Evaluation of the fidelity of feature descriptor-based specimen tracking for automatic NDE data integration

NASA Astrophysics Data System (ADS)

Radkowski, Rafael; Holland, Stephen; Grandin, Robert

2018-04-01

This research addresses inspection location tracking in the field of nondestructive evaluation (NDE) using a computer vision technique to determine the position and orientation of typical NDE equipment in a test setup. The objective is the tracking accuracy for typical NDE equipment to facilitate automatic NDE data integration. Since the employed tracking technique relies on surface curvatures of an object of interest, the accuracy can be only experimentally determined. We work with flash-thermography and conducted an experiment in which we tracked a specimen and a thermography flash hood, measured the spatial relation between both, and used the relation as input to map thermography data onto a 3D model of the specimen. The results indicate an appropriate accuracy, however, unveiled calibration challenges.

Enhancement of tracking performance in electro-optical system based on servo control algorithm

NASA Astrophysics Data System (ADS)

Choi, WooJin; Kim, SungSu; Jung, DaeYoon; Seo, HyoungKyu

2017-10-01

Modern electro-optical surveillance and reconnaissance systems require tracking capability to get exact images of target or to accurately direct the line of sight to target which is moving or still. This leads to the tracking system composed of image based tracking algorithm and servo control algorithm. In this study, we focus on the servo control function to minimize the overshoot in the tracking motion and do not miss the target. The scheme is to limit acceleration and velocity parameters in the tracking controller, depending on the target state information in the image. We implement the proposed techniques by creating a system model of DIRCM and simulate the same environment, validate the performance on the actual equipment.

Photochemical grid model implementation and application of ...

EPA Pesticide Factsheets

For the purposes of developing optimal emissions control strategies, efficient approaches are needed to identify the major sources or groups of sources that contribute to elevated ozone (O3) concentrations. Source-based apportionment techniques implemented in photochemical grid models track sources through the physical and chemical processes important to the formation and transport of air pollutants. Photochemical model source apportionment has been used to track source impacts of specific sources, groups of sources (sectors), sources in specific geographic areas, and stratospheric and lateral boundary inflow on O3. The implementation and application of a source apportionment technique for O3 and its precursors, nitrogen oxides (NOx) and volatile organic compounds (VOCs), for the Community Multiscale Air Quality (CMAQ) model are described here. The Integrated Source Apportionment Method (ISAM) O3 approach is a hybrid of source apportionment and source sensitivity in that O3 production is attributed to precursor sources based on O3 formation regime (e.g., for a NOx-sensitive regime, O3 is apportioned to participating NOx emissions). This implementation is illustrated by tracking multiple emissions source sectors and lateral boundary inflow. NOx, VOC, and O3 attribution to tracked sectors in the application are consistent with spatial and temporal patterns of precursor emissions. The O3 ISAM implementation is further evaluated through comparisons of apportioned am

Detection of micro gap weld joint by using magneto-optical imaging and Kalman filtering compensated with RBF neural network

NASA Astrophysics Data System (ADS)

Gao, Xiangdong; Chen, Yuquan; You, Deyong; Xiao, Zhenlin; Chen, Xiaohui

2017-02-01

An approach for seam tracking of micro gap weld whose width is less than 0.1 mm based on magneto optical (MO) imaging technique during butt-joint laser welding of steel plates is investigated. Kalman filtering(KF) technology with radial basis function(RBF) neural network for weld detection by an MO sensor was applied to track the weld center position. Because the laser welding system process noises and the MO sensor measurement noises were colored noises, the estimation accuracy of traditional KF for seam tracking was degraded by the system model with extreme nonlinearities and could not be solved by the linear state-space model. Also, the statistics characteristics of noises could not be accurately obtained in actual welding. Thus, a RBF neural network was applied to the KF technique to compensate for the weld tracking errors. The neural network can restrain divergence filter and improve the system robustness. In comparison of traditional KF algorithm, the RBF with KF was not only more effectively in improving the weld tracking accuracy but also reduced noise disturbance. Experimental results showed that magneto optical imaging technique could be applied to detect micro gap weld accurately, which provides a novel approach for micro gap seam tracking.

Robust Hidden Markov Model based intelligent blood vessel detection of fundus images.

PubMed

Hassan, Mehdi; Amin, Muhammad; Murtza, Iqbal; Khan, Asifullah; Chaudhry, Asmatullah

2017-11-01

In this paper, we consider the challenging problem of detecting retinal vessel networks. Precise detection of retinal vessel networks is vital for accurate eye disease diagnosis. Most of the blood vessel tracking techniques may not properly track vessels in presence of vessels' occlusion. Owing to problem in sensor resolution or acquisition of fundus images, it is possible that some part of vessel may occlude. In this scenario, it becomes a challenging task to accurately trace these vital vessels. For this purpose, we have proposed a new robust and intelligent retinal vessel detection technique on Hidden Markov Model. The proposed model is able to successfully track vessels in the presence of occlusion. The effectiveness of the proposed technique is evaluated on publically available standard DRIVE dataset of the fundus images. The experiments show that the proposed technique not only outperforms the other state of the art methodologies of retinal blood vessels segmentation, but it is also capable of accurate occlusion handling in retinal vessel networks. The proposed technique offers better average classification accuracy, sensitivity, specificity, and area under the curve (AUC) of 95.7%, 81.0%, 97.0%, and 90.0% respectively, which shows the usefulness of the proposed technique. Copyright © 2017 Elsevier B.V. All rights reserved.

Robust H(infinity) tracking control of boiler-turbine systems.

PubMed

Wu, J; Nguang, S K; Shen, J; Liu, G; Li, Y G

2010-07-01

In this paper, the problem of designing a fuzzy H(infinity) state feedback tracking control of a boiler-turbine is solved. First, the Takagi and Sugeno fuzzy model is used to model a boiler-turbine system. Next, based on the Takagi and Sugeno fuzzy model, sufficient conditions for the existence of a fuzzy H(infinity) nonlinear state feedback tracking control are derived in terms of linear matrix inequalities. The advantage of the proposed tracking control design is that it does not involve feedback linearization technique and complicated adaptive scheme. An industrial boiler-turbine system is used to illustrate the effectiveness of the proposed design as compared with a linearized approach. 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Random Forest-Based Approach for Maximum Power Point Tracking of Photovoltaic Systems Operating under Actual Environmental Conditions.

PubMed

Shareef, Hussain; Mutlag, Ammar Hussein; Mohamed, Azah

2017-01-01

Many maximum power point tracking (MPPT) algorithms have been developed in recent years to maximize the produced PV energy. These algorithms are not sufficiently robust because of fast-changing environmental conditions, efficiency, accuracy at steady-state value, and dynamics of the tracking algorithm. Thus, this paper proposes a new random forest (RF) model to improve MPPT performance. The RF model has the ability to capture the nonlinear association of patterns between predictors, such as irradiance and temperature, to determine accurate maximum power point. A RF-based tracker is designed for 25 SolarTIFSTF-120P6 PV modules, with the capacity of 3 kW peak using two high-speed sensors. For this purpose, a complete PV system is modeled using 300,000 data samples and simulated using the MATLAB/SIMULINK package. The proposed RF-based MPPT is then tested under actual environmental conditions for 24 days to validate the accuracy and dynamic response. The response of the RF-based MPPT model is also compared with that of the artificial neural network and adaptive neurofuzzy inference system algorithms for further validation. The results show that the proposed MPPT technique gives significant improvement compared with that of other techniques. In addition, the RF model passes the Bland-Altman test, with more than 95 percent acceptability.

Random Forest-Based Approach for Maximum Power Point Tracking of Photovoltaic Systems Operating under Actual Environmental Conditions

PubMed Central

Shareef, Hussain; Mohamed, Azah

2017-01-01

Many maximum power point tracking (MPPT) algorithms have been developed in recent years to maximize the produced PV energy. These algorithms are not sufficiently robust because of fast-changing environmental conditions, efficiency, accuracy at steady-state value, and dynamics of the tracking algorithm. Thus, this paper proposes a new random forest (RF) model to improve MPPT performance. The RF model has the ability to capture the nonlinear association of patterns between predictors, such as irradiance and temperature, to determine accurate maximum power point. A RF-based tracker is designed for 25 SolarTIFSTF-120P6 PV modules, with the capacity of 3 kW peak using two high-speed sensors. For this purpose, a complete PV system is modeled using 300,000 data samples and simulated using the MATLAB/SIMULINK package. The proposed RF-based MPPT is then tested under actual environmental conditions for 24 days to validate the accuracy and dynamic response. The response of the RF-based MPPT model is also compared with that of the artificial neural network and adaptive neurofuzzy inference system algorithms for further validation. The results show that the proposed MPPT technique gives significant improvement compared with that of other techniques. In addition, the RF model passes the Bland–Altman test, with more than 95 percent acceptability. PMID:28702051

MO-FG-BRD-01: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: Introduction and KV Tracking

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

Fahimian, B.

2015-06-15

Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniquesmore » for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.« less

MO-FG-BRD-04: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MR Tracking

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

Low, D.

2015-06-15

Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniquesmore » for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.« less

MO-FG-BRD-02: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MV Tracking

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

Berbeco, R.

2015-06-15

Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniquesmore » for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.« less

MO-FG-BRD-03: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: EM Tracking

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

Keall, P.

2015-06-15

Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniquesmore » for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.« less

A model-based 3D template matching technique for pose acquisition of an uncooperative space object.

PubMed

Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

2015-03-16

This paper presents a customized three-dimensional template matching technique for autonomous pose determination of uncooperative targets. This topic is relevant to advanced space applications, like active debris removal and on-orbit servicing. The proposed technique is model-based and produces estimates of the target pose without any prior pose information, by processing three-dimensional point clouds provided by a LIDAR. These estimates are then used to initialize a pose tracking algorithm. Peculiar features of the proposed approach are the use of a reduced number of templates and the idea of building the database of templates on-line, thus significantly reducing the amount of on-board stored data with respect to traditional techniques. An algorithm variant is also introduced aimed at further accelerating the pose acquisition time and reducing the computational cost. Technique performance is investigated within a realistic numerical simulation environment comprising a target model, LIDAR operation and various target-chaser relative dynamics scenarios, relevant to close-proximity flight operations. Specifically, the capability of the proposed techniques to provide a pose solution suitable to initialize the tracking algorithm is demonstrated, as well as their robustness against highly variable pose conditions determined by the relative dynamics. Finally, a criterion for autonomous failure detection of the presented techniques is presented.

Tracking Organs Composed of One or Multiple Regions Using Geodesic Active Region Models

NASA Astrophysics Data System (ADS)

Martínez, A.; Jiménez, J. J.

In radiotherapy treatment it is very important to find out the target organs on the medical image sequence in order to determine and apply the proper dose. The techniques to achieve this goal can be classified into extrinsic and intrinsic. Intrinsic techniques only use image processing with medical images associated to the radiotherapy Radiotherapy treatment, as we deal in this chapter. To accurately perform this organ tracking it is necessary to find out segmentation and tracking models that were able to be applied to several image modalities involved on a radiotherapy session (CT CT See Modality , MRI Magnetic resoance imaging , etc.). The movements of the organs are mainly affected by two factors: breathing and involuntary movements associated with the internal organs or patient positioning. Among the several alternatives to track the organs of interest, a model based on geodesic active regions is proposed. This model has been tested over CT Computed tomography images from the pelvic, cardiac, and thoracic area. A new model for the segmentation of organs composed by more than one region is proposed.

Model reference tracking control of an aircraft: a robust adaptive approach

NASA Astrophysics Data System (ADS)

Tanyer, Ilker; Tatlicioglu, Enver; Zergeroglu, Erkan

2017-05-01

This work presents the design and the corresponding analysis of a nonlinear robust adaptive controller for model reference tracking of an aircraft that has parametric uncertainties in its system matrices and additive state- and/or time-dependent nonlinear disturbance-like terms in its dynamics. Specifically, robust integral of the sign of the error feedback term and an adaptive term is fused with a proportional integral controller. Lyapunov-based stability analysis techniques are utilised to prove global asymptotic convergence of the output tracking error. Extensive numerical simulations are presented to illustrate the performance of the proposed robust adaptive controller.

An adaptive front tracking technique for three-dimensional transient flows

NASA Astrophysics Data System (ADS)

Galaktionov, O. S.; Anderson, P. D.; Peters, G. W. M.; van de Vosse, F. N.

2000-01-01

An adaptive technique, based on both surface stretching and surface curvature analysis for tracking strongly deforming fluid volumes in three-dimensional flows is presented. The efficiency and accuracy of the technique are demonstrated for two- and three-dimensional flow simulations. For the two-dimensional test example, the results are compared with results obtained using a different tracking approach based on the advection of a passive scalar. Although for both techniques roughly the same structures are found, the resolution for the front tracking technique is much higher. In the three-dimensional test example, a spherical blob is tracked in a chaotic mixing flow. For this problem, the accuracy of the adaptive tracking is demonstrated by the volume conservation for the advected blob. Adaptive front tracking is suitable for simulation of the initial stages of fluid mixing, where the interfacial area can grow exponentially with time. The efficiency of the algorithm significantly benefits from parallelization of the code. Copyright

Interactive segmentation of tongue contours in ultrasound video sequences using quality maps

NASA Astrophysics Data System (ADS)

Ghrenassia, Sarah; Ménard, Lucie; Laporte, Catherine

2014-03-01

Ultrasound (US) imaging is an effective and non invasive way of studying the tongue motions involved in normal and pathological speech, and the results of US studies are of interest for the development of new strategies in speech therapy. State-of-the-art tongue shape analysis techniques based on US images depend on semi-automated tongue segmentation and tracking techniques. Recent work has mostly focused on improving the accuracy of the tracking techniques themselves. However, occasional errors remain inevitable, regardless of the technique used, and the tongue tracking process must thus be supervised by a speech scientist who will correct these errors manually or semi-automatically. This paper proposes an interactive framework to facilitate this process. In this framework, the user is guided towards potentially problematic portions of the US image sequence by a segmentation quality map that is based on the normalized energy of an active contour model and automatically produced during tracking. When a problematic segmentation is identified, corrections to the segmented contour can be made on one image and propagated both forward and backward in the problematic subsequence, thereby improving the user experience. The interactive tools were tested in combination with two different tracking algorithms. Preliminary results illustrate the potential of the proposed framework, suggesting that the proposed framework generally improves user interaction time, with little change in segmentation repeatability.

Videogrammetric Model Deformation Measurement Technique

NASA Technical Reports Server (NTRS)

Burner, A. W.; Liu, Tian-Shu

2001-01-01

The theory, methods, and applications of the videogrammetric model deformation (VMD) measurement technique used at NASA for wind tunnel testing are presented. The VMD technique, based on non-topographic photogrammetry, can determine static and dynamic aeroelastic deformation and attitude of a wind-tunnel model. Hardware of the system includes a video-rate CCD camera, a computer with an image acquisition frame grabber board, illumination lights, and retroreflective or painted targets on a wind tunnel model. Custom software includes routines for image acquisition, target-tracking/identification, target centroid calculation, camera calibration, and deformation calculations. Applications of the VMD technique at five large NASA wind tunnels are discussed.

MO-FG-BRD-00: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management

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

NONE

2015-06-15

Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniquesmore » for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.« less

Analysis of CAD Model-based Visual Tracking for Microassembly using a New Block Set for MATLAB/Simulink

NASA Astrophysics Data System (ADS)

Kudryavtsev, Andrey V.; Laurent, Guillaume J.; Clévy, Cédric; Tamadazte, Brahim; Lutz, Philippe

2015-10-01

Microassembly is an innovative alternative to the microfabrication process of MOEMS, which is quite complex. It usually implies the use of microrobots controlled by an operator. The reliability of this approach has been already confirmed for micro-optical technologies. However, the characterization of assemblies has shown that the operator is the main source of inaccuracies in the teleoperated microassembly. Therefore, there is great interest in automating the microassembly process. One of the constraints of automation in microscale is the lack of high precision sensors capable to provide the full information about the object position. Thus, the usage of visual-based feedback represents a very promising approach allowing to automate the microassembly process. The purpose of this article is to characterize the techniques of object position estimation based on the visual data, i.e., visual tracking techniques from the ViSP library. These algorithms enables a 3-D object pose using a single view of the scene and the CAD model of the object. The performance of three main types of model-based trackers is analyzed and quantified: edge-based, texture-based and hybrid tracker. The problems of visual tracking in microscale are discussed. The control of the micromanipulation station used in the framework of our project is performed using a new Simulink block set. Experimental results are shown and demonstrate the possibility to obtain the repeatability below 1 µm.

An adaptive optimal control for smart structures based on the subspace tracking identification technique

NASA Astrophysics Data System (ADS)

Ripamonti, Francesco; Resta, Ferruccio; Borroni, Massimo; Cazzulani, Gabriele

2014-04-01

A new method for the real-time identification of mechanical system modal parameters is used in order to design different adaptive control logics aiming to reduce the vibrations in a carbon fiber plate smart structure. It is instrumented with three piezoelectric actuators, three accelerometers and three strain gauges. The real-time identification is based on a recursive subspace tracking algorithm whose outputs are elaborated by an ARMA model. A statistical approach is finally applied to choose the modal parameter correct values. These are given in input to model-based control logics such as a gain scheduling and an adaptive LQR control.

Singularity-free backstepping controller for model helicopters.

PubMed

Zou, Yao; Huo, Wei

2016-11-01

This paper develops a backstepping controller for model helicopters to achieve trajectory tracking without singularity, which occurs in the attitude representation when the roll or pitch reaches ±π2. Based on a simplified model with unmodeled dynamics, backstepping technique is introduced to exploit the controller and hyperbolic tangent functions are utilized to compensate the unmodeled dynamics. Firstly, a position loop controller is designed for the position tracking, where an auxiliary dynamic system with suitable parameters is introduced to warrant the singularity-free requirement for the extracted command attitude. Then, a novel attitude loop controller is proposed to obviate singularity. It is demonstrated that, based on the established criteria for selecting controller parameters and desired trajectories, the proposed controller realizes the singularity-free trajectory tracking of the model helicopter. Simulations confirm the theoretical results. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Design principles for noninvasive, longitudinal and quantitative cell tracking with nanoparticle-based CT imaging.

PubMed

Meir, Rinat; Betzer, Oshra; Motiei, Menachem; Kronfeld, Noam; Brodie, Chaya; Popovtzer, Rachela

2017-02-01

Contradictory results in clinical trials are preventing the advancement and implementation of cell-based therapy. To explain such results, there is a need to uncover the mystery regarding the fate of the transplanted cells. To answer this need, we developed a technique for noninvasive in vivo cell tracking, which uses gold nanoparticles as contrast agents for CT imaging. Herein, we investigate the design principles of this technique for intramuscular transplantation of therapeutic cells. Longitudinal studies were performed, displaying the ability to track cells over long periods of time. As few as 500 cells could be detected and a way to quantify the number of cells visualized by CT was demonstrated. Moreover, monitoring of cell functionality was demonstrated on a mouse model of Duchenne muscular dystrophy. This cell-tracking technology has the potential to become an essential tool in pre-clinical as well as clinical trials and to advance the future of cell therapy. Copyright © 2016 Elsevier Inc. All rights reserved.

Methods to Improve the Maintenance of the Earth Catalog of Satellites During Severe Solar Storms

NASA Technical Reports Server (NTRS)

Wilkin, Paul G.; Tolson, Robert H.

1998-01-01

The objective of this thesis is to investigate methods to improve the ability to maintain the inventory of orbital elements of Earth satellites during periods of atmospheric disturbance brought on by severe solar activity. Existing techniques do not account for such atmospheric dynamics, resulting in tracking errors of several seconds in predicted crossing time. Two techniques are examined to reduce of these tracking errors. First, density predicted from various atmospheric models is fit to the orbital decay rate for a number of satellites. An orbital decay model is then developed that could be used to reduce tracking errors by accounting for atmospheric changes. The second approach utilizes a Kalman filter to estimate the orbital decay rate of a satellite after every observation. The new information is used to predict the next observation. Results from the first approach demonstrated the feasibility of building an orbital decay model based on predicted atmospheric density. Correlation of atmospheric density to orbital decay was as high as 0.88. However, it is clear that contemporary: atmospheric models need further improvement in modeling density perturbations polar region brought on by solar activity. The second approach resulted in a dramatic reduction in tracking errors for certain satellites during severe solar Storms. For example, in the limited cases studied, the reduction in tracking errors ranged from 79 to 25 percent.

System health monitoring using multiple-model adaptive estimation techniques

NASA Astrophysics Data System (ADS)

Sifford, Stanley Ryan

Monitoring system health for fault detection and diagnosis by tracking system parameters concurrently with state estimates is approached using a new multiple-model adaptive estimation (MMAE) method. This novel method is called GRid-based Adaptive Parameter Estimation (GRAPE). GRAPE expands existing MMAE methods by using new techniques to sample the parameter space. GRAPE expands on MMAE with the hypothesis that sample models can be applied and resampled without relying on a predefined set of models. GRAPE is initially implemented in a linear framework using Kalman filter models. A more generalized GRAPE formulation is presented using extended Kalman filter (EKF) models to represent nonlinear systems. GRAPE can handle both time invariant and time varying systems as it is designed to track parameter changes. Two techniques are presented to generate parameter samples for the parallel filter models. The first approach is called selected grid-based stratification (SGBS). SGBS divides the parameter space into equally spaced strata. The second approach uses Latin Hypercube Sampling (LHS) to determine the parameter locations and minimize the total number of required models. LHS is particularly useful when the parameter dimensions grow. Adding more parameters does not require the model count to increase for LHS. Each resample is independent of the prior sample set other than the location of the parameter estimate. SGBS and LHS can be used for both the initial sample and subsequent resamples. Furthermore, resamples are not required to use the same technique. Both techniques are demonstrated for both linear and nonlinear frameworks. The GRAPE framework further formalizes the parameter tracking process through a general approach for nonlinear systems. These additional methods allow GRAPE to either narrow the focus to converged values within a parameter range or expand the range in the appropriate direction to track the parameters outside the current parameter range boundary. Customizable rules define the specific resample behavior when the GRAPE parameter estimates converge. Convergence itself is determined from the derivatives of the parameter estimates using a simple moving average window to filter out noise. The system can be tuned to match the desired performance goals by making adjustments to parameters such as the sample size, convergence criteria, resample criteria, initial sampling method, resampling method, confidence in prior sample covariances, sample delay, and others.

