Ranging (LIDAR) is capable of acquiring dense and accurate 3D geospatial data. Although many related efforts have been made by a lot of researchers in the last few years, LIDAR data filtering is still a challenging task, especially for area with high relief or hybrid geographic features. In order to address the bare-ground extraction from LIDAR point clouds of complex landscapes, a novel morphological filtering algorithm is proposed based on multi-gradient analysis in terms of the characteristic of LIDAR data distribution in this paper. Firstly, point clouds are organized by an index mesh. Then, the multigradient of each point is calculated using the morphological method. And, objects are removed gradually by choosing some points to carry on an improved opening operation constrained by multi-gradient iteratively. 15 sample data provided by ISPRS Working Group III/3 are employed to test the filtering algorithm proposed. These sample data include those environments that may lead to filtering difficulty. Experimental results show that filtering algorithm proposed by this paper is of high adaptability to various scenes including urban and rural areas. Omission error, commission error and total error can be simultaneously controlled in a relatively small interval. This algorithm can efficiently remove object points while preserves ground points to a great degree.

Optimal Parameter Exploration for Online Change-Point Detection in Activity Monitoring Using Genetic Algorithms

PubMed Central

Khan, Naveed; McClean, Sally; Zhang, Shuai; Nugent, Chris

2016-01-01

In recent years, smart phones with inbuilt sensors have become popular devices to facilitate activity recognition. The sensors capture a large amount of data, containing meaningful events, in a short period of time. The change points in this data are used to specify transitions to distinct events and can be used in various scenarios such as identifying change in a patient’s vital signs in the medical domain or requesting activity labels for generating real-world labeled activity datasets. Our work focuses on change-point detection to identify a transition from one activity to another. Within this paper, we extend our previous work on multivariate exponentially weighted moving average (MEWMA) algorithm by using a genetic algorithm (GA) to identify the optimal set of parameters for online change-point detection. The proposed technique finds the maximum accuracy and F_measure by optimizing the different parameters of the MEWMA, which subsequently identifies the exact location of the change point from an existing activity to a new one. Optimal parameter selection facilitates an algorithm to detect accurate change points and minimize false alarms. Results have been evaluated based on two real datasets of accelerometer data collected from a set of different activities from two users, with a high degree of accuracy from 99.4% to 99.8% and F_measure of up to 66.7%. PMID:27792177

CudaChain: an alternative algorithm for finding 2D convex hulls on the GPU.

PubMed

Mei, Gang

2016-01-01

This paper presents an alternative GPU-accelerated convex hull algorithm and a novel S orting-based P reprocessing A pproach (SPA) for planar point sets. The proposed convex hull algorithm termed as CudaChain consists of two stages: (1) two rounds of preprocessing performed on the GPU and (2) the finalization of calculating the expected convex hull on the CPU. Those interior points locating inside a quadrilateral formed by four extreme points are first discarded, and then the remaining points are distributed into several (typically four) sub regions. For each subset of points, they are first sorted in parallel; then the second round of discarding is performed using SPA; and finally a simple chain is formed for the current remaining points. A simple polygon can be easily generated by directly connecting all the chains in sub regions. The expected convex hull of the input points can be finally obtained by calculating the convex hull of the simple polygon. The library Thrust is utilized to realize the parallel sorting, reduction, and partitioning for better efficiency and simplicity. Experimental results show that: (1) SPA can very effectively detect and discard the interior points; and (2) CudaChain achieves 5×-6× speedups over the famous Qhull implementation for 20M points.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bosler, Peter Andrew; Roesler, Erika Louise; Taylor, Mark A.

This article discusses the problem of identifying extreme climate events such as intense storms within large climate data sets. The basic storm detection algorithm is reviewed, which splits the problem into two parts: a spatial search followed by a temporal correlation problem. Two specific implementations of the spatial search algorithm are compared. The commonly used grid point search algorithm is reviewed, and a new algorithm called Stride Search is introduced. Stride Search is designed to work at all latitudes, while grid point searches may fail in polar regions. Results from the two algorithms are compared for the application of tropicalmore » cyclone detection, and shown to produce similar results for the same set of storm identification criteria. The time required for both algorithms to search the same data set is compared. Furthermore, Stride Search's ability to search extreme latitudes is demonstrated for the case of polar low detection.« less

Estimating Position of Mobile Robots From Omnidirectional Vision Using an Adaptive Algorithm.