ICTNET at Microblog Track TREC 2012

DTIC Science & Technology

2012-11-01

Weight(T) = 1 _(()) ∗ ∑ () ∗ () ∑ ()∈ () In external expansion, we use Google ...based on language model, we choose stupid backoff as the smoothing technique and “queue” as the history retention technique[7].In the filter based on...is used in ICTWDSERUN2. In both ICTWDSERUN3 and ICTWDSERUN4, we use google search results as query expansion. RankSVMmethod is used in both

Non-rigid estimation of cell motion in calcium time-lapse images

NASA Astrophysics Data System (ADS)

Hachi, Siham; Lucumi Moreno, Edinson; Desmet, An-Sofie; Vanden Berghe, Pieter; Fleming, Ronan M. T.

2016-03-01

Calcium imaging is a widely used technique in neuroscience permitting the simultaneous monitoring of electro- physiological activity of hundreds of neurons at single cell resolution. Identification of neuronal activity requires rapid and reliable image analysis techniques, especially when neurons fire and move simultaneously over time. Traditionally, image segmentation is performed to extract individual neurons in the first frame of a calcium sequence. Thereafter, the mean intensity is calculated from the same region of interest in each frame to infer calcium signals. However, when cells move, deform and fire, this segmentation on its own generates artefacts and therefore biased neuronal activity. Therefore, there is a pressing need to develop a more efficient cell tracking technique. We hereby present a novel vision-based cell tracking scheme using a thin-plate spline deformable model. The thin-plate spline warping is based on control points detected using the Fast from Accelerated Segment Test descriptor and tracked using the Lucas-Kanade optical flow. Our method is able to track neurons in calcium time-series, even when there are large changes in intensity, such as during a firing event. The robustness and efficiency of the proposed approach is validated on real calcium time-lapse images of a neuronal population.

Extending Correlation Filter-Based Visual Tracking by Tree-Structured Ensemble and Spatial Windowing.

PubMed

Gundogdu, Erhan; Ozkan, Huseyin; Alatan, A Aydin

2017-11-01

Correlation filters have been successfully used in visual tracking due to their modeling power and computational efficiency. However, the state-of-the-art correlation filter-based (CFB) tracking algorithms tend to quickly discard the previous poses of the target, since they consider only a single filter in their models. On the contrary, our approach is to register multiple CFB trackers for previous poses and exploit the registered knowledge when an appearance change occurs. To this end, we propose a novel tracking algorithm [of complexity O(D) ] based on a large ensemble of CFB trackers. The ensemble [of size O(2 D ) ] is organized over a binary tree (depth D ), and learns the target appearance subspaces such that each constituent tracker becomes an expert of a certain appearance. During tracking, the proposed algorithm combines only the appearance-aware relevant experts to produce boosted tracking decisions. Additionally, we propose a versatile spatial windowing technique to enhance the individual expert trackers. For this purpose, spatial windows are learned for target objects as well as the correlation filters and then the windowed regions are processed for more robust correlations. In our extensive experiments on benchmark datasets, we achieve a substantial performance increase by using the proposed tracking algorithm together with the spatial windowing.

Space debris tracking based on fuzzy running Gaussian average adaptive particle filter track-before-detect algorithm

NASA Astrophysics Data System (ADS)

Torteeka, Peerapong; Gao, Peng-Qi; Shen, Ming; Guo, Xiao-Zhang; Yang, Da-Tao; Yu, Huan-Huan; Zhou, Wei-Ping; Zhao, You

2017-02-01

Although tracking with a passive optical telescope is a powerful technique for space debris observation, it is limited by its sensitivity to dynamic background noise. Traditionally, in the field of astronomy, static background subtraction based on a median image technique has been used to extract moving space objects prior to the tracking operation, as this is computationally efficient. The main disadvantage of this technique is that it is not robust to variable illumination conditions. In this article, we propose an approach for tracking small and dim space debris in the context of a dynamic background via one of the optical telescopes that is part of the space surveillance network project, named the Asia-Pacific ground-based Optical Space Observation System or APOSOS. The approach combines a fuzzy running Gaussian average for robust moving-object extraction with dim-target tracking using a particle-filter-based track-before-detect method. The performance of the proposed algorithm is experimentally evaluated, and the results show that the scheme achieves a satisfactory level of accuracy for space debris tracking.

Local mesh adaptation technique for front tracking problems

NASA Astrophysics Data System (ADS)

Lock, N.; Jaeger, M.; Medale, M.; Occelli, R.

1998-09-01

A numerical model is developed for the simulation of moving interfaces in viscous incompressible flows. The model is based on the finite element method with a pseudo-concentration technique to track the front. Since a Eulerian approach is chosen, the interface is advected by the flow through a fixed mesh. Therefore, material discontinuity across the interface cannot be described accurately. To remedy this problem, the model has been supplemented with a local mesh adaptation technique. This latter consists in updating the mesh at each time step to the interface position, such that element boundaries lie along the front. It has been implemented for unstructured triangular finite element meshes. The outcome of this technique is that it allows an accurate treatment of material discontinuity across the interface and, if necessary, a modelling of interface phenomena such as surface tension by using specific boundary elements. For illustration, two examples are computed and presented in this paper: the broken dam problem and the Rayleigh-Taylor instability. Good agreement has been obtained in the comparison of the numerical results with theory or available experimental data.

Respiration-induced movement correlation for synchronous noninvasive renal cancer surgery.

PubMed

Abhilash, Rakkunedeth H; Chauhan, Sunita

2012-07-01

Noninvasive surgery (NIS), such as high-intensity focused ultrasound (HIFU)-based ablation or radiosurgery, is used for treating tumors and cancers in various parts of the body. The soft tissue targets (usually organs) deform and move as a result of physiological processes such as respiration. Moreover, other deformations induced during surgery by changes in patient position, changes in physical properties caused by repeated exposures and uncertainties resulting from cavitation also occur. In this paper, we present a correlation-based movement prediction technique to address respiration-induced movement of the urological organs while targeting through extracorporeal trans-abdominal route access. Among other organs, kidneys are worst affected during respiratory cycles, with significant three-dimensional displacements observed on the order of 20 mm. Remote access to renal targets such as renal carcinomas and cysts during noninvasive surgery, therefore, requires a tightly controlled real-time motion tracking and quantitative estimate for compensation routine to synchronize the energy source(s) for precise energy delivery to the intended regions. The correlation model finds a mapping between the movement patterns of external skin markers placed on the abdominal access window and the internal movement of the targeted kidney. The coarse estimate of position is then fine-tuned using the Adaptive Neuro-Fuzzy Inference System (ANFIS), thereby achieving a nonlinear mapping. The technical issues involved in this tracking scheme are threefold: the model must have sufficient accuracy in mapping the movement pattern; there must be an image-based tracking scheme to provide the organ position within allowable system latency; and the processing delay resulting from modeling and tracking must be within the achievable prediction horizon to accommodate the latency in the therapeutic delivery system. The concept was tested on ultrasound image sequences collected from 20 healthy volunteers. The results indicate that the modeling technique can be practically integrated into an image-guided noninvasive robotic surgical system with an indicative targeting accuracy of more than 94%. A comparative analysis showed the superiority of this technique over conventional linear mapping and modelfree blind search techniques.

Interventional MR: vascular applications.

PubMed

Smits, H F; Bos, C; van der Weide, R; Bakker, C J

1999-01-01

Three strategies for visualisation of MR-dedicated guidewires and catheters have been proposed, namely active tracking, the technique of locally induced field inhomogeneity and passive susceptibility-based tracking. In this article the pros and cons of these techniques are discussed, including the development of MR-dedicated guidewires and catheters, scan techniques, post-processing tools, and display facilities for MR tracking. Finally, some of the results obtained with MR tracking are discussed.

Surrogate-driven deformable motion model for organ motion tracking in particle radiation therapy

NASA Astrophysics Data System (ADS)

Fassi, Aurora; Seregni, Matteo; Riboldi, Marco; Cerveri, Pietro; Sarrut, David; Battista Ivaldi, Giovanni; Tabarelli de Fatis, Paola; Liotta, Marco; Baroni, Guido

2015-02-01

The aim of this study is the development and experimental testing of a tumor tracking method for particle radiation therapy, providing the daily respiratory dynamics of the patient’s thoraco-abdominal anatomy as a function of an external surface surrogate combined with an a priori motion model. The proposed tracking approach is based on a patient-specific breathing motion model, estimated from the four-dimensional (4D) planning computed tomography (CT) through deformable image registration. The model is adapted to the interfraction baseline variations in the patient’s anatomical configuration. The driving amplitude and phase parameters are obtained intrafractionally from a respiratory surrogate signal derived from the external surface displacement. The developed technique was assessed on a dataset of seven lung cancer patients, who underwent two repeated 4D CT scans. The first 4D CT was used to build the respiratory motion model, which was tested on the second scan. The geometric accuracy in localizing lung lesions, mediated over all breathing phases, ranged between 0.6 and 1.7 mm across all patients. Errors in tracking the surrounding organs at risk, such as lungs, trachea and esophagus, were lower than 1.3 mm on average. The median absolute variation in water equivalent path length (WEL) within the target volume did not exceed 1.9 mm-WEL for simulated particle beams. A significant improvement was achieved compared with error compensation based on standard rigid alignment. The present work can be regarded as a feasibility study for the potential extension of tumor tracking techniques in particle treatments. Differently from current tracking methods applied in conventional radiotherapy, the proposed approach allows for the dynamic localization of all anatomical structures scanned in the planning CT, thus providing complete information on density and WEL variations required for particle beam range adaptation.

3-D rigid body tracking using vision and depth sensors.

PubMed

Gedik, O Serdar; Alatan, A Aydn

2013-10-01

In robotics and augmented reality applications, model-based 3-D tracking of rigid objects is generally required. With the help of accurate pose estimates, it is required to increase reliability and decrease jitter in total. Among many solutions of pose estimation in the literature, pure vision-based 3-D trackers require either manual initializations or offline training stages. On the other hand, trackers relying on pure depth sensors are not suitable for AR applications. An automated 3-D tracking algorithm, which is based on fusion of vision and depth sensors via extended Kalman filter, is proposed in this paper. A novel measurement-tracking scheme, which is based on estimation of optical flow using intensity and shape index map data of 3-D point cloud, increases 2-D, as well as 3-D, tracking performance significantly. The proposed method requires neither manual initialization of pose nor offline training, while enabling highly accurate 3-D tracking. The accuracy of the proposed method is tested against a number of conventional techniques, and a superior performance is clearly observed in terms of both objectively via error metrics and subjectively for the rendered scenes.

Indoor Pedestrian Navigation Using Foot-Mounted IMU and Portable Ultrasound Range Sensors

PubMed Central

Girard, Gabriel; Côté, Stéphane; Zlatanova, Sisi; Barette, Yannick; St-Pierre, Johanne; van Oosterom, Peter

2011-01-01

Many solutions have been proposed for indoor pedestrian navigation. Some rely on pre-installed sensor networks, which offer good accuracy but are limited to areas that have been prepared for that purpose, thus requiring an expensive and possibly time-consuming process. Such methods are therefore inappropriate for navigation in emergency situations since the power supply may be disturbed. Other types of solutions track the user without requiring a prepared environment. However, they may have low accuracy. Offline tracking has been proposed to increase accuracy, however this prevents users from knowing their position in real time. This paper describes a real time indoor navigation system that does not require prepared building environments and provides tracking accuracy superior to previously described tracking methods. The system uses a combination of four techniques: foot-mounted IMU (Inertial Motion Unit), ultrasonic ranging, particle filtering and model-based navigation. The very purpose of the project is to combine these four well-known techniques in a novel way to provide better indoor tracking results for pedestrians. PMID:22164034

Current status and prospects of nuclear physics research based on tracking techniques

NASA Astrophysics Data System (ADS)

Alekseev, V. A.; Alexandrov, A. B.; Bagulya, A. V.; Chernyavskiy, M. M.; Goncharova, L. A.; Gorbunov, S. A.; Kalinina, G. V.; Konovalova, N. S.; Okatyeva, N. M.; Pavlova, T. A.; Polukhina, N. G.; Shchedrina, T. V.; Starkov, N. I.; Tioukov, V. E.; Vladymirov, M. S.; Volkov, A. E.

2017-01-01

Results of nuclear physics research made using track detectors are briefly reviewed. Advantages and prospects of the track detection technique in particle physics, neutrino physics, astrophysics and other fields are discussed on the example of the results of the search for direct origination of tau neutrino in a muon neutrino beam within the framework of the international experiment OPERA (Oscillation Project with Emulsion-tRacking Apparatus) and works on search for superheavy nuclei in nature on base of their tracks in meteoritic olivine crystals. The spectra of superheavy elements in galactic cosmic rays are presented. Prospects of using the track detection technique in fundamental and applied research are reported.

Extended state observer based robust adaptive control on SE(3) for coupled spacecraft tracking maneuver with actuator saturation and misalignment

NASA Astrophysics Data System (ADS)

Zhang, Jianqiao; Ye, Dong; Sun, Zhaowei; Liu, Chuang

2018-02-01

This paper presents a robust adaptive controller integrated with an extended state observer (ESO) to solve coupled spacecraft tracking maneuver in the presence of model uncertainties, external disturbances, actuator uncertainties including magnitude deviation and misalignment, and even actuator saturation. More specifically, employing the exponential coordinates on the Lie group SE(3) to describe configuration tracking errors, the coupled six-degrees-of-freedom (6-DOF) dynamics are developed for spacecraft relative motion, in which a generic fully actuated thruster distribution is considered and the lumped disturbances are reconstructed by using anti-windup technique. Then, a novel ESO, developed via second order sliding mode (SOSM) technique and adding linear correction terms to improve the performance, is designed firstly to estimate the disturbances in finite time. Based on the estimated information, an adaptive fast terminal sliding mode (AFTSM) controller is developed to guarantee the almost global asymptotic stability of the resulting closed-loop system such that the trajectory can be tracked with all the aforementioned drawbacks addressed simultaneously. Finally, the effectiveness of the controller is illustrated through numerical examples.

Improving z-tracking accuracy in the two-photon single-particle tracking microscope.

PubMed

Liu, C; Liu, Y-L; Perillo, E P; Jiang, N; Dunn, A K; Yeh, H-C

2015-10-12

Here, we present a method that can improve the z-tracking accuracy of the recently invented TSUNAMI (Tracking of Single particles Using Nonlinear And Multiplexed Illumination) microscope. This method utilizes a maximum likelihood estimator (MLE) to determine the particle's 3D position that maximizes the likelihood of the observed time-correlated photon count distribution. Our Monte Carlo simulations show that the MLE-based tracking scheme can improve the z-tracking accuracy of TSUNAMI microscope by 1.7 fold. In addition, MLE is also found to reduce the temporal correlation of the z-tracking error. Taking advantage of the smaller and less temporally correlated z-tracking error, we have precisely recovered the hybridization-melting kinetics of a DNA model system from thousands of short single-particle trajectories in silico . Our method can be generally applied to other 3D single-particle tracking techniques.

Improving z-tracking accuracy in the two-photon single-particle tracking microscope

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

Liu, C.; Liu, Y.-L.; Perillo, E. P.

Here, we present a method that can improve the z-tracking accuracy of the recently invented TSUNAMI (Tracking of Single particles Using Nonlinear And Multiplexed Illumination) microscope. This method utilizes a maximum likelihood estimator (MLE) to determine the particle's 3D position that maximizes the likelihood of the observed time-correlated photon count distribution. Our Monte Carlo simulations show that the MLE-based tracking scheme can improve the z-tracking accuracy of TSUNAMI microscope by 1.7 fold. In addition, MLE is also found to reduce the temporal correlation of the z-tracking error. Taking advantage of the smaller and less temporally correlated z-tracking error, we havemore » precisely recovered the hybridization-melting kinetics of a DNA model system from thousands of short single-particle trajectories in silico. Our method can be generally applied to other 3D single-particle tracking techniques.« less

Graph theoretic framework based cooperative control and estimation of multiple UAVs for target tracking

NASA Astrophysics Data System (ADS)

Ahmed, Mousumi

Designing the control technique for nonlinear dynamic systems is a significant challenge. Approaches to designing a nonlinear controller are studied and an extensive study on backstepping based technique is performed in this research with the purpose of tracking a moving target autonomously. Our main motivation is to explore the controller for cooperative and coordinating unmanned vehicles in a target tracking application. To start with, a general theoretical framework for target tracking is studied and a controller in three dimensional environment for a single UAV is designed. This research is primarily focused on finding a generalized method which can be applied to track almost any reference trajectory. The backstepping technique is employed to derive the controller for a simplified UAV kinematic model. This controller can compute three autopilot modes i.e. velocity, ground heading (or course angle), and flight path angle for tracking the unmanned vehicle. Numerical implementation is performed in MATLAB with the assumption of having perfect and full state information of the target to investigate the accuracy of the proposed controller. This controller is then frozen for the multi-vehicle problem. Distributed or decentralized cooperative control is discussed in the context of multi-agent systems. A consensus based cooperative control is studied; such consensus based control problem can be viewed from the algebraic graph theory concepts. The communication structure between the UAVs is represented by the dynamic graph where UAVs are represented by the nodes and the communication links are represented by the edges. The previously designed controller is augmented to account for the group to obtain consensus based on their communication. A theoretical development of the controller for the cooperative group of UAVs is presented and the simulation results for different communication topologies are shown. This research also investigates the cases where the communication topology switches to a different topology over particular time instants. Lyapunov analysis is performed to show stability in all cases. Another important aspect of this dissertation research is to implement the controller for the case, where perfect or full state information is not available. This necessitates the design of an estimator to estimate the system state. A nonlinear estimator, Extended Kalman Filter (EKF) is first developed for target tracking with a single UAV. The uncertainties involved with the measurement model and dynamics model are considered as zero mean Gaussian noises with some known covariances. The measurements of the full state of the target are not available and only the range, elevation, and azimuth angle are available from an onboard seeker sensor. A separate EKF is designed to estimate the UAV's own state where the state measurement is available through on-board sensors. The controller computes the three control commands based on the estimated states of target and its own states. Estimation based control laws is also implemented for colored noise measurement uncertainties, and the controller performance is shown with the simulation results. The estimation based control approach is then extended for the cooperative target tracking case. The target information is available to the network and a separate estimator is used to estimate target states. All of the UAVs in the network apply the same control law and the only difference is that each UAV updates the commands according to their connection. The simulation is performed for both cases of fixed and time varying communication topology. Monte Carlo simulation is also performed with different sample noises to investigate the performance of the estimator. The proposed technique is shown to be simple and robust to noisy environments.

Tracking Electroencephalographic Changes Using Distributions of Linear Models: Application to Propofol-Based Depth of Anesthesia Monitoring.

PubMed

Kuhlmann, Levin; Manton, Jonathan H; Heyse, Bjorn; Vereecke, Hugo E M; Lipping, Tarmo; Struys, Michel M R F; Liley, David T J

2017-04-01

Tracking brain states with electrophysiological measurements often relies on short-term averages of extracted features and this may not adequately capture the variability of brain dynamics. The objective is to assess the hypotheses that this can be overcome by tracking distributions of linear models using anesthesia data, and that anesthetic brain state tracking performance of linear models is comparable to that of a high performing depth of anesthesia monitoring feature. Individuals' brain states are classified by comparing the distribution of linear (auto-regressive moving average-ARMA) model parameters estimated from electroencephalographic (EEG) data obtained with a sliding window to distributions of linear model parameters for each brain state. The method is applied to frontal EEG data from 15 subjects undergoing propofol anesthesia and classified by the observers assessment of alertness/sedation (OAA/S) scale. Classification of the OAA/S score was performed using distributions of either ARMA parameters or the benchmark feature, Higuchi fractal dimension. The highest average testing sensitivity of 59% (chance sensitivity: 17%) was found for ARMA (2,1) models and Higuchi fractal dimension achieved 52%, however, no statistical difference was observed. For the same ARMA case, there was no statistical difference if medians are used instead of distributions (sensitivity: 56%). The model-based distribution approach is not necessarily more effective than a median/short-term average approach, however, it performs well compared with a distribution approach based on a high performing anesthesia monitoring measure. These techniques hold potential for anesthesia monitoring and may be generally applicable for tracking brain states.

Automated Video-Based Traffic Count Analysis.

DOT National Transportation Integrated Search

2016-01-01

The goal of this effort has been to develop techniques that could be applied to the : detection and tracking of vehicles in overhead footage of intersections. To that end we : have developed and published techniques for vehicle tracking based on dete...

Left Ventricular Endocardium Tracking by Fusion of Biomechanical and Deformable Models

PubMed Central

Gu, Jason

2014-01-01

This paper presents a framework for tracking left ventricular (LV) endocardium through 2D echocardiography image sequence. The framework is based on fusion of biomechanical (BM) model of the heart with the parametric deformable model. The BM model constitutive equation consists of passive and active strain energy functions. The deformations of the LV are obtained by solving the constitutive equations using ABAQUS FEM in each frame in the cardiac cycle. The strain energy functions are defined in two user subroutines for active and passive phases. Average fusion technique is used to fuse the BM and deformable model contours. Experimental results are conducted to verify the detected contours and the results are evaluated by comparing themto a created gold standard. The results and the evaluation proved that the framework has the tremendous potential to track and segment the LV through the whole cardiac cycle. PMID:24587814

High precision tracking control of a servo gantry with dynamic friction compensation.

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-05-01

This paper is concerned with the tracking control problem of a voice coil motor (VCM) actuated servo gantry system. By utilizing an adaptive control technique combined with a sliding mode approach, an adaptive sliding mode control (ASMC) law with friction compensation scheme is proposed in presence of both frictions and external disturbances. Based on the LuGre dynamic friction model, a dual-observer structure is used to estimate the unmeasurable friction state, and an adaptive control law is synthesized to effectively handle the unknown friction model parameters as well as the bound of the disturbances. Moreover, the proposed control law is also implemented on a VCM servo gantry system for motion tracking. Simulations and experimental results demonstrate good tracking performance, which outperform traditional control approaches. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Tracking marine mammals and ships with small and large-aperture hydrophone arrays

NASA Astrophysics Data System (ADS)

Gassmann, Martin

Techniques for passive acoustic tracking in all three spatial dimensions of marine mammals and ships were developed for long-term acoustic datasets recorded continuously over months using custom-designed arrays of underwater microphones (hydrophones) with spacing ranging from meters to kilometers. From the three-dimensional tracks, the acoustical properties of toothed whales and ships, such as sound intensity and directionality, were estimated as they are needed for the passive acoustic abundance estimation of toothed whales and for a quantitative description of the contribution of ships to the underwater soundscape. In addition, the tracks of the toothed whales reveal their underwater movements and demonstrate the potential of the developed tracking techniques to investigate their natural behavior and responses to sound generated by human activity, such as from ships or military SONAR. To track the periodically emitted echolocation sounds of toothed whales in an acoustically refractive environment in the upper ocean, a propagation-model based technique was developed for a hydrophone array consisting of one vertical and two L-shaped subarrays deployed from the floating instrument platform R/P FLIP. The technique is illustrated by tracking a group of five shallow-diving killer whales showing coordinated behavior. The challenge of tracking the highly directional echolocation sounds of deep-diving (< 1 km) toothed whales, in particular Cuvier's beaked whales, was addressed by embedding volumetric small-aperture (≈ 1 m element spacing) arrays into a large-aperture (≈ 1 km element spacing) seafloor array to reduce the minimum number of required receivers from five to two. The capabilities of this technique are illustrated by tracking several groups of up to three individuals over time periods from 10 min to 33 min within an area of 20 km2 in the Southern California Bight. To track and measure the underwater radiated sound of ships, a frequency domain beamformer was implemented for a volumetric hydrophone array (< 2 m element spacing) that was coupled to an autonomous acoustic seafloor recorder. This allows for the tracking and measurement of underwater radiated sound from ships of opportunity with a single instrument deployment and without depending on track information from the automatic information system (AIS).

Integrating Geochemical Reactions with a Particle-Tracking Approach to Simulate Nitrogen Transport and Transformation in Aquifers

NASA Astrophysics Data System (ADS)

Cui, Z.; Welty, C.; Maxwell, R. M.

2011-12-01

Lagrangian, particle-tracking models are commonly used to simulate solute advection and dispersion in aquifers. They are computationally efficient and suffer from much less numerical dispersion than grid-based techniques, especially in heterogeneous and advectively-dominated systems. Although particle-tracking models are capable of simulating geochemical reactions, these reactions are often simplified to first-order decay and/or linear, first-order kinetics. Nitrogen transport and transformation in aquifers involves both biodegradation and higher-order geochemical reactions. In order to take advantage of the particle-tracking approach, we have enhanced an existing particle-tracking code SLIM-FAST, to simulate nitrogen transport and transformation in aquifers. The approach we are taking is a hybrid one: the reactive multispecies transport process is operator split into two steps: (1) the physical movement of the particles including the attachment/detachment to solid surfaces, which is modeled by a Lagrangian random-walk algorithm; and (2) multispecies reactions including biodegradation are modeled by coupling multiple Monod equations with other geochemical reactions. The coupled reaction system is solved by an ordinary differential equation solver. In order to solve the coupled system of equations, after step 1, the particles are converted to grid-based concentrations based on the mass and position of the particles, and after step 2 the newly calculated concentration values are mapped back to particles. The enhanced particle-tracking code is capable of simulating subsurface nitrogen transport and transformation in a three-dimensional domain with variably saturated conditions. Potential application of the enhanced code is to simulate subsurface nitrogen loading to the Chesapeake Bay and its tributaries. Implementation details, verification results of the enhanced code with one-dimensional analytical solutions and other existing numerical models will be presented in addition to a discussion of implementation challenges.

Review of Trackside Monitoring Solutions: From Strain Gages to Optical Fibre Sensors

PubMed Central

Kouroussis, Georges; Caucheteur, Christophe; Kinet, Damien; Alexandrou, Georgios; Verlinden, Olivier; Moeyaert, Véronique

2015-01-01

A review of recent research on structural monitoring in railway industry is proposed in this paper, with a special focus on stress-based solutions. After a brief analysis of the mechanical behaviour of ballasted railway tracks, an overview of the most common monitoring techniques is presented. A special attention is paid on strain gages and accelerometers for which the accurate mounting position on the track is requisite. These types of solution are then compared to another modern approach based on the use of optical fibres. Besides, an in-depth discussion is made on the evolution of numerical models that investigate the interaction between railway vehicles and tracks. These models are used to validate experimental devices and to predict the best location(s) of the sensors. It is hoped that this review article will stimulate further research activities in this continuously expanding field. PMID:26287207

Satellite-tracking and earth-dynamics research programs. [NASA Programs on satellite orbits and satellite ground tracks of geodetic satellites

NASA Technical Reports Server (NTRS)

1974-01-01

Observations and research progress of the Smithsonian Astrophysical Observatory are reported. Satellite tracking networks (ground stations) are discussed and equipment (Baker-Nunn cameras) used to observe the satellites is described. The improvement of the accuracy of a laser ranging system of the ground stations is discussed. Also, research efforts in satellite geodesy (tides, gravity anomalies, plate tectonics) is discussed. The use of data processing for geophysical data is examined, and a data base for the Earth and Ocean Physics Applications Program is proposed. Analytical models of the earth's motion (computerized simulation) are described and the computation (numerical integration and algorithms) of satellite orbits affected by the earth's albedo, using computer techniques, is also considered. Research efforts in the study of the atmosphere are examined (the effect of drag on satellite motion), and models of the atmosphere based on satellite data are described.

Nonlinear robust control of hypersonic aircrafts with interactions between flight dynamics and propulsion systems.

PubMed

Li, Zhaoying; Zhou, Wenjie; Liu, Hao

2016-09-01

This paper addresses the nonlinear robust tracking controller design problem for hypersonic vehicles. This problem is challenging due to strong coupling between the aerodynamics and the propulsion system, and the uncertainties involved in the vehicle dynamics including parametric uncertainties, unmodeled model uncertainties, and external disturbances. By utilizing the feedback linearization technique, a linear tracking error system is established with prescribed references. For the linear model, a robust controller is proposed based on the signal compensation theory to guarantee that the tracking error dynamics is robustly stable. Numerical simulation results are given to show the advantages of the proposed nonlinear robust control method, compared to the robust loop-shaping control approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

A Hybrid Method for Opinion Finding Task (KUNLP at TREC 2008 Blog Track)

DTIC Science & Technology

2008-11-01

retrieve relevant documents. For the Opinion Retrieval subtask, we propose a hybrid model of lexicon-based approach and machine learning approach for...estimating and ranking the opinionated documents. For the Polarized Opinion Retrieval subtask, we employ machine learning for predicting the polarity...and linear combination technique for ranking polar documents. The hybrid model which utilize both lexicon-based approach and machine learning approach

SIVEH: numerical computing simulation of wireless energy-harvesting sensor nodes.

PubMed

Sanchez, Antonio; Blanc, Sara; Climent, Salvador; Yuste, Pedro; Ors, Rafael

2013-09-04

The paper presents a numerical energy harvesting model for sensor nodes, SIVEH (Simulator I-V for EH), based on I-V hardware tracking. I-V tracking is demonstrated to be more accurate than traditional energy modeling techniques when some of the components present different power dissipation at either different operating voltages or drawn currents. SIVEH numerical computing allows fast simulation of long periods of time-days, weeks, months or years-using real solar radiation curves. Moreover, SIVEH modeling has been enhanced with sleep time rate dynamic adjustment, while seeking energy-neutral operation. This paper presents the model description, a functional verification and a critical comparison with the classic energy approach.

SIVEH: Numerical Computing Simulation of Wireless Energy-Harvesting Sensor Nodes

PubMed Central

Sanchez, Antonio; Blanc, Sara; Climent, Salvador; Yuste, Pedro; Ors, Rafael

2013-01-01

The paper presents a numerical energy harvesting model for sensor nodes, SIVEH (Simulator I–V for EH), based on I–V hardware tracking. I–V tracking is demonstrated to be more accurate than traditional energy modeling techniques when some of the components present different power dissipation at either different operating voltages or drawn currents. SIVEH numerical computing allows fast simulation of long periods of time—days, weeks, months or years—using real solar radiation curves. Moreover, SIVEH modeling has been enhanced with sleep time rate dynamic adjustment, while seeking energy-neutral operation. This paper presents the model description, a functional verification and a critical comparison with the classic energy approach. PMID:24008287

Noncoherent Doppler tracking: first flight results

NASA Astrophysics Data System (ADS)

DeBoy, Christopher C.; Robert Jensen, J.; Asher, Mark S.

2005-01-01

Noncoherent Doppler tracking has been devised as a means to achieve highly accurate, two-way Doppler measurements with a simple, transceiver-based communications system. This technique has been flown as an experiment on the Thermosphere, Ionosphere, Mesosphere, Energetics and Dynamics (TIMED) spacecraft, (launched 7 December 2001), as the operational technique for Doppler tracking on CONTOUR, and is baselined on several future deep space missions at JHU/APL. This paper reports on initial results from a series of successful tests of this technique between the TIMED spacecraft and NASA ground stations in the Deep Space Network. It also examines the advantages that noncoherent Doppler tracking and a transceiver-based system may offer to small satellite systems, including reduced cost, mass, and power.

Influence of ultrasound speckle tracking strategies for motion and strain estimation.

PubMed

Curiale, Ariel H; Vegas-Sánchez-Ferrero, Gonzalo; Aja-Fernández, Santiago

2016-08-01

Speckle Tracking is one of the most prominent techniques used to estimate the regional movement of the heart based on ultrasound acquisitions. Many different approaches have been proposed, proving their suitability to obtain quantitative and qualitative information regarding myocardial deformation, motion and function assessment. New proposals to improve the basic algorithm usually focus on one of these three steps: (1) the similarity measure between images and the speckle model; (2) the transformation model, i.e. the type of motion considered between images; (3) the optimization strategies, such as the use of different optimization techniques in the transformation step or the inclusion of structural information. While many contributions have shown their good performance independently, it is not always clear how they perform when integrated in a whole pipeline. Every step will have a degree of influence over the following and hence over the final result. Thus, a Speckle Tracking pipeline must be analyzed as a whole when developing novel methods, since improvements in a particular step might be undermined by the choices taken in further steps. This work presents two main contributions: (1) We provide a complete analysis of the influence of the different steps in a Speckle Tracking pipeline over the motion and strain estimation accuracy. (2) The study proposes a methodology for the analysis of Speckle Tracking systems specifically designed to provide an easy and systematic way to include other strategies. We close the analysis with some conclusions and recommendations that can be used as an orientation of the degree of influence of the models for speckle, the transformation models, interpolation schemes and optimization strategies over the estimation of motion features. They can be further use to evaluate and design new strategy into a Speckle Tracking system. Copyright © 2016 Elsevier B.V. All rights reserved.

Statistical uncertainty of extreme wind storms over Europe derived from a probabilistic clustering technique

NASA Astrophysics Data System (ADS)

Walz, Michael; Leckebusch, Gregor C.

2016-04-01

Extratropical wind storms pose one of the most dangerous and loss intensive natural hazards for Europe. However, due to only 50 years of high quality observational data, it is difficult to assess the statistical uncertainty of these sparse events just based on observations. Over the last decade seasonal ensemble forecasts have become indispensable in quantifying the uncertainty of weather prediction on seasonal timescales. In this study seasonal forecasts are used in a climatological context: By making use of the up to 51 ensemble members, a broad and physically consistent statistical base can be created. This base can then be used to assess the statistical uncertainty of extreme wind storm occurrence more accurately. In order to determine the statistical uncertainty of storms with different paths of progression, a probabilistic clustering approach using regression mixture models is used to objectively assign storm tracks (either based on core pressure or on extreme wind speeds) to different clusters. The advantage of this technique is that the entire lifetime of a storm is considered for the clustering algorithm. Quadratic curves are found to describe the storm tracks most accurately. Three main clusters (diagonal, horizontal or vertical progression of the storm track) can be identified, each of which have their own particulate features. Basic storm features like average velocity and duration are calculated and compared for each cluster. The main benefit of this clustering technique, however, is to evaluate if the clusters show different degrees of uncertainty, e.g. more (less) spread for tracks approaching Europe horizontally (diagonally). This statistical uncertainty is compared for different seasonal forecast products.

MURI: Adaptive Waveform Design for Full Spectral Dominance

DTIC Science & Technology

2011-03-11

a three- dimensional urban tracking model, based on the nonlinear measurement model (that uses the urban multipath geometry with different types of ... the time evolution of the scattering function with a high dimensional dynamic system; a multiple particle filter technique is used to sequentially...integration of space -time coding with a fixed set of beams. It complements the

Bird migration and avian influenza: a comparison of hydrogen stable isotopes and satellite tracking methods

USGS Publications Warehouse

Bridge, Eli S.; Kelly, Jeffrey F.; Xiao, Xiangming; Takekawa, John Y.; Hill, Nichola J.; Yamage, Mat; Haque, Enam Ul; Islam, Mohammad Anwarul; Mundkur, Taej; Yavuz, Kiraz Erciyas; Leader, Paul; Leung, Connie Y.H.; Smith, Bena; Spragens, Kyle A.; Vandegrift, Kurt J.; Hosseini, Parviez R.; Saif, Samia; Mohsanin, Samiul; Mikolon, Andrea; Islam, Ausrafal; George, Acty; Sivananinthaperumal, Balachandran; Daszak, Peter; Newman, Scott H.

2014-01-01

Satellite-based tracking of migratory waterfowl is an important tool for understanding the potential role of wild birds in the long-distance transmission of highly pathogenic avian influenza. However, employing this technique on a continental scale is prohibitively expensive. This study explores the utility of stable isotope ratios in feathers in examining both the distances traveled by migratory birds and variation in migration behavior. We compared the satellite-derived movement data of 22 ducks from 8 species captured at wintering areas in Bangladesh, Turkey, and Hong Kong with deuterium ratios (δD) in the feathers of these and other individuals captured at the same locations. We derived likely molting locations from the satellite tracking data and generated expected isotope ratios based on an interpolated map of δD in rainwater. Although δD was correlated with the distance between wintering and molting locations, surprisingly, measured δD values were not correlated with either expected values or latitudes of molting sites. However, population-level parameters derived from the satellite-tracking data, such as mean distance between wintering and molting locations and variation in migration distance, were reflected by means and variation of the stable isotope values. Our findings call into question the relevance of the rainfall isotope map for Asia for linking feather isotopes to molting locations, and underscore the need for extensive ground truthing in the form of feather-based isoscapes. Nevertheless, stable isotopes from feathers could inform disease models by characterizing the degree to which regional breeding populations interact at common wintering locations. Feather isotopes also could aid in surveying wintering locations to determine where high-resolution tracking techniques (e.g. satellite tracking) could most effectively be employed. Moreover, intrinsic markers such as stable isotopes offer the only means of inferring movement information from birds that have died as a result of infection. In the absence of feather based-isoscapes, we recommend a combination of isotope analysis and satellite-tracking as the best means of generating aggregate movement data for informing disease models.

Real-Time External Respiratory Motion Measuring Technique Using an RGB-D Camera and Principal Component Analysis †

PubMed Central

Wijenayake, Udaya; Park, Soon-Yong

2017-01-01

Accurate tracking and modeling of internal and external respiratory motion in the thoracic and abdominal regions of a human body is a highly discussed topic in external beam radiotherapy treatment. Errors in target/normal tissue delineation and dose calculation and the increment of the healthy tissues being exposed to high radiation doses are some of the unsolicited problems caused due to inaccurate tracking of the respiratory motion. Many related works have been introduced for respiratory motion modeling, but a majority of them highly depend on radiography/fluoroscopy imaging, wearable markers or surgical node implanting techniques. We, in this article, propose a new respiratory motion tracking approach by exploiting the advantages of an RGB-D camera. First, we create a patient-specific respiratory motion model using principal component analysis (PCA) removing the spatial and temporal noise of the input depth data. Then, this model is utilized for real-time external respiratory motion measurement with high accuracy. Additionally, we introduce a marker-based depth frame registration technique to limit the measuring area into an anatomically consistent region that helps to handle the patient movements during the treatment. We achieved a 0.97 correlation comparing to a spirometer and 0.53 mm average error considering a laser line scanning result as the ground truth. As future work, we will use this accurate measurement of external respiratory motion to generate a correlated motion model that describes the movements of internal tumors. PMID:28792468

Rapid Object Detection Systems, Utilising Deep Learning and Unmanned Aerial Systems (uas) for Civil Engineering Applications

NASA Astrophysics Data System (ADS)

Griffiths, D.; Boehm, J.

2018-05-01

With deep learning approaches now out-performing traditional image processing techniques for image understanding, this paper accesses the potential of rapid generation of Convolutional Neural Networks (CNNs) for applied engineering purposes. Three CNNs are trained on 275 UAS-derived and freely available online images for object detection of 3m2 segments of railway track. These includes two models based on the Faster RCNN object detection algorithm (Resnet and Incpetion-Resnet) as well as the novel onestage Focal Loss network architecture (Retinanet). Model performance was assessed with respect to three accuracy metrics. The first two consisted of Intersection over Union (IoU) with thresholds 0.5 and 0.1. The last assesses accuracy based on the proportion of track covered by object detection proposals against total track length. In under six hours of training (and two hours of manual labelling) the models detected 91.3 %, 83.1 % and 75.6 % of track in the 500 test images acquired from the UAS survey Retinanet, Resnet and Inception-Resnet respectively. We then discuss the potential for such applications of such systems within the engineering field for a range of scenarios.

Modeling and controlling a robotic convoy using guidance laws strategies.

PubMed

Belkhouche, Fethi; Belkhouche, Boumediene

2005-08-01

This paper deals with the problem of modeling and controlling a robotic convoy. Guidance laws techniques are used to provide a mathematical formulation of the problem. The guidance laws used for this purpose are the velocity pursuit, the deviated pursuit, and the proportional navigation. The velocity pursuit equations model the robot's path under various sensors based control laws. A systematic study of the tracking problem based on this technique is undertaken. These guidance laws are applied to derive decentralized control laws for the angular and linear velocities. For the angular velocity, the control law is directly derived from the guidance laws after considering the relative kinematics equations between successive robots. The second control law maintains the distance between successive robots constant by controlling the linear velocity. This control law is derived by considering the kinematics equations between successive robots under the considered guidance law. Properties of the method are discussed and proven. Simulation results confirm the validity of our approach, as well as the validity of the properties of the method. Index Terms-Guidance laws, relative kinematics equations, robotic convoy, tracking.

Identification of human operator performance models utilizing time series analysis

NASA Technical Reports Server (NTRS)

Holden, F. M.; Shinners, S. M.

1973-01-01

The results of an effort performed by Sperry Systems Management Division for AMRL in applying time series analysis as a tool for modeling the human operator are presented. This technique is utilized for determining the variation of the human transfer function under various levels of stress. The human operator's model is determined based on actual input and output data from a tracking experiment.

A hybrid mobile-based patient location tracking system for personal healthcare applications.

PubMed

Chew, S H; Chong, P A; Gunawan, E; Goh, K W; Kim, Y; Soh, C B

2006-01-01

In the next generation of Infocommunications, mobile Internet-enabled devices and third generation mobile communication networks have become reality, location based services (LBS) are expected to be a major area of growth. Providing information, content and services through positioning technologies forms the platform for new services for users and developers, as well as creating new revenue channels for service providers. These crucial advances in location based services have opened up new opportunities in real time patient tracking for personal healthcare applications. In this paper, a hybrid mobile-based location technique using the global positioning system (GPS) and cellular mobile network infrastructure is employed to provide the location tracking capability. This function will be integrated into the patient location tracking system (PLTS) to assist caregivers or family members in locating patients such as elderly or dependents when required, especially in emergencies. The capability of this PLTS is demonstrated through a series of location detection tests conducted over different operating conditions. Although the model is at its initial stage of development, it has shown relatively good accuracy for position tracking and potential of using integrated wireless technology to enhance the existing personal healthcare communication system through location based services.

Neural network disturbance observer-based distributed finite-time formation tracking control for multiple unmanned helicopters.

PubMed

Wang, Dandan; Zong, Qun; Tian, Bailing; Shao, Shikai; Zhang, Xiuyun; Zhao, Xinyi

2018-02-01

The distributed finite-time formation tracking control problem for multiple unmanned helicopters is investigated in this paper. The control object is to maintain the positions of follower helicopters in formation with external interferences. The helicopter model is divided into a second order outer-loop subsystem and a second order inner-loop subsystem based on multiple-time scale features. Using radial basis function neural network (RBFNN) technique, we first propose a novel finite-time multivariable neural network disturbance observer (FMNNDO) to estimate the external disturbance and model uncertainty, where the neural network (NN) approximation errors can be dynamically compensated by adaptive law. Next, based on FMNNDO, a distributed finite-time formation tracking controller and a finite-time attitude tracking controller are designed using the nonsingular fast terminal sliding mode (NFTSM) method. In order to estimate the second derivative of the virtual desired attitude signal, a novel finite-time sliding mode integral filter is designed. Finally, Lyapunov analysis and multiple-time scale principle ensure the realization of control goal in finite-time. The effectiveness of the proposed FMNNDO and controllers are then verified by numerical simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Control of Systems With Slow Actuators Using Time Scale Separation

NASA Technical Reports Server (NTRS)

Stepanyan, Vehram; Nguyen, Nhan

2009-01-01

This paper addresses the problem of controlling a nonlinear plant with a slow actuator using singular perturbation method. For the known plant-actuator cascaded system the proposed scheme achieves tracking of a given reference model with considerably less control demand than would otherwise result when using conventional design techniques. This is the consequence of excluding the small parameter from the actuator dynamics via time scale separation. The resulting tracking error is within the order of this small parameter. For the unknown system the adaptive counterpart is developed based on the prediction model, which is driven towards the reference model by the control design. It is proven that the prediction model tracks the reference model with an error proportional to the small parameter, while the prediction error converges to zero. The resulting closed-loop system with all prediction models and adaptive laws remains stable. The benefits of the approach are demonstrated in simulation studies and compared to conventional control approaches.