PubMed

Li, Luyang; Liu, Yun-Hui; Wang, Kai; Fang, Mu

2015-08-01

This paper presents a novel and simple adaptive algorithm for estimating the position of a mobile robot with high accuracy in an unknown and unstructured environment by fusing images of an omnidirectional vision system with measurements of odometry and inertial sensors. Based on a new derivation where the omnidirectional projection can be linearly parameterized by the positions of the robot and natural feature points, we propose a novel adaptive algorithm, which is similar to the Slotine-Li algorithm in model-based adaptive control, to estimate the robot's position by using the tracked feature points in image sequence, the robot's velocity, and orientation angles measured by odometry and inertial sensors. It is proved that the adaptive algorithm leads to global exponential convergence of the position estimation errors to zero. Simulations and real-world experiments are performed to demonstrate the performance of the proposed algorithm.

Delaunay based algorithm for finding polygonal voids in planar point sets

NASA Astrophysics Data System (ADS)

Alonso, R.; Ojeda, J.; Hitschfeld, N.; Hervías, C.; Campusano, L. E.

2018-01-01

This paper presents a new algorithm to find under-dense regions called voids inside a 2D point set. The algorithm starts from terminal-edges (local longest-edges) in a Delaunay triangulation and builds the largest possible low density terminal-edge regions around them. A terminal-edge region can represent either an entire void or part of a void (subvoid). Using artificial data sets, the case of voids that are detected as several adjacent subvoids is analyzed and four subvoid joining criteria are proposed and evaluated. Since this work is inspired on searches of a more robust, effective and efficient algorithm to find 3D cosmological voids the evaluation of the joining criteria considers this context. However, the design of the algorithm permits its adaption to the requirements of any similar application.

biobambam: tools for read pair collation based algorithms on BAM files

PubMed Central

2014-01-01

Background Sequence alignment data is often ordered by coordinate (id of the reference sequence plus position on the sequence where the fragment was mapped) when stored in BAM files, as this simplifies the extraction of variants between the mapped data and the reference or of variants within the mapped data. In this order paired reads are usually separated in the file, which complicates some other applications like duplicate marking or conversion to the FastQ format which require to access the full information of the pairs. Results In this paper we introduce biobambam, a set of tools based on the efficient collation of alignments in BAM files by read name. The employed collation algorithm avoids time and space consuming sorting of alignments by read name where this is possible without using more than a specified amount of main memory. Using this algorithm tasks like duplicate marking in BAM files and conversion of BAM files to the FastQ format can be performed very efficiently with limited resources. We also make the collation algorithm available in the form of an API for other projects. This API is part of the libmaus package. Conclusions In comparison with previous approaches to problems involving the collation of alignments by read name like the BAM to FastQ or duplication marking utilities our approach can often perform an equivalent task more efficiently in terms of the required main memory and run-time. Our BAM to FastQ conversion is faster than all widely known alternatives including Picard and bamUtil. Our duplicate marking is about as fast as the closest competitor bamUtil for small data sets and faster than all known alternatives on large and complex data sets.

Using the Firefly optimization method to weight an ensemble of rainfall forecasts from the Brazilian developments on the Regional Atmospheric Modeling System (BRAMS)

NASA Astrophysics Data System (ADS)

dos Santos, A. F.; Freitas, S. R.; de Mattos, J. G. Z.; de Campos Velho, H. F.; Gan, M. A.; da Luz, E. F. P.; Grell, G. A.

2013-09-01

In this paper we consider an optimization problem applying the metaheuristic Firefly algorithm (FY) to weight an ensemble of rainfall forecasts from daily precipitation simulations with the Brazilian developments on the Regional Atmospheric Modeling System (BRAMS) over South America during January 2006. The method is addressed as a parameter estimation problem to weight the ensemble of precipitation forecasts carried out using different options of the convective parameterization scheme. Ensemble simulations were performed using different choices of closures, representing different formulations of dynamic control (the modulation of convection by the environment) in a deep convection scheme. The optimization problem is solved as an inverse problem of parameter estimation. The application and validation of the methodology is carried out using daily precipitation fields, defined over South America and obtained by merging remote sensing estimations with rain gauge observations. The quadratic difference between the model and observed data was used as the objective function to determine the best combination of the ensemble members to reproduce the observations. To reduce the model rainfall biases, the set of weights determined by the algorithm is used to weight members of an ensemble of model simulations in order to compute a new precipitation field that represents the observed precipitation as closely as possible. The validation of the methodology is carried out using classical statistical scores. The algorithm has produced the best combination of the weights, resulting in a new precipitation field closest to the observations.