An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network

NASA Astrophysics Data System (ADS)

ul Amin, Rooh; Aijun, Li; Khan, Muhammad Umer; Shamshirband, Shahaboddin; Kamsin, Amirrudin

2017-01-01

In this paper, an adaptive trajectory tracking controller based on extended normalized radial basis function network (ENRBFN) is proposed for 3-degree-of-freedom four rotor hover vehicle subjected to external disturbance i.e. wind turbulence. Mathematical model of four rotor hover system is developed using equations of motions and a new computational intelligence based technique ENRBFN is introduced to approximate the unmodeled dynamics of the hover vehicle. The adaptive controller based on the Lyapunov stability approach is designed to achieve tracking of the desired attitude angles of four rotor hover vehicle in the presence of wind turbulence. The adaptive weight update based on the Levenberg-Marquardt algorithm is used to avoid weight drift in case the system is exposed to external disturbances. The closed-loop system stability is also analyzed using Lyapunov stability theory. Simulations and experimental results are included to validate the effectiveness of the proposed control scheme.

A comparative study of artificial intelligent-based maximum power point tracking for photovoltaic systems

NASA Astrophysics Data System (ADS)

Hussain Mutlag, Ammar; Mohamed, Azah; Shareef, Hussain

2016-03-01

Maximum power point tracking (MPPT) is normally required to improve the performance of photovoltaic (PV) systems. This paper presents artificial intelligent-based maximum power point tracking (AI-MPPT) by considering three artificial intelligent techniques, namely, artificial neural network (ANN), adaptive neuro fuzzy inference system with seven triangular fuzzy sets (7-tri), and adaptive neuro fuzzy inference system with seven gbell fuzzy sets. The AI-MPPT is designed for the 25 SolarTIFSTF-120P6 PV panels, with the capacity of 3 kW peak. A complete PV system is modelled using 300,000 data samples and simulated in the MATLAB/SIMULINK. The AI-MPPT has been tested under real environmental conditions for two days from 8 am to 18 pm. The results showed that the ANN based MPPT gives the most accurate performance and then followed by the 7-tri-based MPPT.

Using postural synergies to animate a low-dimensional hand avatar in haptic simulation.

PubMed

Mulatto, Sara; Formaglio, Alessandro; Malvezzi, Monica; Prattichizzo, Domenico

2013-01-01

A technique to animate a realistic hand avatar with 20 DoFs based on the biomechanics of the human hand is presented. The animation does not use any sensor glove or advanced tracker with markers. The proposed approach is based on the knowledge of a set of kinematic constraints on the model of the hand, referred to as postural synergies, which allows to represent the hand posture using a number of variables lower than the number of joints of the hand model. This low-dimensional set of parameters is estimated from direct measurement of the motion of thumb and index finger tracked using two haptic devices. A kinematic inversion algorithm has been developed, which takes synergies into account and estimates the kinematic configuration of the whole hand, i.e., also of the fingers whose end tips are not directly tracked by the two haptic devices. The hand skin is deformable and its deformation is computed using a linear vertex blending technique. The proposed synergy-based animation of the hand avatar involves only algebraic computations and is suitable for real-time implementation as required in haptics.

Single Tracking Location Acoustic Radiation Force Impulse Viscoelasticity Estimation (STL-VE): A Method for Measuring Tissue Viscoelastic Parameters

PubMed Central

Langdon, Jonathan H; Elegbe, Etana; McAleavey, Stephen A

2015-01-01

Single Tracking Location (STL) Shear wave Elasticity Imaging (SWEI) is a method for detecting elastic differences between tissues. It has the advantage of intrinsic speckle bias suppression compared to Multiple Tracking Location (MTL) variants of SWEI. However, the assumption of a linear model leads to an overestimation of the shear modulus in viscoelastic media. A new reconstruction technique denoted Single Tracking Location Viscosity Estimation (STL-VE) is introduced to correct for this overestimation. This technique utilizes the same raw data generated in STL-SWEI imaging. Here, the STL-VE technique is developed by way of a Maximum Likelihood Estimation (MLE) for general viscoelastic materials. The method is then implemented for the particular case of the Kelvin-Voigt Model. Using simulation data, the STL-VE technique is demonstrated and the performance of the estimator is characterized. Finally, the STL-VE method is used to estimate the viscoelastic parameters of ex-vivo bovine liver. We find good agreement between the STL-VE results and the simulation parameters as well as between the liver shear wave data and the modeled data fit. PMID:26168170

Quantitative Identification of the Annealing Degree of Apatite Fission Tracks Using Terahertz Time Domain Spectroscopy (THz-TDS).

PubMed

Wu, Hang; Wu, Shixiang; Qiu, Nansheng; Chang, Jian; Bao, Rima; Zhang, Xin; Liu, Nian; Liu, Shuai

2018-01-01

Apatite fission-track (AFT) analysis, a widely used low-temperature thermochronology method, can provide details of the hydrocarbon generation history of source rocks for use in hydrocarbon exploration. The AFT method is based on the annealing behavior of fission tracks generated by 238 U fission in apatite particles during geological history. Due to the cumbersome experimental steps and high expense, it is imperative to find an efficient and inexpensive technique to determinate the annealing degree of AFT. In this study, on the basis of the ellipsoid configuration of tracks, the track volume fraction model (TVFM) is established and the fission-track volume index is proposed. Furthermore, terahertz time domain spectroscopy (THz-TDS) is used for the first time to identify the variation of the AFT annealing degree of Durango apatite particles heated at 20, 275, 300, 325, 450, and 500 ℃ for 10 h. The THz absorbance of the sample increases with the degree of annealing. In addition, the THz absorption index is exponentially related to annealing temperature and can be used to characterize the fission-track volume index. Terahertz time domain spectroscopy can be an ancillary technique for AFT thermochronological research. More work is urgently needed to extrapolate experimental data to geological conditions.

Multiple hypothesis tracking for cluttered biological image sequences.

PubMed

Chenouard, Nicolas; Bloch, Isabelle; Olivo-Marin, Jean-Christophe

2013-11-01

In this paper, we present a method for simultaneously tracking thousands of targets in biological image sequences, which is of major importance in modern biology. The complexity and inherent randomness of the problem lead us to propose a unified probabilistic framework for tracking biological particles in microscope images. The framework includes realistic models of particle motion and existence and of fluorescence image features. For the track extraction process per se, the very cluttered conditions motivate the adoption of a multiframe approach that enforces tracking decision robustness to poor imaging conditions and to random target movements. We tackle the large-scale nature of the problem by adapting the multiple hypothesis tracking algorithm to the proposed framework, resulting in a method with a favorable tradeoff between the model complexity and the computational cost of the tracking procedure. When compared to the state-of-the-art tracking techniques for bioimaging, the proposed algorithm is shown to be the only method providing high-quality results despite the critically poor imaging conditions and the dense target presence. We thus demonstrate the benefits of advanced Bayesian tracking techniques for the accurate computational modeling of dynamical biological processes, which is promising for further developments in this domain.

Webcam mouse using face and eye tracking in various illumination environments.

PubMed

Lin, Yuan-Pin; Chao, Yi-Ping; Lin, Chung-Chih; Chen, Jyh-Horng

2005-01-01

Nowadays, due to enhancement of computer performance and popular usage of webcam devices, it has become possible to acquire users' gestures for the human-computer-interface with PC via webcam. However, the effects of illumination variation would dramatically decrease the stability and accuracy of skin-based face tracking system; especially for a notebook or portable platform. In this study we present an effective illumination recognition technique, combining K-Nearest Neighbor classifier and adaptive skin model, to realize the real-time tracking system. We have demonstrated that the accuracy of face detection based on the KNN classifier is higher than 92% in various illumination environments. In real-time implementation, the system successfully tracks user face and eyes features at 15 fps under standard notebook platforms. Although KNN classifier only initiates five environments at preliminary stage, the system permits users to define and add their favorite environments to KNN for computer access. Eventually, based on this efficient tracking algorithm, we have developed a "Webcam Mouse" system to control the PC cursor using face and eye tracking. Preliminary studies in "point and click" style PC web games also shows promising applications in consumer electronic markets in the future.

The Extended-Image Tracking Technique Based on the Maximum Likelihood Estimation

NASA Technical Reports Server (NTRS)

Tsou, Haiping; Yan, Tsun-Yee

2000-01-01

This paper describes an extended-image tracking technique based on the maximum likelihood estimation. The target image is assume to have a known profile covering more than one element of a focal plane detector array. It is assumed that the relative position between the imager and the target is changing with time and the received target image has each of its pixels disturbed by an independent additive white Gaussian noise. When a rotation-invariant movement between imager and target is considered, the maximum likelihood based image tracking technique described in this paper is a closed-loop structure capable of providing iterative update of the movement estimate by calculating the loop feedback signals from a weighted correlation between the currently received target image and the previously estimated reference image in the transform domain. The movement estimate is then used to direct the imager to closely follow the moving target. This image tracking technique has many potential applications, including free-space optical communications and astronomy where accurate and stabilized optical pointing is essential.

D Tracking Based Augmented Reality for Cultural Heritage Data Management

NASA Astrophysics Data System (ADS)

Battini, C.; Landi, G.

2015-02-01

The development of contactless documentation techniques is allowing researchers to collect high volumes of three-dimensional data in a short time but with high levels of accuracy. The digitalisation of cultural heritage opens up the possibility of using image processing and analysis, and computer graphics techniques, to preserve this heritage for future generations; augmenting it with additional information or with new possibilities for its enjoyment and use. The collection of precise datasets about cultural heritage status is crucial for its interpretation, its conservation and during the restoration processes. The application of digital-imaging solutions for various feature extraction, image data-analysis techniques, and three-dimensional reconstruction of ancient artworks, allows the creation of multidimensional models that can incorporate information coming from heterogeneous data sets, research results and historical sources. Real objects can be scanned and reconstructed virtually, with high levels of data accuracy and resolution. Real-time visualisation software and hardware is rapidly evolving and complex three-dimensional models can be interactively visualised and explored on applications developed for mobile devices. This paper will show how a 3D reconstruction of an object, with multiple layers of information, can be stored and visualised through a mobile application that will allow interaction with a physical object for its study and analysis, using 3D Tracking based Augmented Reality techniques.

The Likelihood of Completing a VET Qualification: A Model-Based Approach. Technical Paper

ERIC Educational Resources Information Center

Mark, Kevin; Karmel, Tom

2010-01-01

This paper estimates vocational education and training (VET) course-completion rates, in order to fill a gap in performance measures for the VET sector. The technique the authors use is to track all VET course enrolments within a three-year window, centred on the year of interest. Then, using an absorbing Markov chain model for a VET course…

Optimizations and Applications in Head-Mounted Video-Based Eye Tracking

ERIC Educational Resources Information Center

Li, Feng

2011-01-01

Video-based eye tracking techniques have become increasingly attractive in many research fields, such as visual perception and human-computer interface design. The technique primarily relies on the positional difference between the center of the eye's pupil and the first-surface reflection at the cornea, the corneal reflection (CR). This…

Remote Distributed Vibration Sensing Through Opaque Media Using Permanent Magnets

DOE PAGES

Chen, Yi; Mazumdar, Anirban; Brooks, Carlton F.; ...

2018-04-05

Vibration sensing is critical for a variety of applications from structural fatigue monitoring to understanding the modes of airplane wings. In particular, remote sensing techniques are needed for measuring the vibrations of multiple points simultaneously, assessing vibrations inside opaque metal vessels, and sensing through smoke clouds and other optically challenging environments. Here, in this paper, we propose a method which measures high-frequency displacements remotely using changes in the magnetic field generated by permanent magnets. We leverage the unique nature of vibration tracking and use a calibrated local model technique developed specifically to improve the frequency-domain estimation accuracy. The results showmore » that two-dimensional local models surpass the dipole model in tracking high-frequency motions. A theoretical basis for understanding the effects of electronic noise and error due to correlated variables is generated in order to predict the performance of experiments prior to implementation. Simultaneous measurements of up to three independent vibrating components are shown. The relative accuracy of the magnet-based displacement tracking with respect to the video tracking ranges from 40 to 190 μm when the maximum displacements approach ±5 mm and when sensor-to-magnet distances vary from 25 to 36 mm. Finally, vibration sensing inside an opaque metal vessel and mode shape changes due to damage on an aluminum beam are also studied using the wireless permanent-magnet vibration sensing scheme.« less

Remote Distributed Vibration Sensing Through Opaque Media Using Permanent Magnets

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

Chen, Yi; Mazumdar, Anirban; Brooks, Carlton F.

Vibration sensing is critical for a variety of applications from structural fatigue monitoring to understanding the modes of airplane wings. In particular, remote sensing techniques are needed for measuring the vibrations of multiple points simultaneously, assessing vibrations inside opaque metal vessels, and sensing through smoke clouds and other optically challenging environments. Here, in this paper, we propose a method which measures high-frequency displacements remotely using changes in the magnetic field generated by permanent magnets. We leverage the unique nature of vibration tracking and use a calibrated local model technique developed specifically to improve the frequency-domain estimation accuracy. The results showmore » that two-dimensional local models surpass the dipole model in tracking high-frequency motions. A theoretical basis for understanding the effects of electronic noise and error due to correlated variables is generated in order to predict the performance of experiments prior to implementation. Simultaneous measurements of up to three independent vibrating components are shown. The relative accuracy of the magnet-based displacement tracking with respect to the video tracking ranges from 40 to 190 μm when the maximum displacements approach ±5 mm and when sensor-to-magnet distances vary from 25 to 36 mm. Finally, vibration sensing inside an opaque metal vessel and mode shape changes due to damage on an aluminum beam are also studied using the wireless permanent-magnet vibration sensing scheme.« less

Instrumentation and telemetry systems for free-flight drop model testing

NASA Technical Reports Server (NTRS)

Hyde, Charles R.; Massie, Jeffrey J.

1993-01-01

This paper presents instrumentation and telemetry system techniques used in free-flight research drop model testing at the NASA Langley Research Center. The free-flight drop model test technique is used to conduct flight dynamics research of high performance aircraft using dynamically scaled models. The free-flight drop model flight testing supplements research using computer analysis and wind tunnel testing. The drop models are scaled to approximately 20 percent of the size of the actual aircraft. This paper presents an introduction to the Free-Flight Drop Model Program which is followed by a description of the current instrumentation and telemetry systems used at the NASA Langley Research Center, Plum Tree Test Site. The paper describes three telemetry downlinks used to acquire the data, video, and radar tracking information from the model. Also described are two telemetry uplinks, one used to fly the model employing a ground-based flight control computer and a second to activate commands for visual tracking and parachute recovery of the model. The paper concludes with a discussion of free-flight drop model instrumentation and telemetry system development currently in progress for future drop model projects at the NASA Langley Research Center.

A Comparison of Techniques for Camera Selection and Hand-Off in a Video Network

NASA Astrophysics Data System (ADS)

Li, Yiming; Bhanu, Bir

Video networks are becoming increasingly important for solving many real-world problems. Multiple video sensors require collaboration when performing various tasks. One of the most basic tasks is the tracking of objects, which requires mechanisms to select a camera for a certain object and hand-off this object from one camera to another so as to accomplish seamless tracking. In this chapter, we provide a comprehensive comparison of current and emerging camera selection and hand-off techniques. We consider geometry-, statistics-, and game theory-based approaches and provide both theoretical and experimental comparison using centralized and distributed computational models. We provide simulation and experimental results using real data for various scenarios of a large number of cameras and objects for in-depth understanding of strengths and weaknesses of these techniques.

A novel optical investigation technique for railroad track inspection and assessment

NASA Astrophysics Data System (ADS)

Sabato, Alessandro; Beale, Christopher H.; Niezrecki, Christopher

2017-04-01

Track failures due to cross tie degradation or loss in ballast support may result in a number of problems ranging from simple service interruptions to derailments. Structural Health Monitoring (SHM) of railway track is important for safety reasons and to reduce downtime and maintenance costs. For this reason, novel and cost-effective track inspection technologies for assessing tracks' health are currently insufficient and needed. Advancements achieved in recent years in cameras technology, optical sensors, and image-processing algorithms have made machine vision, Structure from Motion (SfM), and three-dimensional (3D) Digital Image Correlation (DIC) systems extremely appealing techniques for extracting structural deformations and geometry profiles. Therefore, optically based, non-contact measurement techniques may be used for assessing surface defects, rail and tie deflection profiles, and ballast condition. In this study, the design of two camera-based measurement systems is proposed for crossties-ballast condition assessment and track examination purposes. The first one consists of four pairs of cameras installed on the underside of a rail car to detect the induced deformation and displacement on the whole length of the track's cross tie using 3D DIC measurement techniques. The second consists of another set of cameras using SfM techniques for obtaining a 3D rendering of the infrastructure from a series of two-dimensional (2D) images to evaluate the state of the track qualitatively. The feasibility of the proposed optical systems is evaluated through extensive laboratory tests, demonstrating their ability to measure parameters of interest (e.g. crosstie's full-field displacement, vertical deflection, shape, etc.) for assessment and SHM of railroad track.

Advanced Navigation Strategies For Asteroid Sample Return Missions

NASA Technical Reports Server (NTRS)

Getzandanner, K.; Bauman, J.; Williams, B.; Carpenter, J.

2010-01-01

Flyby and rendezvous missions to asteroids have been accomplished using navigation techniques derived from experience gained in planetary exploration. This paper presents analysis of advanced navigation techniques required to meet unique challenges for precision navigation to acquire a sample from an asteroid and return it to Earth. These techniques rely on tracking data types such as spacecraft-based laser ranging and optical landmark tracking in addition to the traditional Earth-based Deep Space Network radio metric tracking. A systematic study of navigation strategy, including the navigation event timeline and reduction in spacecraft-asteroid relative errors, has been performed using simulation and covariance analysis on a representative mission.

A Markov chain technique for determining the acquisition behavior of a digital tracking loop

NASA Technical Reports Server (NTRS)

Chadwick, H. D.

1972-01-01

An iterative procedure is presented for determining the acquisition behavior of discrete or digital implementations of a tracking loop. The technique is based on the theory of Markov chains and provides the cumulative probability of acquisition in the loop as a function of time in the presence of noise and a given set of initial condition probabilities. A digital second-order tracking loop to be used in the Viking command receiver for continuous tracking of the command subcarrier phase was analyzed using this technique, and the results agree closely with experimental data.

Formal Techniques for Organization Analysis: Task and Resource Management

DTIC Science & Technology

1984-06-01

typical approach has been to base new entities on stereotypical structures and make changes as problems are recognized. Clearly, this is not an...human resources; and provide the means to change and track all 4 L I _ _ _ ____ I I these parameters as they interact with each other and respond to...functioning under internal and external change . 3. Data gathering techniques to allow one to efficiently r,’lect reliable modeling parameters from

Flight testing a V/STOL aircraft to identify a full-envelope aerodynamic model

NASA Technical Reports Server (NTRS)

Mcnally, B. David; Bach, Ralph E., Jr.

1988-01-01

Flight-test techniques are being used to generate a data base for identification of a full-envelope aerodynamic model of a V/STOL fighter aircraft, the YAV-8B Harrier. The flight envelope to be modeled includes hover, transition to conventional flight and back to hover, STOL operation, and normal cruise. Standard V/STOL procedures such as vertical takeoff and landings, and short takeoff and landings are used to gather data in the powered-lift flight regime. Long (3 to 5 min) maneuvers which include a variety of input types are used to obtain large-amplitude control and response excitations. The aircraft is under continuous radar tracking; a laser tracker is used for V/STOL operations near the ground. Tracking data are used with state-estimation techniques to check data consistency and to derive unmeasured variables, for example, angular accelerations. A propulsion model of the YAV-8B's engine and reaction control system is used to isolate aerodynamic forces and moments for model identification. Representative V/STOL flight data are presented. The processing of a typical short takeoff and slow landing maneuver is illustrated.

DYNARIP: A technique for regional forest inventory projection and policy analysis

Treesearch

William A. Bechtold

1984-01-01

DYNARIP is a policy-oriented model capable of tracking all of the treatments and disturbances experienced by the forest resources of an entire State or regional area. It can also isolate the impact of any one of the 27 man-caused or natural disturbances (including natural succession and forest land-base changes). The model is driven by empirical rates of change as...

Lunar surface engineering properties experiment definition. Volume 2: Mechanics of rolling sphere-soil slope interaction

NASA Technical Reports Server (NTRS)

Hovland, H. J.; Mitchell, J. K.

1971-01-01

The soil deformation mode under the action of a rolling sphere (boulder) was determined, and a theory based on actual soil failure mechanism was developed which provides a remote reconnaissance technique for study of soil conditions using boulder track observations. The failure mechanism was investigated by using models and by testing an instrumented spherical wheel. The wheel was specifically designed to measure contact pressure, but it also provided information on the failure mechanism. Further tests included rolling some 200 spheres down sand slopes. Films were taken of the rolling spheres, and the tracks were measured. Implications of the results and reevaluation of the lunar boulder tracks are discussed.

Foot model for tracking temperature of safety boot insoles: application to different insole materials in firefighter boots.

PubMed

García-Hernández, César; Sánchez-Álvarez, Eduardo J; Huertas-Talón, José-Luis

2016-01-01

This research is based on the development of a human foot model to study the temperature conditions of a foot bottom surface under extreme external conditions. This foot model is made by combining different manufacturing techniques to enable the simulation of bones and tissues, allowing the placement of sensors on its surface to track the temperature values of different points inside a shoe. These sensors let researchers capture valuable data during a defined period of time, making it possible to compare the features of different safety boots, socks or soles, among others. In this case, it has been applied to compare different plantar insole materials, placed into safety boots on a high-temperature surface.

Improving maximum power point tracking of partially shaded photovoltaic system by using IPSO-BELBIC

NASA Astrophysics Data System (ADS)

Al-Alim El-Garhy, M. Abd; Mubarak, R. I.; El-Bably, M.

2017-08-01

Solar photovoltaic (PV) arrays in remote applications are often related to the rapid changes in the partial shading pattern. Rapid changes of the partial shading pattern make the tracking of maximum power point (MPP) of the global peak through the local ones too difficult. An essential need to make a fast and efficient algorithm to detect the peaks values which always vary as the sun irradiance changes. This paper presents two algorithms based on the improved particle swarm optimization technique one of them with PID controller (IPSO-PID), and the other one with Brain Emotional Learning Based Intelligent Controller (IPSO-BELBIC). These techniques improve the maximum power point (MPP) tracking capabilities for photovoltaic (PV) system under partial shading circumstances. The main aim of these improved algorithms is to accelerate the velocity of IPSO to reach to (MPP) and increase its efficiency. These algorithms also improve the tracking time under complex irradiance conditions. Based on these conditions, the tracking time of these presented techniques improves to 2 msec, with an efficiency of 100%.

Tools and Methods for Visualization of Mesoscale Ocean Eddies

NASA Astrophysics Data System (ADS)

Bemis, K. G.; Liu, L.; Silver, D.; Kang, D.; Curchitser, E.

2017-12-01

Mesoscale ocean eddies form in the Gulf Stream and transport heat and nutrients across the ocean basin. The internal structure of these three-dimensional eddies and the kinematics with which they move are critical to a full understanding of their transport capacity. A series of visualization tools have been developed to extract, characterize, and track ocean eddies from 3D modeling results, to visually show the ocean eddy story by applying various illustrative visualization techniques, and to interactively view results stored on a server from a conventional browser. In this work, we apply a feature-based method to track instances of ocean eddies through the time steps of a high-resolution multidecadal regional ocean model and generate a series of eddy paths which reflect the life cycle of individual eddy instances. The basic method uses the Okubu-Weiss parameter to define eddy cores but could be adapted to alternative specifications of an eddy. Stored results include pixel-lists for each eddy instance, tracking metadata for eddy paths, and physical and geometric properties. In the simplest view, isosurfaces are used to display eddies along an eddy path. Individual eddies can then be selected and viewed independently or an eddy path can be viewed in the context of all eddy paths (longer than a specified duration) and the ocean basin. To tell the story of mesoscale ocean eddies, we combined illustrative visualization techniques, including visual effectiveness enhancement, focus+context, and smart visibility, with the extracted volume features to explore eddy characteristics at multiple scales from ocean basin to individual eddy. An evaluation by domain experts indicates that combining our feature-based techniques with illustrative visualization techniques provides an insight into the role eddies play in ocean circulation. A web-based GUI is under development to facilitate easy viewing of stored results. The GUI provides the user control to choose amongst available datasets, to specify the variables (such as temperature or salinity) to display on the isosurfaces, and to choose the scale and orientation of the view. These techniques allow an oceanographer to browse the data based on eddy paths and individual eddies rather than slices or volumes of data.

Development and applications of single particle orientation and rotational tracking in dynamic systems

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

Chen, Kuangcai

The goal of this study is to help with future data analysis and experiment designs in rotational dynamics research using DIC-based SPORT technique. Most of the current studies using DIC-based SPORT techniques are technical demonstrations. Understanding the mechanisms behind the observed rotational behaviors of the imaging probes should be the focus of the future SPORT studies. More efforts are still needed in the development of new imaging probes, particle tracking methods, instrumentations, and advanced data analysis methods to further extend the potential of DIC-based SPORT technique.

Robust multiperson detection and tracking for mobile service and social robots.

PubMed

Li, Liyuan; Yan, Shuicheng; Yu, Xinguo; Tan, Yeow Kee; Li, Haizhou

2012-10-01

This paper proposes an efficient system which integrates multiple vision models for robust multiperson detection and tracking for mobile service and social robots in public environments. The core technique is a novel maximum likelihood (ML)-based algorithm which combines the multimodel detections in mean-shift tracking. First, a likelihood probability which integrates detections and similarity to local appearance is defined. Then, an expectation-maximization (EM)-like mean-shift algorithm is derived under the ML framework. In each iteration, the E-step estimates the associations to the detections, and the M-step locates the new position according to the ML criterion. To be robust to the complex crowded scenarios for multiperson tracking, an improved sequential strategy to perform the mean-shift tracking is proposed. Under this strategy, human objects are tracked sequentially according to their priority order. To balance the efficiency and robustness for real-time performance, at each stage, the first two objects from the list of the priority order are tested, and the one with the higher score is selected. The proposed method has been successfully implemented on real-world service and social robots. The vision system integrates stereo-based and histograms-of-oriented-gradients-based human detections, occlusion reasoning, and sequential mean-shift tracking. Various examples to show the advantages and robustness of the proposed system for multiperson tracking from mobile robots are presented. Quantitative evaluations on the performance of multiperson tracking are also performed. Experimental results indicate that significant improvements have been achieved by using the proposed method.

Plant Phenotyping using Probabilistic Topic Models: Uncovering the Hyperspectral Language of Plants

PubMed Central

Wahabzada, Mirwaes; Mahlein, Anne-Katrin; Bauckhage, Christian; Steiner, Ulrike; Oerke, Erich-Christian; Kersting, Kristian

2016-01-01

Modern phenotyping and plant disease detection methods, based on optical sensors and information technology, provide promising approaches to plant research and precision farming. In particular, hyperspectral imaging have been found to reveal physiological and structural characteristics in plants and to allow for tracking physiological dynamics due to environmental effects. In this work, we present an approach to plant phenotyping that integrates non-invasive sensors, computer vision, as well as data mining techniques and allows for monitoring how plants respond to stress. To uncover latent hyperspectral characteristics of diseased plants reliably and in an easy-to-understand way, we “wordify” the hyperspectral images, i.e., we turn the images into a corpus of text documents. Then, we apply probabilistic topic models, a well-established natural language processing technique that identifies content and topics of documents. Based on recent regularized topic models, we demonstrate that one can track automatically the development of three foliar diseases of barley. We also present a visualization of the topics that provides plant scientists an intuitive tool for hyperspectral imaging. In short, our analysis and visualization of characteristic topics found during symptom development and disease progress reveal the hyperspectral language of plant diseases. PMID:26957018

Determination of muon momentum in the MicroBooNE LArTPC using an improved model of multiple Coulomb scattering

NASA Astrophysics Data System (ADS)

Abratenko, P.; Acciarri, R.; Adams, C.; An, R.; Anthony, J.; Asaadi, J.; Auger, M.; Bagby, L.; Balasubramanian, S.; Baller, B.; Barnes, C.; Barr, G.; Bass, M.; Bay, F.; Bishai, M.; Blake, A.; Bolton, T.; Bugel, L.; Camilleri, L.; Caratelli, D.; Carls, B.; Castillo Fernandez, R.; Cavanna, F.; Chen, H.; Church, E.; Cianci, D.; Cohen, E.; Collin, G. H.; Conrad, J. M.; Convery, M.; Crespo-Anadón, J. I.; Del Tutto, M.; Devitt, D.; Dytman, S.; Eberly, B.; Ereditato, A.; Escudero Sanchez, L.; Esquivel, J.; Fleming, B. T.; Foreman, W.; Furmanski, A. P.; Garcia-Gamez, D.; Garvey, G. T.; Genty, V.; Goeldi, D.; Gollapinni, S.; Graf, N.; Gramellini, E.; Greenlee, H.; Grosso, R.; Guenette, R.; Hackenburg, A.; Hamilton, P.; Hen, O.; Hewes, J.; Hill, C.; Ho, J.; Horton-Smith, G.; Huang, E.-C.; James, C.; de Vries, J. Jan; Jen, C.-M.; Jiang, L.; Johnson, R. A.; Joshi, J.; Jostlein, H.; Kaleko, D.; Kalousis, L. N.; Karagiorgi, G.; Ketchum, W.; Kirby, B.; Kirby, M.; Kobilarcik, T.; Kreslo, I.; Laube, A.; Li, Y.; Lister, A.; Littlejohn, B. R.; Lockwitz, S.; Lorca, D.; Louis, W. C.; Luethi, M.; Lundberg, B.; Luo, X.; Marchionni, A.; Mariani, C.; Marshall, J.; Martinez Caicedo, D. A.; Meddage, V.; Miceli, T.; Mills, G. B.; Moon, J.; Mooney, M.; Moore, C. D.; Mousseau, J.; Murrells, R.; Naples, D.; Nienaber, P.; Nowak, J.; Palamara, O.; Paolone, V.; Papavassiliou, V.; Pate, S. F.; Pavlovic, Z.; Piasetzky, E.; Porzio, D.; Pulliam, G.; Qian, X.; Raaf, J. L.; Rafique, A.; Rochester, L.; von Rohr, C. Rudolf; Russell, B.; Schmitz, D. W.; Schukraft, A.; Seligman, W.; Shaevitz, M. H.; Sinclair, J.; Snider, E. L.; Soderberg, M.; Söldner-Rembold, S.; Soleti, S. R.; Spentzouris, P.; Spitz, J.; St. John, J.; Strauss, T.; Szelc, A. M.; Tagg, N.; Terao, K.; Thomson, M.; Toups, M.; Tsai, Y.-T.; Tufanli, S.; Usher, T.; Van de Water, R. G.; Viren, B.; Weber, M.; Wickremasinghe, D. A.; Wolbers, S.; Wongjirad, T.; Woodruff, K.; Yang, T.; Yates, L.; Zeller, G. P.; Zennamo, J.; Zhang, C.

2017-10-01

We discuss a technique for measuring a charged particle's momentum by means of multiple Coulomb scattering (MCS) in the MicroBooNE liquid argon time projection chamber (LArTPC). This method does not require the full particle ionization track to be contained inside of the detector volume as other track momentum reconstruction methods do (range-based momentum reconstruction and calorimetric momentum reconstruction). We motivate use of this technique, describe a tuning of the underlying phenomenological formula, quantify its performance on fully contained beam-neutrino-induced muon tracks both in simulation and in data, and quantify its performance on exiting muon tracks in simulation. Using simulation, we have shown that the standard Highland formula should be re-tuned specifically for scattering in liquid argon, which significantly improves the bias and resolution of the momentum measurement. With the tuned formula, we find agreement between data and simulation for contained tracks, with a small bias in the momentum reconstruction and with resolutions that vary as a function of track length, improving from about 10% for the shortest (one meter long) tracks to 5% for longer (several meter) tracks. For simulated exiting muons with at least one meter of track contained, we find a similarly small bias, and a resolution which is less than 15% for muons with momentum below 2 GeV/c. Above 2 GeV/c, results are given as a first estimate of the MCS momentum measurement capabilities of MicroBooNE for high momentum exiting tracks.

Determination of muon momentum in the MicroBooNE LArTPC using an improved model of multiple Coulomb scattering

DOE PAGES

Abratenko, P.

2017-10-18

Here, we discuss a technique for measuring a charged particle's momentum by means of multiple Coulomb scattering (MCS) in the MicroBooNE liquid argon time projection chamber (LArTPC). This method does not require the full particle ionization track to be contained inside of the detector volume as other track momentum reconstruction methods do (range-based momentum reconstruction and calorimetric momentum reconstruction). We motivate use of this technique, describe a tuning of the underlying phenomenological formula, quantify its performance on fully contained beam-neutrino-induced muon tracks both in simulation and in data, and quantify its performance on exiting muon tracks in simulation. Using simulation,more » we have shown that the standard Highland formula should be re-tuned specifically for scattering in liquid argon, which significantly improves the bias and resolution of the momentum measurement. With the tuned formula, we find agreement between data and simulation for contained tracks, with a small bias in the momentum reconstruction and with resolutions that vary as a function of track length, improving from about 10% for the shortest (one meter long) tracks to 5% for longer (several meter) tracks. For simulated exiting muons with at least one meter of track contained, we find a similarly small bias, and a resolution which is less than 15% for muons with momentum below 2 GeV/c. Above 2 GeV/c, results are given as a first estimate of the MCS momentum measurement capabilities of MicroBooNE for high momentum exiting tracks.« less

Determination of muon momentum in the MicroBooNE LArTPC using an improved model of multiple Coulomb scattering

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

Abratenko, P.

Here, we discuss a technique for measuring a charged particle's momentum by means of multiple Coulomb scattering (MCS) in the MicroBooNE liquid argon time projection chamber (LArTPC). This method does not require the full particle ionization track to be contained inside of the detector volume as other track momentum reconstruction methods do (range-based momentum reconstruction and calorimetric momentum reconstruction). We motivate use of this technique, describe a tuning of the underlying phenomenological formula, quantify its performance on fully contained beam-neutrino-induced muon tracks both in simulation and in data, and quantify its performance on exiting muon tracks in simulation. Using simulation,more » we have shown that the standard Highland formula should be re-tuned specifically for scattering in liquid argon, which significantly improves the bias and resolution of the momentum measurement. With the tuned formula, we find agreement between data and simulation for contained tracks, with a small bias in the momentum reconstruction and with resolutions that vary as a function of track length, improving from about 10% for the shortest (one meter long) tracks to 5% for longer (several meter) tracks. For simulated exiting muons with at least one meter of track contained, we find a similarly small bias, and a resolution which is less than 15% for muons with momentum below 2 GeV/c. Above 2 GeV/c, results are given as a first estimate of the MCS momentum measurement capabilities of MicroBooNE for high momentum exiting tracks.« less

Recovery of atmospheric refractivity profiles from simulated satellite-to-satellite tracking data

NASA Technical Reports Server (NTRS)

Murray, C. W., Jr.; Rangaswamy, S.

1975-01-01

Techniques for recovering atmospheric refractivity profiles from simulated satellite-to-satellite tracking data are documented. Examples are given using the geometric configuration of the ATS-6/NIMBUS-6 Tracking Experiment. The underlying refractivity model for the lower atmosphere has the spherically symmetric form N = exp P(s) where P(s) is a polynomial in the normalized height s. For the simulation used, the Herglotz-Wiechert technique recovered values which were 0.4% and 40% different from the input values at the surface and at a height of 33 kilometers, respectively. Using the same input data, the model fitting technique recovered refractivity values 0.05% and 1% different from the input values at the surface and at a height of 50 kilometers, respectively. It is also shown that if ionospheric and water vapor effects can be properly modelled or effectively removed from the data, pressure and temperature distributions can be obtained.

Artificial neural networks and approximate reasoning for intelligent control in space

NASA Technical Reports Server (NTRS)

Berenji, Hamid R.

1991-01-01

A method is introduced for learning to refine the control rules of approximate reasoning-based controllers. A reinforcement-learning technique is used in conjunction with a multi-layer neural network model of an approximate reasoning-based controller. The model learns by updating its prediction of the physical system's behavior. The model can use the control knowledge of an experienced operator and fine-tune it through the process of learning. Some of the space domains suitable for applications of the model such as rendezvous and docking, camera tracking, and tethered systems control are discussed.

H2LIFT: global navigation simulation ship tracking and WMD detection in the maritime domain

NASA Astrophysics Data System (ADS)

Wyffels, Kevin

2007-04-01

This paper presents initial results for a tracking simulation of multiple maritime vehicles for use in a data fusion program detecting Weapons of Mass Destruction (WMD). This simulation supports a fusion algorithm (H2LIFT) for collecting and analyzing data providing a heuristic analysis tool for detecting weapons of mass destruction in the maritime domain. Tools required to develop a navigational simulation fitting a set of project objectives are introduced for integration into the H2LIFT algorithm. Emphasis is placed on the specific requirements of the H2LIFT project, however the basic equations, algorithms, and methodologies can be used as tools in a variety of scenario simulations. Discussion will be focused on track modeling (e.g. position tracking of ships), navigational techniques, WMD detection, and simulation of these models using Matlab and Simulink. Initial results provide absolute ship position data for a given multi-ship maritime scenario with random generation of a given ship containing a WMD. Required coordinate systems, conversions between coordinate systems, Earth modeling techniques, and navigational conventions and techniques are introduced for development of the simulations.

Offshore killer whale tracking using multiple hydrophone arrays.

PubMed

Gassmann, Martin; Henderson, E Elizabeth; Wiggins, Sean M; Roch, Marie A; Hildebrand, John A

2013-11-01

To study delphinid near surface movements and behavior, two L-shaped hydrophone arrays and one vertical hydrophone line array were deployed at shallow depths (<125 m) from the floating instrument platform R/P FLIP, moored northwest of San Clemente Island in the Southern California Bight. A three-dimensional propagation-model based passive acoustic tracking method was developed and used to track a group of five offshore killer whales (Orcinus orca) using their emitted clicks. In addition, killer whale pulsed calls and high-frequency modulated (HFM) signals were localized using other standard techniques. Based on these tracks sound source levels for the killer whales were estimated. The peak to peak source levels for echolocation clicks vary between 170-205 dB re 1 μPa @ 1 m, for HFM calls between 185-193 dB re 1 μPa @ 1 m, and for pulsed calls between 146-158 dB re 1 μPa @ 1 m.

A geopotential model from satellite tracking, altimeter, and surface gravity data: GEM-T3

NASA Technical Reports Server (NTRS)

Lerch, F. J.; Nerem, R. S.; Putney, B. H.; Felsentreger, T. L.; Sanchez, B. V.; Marshall, J. A.; Klosko, S. M.; Patel, G. B.; Williamson, R. G.; Chinn, D. S.

1994-01-01

An improved model of Earth's gravitational field, Goddard Earth Model T-3 (GEM-T3), has been developed from a combination of satellite tracking, satellite altimeter, and surface gravimetric data. GEM-T3 provides a significant improvement in the modeling of the gravity field at half wavelengths of 400 km and longer. This model, complete to degree and order 50, yields more accurate satellite orbits and an improved geoid representation than previous Goddard Earth Models. GEM-T3 uses altimeter data from GEOS 3 (1975-1976), Seasat (1978) and Geosat (1986-1987). Tracking information used in the solution includes more than 1300 arcs of data encompassing 31 different satellites. The recovery of the long-wavelength components of the solution relies mostly on highly precise satellite laser ranging (SLR) data, but also includes Tracking Network (TRANET) Doppler, optical, and satellite-to-satellite tracking acquired between the ATS 6 and GEOS 3 satellites. The main advances over GEM-T2 (beyond the inclusion of altimeter and surface gravity information which is essential for the resolution of the shorter wavelength geoid) are some improved tracking data analysis approaches and additional SLR data. Although the use of altimeter data has greatly enhanced the modeling of the ocean geoid between 65 deg N and 60 deg S latitudes in GEM-T3, the lack of accurate detailed surface gravimetry leaves poor geoid resolution over many continental regions of great tectonic interest (e.g., Himalayas, Andes). Estimates of polar motion, tracking station coordinates, and long-wavelength ocean tidal terms were also made (accounting for 6330 parameters). GEM-T3 has undergone error calibration using a technique based on subset solutions to produce reliable error estimates. The calibration is based on the condition that the expected mean square deviation of a subset gravity solution from the full set values is predicted by the solutions' error covariances. Data weights are iteratively adjusted until this condition for the error calibration is satisfied. In addition, gravity field tests were performed on strong satellite data sets withheld from the solution (thereby ensuring their independence). In these tests, the performance of the subset models on the withheld observations is compared to error projections based on their calibrated error covariances. These results demonstrate that orbit accuracy projections are reliable for new satellites which were not included in GEM-T3.

Sensor management in RADAR/IRST track fusion

NASA Astrophysics Data System (ADS)

Hu, Shi-qiang; Jing, Zhong-liang

2004-07-01

In this paper, a novel radar management strategy technique suitable for RADAR/IRST track fusion, which is based on Fisher Information Matrix (FIM) and fuzzy stochastic decision approach, is put forward. Firstly, optimal radar measurements' scheduling is obtained by the method of maximizing determinant of the Fisher information matrix of radar and IRST measurements, which is managed by the expert system. Then, suggested a "pseudo sensor" to predict the possible target position using the polynomial method based on the radar and IRST measurements, using "pseudo sensor" model to estimate the target position even if the radar is turned off. At last, based on the tracking performance and the state of target maneuver, fuzzy stochastic decision is used to adjust the optimal radar scheduling and retrieve the module parameter of "pseudo sensor". The experiment result indicates that the algorithm can not only limit Radar activity effectively but also keep the tracking accuracy of active/passive system well. And this algorithm eliminates the drawback of traditional Radar management methods that the Radar activity is fixed and not easy to control and protect.

Visual tracking using neuromorphic asynchronous event-based cameras.

PubMed

Ni, Zhenjiang; Ieng, Sio-Hoi; Posch, Christoph; Régnier, Stéphane; Benosman, Ryad

2015-04-01

This letter presents a novel computationally efficient and robust pattern tracking method based on a time-encoded, frame-free visual data. Recent interdisciplinary developments, combining inputs from engineering and biology, have yielded a novel type of camera that encodes visual information into a continuous stream of asynchronous, temporal events. These events encode temporal contrast and intensity locally in space and time. We show that the sparse yet accurately timed information is well suited as a computational input for object tracking. In this letter, visual data processing is performed for each incoming event at the time it arrives. The method provides a continuous and iterative estimation of the geometric transformation between the model and the events representing the tracked object. It can handle isometry, similarities, and affine distortions and allows for unprecedented real-time performance at equivalent frame rates in the kilohertz range on a standard PC. Furthermore, by using the dimension of time that is currently underexploited by most artificial vision systems, the method we present is able to solve ambiguous cases of object occlusions that classical frame-based techniques handle poorly.

Clustering of financial time series with application to index and enhanced index tracking portfolio

NASA Astrophysics Data System (ADS)

Dose, Christian; Cincotti, Silvano

2005-09-01

A stochastic-optimization technique based on time series cluster analysis is described for index tracking and enhanced index tracking problems. Our methodology solves the problem in two steps, i.e., by first selecting a subset of stocks and then setting the weight of each stock as a result of an optimization process (asset allocation). Present formulation takes into account constraints on the number of stocks and on the fraction of capital invested in each of them, whilst not including transaction costs. Computational results based on clustering selection are compared to those of random techniques and show the importance of clustering in noise reduction and robust forecasting applications, in particular for enhanced index tracking.

Combining Particle Filters and Consistency-Based Approaches for Monitoring and Diagnosis of Stochastic Hybrid Systems

NASA Technical Reports Server (NTRS)

Narasimhan, Sriram; Dearden, Richard; Benazera, Emmanuel

2004-01-01

Fault detection and isolation are critical tasks to ensure correct operation of systems. When we consider stochastic hybrid systems, diagnosis algorithms need to track both the discrete mode and the continuous state of the system in the presence of noise. Deterministic techniques like Livingstone cannot deal with the stochasticity in the system and models. Conversely Bayesian belief update techniques such as particle filters may require many computational resources to get a good approximation of the true belief state. In this paper we propose a fault detection and isolation architecture for stochastic hybrid systems that combines look-ahead Rao-Blackwellized Particle Filters (RBPF) with the Livingstone 3 (L3) diagnosis engine. In this approach RBPF is used to track the nominal behavior, a novel n-step prediction scheme is used for fault detection and L3 is used to generate a set of candidates that are consistent with the discrepant observations which then continue to be tracked by the RBPF scheme.