Experiments with conjugate gradient algorithms for homotopy curve tracking

NASA Technical Reports Server (NTRS)

Irani, Kashmira M.; Ribbens, Calvin J.; Watson, Layne T.; Kamat, Manohar P.; Walker, Homer F.

1991-01-01

There are algorithms for finding zeros or fixed points of nonlinear systems of equations that are globally convergent for almost all starting points, i.e., with probability one. The essence of all such algorithms is the construction of an appropriate homotopy map and then tracking some smooth curve in the zero set of this homotopy map. HOMPACK is a mathematical software package implementing globally convergent homotopy algorithms with three different techniques for tracking a homotopy zero curve, and has separate routines for dense and sparse Jacobian matrices. The HOMPACK algorithms for sparse Jacobian matrices use a preconditioned conjugate gradient algorithm for the computation of the kernel of the homotopy Jacobian matrix, a required linear algebra step for homotopy curve tracking. Here, variants of the conjugate gradient algorithm are implemented in the context of homotopy curve tracking and compared with Craig's preconditioned conjugate gradient method used in HOMPACK. The test problems used include actual large scale, sparse structural mechanics problems.

Comparison Between One-Point Calibration and Two-Point Calibration Approaches in a Continuous Glucose Monitoring Algorithm

PubMed Central

Mahmoudi, Zeinab; Johansen, Mette Dencker; Christiansen, Jens Sandahl

2014-01-01

Background: The purpose of this study was to investigate the effect of using a 1-point calibration approach instead of a 2-point calibration approach on the accuracy of a continuous glucose monitoring (CGM) algorithm. Method: A previously published real-time CGM algorithm was compared with its updated version, which used a 1-point calibration instead of a 2-point calibration. In addition, the contribution of the corrective intercept (CI) to the calibration performance was assessed. Finally, the sensor background current was estimated real-time and retrospectively. The study was performed on 132 type 1 diabetes patients. Results: Replacing the 2-point calibration with the 1-point calibration improved the CGM accuracy, with the greatest improvement achieved in hypoglycemia (18.4% median absolute relative differences [MARD] in hypoglycemia for the 2-point calibration, and 12.1% MARD in hypoglycemia for the 1-point calibration). Using 1-point calibration increased the percentage of sensor readings in zone A+B of the Clarke error grid analysis (EGA) in the full glycemic range, and also enhanced hypoglycemia sensitivity. Exclusion of CI from calibration reduced hypoglycemia accuracy, while slightly increased euglycemia accuracy. Both real-time and retrospective estimation of the sensor background current suggest that the background current can be considered zero in the calibration of the SCGM1 sensor. Conclusions: The sensor readings calibrated with the 1-point calibration approach indicated to have higher accuracy than those calibrated with the 2-point calibration approach. PMID:24876420

Improving Brain Magnetic Resonance Image (MRI) Segmentation via a Novel Algorithm based on Genetic and Regional Growth

PubMed Central

A., Javadpour; A., Mohammadi

2016-01-01

Background Regarding the importance of right diagnosis in medical applications, various methods have been exploited for processing medical images solar. The method of segmentation is used to analyze anal to miscall structures in medical imaging. Objective This study describes a new method for brain Magnetic Resonance Image (MRI) segmentation via a novel algorithm based on genetic and regional growth. Methods Among medical imaging methods, brains MRI segmentation is important due to high contrast of non-intrusive soft tissue and high spatial resolution. Size variations of brain tissues are often accompanied by various diseases such as Alzheimer’s disease. As our knowledge about the relation between various brain diseases and deviation of brain anatomy increases, MRI segmentation is exploited as the first step in early diagnosis. In this paper, regional growth method and auto-mate selection of initial points by genetic algorithm is used to introduce a new method for MRI segmentation. Primary pixels and similarity criterion are automatically by genetic algorithms to maximize the accuracy and validity in image segmentation. Results By using genetic algorithms and defining the fixed function of image segmentation, the initial points for the algorithm were found. The proposed algorithms are applied to the images and results are manually selected by regional growth in which the initial points were compared. The results showed that the proposed algorithm could reduce segmentation error effectively. Conclusion The study concluded that the proposed algorithm could reduce segmentation error effectively and help us to diagnose brain diseases. PMID:27672629

A Hybrid Maximum Power Point Tracking Method for Automobile Exhaust Thermoelectric Generator

NASA Astrophysics Data System (ADS)

Quan, Rui; Zhou, Wei; Yang, Guangyou; Quan, Shuhai

2017-05-01

To make full use of the maximum output power of automobile exhaust thermoelectric generator (AETEG) based on Bi2Te3 thermoelectric modules (TEMs), taking into account the advantages and disadvantages of existing maximum power point tracking methods, and according to the output characteristics of TEMs, a hybrid maximum power point tracking method combining perturb and observe (P&O) algorithm, quadratic interpolation and constant voltage tracking method was put forward in this paper. Firstly, it searched the maximum power point with P&O algorithms and a quadratic interpolation method, then, it forced the AETEG to work at its maximum power point with constant voltage tracking. A synchronous buck converter and controller were implemented in the electric bus of the AETEG applied in a military sports utility vehicle, and the whole system was modeled and simulated with a MATLAB/Simulink environment. Simulation results demonstrate that the maximum output power of the AETEG based on the proposed hybrid method is increased by about 3.0% and 3.7% compared with that using only the P&O algorithm and the quadratic interpolation method, respectively. The shorter tracking time is only 1.4 s, which is reduced by half compared with that of the P&O algorithm and quadratic interpolation method, respectively. The experimental results demonstrate that the tracked maximum power is approximately equal to the real value using the proposed hybrid method,and it can preferentially deal with the voltage fluctuation of the AETEG with only P&O algorithm, and resolve the issue that its working point can barely be adjusted only with constant voltage tracking when the operation conditions change.

Circuit Design Optimization Using Genetic Algorithm with Parameterized Uniform Crossover

NASA Astrophysics Data System (ADS)

Bao, Zhiguo; Watanabe, Takahiro

Evolvable hardware (EHW) is a new research field about the use of Evolutionary Algorithms (EAs) to construct electronic systems. EHW refers in a narrow sense to use evolutionary mechanisms as the algorithmic drivers for system design, while in a general sense to the capability of the hardware system to develop and to improve itself. Genetic Algorithm (GA) is one of typical EAs. We propose optimal circuit design by using GA with parameterized uniform crossover (GApuc) and with fitness function composed of circuit complexity, power, and signal delay. Parameterized uniform crossover is much more likely to distribute its disruptive trials in an unbiased manner over larger portions of the space, then it has more exploratory power than one and two-point crossover, so we have more chances of finding better solutions. Its effectiveness is shown by experiments. From the results, we can see that the best elite fitness, the average value of fitness of the correct circuits and the number of the correct circuits of GApuc are better than that of GA with one-point crossover or two-point crossover. The best case of optimal circuits generated by GApuc is 10.18% and 6.08% better in evaluating value than that by GA with one-point crossover and two-point crossover, respectively.

ROSAT X-Ray Observation of the Second Error Box for SGR 1900+14

NASA Technical Reports Server (NTRS)

Li, P.; Hurley, K.; Vrba, F.; Kouveliotou, C.; Meegan, C. A.; Fishman, G. J.; Kulkarni, S.; Frail, D.

1997-01-01

The positions of the two error boxes for the soft gamma repeater (SGR) 1900+14 were determined by the "network synthesis" method, which employs observations by the Ulysses gamma-ray burst and CGRO BATSE instruments. The location of the first error box has been observed at optical, infrared, and X-ray wavelengths, resulting in the discovery of a ROSAT X-ray point source and a curious double infrared source. We have recently used the ROSAT HRI to observe the second error box to complete the counterpart search. A total of six X-ray sources were identified within the field of view. None of them falls within the network synthesis error box, and a 3 sigma upper limit to any X-ray counterpart was estimated to be 6.35 x 10(exp -14) ergs/sq cm/s. The closest source is approximately 3 min. away, and has an estimated unabsorbed flux of 1.5 x 10(exp -12) ergs/sq cm/s. Unlike the first error box, there is no supernova remnant near the second error box. The closest one, G43.9+1.6, lies approximately 2.dg6 away. For these reasons, we believe that the first error box is more likely to be the correct one.

Localization of Pathology on Complex Architecture Building Surfaces

NASA Astrophysics Data System (ADS)

Sidiropoulos, A. A.; Lakakis, K. N.; Mouza, V. K.