Consistent detection and identification of individuals in a large camera network

NASA Astrophysics Data System (ADS)

Colombo, Alberto; Leung, Valerie; Orwell, James; Velastin, Sergio A.

2007-10-01

In the wake of an increasing number of terrorist attacks, counter-terrorism measures are now a main focus of many research programmes. An important issue for the police is the ability to track individuals and groups reliably through underground stations, and in the case of post-event analysis, to be able to ascertain whether specific individuals have been at the station previously. While there exist many motion detection and tracking algorithms, the reliable deployment of them in a large network is still ongoing research. Specifically, to track individuals through multiple views, on multiple levels and between levels, consistent detection and labelling of individuals is crucial. In view of these issues, we have developed a change detection algorithm to work reliably in the presence of periodic movements, e.g. escalators and scrolling advertisements, as well as a content-based retrieval technique for identification. The change detection technique automatically extracts periodically varying elements in the scene using Fourier analysis, and constructs a Markov model for the process. Training is performed online, and no manual intervention is required, making this system suitable for deployment in large networks. Experiments on real data shows significant improvement over existing techniques. The content-based retrieval technique uses MPEG-7 descriptors to identify individuals. Given the environment under which the system operates, i.e. at relatively low resolution, this approach is suitable for short timescales. For longer timescales, other forms of identification such as gait, or if the resolution allows, face recognition, will be required.

Analysis of Vlbi, Slr and GPS Site Position Time Series

NASA Astrophysics Data System (ADS)

Angermann, D.; Krügel, M.; Meisel, B.; Müller, H.; Tesmer, V.

Conventionally the IERS terrestrial reference frame (ITRF) is realized by the adoption of a set of epoch coordinates and linear velocities for a set of global tracking stations. Due to the remarkable progress of the space geodetic observation techniques (e.g. VLBI, SLR, GPS) the accuracy and consistency of the ITRF increased continuously. The accuracy achieved today is mainly limited by technique-related systematic errors, which are often poorly characterized or quantified. Therefore it is essential to analyze the individual techniques' solutions with respect to systematic differences, models, parameters, datum definition, etc. Main subject of this presentation is the analysis of GPS, SLR and VLBI time series of site positions. The investigations are based on SLR and VLBI solutions computed at DGFI with the software systems DOGS (SLR) and OCCAM (VLBI). The GPS time series are based on weekly IGS station coordinates solutions. We analyze the time series with respect to the issues mentioned above. In particular we characterize the noise in the time series, identify periodic signals, and investigate non-linear effects that complicate the assignment of linear velocities for global tracking sites. One important aspect is the comparison of results obtained by different techniques at colocation sites.

Adaptive object tracking via both positive and negative models matching

NASA Astrophysics Data System (ADS)

Li, Shaomei; Gao, Chao; Wang, Yawen

2015-03-01

To improve tracking drift which often occurs in adaptive tracking, an algorithm based on the fusion of tracking and detection is proposed in this paper. Firstly, object tracking is posed as abinary classification problem and is modeled by partial least squares (PLS) analysis. Secondly, tracking object frame by frame via particle filtering. Thirdly, validating the tracking reliability based on both positive and negative models matching. Finally, relocating the object based on SIFT features matching and voting when drift occurs. Object appearance model is updated at the same time. The algorithm can not only sense tracking drift but also relocate the object whenever needed. Experimental results demonstrate that this algorithm outperforms state-of-the-art algorithms on many challenging sequences.

Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

NASA Astrophysics Data System (ADS)

Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

2018-04-01

In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

Forward and Inverse Predictive Model for the Trajectory Tracking Control of a Lower Limb Exoskeleton for Gait Rehabilitation: Simulation modelling analysis

NASA Astrophysics Data System (ADS)

Zakaria, M. A.; Majeed, A. P. P. A.; Taha, Z.; Alim, M. M.; Baarath, K.

2018-03-01

The movement of a lower limb exoskeleton requires a reasonably accurate control method to allow for an effective gait therapy session to transpire. Trajectory tracking is a nontrivial means of passive rehabilitation technique to correct the motion of the patients’ impaired limb. This paper proposes an inverse predictive model that is coupled together with the forward kinematics of the exoskeleton to estimate the behaviour of the system. A conventional PID control system is used to converge the required joint angles based on the desired input from the inverse predictive model. It was demonstrated through the present study, that the inverse predictive model is capable of meeting the trajectory demand with acceptable error tolerance. The findings further suggest the ability of the predictive model of the exoskeleton to predict a correct joint angle command to the system.

Improved accuracy of markerless motion tracking on bone suppression images: preliminary study for image-guided radiation therapy (IGRT)

NASA Astrophysics Data System (ADS)

Tanaka, Rie; Sanada, Shigeru; Sakuta, Keita; Kawashima, Hiroki

2015-05-01

The bone suppression technique based on advanced image processing can suppress the conspicuity of bones on chest radiographs, creating soft tissue images obtained by the dual-energy subtraction technique. This study was performed to evaluate the usefulness of bone suppression image processing in image-guided radiation therapy. We demonstrated the improved accuracy of markerless motion tracking on bone suppression images. Chest fluoroscopic images of nine patients with lung nodules during respiration were obtained using a flat-panel detector system (120 kV, 0.1 mAs/pulse, 5 fps). Commercial bone suppression image processing software was applied to the fluoroscopic images to create corresponding bone suppression images. Regions of interest were manually located on lung nodules and automatic target tracking was conducted based on the template matching technique. To evaluate the accuracy of target tracking, the maximum tracking error in the resulting images was compared with that of conventional fluoroscopic images. The tracking errors were decreased by half in eight of nine cases. The average maximum tracking errors in bone suppression and conventional fluoroscopic images were 1.3   ±   1.0 and 3.3   ±   3.3 mm, respectively. The bone suppression technique was especially effective in the lower lung area where pulmonary vessels, bronchi, and ribs showed complex movements. The bone suppression technique improved tracking accuracy without special equipment and implantation of fiducial markers, and with only additional small dose to the patient. Bone suppression fluoroscopy is a potential measure for respiratory displacement of the target. This paper was presented at RSNA 2013 and was carried out at Kanazawa University, JAPAN.

Application of the SRI cloud-tracking technique to rapid-scan GOES observations

NASA Technical Reports Server (NTRS)

Wolf, D. E.; Endlich, R. M.

1980-01-01

An automatic cloud tracking system was applied to multilayer clouds associated with severe storms. The method was tested using rapid scan observations of Hurricane Eloise obtained by the GOES satellite on 22 September 1975. Cloud tracking was performed using clustering based either on visible or infrared data. The clusters were tracked using two different techniques. The data of 4 km and 8 km resolution of the automatic system yielded comparable in accuracy and coverage to those obtained by NASA analysts using the Atmospheric and Oceanographic Information Processing System.

Registration of 3D and Multispectral Data for the Study of Cultural Heritage Surfaces

PubMed Central

Chane, Camille Simon; Schütze, Rainer; Boochs, Frank; Marzani, Franck S.

2013-01-01

We present a technique for the multi-sensor registration of featureless datasets based on the photogrammetric tracking of the acquisition systems in use. This method is developed for the in situ study of cultural heritage objects and is tested by digitizing a small canvas successively with a 3D digitization system and a multispectral camera while simultaneously tracking the acquisition systems with four cameras and using a cubic target frame with a side length of 500 mm. The achieved tracking accuracy is better than 0.03 mm spatially and 0.150 mrad angularly. This allows us to seamlessly register the 3D acquisitions and to project the multispectral acquisitions on the 3D model. PMID:23322103

Fuzzy attitude control of solar sail via linear matrix inequalities

NASA Astrophysics Data System (ADS)

Baculi, Joshua; Ayoubi, Mohammad A.

2017-09-01

This study presents a fuzzy tracking controller based on the Takagi-Sugeno (T-S) fuzzy model of the solar sail. First, the T-S fuzzy model is constructed by linearizing the existing nonlinear equations of motion of the solar sail. Then, the T-S fuzzy model is used to derive the state feedback controller gains for the Twin Parallel Distributed Compensation (TPDC) technique. The TPDC tracks and stabilizes the attitude of the solar sail to any desired state in the presence of parameter uncertainties and external disturbances while satisfying actuator constraints. The performance of the TPDC is compared to a PID controller that is tuned using the Ziegler-Nichols method. Numerical simulation shows the TPDC outperforms the PID controller when stabilizing the solar sail to a desired state.

A Biomechanical Modeling Guided CBCT Estimation Technique

PubMed Central

Zhang, You; Tehrani, Joubin Nasehi; Wang, Jing

2017-01-01

Two-dimensional-to-three-dimensional (2D-3D) deformation has emerged as a new technique to estimate cone-beam computed tomography (CBCT) images. The technique is based on deforming a prior high-quality 3D CT/CBCT image to form a new CBCT image, guided by limited-view 2D projections. The accuracy of this intensity-based technique, however, is often limited in low-contrast image regions with subtle intensity differences. The solved deformation vector fields (DVFs) can also be biomechanically unrealistic. To address these problems, we have developed a biomechanical modeling guided CBCT estimation technique (Bio-CBCT-est) by combining 2D-3D deformation with finite element analysis (FEA)-based biomechanical modeling of anatomical structures. Specifically, Bio-CBCT-est first extracts the 2D-3D deformation-generated displacement vectors at the high-contrast anatomical structure boundaries. The extracted surface deformation fields are subsequently used as the boundary conditions to drive structure-based FEA to correct and fine-tune the overall deformation fields, especially those at low-contrast regions within the structure. The resulting FEA-corrected deformation fields are then fed back into 2D-3D deformation to form an iterative loop, combining the benefits of intensity-based deformation and biomechanical modeling for CBCT estimation. Using eleven lung cancer patient cases, the accuracy of the Bio-CBCT-est technique has been compared to that of the 2D-3D deformation technique and the traditional CBCT reconstruction techniques. The accuracy was evaluated in the image domain, and also in the DVF domain through clinician-tracked lung landmarks. PMID:27831866

The Identification and Tracking of Uterine Contractions Using Template Based Cross-Correlation.

PubMed

McDonald, Sarah C; Brooker, Graham; Phipps, Hala; Hyett, Jon

2017-09-01

The purpose of this paper is to outline a novel method of using template based cross-correlation to identify and track uterine contractions during labour. A purpose built six-channel Electromyography (EMG) device was used to collect data from consenting women during labour and birth. A range of templates were constructed for the purpose of identifying and tracking uterine activity when cross-correlated with the EMG signal. Peak finding techniques were applied on the cross-correlated result to simplify and automate the identification and tracking of contractions. The EMG data showed a unique pattern when a woman was contracting with key features of the contraction signal remaining consistent and identifiable across subjects. Contraction profiles across subjects were automatically identified using template based cross-correlation. Synthetic templates from a rectangular function with a duration of between 5 and 10 s performed best at identifying and tracking uterine activity across subjects. The successful application of this technique provides opportunity for both simple and accurate real-time analysis of contraction data while enabling investigations into the application of techniques such as machine learning which could enable automated learning from contraction data as part of real-time monitoring and post analysis.

Analytical model for real time, noninvasive estimation of blood glucose level.

PubMed

Adhyapak, Anoop; Sidley, Matthew; Venkataraman, Jayanti

2014-01-01

The paper presents an analytical model to estimate blood glucose level from measurements made non-invasively and in real time by an antenna strapped to a patient's wrist. Some promising success has been shown by the RIT ETA Lab research group that an antenna's resonant frequency can track, in real time, changes in glucose concentration. Based on an in-vitro study of blood samples of diabetic patients, the paper presents a modified Cole-Cole model that incorporates a factor to represent the change in glucose level. A calibration technique using the input impedance technique is discussed and the results show a good estimation as compared to the glucose meter readings. An alternate calibration methodology has been developed that is based on the shift in the antenna resonant frequency using an equivalent circuit model containing a shunt capacitor to represent the shift in resonant frequency with changing glucose levels. Work under progress is the optimization of the technique with a larger sample of patients.

Automated Historical and Real-Time Cyclone Discovery With Multimodal Remote Satellite Measurements

NASA Astrophysics Data System (ADS)

Ho, S.; Talukder, A.; Liu, T.; Tang, W.; Bingham, A.

2008-12-01

Existing cyclone detection and tracking solutions involve extensive manual analysis of modeled-data and field campaign data by teams of experts. We have developed a novel automated global cyclone detection and tracking system by assimilating and sharing information from multiple remote satellites. This unprecedented solution of combining multiple remote satellite measurements in an autonomous manner allows leveraging off the strengths of each individual satellite. Use of multiple satellite data sources also results in significantly improved temporal tracking accuracy for cyclones. Our solution involves an automated feature extraction and machine learning technique based on an ensemble classifier and Kalman filter for cyclone detection and tracking from multiple heterogeneous satellite data sources. Our feature-based methodology that focuses on automated cyclone discovery is fundamentally different from, and actually complements, the well-known Dvorak technique for cyclone intensity estimation (that often relies on manual detection of cyclonic regions) from field and remote data. Our solution currently employs the QuikSCAT wind measurement and the merged level 3 TRMM precipitation data for automated cyclone discovery. Assimilation of other types of remote measurements is ongoing and planned in the near future. Experimental results of our automated solution on historical cyclone datasets demonstrate the superior performance of our automated approach compared to previous work. Performance of our detection solution compares favorably against the list of cyclones occurring in North Atlantic Ocean for the 2005 calendar year reported by the National Hurricane Center (NHC) in our initial analysis. We have also demonstrated the robustness of our cyclone tracking methodology in other regions over the world by using multiple heterogeneous satellite data for detection and tracking of three arbitrary historical cyclones in other regions. Our cyclone detection and tracking methodology can be applied to (i) historical data to support Earth scientists in climate modeling, cyclonic-climate interactions, and obtain a better understanding of the cause and effects of cyclone (e.g. cyclo-genesis), and (ii) automatic cyclone discovery in near real-time using streaming satellite to support and improve the planning of global cyclone field campaigns. Additional satellite data from GOES and other orbiting satellites can be easily assimilated and integrated into our automated cyclone detection and tracking module to improve the temporal tracking accuracy of cyclones down to ½ hr and reduce the incidence of false alarms.

Thermal bioaerosol cloud tracking with Bayesian classification

NASA Astrophysics Data System (ADS)

Smith, Christian W.; Dupuis, Julia R.; Schundler, Elizabeth C.; Marinelli, William J.

2017-05-01

The development of a wide area, bioaerosol early warning capability employing existing uncooled thermal imaging systems used for persistent perimeter surveillance is discussed. The capability exploits thermal imagers with other available data streams including meteorological data and employs a recursive Bayesian classifier to detect, track, and classify observed thermal objects with attributes consistent with a bioaerosol plume. Target detection is achieved based on similarity to a phenomenological model which predicts the scene-dependent thermal signature of bioaerosol plumes. Change detection in thermal sensor data is combined with local meteorological data to locate targets with the appropriate thermal characteristics. Target motion is tracked utilizing a Kalman filter and nearly constant velocity motion model for cloud state estimation. Track management is performed using a logic-based upkeep system, and data association is accomplished using a combinatorial optimization technique. Bioaerosol threat classification is determined using a recursive Bayesian classifier to quantify the threat probability of each tracked object. The classifier can accept additional inputs from visible imagers, acoustic sensors, and point biological sensors to improve classification confidence. This capability was successfully demonstrated for bioaerosol simulant releases during field testing at Dugway Proving Grounds. Standoff detection at a range of 700m was achieved for as little as 500g of anthrax simulant. Developmental test results will be reviewed for a range of simulant releases, and future development and transition plans for the bioaerosol early warning platform will be discussed.

Super-resolution imaging applied to moving object tracking

NASA Astrophysics Data System (ADS)

Swalaganata, Galandaru; Ratna Sulistyaningrum, Dwi; Setiyono, Budi

2017-10-01

Moving object tracking in a video is a method used to detect and analyze changes that occur in an object that being observed. Visual quality and the precision of the tracked target are highly wished in modern tracking system. The fact that the tracked object does not always seem clear causes the tracking result less precise. The reasons are low quality video, system noise, small object, and other factors. In order to improve the precision of the tracked object especially for small object, we propose a two step solution that integrates a super-resolution technique into tracking approach. First step is super-resolution imaging applied into frame sequences. This step was done by cropping the frame in several frame or all of frame. Second step is tracking the result of super-resolution images. Super-resolution image is a technique to obtain high-resolution images from low-resolution images. In this research single frame super-resolution technique is proposed for tracking approach. Single frame super-resolution was a kind of super-resolution that it has the advantage of fast computation time. The method used for tracking is Camshift. The advantages of Camshift was simple calculation based on HSV color that use its histogram for some condition and color of the object varies. The computational complexity and large memory requirements required for the implementation of super-resolution and tracking were reduced and the precision of the tracked target was good. Experiment showed that integrate a super-resolution imaging into tracking technique can track the object precisely with various background, shape changes of the object, and in a good light conditions.

Advanced optical position sensors for magnetically suspended wind tunnel models

NASA Technical Reports Server (NTRS)

Lafleur, S.

1985-01-01

A major concern to aerodynamicists has been the corruption of wind tunnel test data by model support structures, such as stings or struts. A technique for magnetically suspending wind tunnel models was considered by Tournier and Laurenceau (1957) in order to overcome this problem. This technique is now implemented with the aid of a Large Magnetic Suspension and Balance System (LMSBS) and advanced position sensors for measuring model attitude and position within the test section. Two different optical position sensors are discussed, taking into account a device based on the use of linear CCD arrays, and a device utilizing area CID cameras. Current techniques in image processing have been employed to develop target tracking algorithms capable of subpixel resolution for the sensors. The algorithms are discussed in detail, and some preliminary test results are reported.

Adaptive control of an exoskeleton robot with uncertainties on kinematics and dynamics.

PubMed

Brahmi, Brahim; Saad, Maarouf; Ochoa-Luna, Cristobal; Rahman, Mohammad H

2017-07-01

In this paper, we propose a new adaptive control technique based on nonlinear sliding mode control (JSTDE) taking into account kinematics and dynamics uncertainties. This approach is applied to an exoskeleton robot with uncertain kinematics and dynamics. The adaptation design is based on Time Delay Estimation (TDE). The proposed strategy does not necessitate the well-defined dynamic and kinematic models of the system robot. The updated laws are designed using Lyapunov-function to solve the adaptation problem systematically, proving the close loop stability and ensuring the convergence asymptotically of the outputs tracking errors. Experiments results show the effectiveness and feasibility of JSTDE technique to deal with the variation of the unknown nonlinear dynamics and kinematics of the exoskeleton model.

Modeling the Behavior of an Underwater Acoustic Relative Positioning System Based on Complementary Set of Sequences

PubMed Central

Aparicio, Joaquín; Jiménez, Ana; Álvarez, Fernando J.; Ureña, Jesús; De Marziani, Carlos; Diego, Cristina

2011-01-01

The great variability usually found in underwater media makes modeling a challenging task, but helpful for better understanding or predicting the performance of future deployed systems. In this work, an underwater acoustic propagation model is presented. This model obtains the multipath structure by means of the ray tracing technique. Using this model, the behavior of a relative positioning system is presented. One of the main advantages of relative positioning systems is that only the distances between all the buoys are needed to obtain their positions. In order to obtain the distances, the propagation times of acoustic signals coded by Complementary Set of Sequences (CSS) are used. In this case, the arrival instants are obtained by means of correlation processes. The distances are then used to obtain the position of the buoys by means of the Multidimensional Scaling Technique (MDS). As an early example of an application using this relative positioning system, a tracking of the position of the buoys at different times is performed. With this tracking, the surface current of a particular region could be studied. The performance of the system is evaluated in terms of the distance from the real position to the estimated one. PMID:22247661

Putting it all together: Exhumation histories from a formal combination of heat flow and a suite of thermochronometers

USGS Publications Warehouse

d'Alessio, M. A.; Williams, C.F.

2007-01-01

A suite of new techniques in thermochronometry allow analysis of the thermal history of a sample over a broad range of temperature sensitivities. New analysis tools must be developed that fully and formally integrate these techniques, allowing a single geologic interpretation of the rate and timing of exhumation and burial events consistent with all data. We integrate a thermal model of burial and exhumation, (U-Th)/He age modeling, and fission track age and length modeling. We then use a genetic algorithm to efficiently explore possible time-exhumation histories of a vertical sample profile (such as a borehole), simultaneously solving for exhumation and burial rates as well as changes in background heat flow. We formally combine all data in a rigorous statistical fashion. By parameterizing the model in terms of exhumation rather than time-temperature paths (as traditionally done in fission track modeling), we can ensure that exhumation histories result in a sedimentary basin whose thickness is consistent with the observed basin, a physically based constraint that eliminates otherwise acceptable thermal histories. We apply the technique to heat flow and thermochronometry data from the 2.1 -km-deep San Andreas Fault Observatory at Depth pilot hole near the San Andreas fault, California. We find that the site experienced <1 km of exhumation or burial since the onset of San Andreas fault activity ???30 Ma.

Feature-based respiratory motion tracking in native fluoroscopic sequences for dynamic roadmaps during minimally invasive procedures in the thorax and abdomen

NASA Astrophysics Data System (ADS)

Wagner, Martin G.; Laeseke, Paul F.; Schubert, Tilman; Slagowski, Jordan M.; Speidel, Michael A.; Mistretta, Charles A.