2017-02-01

The technology of 3D laser scanning is considered as one of the most common methods for heritage documentation. The point clouds that are being produced provide information of high detail, both geometric and thematic. There are various studies that examine techniques of the best exploitation of this information. In this study, an algorithm of pathology localization, such as cracks and fissures, on complex building surfaces is being tested. The algorithm makes use of the points' position in the point cloud and tries to distinguish them in two groups-patterns; pathology and non-pathology. The extraction of the geometric information that is being used for recognizing the pattern of the points is being accomplished via Principal Component Analysis (PCA) in user-specified neighborhoods in the whole point cloud. The implementation of PCA leads to the definition of the normal vector at each point of the cloud. Two tests that operate separately examine both local and global geometric criteria among the points and conclude which of them should be categorized as pathology. The proposed algorithm was tested on parts of the Gazi Evrenos Baths masonry, which are located at the city of Giannitsa at Northern Greece.

Imaging quality analysis of computer-generated holograms using the point-based method and slice-based method

NASA Astrophysics Data System (ADS)

Zhang, Zhen; Chen, Siqing; Zheng, Huadong; Sun, Tao; Yu, Yingjie; Gao, Hongyue; Asundi, Anand K.

2017-06-01

Computer holography has made a notably progress in recent years. The point-based method and slice-based method are chief calculation algorithms for generating holograms in holographic display. Although both two methods are validated numerically and optically, the differences of the imaging quality of these methods have not been specifically analyzed. In this paper, we analyze the imaging quality of computer-generated phase holograms generated by point-based Fresnel zone plates (PB-FZP), point-based Fresnel diffraction algorithm (PB-FDA) and slice-based Fresnel diffraction algorithm (SB-FDA). The calculation formula and hologram generation with three methods are demonstrated. In order to suppress the speckle noise, sequential phase-only holograms are generated in our work. The results of reconstructed images numerically and experimentally are also exhibited. By comparing the imaging quality, the merits and drawbacks with three methods are analyzed. Conclusions are given by us finally.

Recognition of plant parts with problem-specific algorithms

NASA Astrophysics Data System (ADS)

Schwanke, Joerg; Brendel, Thorsten; Jensch, Peter F.; Megnet, Roland

1994-06-01

Automatic micropropagation is necessary to produce cost-effective high amounts of biomass. Juvenile plants are dissected in clean- room environment on particular points on the stem or the leaves. A vision-system detects possible cutting points and controls a specialized robot. This contribution is directed to the pattern- recognition algorithms to detect structural parts of the plant.

Axial calibration methods of piezoelectric load sharing dynamometer

NASA Astrophysics Data System (ADS)

Zhang, Jun; Chang, Qingbing; Ren, Zongjin; Shao, Jun; Wang, Xinlei; Tian, Yu

2018-06-01

The relationship between input and output of load sharing dynamometer is seriously non-linear in different loading points of a plane, so it's significant for accutately measuring force to precisely calibrate the non-linear relationship. In this paper, firstly, based on piezoelectric load sharing dynamometer, calibration experiments of different loading points are performed in a plane. And then load sharing testing system is respectively calibrated based on BP algorithm and ELM (Extreme Learning Machine) algorithm. Finally, the results show that the calibration result of ELM is better than BP for calibrating the non-linear relationship between input and output of loading sharing dynamometer in the different loading points of a plane, which verifies that ELM algorithm is feasible in solving force non-linear measurement problem.

Hip and Wrist Accelerometer Algorithms for Free-Living Behavior Classification.

PubMed

Ellis, Katherine; Kerr, Jacqueline; Godbole, Suneeta; Staudenmayer, John; Lanckriet, Gert