2017-03-01

Fluoroscopic image guidance for minimally invasive procedures in the thorax and abdomen suffers from respiratory and cardiac motion, which can cause severe subtraction artifacts and inaccurate image guidance. This work proposes novel techniques for respiratory motion tracking in native fluoroscopic images as well as a model based estimation of vessel deformation. This would allow compensation for respiratory motion during the procedure and therefore simplify the workflow for minimally invasive procedures such as liver embolization. The method first establishes dynamic motion models for both the contrast-enhanced vasculature and curvilinear background features based on a native (non-contrast) and a contrast-enhanced image sequence acquired prior to device manipulation, under free breathing conditions. The model of vascular motion is generated by applying the diffeomorphic demons algorithm to an automatic segmentation of the subtraction sequence. The model of curvilinear background features is based on feature tracking in the native sequence. The two models establish the relationship between the respiratory state, which is inferred from curvilinear background features, and the vascular morphology during that same respiratory state. During subsequent fluoroscopy, curvilinear feature detection is applied to determine the appropriate vessel mask to display. The result is a dynamic motioncompensated vessel mask superimposed on the fluoroscopic image. Quantitative evaluation of the proposed methods was performed using a digital 4D CT-phantom (XCAT), which provides realistic human anatomy including sophisticated respiratory and cardiac motion models. Four groups of datasets were generated, where different parameters (cycle length, maximum diaphragm motion and maximum chest expansion) were modified within each image sequence. Each group contains 4 datasets consisting of the initial native and contrast enhanced sequences as well as a sequence, where the respiratory motion is tracked. The respiratory motion tracking error was between 1.00 % and 1.09 %. The estimated dynamic vessel masks yielded a Sørensen-Dice coefficient between 0.94 and 0.96. Finally, the accuracy of the vessel contours was measured in terms of the 99th percentile of the error, which ranged between 0.64 and 0.96 mm. The presented results show that the approach is feasible for respiratory motion tracking and compensation and could therefore considerably improve the workflow of minimally invasive procedures in the thorax and abdomen

Simulation of zones of contribution to wells at site GM–38, Naval Weapons Industrial Reserve Plant, Bethpage, New York

USGS Publications Warehouse

Misut, Paul

2014-01-01

A three-dimensional groundwater-flow model is coupled with the particle-tracking program MODPATH to delineate zones of contribution to wells pumping from the Magothy aquifer and supplying water to a chlorinated volatile organic compound removal plant at site GM–38, Naval Weapons Industrial Reserve Plant, Bethpage, New York. By use of driller’s logs, a transitional probability approach generated three alternative realizations of heterogeneity within the Magothy aquifer to assess uncertainty in model representation. Finer-grained sediments with low hydraulic conductivity were realized as laterally discontinuous, thickening towards the south, and comprising about 17 percent of the total aquifer volume. Particle-tracking evaluations of a steady state present conditions model with alternative heterogeneity realizations were used to develop zones of contribution of remedial pumping wells. Because of heterogeneity and high rates of advection within the coarse-grained sediments, transport by dispersion and (or) diffusion was assumed to be negligible. Resulting zones of contribution of existing remedial wells are complex shapes, influenced by heterogeneity of each realization and other nearby hydrologic stresses. The use of two particle tracking techniques helped identify zones of contribution to wells. Backtracking techniques and observations of points of intersection of backward-tracked particles at shells of the GM–38 Hot Spot, as defined by surfaces of equal total volatile organic compound concentration, identified the source of water within the GM–38 Hot Spot to simulated wells. Forward-tracking techniques identified the fate of water within the GM–38 Hot Spot, including well capture and discharge to model constant head and drain boundaries. The percentage of backward-tracked particles, started at GM–38 wells that were sourced from within the Hot Spot, varied from 72.0 to 98.2, depending on the Hot Spot delineation used (present steady state model and Magothy aquifer heterogeneity realization A). The percentage of forward-tracked particles that were captured by GM–38 wells varied from 81.1 to 94.6, depending on the Hot Spot delineation used, with the remainder primarily captured by Bethpage Water District Plant 4 production wells (present steady state model and Magothy aquifer heterogeneity realization A). Less than 1 percent of forward-tracked particles ultimately discharge at model constant head and drain boundaries. The differences between forward- and backward-tracked particle percentage ranges are due to some forward-tracked particles not being captured by GM–38 wells, and some backward-tracked particles not intersecting specific regions of the Hot Spot. During 2013, an aquifer test generated detailed time series of well pumping rates and corresponding water-level responses were recorded at numerous locations. These data were used to verify the present conditions steady state model and demonstrate the sensitivity of model results to transient-state changes.

Fuzzy logic particle tracking velocimetry

NASA Technical Reports Server (NTRS)

Wernet, Mark P.

1993-01-01

Fuzzy logic has proven to be a simple and robust method for process control. Instead of requiring a complex model of the system, a user defined rule base is used to control the process. In this paper the principles of fuzzy logic control are applied to Particle Tracking Velocimetry (PTV). Two frames of digitally recorded, single exposure particle imagery are used as input. The fuzzy processor uses the local particle displacement information to determine the correct particle tracks. Fuzzy PTV is an improvement over traditional PTV techniques which typically require a sequence (greater than 2) of image frames for accurately tracking particles. The fuzzy processor executes in software on a PC without the use of specialized array or fuzzy logic processors. A pair of sample input images with roughly 300 particle images each, results in more than 200 velocity vectors in under 8 seconds of processing time.

A novel open-loop tracking strategy for photovoltaic systems.

PubMed

Alexandru, Cătălin

2013-01-01

This paper approaches a dual-axis equatorial tracking system that is used to increase the photovoltaic efficiency by maximizing the degree of use of the solar radiation. The innovative aspect in the solar tracker design consists in considering the tracking mechanism as a perturbation for the DC motors. The goal is to control the DC motors, which are perturbed with the motor torques whose computation is based on the dynamic model of the mechanical structure on which external forces act. The daily and elevation angles of the PV module represent the input parameters in the mechanical device, while the outputs transmitted to the controller are the motor torques. The controller tuning is approached by a parametric optimization process, using design of experiments and response surface methodology techniques, in a multiple regression. The simulation and experimental results demonstrate the operational performance of the tracking system.

A Novel Open-Loop Tracking Strategy for Photovoltaic Systems

PubMed Central

Alexandru, Cătălin

2013-01-01

This paper approaches a dual-axis equatorial tracking system that is used to increase the photovoltaic efficiency by maximizing the degree of use of the solar radiation. The innovative aspect in the solar tracker design consists in considering the tracking mechanism as a perturbation for the DC motors. The goal is to control the DC motors, which are perturbed with the motor torques whose computation is based on the dynamic model of the mechanical structure on which external forces act. The daily and elevation angles of the PV module represent the input parameters in the mechanical device, while the outputs transmitted to the controller are the motor torques. The controller tuning is approached by a parametric optimization process, using design of experiments and response surface methodology techniques, in a multiple regression. The simulation and experimental results demonstrate the operational performance of the tracking system. PMID:24327803

Doublet Pulse Coherent Laser Radar for Tracking of Resident Space Objects

NASA Technical Reports Server (NTRS)

Prasad, Narasimha S.; Rudd, Van; Shald, Scott; Sandford, Stephen; Dimarcantonio, Albert

2014-01-01

In this paper, the development of a long range ladar system known as ExoSPEAR at NASA Langley Research Center for tracking rapidly moving resident space objects is discussed. Based on 100 W, nanosecond class, near-IR laser, this ladar system with coherent detection technique is currently being investigated for short dwell time measurements of resident space objects (RSOs) in LEO and beyond for space surveillance applications. This unique ladar architecture is configured using a continuously agile doublet-pulse waveform scheme coupled to a closed-loop tracking and control loop approach to simultaneously achieve mm class range precision and mm/s velocity precision and hence obtain unprecedented track accuracies. Salient features of the design architecture followed by performance modeling and engagement simulations illustrating the dependence of range and velocity precision in LEO orbits on ladar parameters are presented. Estimated limits on detectable optical cross sections of RSOs in LEO orbits are discussed.

Two-dimensional tracking of a motile micro-organism allowing high-resolution observation with various imaging techniques

NASA Astrophysics Data System (ADS)

Oku, H.; Ogawa, N.; Ishikawa, M.; Hashimoto, K.

2005-03-01

In this article, a micro-organism tracking system using a high-speed vision system is reported. This system two dimensionally tracks a freely swimming micro-organism within the field of an optical microscope by moving a chamber of target micro-organisms based on high-speed visual feedback. The system we developed could track a paramecium using various imaging techniques, including bright-field illumination, dark-field illumination, and differential interference contrast, at magnifications of 5 times and 20 times. A maximum tracking duration of 300s was demonstrated. Also, the system could track an object with a velocity of up to 35 000μm/s (175diameters/s), which is significantly faster than swimming micro-organisms.

Autonomous space target recognition and tracking approach using star sensors based on a Kalman filter.

PubMed

Ye, Tao; Zhou, Fuqiang

2015-04-10

When imaged by detectors, space targets (including satellites and debris) and background stars have similar point-spread functions, and both objects appear to change as detectors track targets. Therefore, traditional tracking methods cannot separate targets from stars and cannot directly recognize targets in 2D images. Consequently, we propose an autonomous space target recognition and tracking approach using a star sensor technique and a Kalman filter (KF). A two-step method for subpixel-scale detection of star objects (including stars and targets) is developed, and the combination of the star sensor technique and a KF is used to track targets. The experimental results show that the proposed method is adequate for autonomously recognizing and tracking space targets.

Improved cardiac motion detection from ultrasound images using TDIOF: a combined B-mode/ tissue Doppler approach

NASA Astrophysics Data System (ADS)

Tavakoli, Vahid; Stoddard, Marcus F.; Amini, Amir A.

2013-03-01

Quantitative motion analysis of echocardiographic images helps clinicians with the diagnosis and therapy of patients suffering from cardiac disease. Quantitative analysis is usually based on TDI (Tissue Doppler Imaging) or speckle tracking. These methods are based on two independent techniques - the Doppler Effect and image registration, respectively. In order to increase the accuracy of the speckle tracking technique and cope with the angle dependency of TDI, herein, a combined approach dubbed TDIOF (Tissue Doppler Imaging Optical Flow) is proposed. TDIOF is formulated based on the combination of B-mode and Doppler energy terms in an optical flow framework and minimized using algebraic equations. In this paper, we report on validations with simulated, physical cardiac phantom, and in-vivo patient data. It is shown that the additional Doppler term is able to increase the accuracy of speckle tracking, the basis for several commercially available echocardiography analysis techniques.

Particle tracking in drug and gene delivery research: State-of-the-art applications and methods.

PubMed

Schuster, Benjamin S; Ensign, Laura M; Allan, Daniel B; Suk, Jung Soo; Hanes, Justin

2015-08-30

Particle tracking is a powerful microscopy technique to quantify the motion of individual particles at high spatial and temporal resolution in complex fluids and biological specimens. Particle tracking's applications and impact in drug and gene delivery research have greatly increased during the last decade. Thanks to advances in hardware and software, this technique is now more accessible than ever, and can be reliably automated to enable rapid processing of large data sets, thereby further enhancing the role that particle tracking will play in drug and gene delivery studies in the future. We begin this review by discussing particle tracking-based advances in characterizing extracellular and cellular barriers to therapeutic nanoparticles and in characterizing nanoparticle size and stability. To facilitate wider adoption of the technique, we then present a user-friendly review of state-of-the-art automated particle tracking algorithms and methods of analysis. We conclude by reviewing technological developments for next-generation particle tracking methods, and we survey future research directions in drug and gene delivery where particle tracking may be useful. Copyright © 2015 Elsevier B.V. All rights reserved.

A proposed technique for vehicle tracking, direction, and speed determination

NASA Astrophysics Data System (ADS)

Fisher, Paul S.; Angaye, Cleopas O.; Fisher, Howard P.

2004-12-01

A technique for recognition of vehicles in terms of direction, distance, and rate of change is presented. This represents very early work on this problem with significant hurdles still to be addressed. These are discussed in the paper. However, preliminary results also show promise for this technique for use in security and defense environments where the penetration of a perimeter is of concern. The material described herein indicates a process whereby the protection of a barrier could be augmented by computers and installed cameras assisting the individuals charged with this responsibility. The technique we employ is called Finite Inductive Sequences (FI) and is proposed as a means for eliminating data requiring storage and recognition where conventional mathematical models don"t eliminate enough and statistical models eliminate too much. FI is a simple idea and is based upon a symbol push-out technique that allows the order (inductive base) of the model to be set to an a priori value for all derived rules. The rules are obtained from exemplar data sets, and are derived by a technique called Factoring, yielding a table of rules called a Ruling. These rules can then be used in pattern recognition applications such as described in this paper.

Investigation of rail irregularity effects on wheel/rail dynamic force in slab track: Comparison of two and three dimensional models

NASA Astrophysics Data System (ADS)

Sadeghi, Javad; Khajehdezfuly, Amin; Esmaeili, Morteza; Poorveis, Davood

2016-07-01

Rail irregularity is one of the most significant load amplification factors in railway track systems. In this paper, the capability and effectiveness of the two main railway slab tracks modeling techniques in prediction of the influences of rail irregularities on the Wheel/Rail Dynamic Force (WRDF) were investigated. For this purpose, two 2D and 3D numerical models of vehicle/discontinuous slab track interaction were developed. The validation of the numerical models was made by comparing the results of the models with those obtained from comprehensive field tests carried out in this research. The effects of the harmonic and non-harmonic rail irregularities on the WRDF obtained from 3D and 2D models were investigated. The results indicate that the difference between WRDF obtained from 2D and 3D models is negligible when the irregularities on the right and left rails are the same. However, as the difference between irregularities of the right and left rails increases, the results obtained from 2D and 3D models are considerably different. The results indicate that 2D models have limitations in prediction of WRDF; that is, a 3D modeling technique is required to predict WRDF when there is uneven or non-harmonic irregularity with large amplitudes. The size and extent of the influences of rail irregularities on the wheel/rail forces were discussed leading to provide a better understanding of the rail-wheel contact behavior and the required techniques for predicting WRDF.

A review of GPS-based tracking techniques for TDRS orbit determination

NASA Technical Reports Server (NTRS)

Haines, B. J.; Lichten, S. M.; Malla, R. P.; Wu, S.-C.

1993-01-01

This article evaluates two fundamentally different approaches to the Tracking and Data Relay Satellite (TDRS) orbit determination utilizing Global Positioning System (GPS) technology and GPS-related techniques. In the first, a GPS flight receiver is deployed on the TDRS. The TDRS ephemerides are determined using direct ranging to the GPS spacecraft, and no ground network is required. In the second approach, the TDRS's broadcast a suitable beacon signal, permitting the simultaneous tracking of GPS and Tracking and Data Relay Satellite System satellites by ground receivers. Both strategies can be designed to meet future operational requirements for TDRS-II orbit determination.

Geographically correlated errors observed from a laser-based short-arc technique

NASA Astrophysics Data System (ADS)

Bonnefond, P.; Exertier, P.; Barlier, F.

1999-07-01

The laser-based short-arc technique has been developed in order to avoid local errors which affect the dynamical orbit computation, such as those due to mismodeling in the geopotential. It is based on a geometric method and consists in fitting short arcs (about 4000 km), issued from a global orbit, with satellite laser ranging tracking measurements from a ground station network. Ninety-two TOPEX/Poseidon (T/P) cycles of laser-based short-arc orbits have then been compared to JGM-2 and JGM-3 T/P orbits computed by the Precise Orbit Determination (POD) teams (Service d'Orbitographie Doris/Centre National d'Etudes Spatiales and Goddard Space Flight Center/NASA) over two areas: (1) the Mediterranean area and (2) a part of the Pacific (including California and Hawaii) called hereafter the U.S. area. Geographically correlated orbit errors in these areas are clearly evidenced: for example, -2.6 cm and +0.7 cm for the Mediterranean and U.S. areas, respectively, relative to JGM-3 orbits. However, geographically correlated errors (GCE) which are commonly linked to errors in the gravity model, can also be due to systematic errors in the reference frame and/or to biases in the tracking measurements. The short-arc technique being very sensitive to such error sources, our analysis however demonstrates that the induced geographical systematic effects are at the level of 1-2 cm on the radial orbit component. Results are also compared with those obtained with the GPS-based reduced dynamic technique. The time-dependent part of GCE has also been studied. Over 6 years of T/P data, coherent signals in the radial component of T/P Precise Orbit Ephemeris (POE) are clearly evidenced with a time period of about 6 months. In addition, impact of time varying-error sources coming from the reference frame and the tracking data accuracy has been analyzed, showing a possible linear trend of about 0.5-1 mm/yr in the radial component of T/P POE.

Improved Pulse Wave Velocity Estimation Using an Arterial Tube-Load Model

PubMed Central

Gao, Mingwu; Zhang, Guanqun; Olivier, N. Bari; Mukkamala, Ramakrishna

2015-01-01

Pulse wave velocity (PWV) is the most important index of arterial stiffness. It is conventionally estimated by non-invasively measuring central and peripheral blood pressure (BP) and/or velocity (BV) waveforms and then detecting the foot-to-foot time delay between the waveforms wherein wave reflection is presumed absent. We developed techniques for improved estimation of PWV from the same waveforms. The techniques effectively estimate PWV from the entire waveforms, rather than just their feet, by mathematically eliminating the reflected wave via an arterial tube-load model. In this way, the techniques may be more robust to artifact while revealing the true PWV in absence of wave reflection. We applied the techniques to estimate aortic PWV from simultaneously and sequentially measured central and peripheral BP waveforms and simultaneously measured central BV and peripheral BP waveforms from 17 anesthetized animals during diverse interventions that perturbed BP widely. Since BP is the major acute determinant of aortic PWV, especially under anesthesia wherein vasomotor tone changes are minimal, we evaluated the techniques in terms of the ability of their PWV estimates to track the acute BP changes in each subject. Overall, the PWV estimates of the techniques tracked the BP changes better than those of the conventional technique (e.g., diastolic BP root-mean-squared-errors of 3.4 vs. 5.2 mmHg for the simultaneous BP waveforms and 7.0 vs. 12.2 mmHg for the BV and BP waveforms (p < 0.02)). With further testing, the arterial tube-load model-based PWV estimation techniques may afford more accurate arterial stiffness monitoring in hypertensive and other patients. PMID:24263016

Construction of a WMR for trajectory tracking control: experimental results.

PubMed

Silva-Ortigoza, R; Márquez-Sánchez, C; Marcelino-Aranda, M; Marciano-Melchor, M; Silva-Ortigoza, G; Bautista-Quintero, R; Ramos-Silvestre, E R; Rivera-Díaz, J C; Muñoz-Carrillo, D

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x₁∗, y₁∗),..., (x(n)∗, y(n)∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

Construction of a WMR for Trajectory Tracking Control: Experimental Results

PubMed Central

Silva-Ortigoza, R.; Márquez-Sánchez, C.; Marcelino-Aranda, M.; Marciano-Melchor, M.; Silva-Ortigoza, G.; Bautista-Quintero, R.; Ramos-Silvestre, E. R.; Rivera-Díaz, J. C.; Muñoz-Carrillo, D.

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x1∗, y1∗),..., (xn∗, yn∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software. PMID:23997679

Oil spill model coupled to an ultra-high-resolution circulation model: implementation for the Adriatic Sea

NASA Astrophysics Data System (ADS)

Korotenko, K.

2003-04-01

An ultra-high-resolution version of DieCAST was adjusted for the Adriatic Sea and coupled with an oil spill model. Hydrodynamic module was developed on base of th low dissipative, four-order-accuracy version DieCAST with the resolution of ~2km. The oil spill model was developed on base of particle tracking technique The effect of evaporation is modeled with an original method developed on the base of the pseudo-component approach. A special dialog interface of this hybrid system allowing direct coupling to meteorlogical data collection systems or/and meteorological models. Experiments with hypothetic oil spill are analyzed for the Northern Adriatic Sea. Results (animations) of mesoscale circulation and oil slick modeling are presented at wabsite http://thayer.dartmouth.edu/~cushman/adriatic/movies/

Dynamic model inversion techniques for breath-by-breath measurement of carbon dioxide from low bandwidth sensors.

PubMed

Sivaramakrishnan, Shyam; Rajamani, Rajesh; Johnson, Bruce D

2009-01-01

Respiratory CO(2) measurement (capnography) is an important diagnosis tool that lacks inexpensive and wearable sensors. This paper develops techniques to enable use of inexpensive but slow CO(2) sensors for breath-by-breath tracking of CO(2) concentration. This is achieved by mathematically modeling the dynamic response and using model-inversion techniques to predict input CO(2) concentration from the slow-varying output. Experiments are designed to identify model-dynamics and extract relevant model-parameters for a solidstate room monitoring CO(2) sensor. A second-order model that accounts for flow through the sensor's filter and casing is found to be accurate in describing the sensor's slow response. The resulting estimate is compared with a standard-of-care respiratory CO(2) analyzer and shown to effectively track variation in breath-by-breath CO(2) concentration. This methodology is potentially useful for measuring fast-varying inputs to any slow sensor.

User's Guide for a Computerized Track Maintenance Simulation Cost Methodology

DOT National Transportation Integrated Search

1982-02-01

This User's Guide describes the simulation cost modeling technique developed for costing of maintenance operations of track and its component structures. The procedure discussed provides for separate maintenance cost entries to be associated with def...

Diversity in Detection Algorithms for Atmospheric Rivers: A Community Effort to Understand the Consequences

NASA Astrophysics Data System (ADS)

Shields, C. A.; Ullrich, P. A.; Rutz, J. J.; Wehner, M. F.; Ralph, M.; Ruby, L.

2017-12-01

Atmospheric rivers (ARs) are long, narrow filamentary structures that transport large amounts of moisture in the lower layers of the atmosphere, typically from subtropical regions to mid-latitudes. ARs play an important role in regional hydroclimate by supplying significant amounts of precipitation that can alleviate drought, or in extreme cases, produce dangerous floods. Accurately detecting, or tracking, ARs is important not only for weather forecasting, but is also necessary to understand how these events may change under global warming. Detection algorithms are used on both regional and global scales, and most accurately, using high resolution datasets, or model output. Different detection algorithms can produce different answers. Detection algorithms found in the current literature fall broadly into two categories: "time-stitching", where the AR is tracked with a Lagrangian approach through time and space; and "counting", where ARs are identified for a single point in time for a single location. Counting routines can be further subdivided into algorithms that use absolute thresholds with specific geometry, to algorithms that use relative thresholds, to algorithms based on statistics, to pattern recognition and machine learning techniques. With such a large diversity in detection code, differences in AR tracking and "counts" can vary widely from technique to technique. Uncertainty increases for future climate scenarios, where the difference between relative and absolute thresholding produce vastly different counts, simply due to the moister background state in a warmer world. In an effort to quantify the uncertainty associated with tracking algorithms, the AR detection community has come together to participate in ARTMIP, the Atmospheric River Tracking Method Intercomparison Project. Each participant will provide AR metrics to the greater group by applying their code to a common reanalysis dataset. MERRA2 data was chosen for both temporal and spatial resolution. After completion of this first phase, Tier 1, ARTMIP participants may choose to contribute to Tier 2, which will range from reanalysis uncertainty, to analysis of future climate scenarios from high resolution model output. ARTMIP's experimental design, techniques, and preliminary metrics will be presented.