2016-05-01

Accelerometers are a valuable tool for objective measurement of physical activity (PA). Wrist-worn devices may improve compliance over standard hip placement, but more research is needed to evaluate their validity for measuring PA in free-living settings. Traditional cut-point methods for accelerometers can be inaccurate and need testing in free living with wrist-worn devices. In this study, we developed and tested the performance of machine learning (ML) algorithms for classifying PA types from both hip and wrist accelerometer data. Forty overweight or obese women (mean age = 55.2 ± 15.3 yr; BMI = 32.0 ± 3.7) wore two ActiGraph GT3X+ accelerometers (right hip, nondominant wrist; ActiGraph, Pensacola, FL) for seven free-living days. Wearable cameras captured ground truth activity labels. A classifier consisting of a random forest and hidden Markov model classified the accelerometer data into four activities (sitting, standing, walking/running, and riding in a vehicle). Free-living wrist and hip ML classifiers were compared with each other, with traditional accelerometer cut points, and with an algorithm developed in a laboratory setting. The ML classifier obtained average values of 89.4% and 84.6% balanced accuracy over the four activities using the hip and wrist accelerometer, respectively. In our data set with average values of 28.4 min of walking or running per day, the ML classifier predicted average values of 28.5 and 24.5 min of walking or running using the hip and wrist accelerometer, respectively. Intensity-based cut points and the laboratory algorithm significantly underestimated walking minutes. Our results demonstrate the superior performance of our PA-type classification algorithm, particularly in comparison with traditional cut points. Although the hip algorithm performed better, additional compliance achieved with wrist devices might justify using a slightly lower performing algorithm.

An improved ASIFT algorithm for indoor panorama image matching

NASA Astrophysics Data System (ADS)

Fu, Han; Xie, Donghai; Zhong, Ruofei; Wu, Yu; Wu, Qiong

2017-07-01

The generation of 3D models for indoor objects and scenes is an attractive tool for digital city, virtual reality and SLAM purposes. Panoramic images are becoming increasingly more common in such applications due to their advantages to capture the complete environment in one single image with large field of view. The extraction and matching of image feature points are important and difficult steps in three-dimensional reconstruction, and ASIFT is a state-of-the-art algorithm to implement these functions. Compared with the SIFT algorithm, more feature points can be generated and the matching accuracy of ASIFT algorithm is higher, even for the panoramic images with obvious distortions. However, the algorithm is really time-consuming because of complex operations and performs not very well for some indoor scenes under poor light or without rich textures. To solve this problem, this paper proposes an improved ASIFT algorithm for indoor panoramic images: firstly, the panoramic images are projected into multiple normal perspective images. Secondly, the original ASIFT algorithm is simplified from the affine transformation of tilt and rotation with the images to the only tilt affine transformation. Finally, the results are re-projected to the panoramic image space. Experiments in different environments show that this method can not only ensure the precision of feature points extraction and matching, but also greatly reduce the computing time.

A comparative study of controlled random search algorithms with application to inverse aerofoil design

NASA Astrophysics Data System (ADS)

Manzanares-Filho, N.; Albuquerque, R. B. F.; Sousa, B. S.; Santos, L. G. C.

2018-06-01

This article presents a comparative study of some versions of the controlled random search algorithm (CRSA) in global optimization problems. The basic CRSA, originally proposed by Price in 1977 and improved by Ali et al. in 1997, is taken as a starting point. Then, some new modifications are proposed to improve the efficiency and reliability of this global optimization technique. The performance of the algorithms is assessed using traditional benchmark test problems commonly invoked in the literature. This comparative study points out the key features of the modified algorithm. Finally, a comparison is also made in a practical engineering application, namely the inverse aerofoil shape design.

Optimization of cutting parameters for machining time in turning process

NASA Astrophysics Data System (ADS)

Mavliutov, A. R.; Zlotnikov, E. G.

2018-03-01

This paper describes the most effective methods for nonlinear constraint optimization of cutting parameters in the turning process. Among them are Linearization Programming Method with Dual-Simplex algorithm, Interior Point method, and Augmented Lagrangian Genetic Algorithm (ALGA). Every each of them is tested on an actual example – the minimization of production rate in turning process. The computation was conducted in the MATLAB environment. The comparative results obtained from the application of these methods show: The optimal value of the linearized objective and the original function are the same. ALGA gives sufficiently accurate values, however, when the algorithm uses the Hybrid function with Interior Point algorithm, the resulted values have the maximal accuracy.

Document localization algorithms based on feature points and straight lines

NASA Astrophysics Data System (ADS)

Skoryukina, Natalya; Shemiakina, Julia; Arlazarov, Vladimir L.; Faradjev, Igor

2018-04-01

The important part of the system of a planar rectangular object analysis is the localization: the estimation of projective transform from template image of an object to its photograph. The system also includes such subsystems as the selection and recognition of text fields, the usage of contexts etc. In this paper three localization algorithms are described. All algorithms use feature points and two of them also analyze near-horizontal and near- vertical lines on the photograph. The algorithms and their combinations are tested on a dataset of real document photographs. Also the method of localization quality estimation is proposed that allows configuring the localization subsystem independently of the other subsystems quality.