Cluster Analysis of Downscaled and Explicitly Simulated North Atlantic Tropical Cyclone Tracks

DOE PAGES

Daloz, Anne S.; Camargo, S. J.; Kossin, J. P.; ...

2015-02-11

A realistic representation of the North Atlantic tropical cyclone tracks is crucial as it allows, for example, explaining potential changes in U.S. landfalling systems. Here, the authors present a tentative study that examines the ability of recent climate models to represent North Atlantic tropical cyclone tracks. Tracks from two types of climate models are evaluated: explicit tracks are obtained from tropical cyclones simulated in regional or global climate models with moderate to high horizontal resolution (1°–0.25°), and downscaled tracks are obtained using a downscaling technique with large-scale environmental fields from a subset of these models. Here, for both configurations, tracksmore » are objectively separated into four groups using a cluster technique, leading to a zonal and a meridional separation of the tracks. The meridional separation largely captures the separation between deep tropical and subtropical, hybrid or baroclinic cyclones, while the zonal separation segregates Gulf of Mexico and Cape Verde storms. The properties of the tracks’ seasonality, intensity, and power dissipation index in each cluster are documented for both configurations. The authors’ results show that, except for the seasonality, the downscaled tracks better capture the observed characteristics of the clusters. The authors also use three different idealized scenarios to examine the possible future changes of tropical cyclone tracks under 1) warming sea surface temperature, 2) increasing carbon dioxide, and 3) a combination of the two. The response to each scenario is highly variable depending on the simulation considered. Lastly, the authors examine the role of each cluster in these future changes and find no preponderant contribution of any single cluster over the others.« less

Pilot modeling and closed-loop analysis of flexible aircraft in the pitch tracking task

NASA Technical Reports Server (NTRS)

Schmidt, D. K.

1983-01-01

The issue addressed in the appropriate modeling technique for pilot vehicle analysis of large flexible aircraft, when the frequency separation between the rigid-body mode and the dynamic aeroelastic modes is reduced. This situation was shown to have significant effects on pitch-tracking performance and subjective rating of the task, obtained via fixed base simulation. Further, the dynamics in these cases are not well modeled with a rigid-body-like model obtained by including only 'static elastic' effects, for example. It is shown that pilot/vehicle analysis of this data supports the hypothesis that an appropriate pilot-model structure is an optimal-control pilot model of full order. This is in contrast to the contention that a representative model is of reduced order when the subject is controlling high-order dynamics as in a flexible vehicle. The key appears to be in the correct assessment of the pilot's objective of attempting to control 'rigid-body' vehicle response, a response that must be estimated by the pilot from observations contaminated by aeroelastic dynamics. Finally, a model-based metric is shown to correlate well with the pilot's subjective ratings.

Model-based control strategies for systems with constraints of the program type

NASA Astrophysics Data System (ADS)

Jarzębowska, Elżbieta

2006-08-01

The paper presents a model-based tracking control strategy for constrained mechanical systems. Constraints we consider can be material and non-material ones referred to as program constraints. The program constraint equations represent tasks put upon system motions and they can be differential equations of orders higher than one or two, and be non-integrable. The tracking control strategy relies upon two dynamic models: a reference model, which is a dynamic model of a system with arbitrary order differential constraints and a dynamic control model. The reference model serves as a motion planner, which generates inputs to the dynamic control model. It is based upon a generalized program motion equations (GPME) method. The method enables to combine material and program constraints and merge them both into the motion equations. Lagrange's equations with multipliers are the peculiar case of the GPME, since they can be applied to systems with constraints of first orders. Our tracking strategy referred to as a model reference program motion tracking control strategy enables tracking of any program motion predefined by the program constraints. It extends the "trajectory tracking" to the "program motion tracking". We also demonstrate that our tracking strategy can be extended to a hybrid program motion/force tracking.

Interaction between a railway track and uniformly moving tandem wheels

NASA Astrophysics Data System (ADS)

Belotserkovskiy, P. M.

2006-12-01

Interaction among loaded wheels via railway track is studied. The vertical parametric oscillations of an infinite row of identical equally spaced wheels, bearing constant load and uniformly moving over a railway track, are calculated by means of Fourier series technique. If the distance between two consecutive wheels is big enough, then one can disregard their interaction via the railway track and consider every wheel as a single one. In this case, however, the Fourier series technique represents an appropriate computation time-saving approximation to a Fourier integral transformation technique that describes the oscillations of a single moving wheel. Two schemes are considered. In the first scheme, every wheel bears the same load. In the second one, consecutive wheels bear contrarily directed loads of the same magnitude. The second scheme leads to simpler calculations and so is recommended to model the wheel-track interaction. The railway track periodicity due to sleeper spacing is taken into account. Each period is the track segment between two adjacent sleepers. A partial differential equation with constant coefficients governs the vertical oscillations of each segment. Boundary conditions bind the oscillations of two neighbour segments and provide periodicity to the track. The shear deformation in the rail cross-section strongly influences the parametric oscillations. It also causes discontinuity of the rail centre-line slope at any point, where a concentrated transverse force is applied. Therefore, Timoshenko beam properties with respect to the topic of this paper are discussed. Interaction between a railway track and a bogie moving at moderate speed is studied. The study points to influence of the bogie frame oscillations on variation in the wheel-rail contact force over the sleeper span. The simplified bogie model considered includes only the primary suspension. A static load applied to the bogie frame centre presents the vehicle body.

Diffraction analysis and evaluation of several focus- and track-error detection schemes for magneto-optical disk systems

NASA Technical Reports Server (NTRS)

Bernacki, Bruce E.; Mansuripur, M.

1992-01-01

A commonly used tracking method on pre-grooved magneto-optical (MO) media is the push-pull technique, and the astigmatic method is a popular focus-error detection approach. These two methods are analyzed using DIFFRACT, a general-purpose scalar diffraction modeling program, to observe the effects on the error signals due to focusing lens misalignment, Seidel aberrations, and optical crosstalk (feedthrough) between the focusing and tracking servos. Using the results of the astigmatic/push-pull system as a basis for comparison, a novel focus/track-error detection technique that utilizes a ring toric lens is evaluated as well as the obscuration method (focus error detection only).

Efficient physics-based tracking of heart surface motion for beating heart surgery robotic systems.

PubMed

Bogatyrenko, Evgeniya; Pompey, Pascal; Hanebeck, Uwe D

2011-05-01

Tracking of beating heart motion in a robotic surgery system is required for complex cardiovascular interventions. A heart surface motion tracking method is developed, including a stochastic physics-based heart surface model and an efficient reconstruction algorithm. The algorithm uses the constraints provided by the model that exploits the physical characteristics of the heart. The main advantage of the model is that it is more realistic than most standard heart models. Additionally, no explicit matching between the measurements and the model is required. The application of meshless methods significantly reduces the complexity of physics-based tracking. Based on the stochastic physical model of the heart surface, this approach considers the motion of the intervention area and is robust to occlusions and reflections. The tracking algorithm is evaluated in simulations and experiments on an artificial heart. Providing higher accuracy than the standard model-based methods, it successfully copes with occlusions and provides high performance even when all measurements are not available. Combining the physical and stochastic description of the heart surface motion ensures physically correct and accurate prediction. Automatic initialization of the physics-based cardiac motion tracking enables system evaluation in a clinical environment.

A visual tracking method based on deep learning without online model updating

NASA Astrophysics Data System (ADS)

Tang, Cong; Wang, Yicheng; Feng, Yunsong; Zheng, Chao; Jin, Wei

2018-02-01

The paper proposes a visual tracking method based on deep learning without online model updating. In consideration of the advantages of deep learning in feature representation, deep model SSD (Single Shot Multibox Detector) is used as the object extractor in the tracking model. Simultaneously, the color histogram feature and HOG (Histogram of Oriented Gradient) feature are combined to select the tracking object. In the process of tracking, multi-scale object searching map is built to improve the detection performance of deep detection model and the tracking efficiency. In the experiment of eight respective tracking video sequences in the baseline dataset, compared with six state-of-the-art methods, the method in the paper has better robustness in the tracking challenging factors, such as deformation, scale variation, rotation variation, illumination variation, and background clutters, moreover, its general performance is better than other six tracking methods.

Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

NASA Astrophysics Data System (ADS)

Gao, H. B.; Zhang, X. Y.; Li, D. Y.; Liu, Y. C.

2018-03-01

Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control method of autonomous is a key technique which has drawn the attention of industry and academe. In this paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. An experiments is applied to test the implementation of the longitudinal control algorithm. Empirical results show that if the longitudinal control algorithm based Gauss cloud model are applied to calculate the acceleration, and the vehicles drive at different speeds, a stable longitudinal control effect is achieved.

Iterative learning-based decentralized adaptive tracker for large-scale systems: a digital redesign approach.

PubMed

Tsai, Jason Sheng-Hong; Du, Yan-Yi; Huang, Pei-Hsiang; Guo, Shu-Mei; Shieh, Leang-San; Chen, Yuhua

2011-07-01

In this paper, a digital redesign methodology of the iterative learning-based decentralized adaptive tracker is proposed to improve the dynamic performance of sampled-data linear large-scale control systems consisting of N interconnected multi-input multi-output subsystems, so that the system output will follow any trajectory which may not be presented by the analytic reference model initially. To overcome the interference of each sub-system and simplify the controller design, the proposed model reference decentralized adaptive control scheme constructs a decoupled well-designed reference model first. Then, according to the well-designed model, this paper develops a digital decentralized adaptive tracker based on the optimal analog control and prediction-based digital redesign technique for the sampled-data large-scale coupling system. In order to enhance the tracking performance of the digital tracker at specified sampling instants, we apply the iterative learning control (ILC) to train the control input via continual learning. As a result, the proposed iterative learning-based decentralized adaptive tracker not only has robust closed-loop decoupled property but also possesses good tracking performance at both transient and steady state. Besides, evolutionary programming is applied to search for a good learning gain to speed up the learning process of ILC. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Novel joint TOA/RSSI-based WCE location tracking method without prior knowledge of biological human body tissues.

PubMed

Ito, Takahiro; Anzai, Daisuke; Jianqing Wang

2014-01-01

This paper proposes a novel joint time of arrival (TOA)/received signal strength indicator (RSSI)-based wireless capsule endoscope (WCE) location tracking method without prior knowledge of biological human tissues. Generally, TOA-based localization can achieve much higher localization accuracy than other radio frequency-based localization techniques, whereas wireless signals transmitted from a WCE pass through various kinds of human body tissues, as a result, the propagation velocity inside a human body should be different from one in free space. Because the variation of propagation velocity is mainly affected by the relative permittivity of human body tissues, instead of pre-measurement for the relative permittivity in advance, we simultaneously estimate not only the WCE location but also the relative permittivity information. For this purpose, this paper first derives the relative permittivity estimation model with measured RSSI information. Then, we pay attention to a particle filter algorithm with the TOA-based localization and the RSSI-based relative permittivity estimation. Our computer simulation results demonstrates that the proposed tracking methods with the particle filter can accomplish an excellent localization accuracy of around 2 mm without prior information of the relative permittivity of the human body tissues.

Gaze-contingent displays: a review.

PubMed

Duchowski, Andrew T; Cournia, Nathan; Murphy, Hunter

2004-12-01

Gaze-contingent displays (GCDs) attempt to balance the amount of information displayed against the visual information processing capacity of the observer through real-time eye movement sensing. Based on the assumed knowledge of the instantaneous location of the observer's focus of attention, GCD content can be "tuned" through several display processing means. Screen-based displays alter pixel level information generally matching the resolvability of the human retina in an effort to maximize bandwidth. Model-based displays alter geometric-level primitives along similar goals. Attentive user interfaces (AUIs) manage object- level entities (e.g., windows, applications) depending on the assumed attentive state of the observer. Such real-time display manipulation is generally achieved through non-contact, unobtrusive tracking of the observer's eye movements. This paper briefly reviews past and present display techniques as well as emerging graphics and eye tracking technology for GCD development.

Geometry and Gesture-Based Features from Saccadic Eye-Movement as a Biometric in Radiology

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

Hammond, Tracy; Tourassi, Georgia; Yoon, Hong-Jun

In this study, we present a novel application of sketch gesture recognition on eye-movement for biometric identification and estimating task expertise. The study was performed for the task of mammographic screening with simultaneous viewing of four coordinated breast views as typically done in clinical practice. Eye-tracking data and diagnostic decisions collected for 100 mammographic cases (25 normal, 25 benign, 50 malignant) and 10 readers (three board certified radiologists and seven radiology residents), formed the corpus for this study. Sketch gesture recognition techniques were employed to extract geometric and gesture-based features from saccadic eye-movements. Our results show that saccadic eye-movement, characterizedmore » using sketch-based features, result in more accurate models for predicting individual identity and level of expertise than more traditional eye-tracking features.« less

Q-adjusting technique applied to vertical deflections estimation in a single-axis rotation INS/GPS integrated system

NASA Astrophysics Data System (ADS)

Zhu, Jing; Wang, Xingshu; Wang, Jun; Dai, Dongkai; Xiong, Hao

2016-10-01

Former studies have proved that the attitude error in a single-axis rotation INS/GPS integrated system tracks the high frequency component of the deflections of the vertical (DOV) with a fixed delay and tracking error. This paper analyses the influence of the nominal process noise covariance matrix Q on the tracking error as well as the response delay, and proposed a Q-adjusting technique to obtain the attitude error which can track the DOV better. Simulation results show that different settings of Q lead to different response delay and tracking error; there exists optimal Q which leads to a minimum tracking error and a comparatively short response delay; for systems with different accuracy, different Q-adjusting strategy should be adopted. In this way, the DOV estimation accuracy of using the attitude error as the observation can be improved. According to the simulation results, the DOV estimation accuracy after using the Q-adjusting technique is improved by approximate 23% and 33% respectively compared to that of the Earth Model EGM2008 and the direct attitude difference method.

Coarse-to-fine markerless gait analysis based on PCA and Gauss-Laguerre decomposition

NASA Astrophysics Data System (ADS)

Goffredo, Michela; Schmid, Maurizio; Conforto, Silvia; Carli, Marco; Neri, Alessandro; D'Alessio, Tommaso

2005-04-01

Human movement analysis is generally performed through the utilization of marker-based systems, which allow reconstructing, with high levels of accuracy, the trajectories of markers allocated on specific points of the human body. Marker based systems, however, show some drawbacks that can be overcome by the use of video systems applying markerless techniques. In this paper, a specifically designed computer vision technique for the detection and tracking of relevant body points is presented. It is based on the Gauss-Laguerre Decomposition, and a Principal Component Analysis Technique (PCA) is used to circumscribe the region of interest. Results obtained on both synthetic and experimental tests provide significant reduction of the computational costs, with no significant reduction of the tracking accuracy.

Tracking control of air-breathing hypersonic vehicles with non-affine dynamics via improved neural back-stepping design.

PubMed

Bu, Xiangwei; He, Guangjun; Wang, Ke

2018-04-01

This study considers the design of a new back-stepping control approach for air-breathing hypersonic vehicle (AHV) non-affine models via neural approximation. The AHV's non-affine dynamics is decomposed into velocity subsystem and altitude subsystem to be controlled separately, and robust adaptive tracking control laws are developed using improved back-stepping designs. Neural networks are applied to estimate the unknown non-affine dynamics, which guarantees the addressed controllers with satisfactory robustness against uncertainties. In comparison with the existing control methodologies, the special contributions are that the non-affine issue is handled by constructing two low-pass filters based on model transformations, and virtual controllers are treated as intermediate variables such that they aren't needed for back-stepping designs any more. Lyapunov techniques are employed to show the uniformly ultimately boundedness of all closed-loop signals. Finally, simulation results are presented to verify the tracking performance and superiorities of the investigated control strategy. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Comparing capacity value estimation techniques for photovoltaic solar power

DOE PAGES

Madaeni, Seyed Hossein; Sioshansi, Ramteen; Denholm, Paul

2012-09-28

In this paper, we estimate the capacity value of photovoltaic (PV) solar plants in the western U.S. Our results show that PV plants have capacity values that range between 52% and 93%, depending on location and sun-tracking capability. We further compare more robust but data- and computationally-intense reliability-based estimation techniques with simpler approximation methods. We show that if implemented properly, these techniques provide accurate approximations of reliability-based methods. Overall, methods that are based on the weighted capacity factor of the plant provide the most accurate estimate. As a result, we also examine the sensitivity of PV capacity value to themore » inclusion of sun-tracking systems.« less

Balancing Conflicting Requirements for Grid and Particle Decomposition in Continuum-Lagrangian Solvers

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

Sitaraman, Hariswaran; Grout, Ray

2015-10-30

The load balancing strategies for hybrid solvers that involve grid based partial differential equation solution coupled with particle tracking are presented in this paper. A typical Message Passing Interface (MPI) based parallelization of grid based solves are done using a spatial domain decomposition while particle tracking is primarily done using either of the two techniques. One of the techniques is to distribute the particles to MPI ranks to whose grid they belong to while the other is to share the particles equally among all ranks, irrespective of their spatial location. The former technique provides spatial locality for field interpolation butmore » cannot assure load balance in terms of number of particles, which is achieved by the latter. The two techniques are compared for a case of particle tracking in a homogeneous isotropic turbulence box as well as a turbulent jet case. We performed a strong scaling study for more than 32,000 cores, which results in particle densities representative of anticipated exascale machines. The use of alternative implementations of MPI collectives and efficient load equalization strategies are studied to reduce data communication overheads.« less

Design and Analysis of Cost-Efficient Sensor Deployment for Tracking Small UAS with Agent-Based Modeling.

PubMed

Shin, Sangmi; Park, Seongha; Kim, Yongho; Matson, Eric T

2016-04-22

Recently, commercial unmanned aerial systems (UAS) have gained popularity. However, these UAS are potential threats to people in terms of safety in public places, such as public parks or stadiums. To reduce such threats, we consider a design, modeling, and evaluation of a cost-efficient sensor system that detects and tracks small UAS. In this research, we focus on discovering the best sensor deployments by simulating different types and numbers of sensors in a designated area, which provide reasonable detection rates at low costs. Also, the system should cover the crowded areas more thoroughly than vacant areas to reduce direct threats to people underneath. This research study utilized the Agent-Based Modeling (ABM) technique to model a system consisting of independent and heterogeneous agents that interact with each other. Our previous work presented the ability to apply ABM to analyze the sensor configurations with two types of radars in terms of cost-efficiency. The results from the ABM simulation provide a list of candidate configurations and deployments that can be referred to for applications in the real world environment.

Design and Analysis of Cost-Efficient Sensor Deployment for Tracking Small UAS with Agent-Based Modeling

PubMed Central

Shin, Sangmi; Park, Seongha; Kim, Yongho; Matson, Eric T.

2016-01-01

Recently, commercial unmanned aerial systems (UAS) have gained popularity. However, these UAS are potential threats to people in terms of safety in public places, such as public parks or stadiums. To reduce such threats, we consider a design, modeling, and evaluation of a cost-efficient sensor system that detects and tracks small UAS. In this research, we focus on discovering the best sensor deployments by simulating different types and numbers of sensors in a designated area, which provide reasonable detection rates at low costs. Also, the system should cover the crowded areas more thoroughly than vacant areas to reduce direct threats to people underneath. This research study utilized the Agent-Based Modeling (ABM) technique to model a system consisting of independent and heterogeneous agents that interact with each other. Our previous work presented the ability to apply ABM to analyze the sensor configurations with two types of radars in terms of cost-efficiency. The results from the ABM simulation provide a list of candidate configurations and deployments that can be referred to for applications in the real world environment. PMID:27110790

User guide for MODPATH Version 7—A particle-tracking model for MODFLOW

USGS Publications Warehouse

Pollock, David W.

2016-09-26

MODPATH is a particle-tracking post-processing program designed to work with MODFLOW, the U.S. Geological Survey (USGS) finite-difference groundwater flow model. MODPATH version 7 is the fourth major release since its original publication. Previous versions were documented in USGS Open-File Reports 89–381 and 94–464 and in USGS Techniques and Methods 6–A41.MODPATH version 7 works with MODFLOW-2005 and MODFLOW–USG. Support for unstructured grids in MODFLOW–USG is limited to smoothed, rectangular-based quadtree and quadpatch grids.A software distribution package containing the computer program and supporting documentation, such as input instructions, output file descriptions, and example problems, is available from the USGS over the Internet (http://water.usgs.gov/ogw/modpath/).

Principles and biophysical applications of single particle super-localization and rotational tracking

NASA Astrophysics Data System (ADS)

Gu, Yan

While conventional Single Particle Tracking (SPT) techniques acquire 2D or 3D trajectories of particle probes, we have developed Single Particle Orientation and Rotational Tracking (SPORT) techniques to extract orientation and rotational information. Combined with DIC microscopy, the SPORT technique has been applied in biophysical studies, including membrane diffusion and intracellular transport. The rotational dynamics of nanoparticle vectors on live cell membranes was recorded and its influence on the fate of these nanoparticle vectors was elucidated. The rotational motions of gold nanorods with various surface modifiers were tracked continuously at a temporal resolution of 5 ms under a DIC microscope. We found that the rotational behaviors of gold nanorod vectors are strongly related to their surface charge, specific surface functional groups, and the availability of receptors on cell membranes. The study of rotational Brownian motion of nanoparticles on cell membranes will lead to a better understanding of the mechanisms of drug delivery and provide guidance in designing surface modification strategies for drug delivery vectors under various circumstances. To characterize the rotation mode of surface functionalized gold nanorods on cell membranes, the SPORT technique is combined with the correlation analysis of the bright and dark DIC intensities. The unique capabilities of visualizing and understanding rotational motions of functionalized nanoparticles on live cell membranes allow us to correlate rotational and translational dynamics in unprecedented detail and provide new insights for complex membrane processes, including electrostatic interactions, ligand-receptor binding, and lateral (confined and hopping) diffusion of membrane receptors. Surface-functionalized nanoparticles interact with the membrane in fundamentally different ways and exhibit distinct rotational modes. The early events of particle-membrane approach and attachment are directly visualized for the first time. The rotational dynamics of cargos in both active directional transport and pausing stages of axonal transport was also visualized using high-speed SPORT with a temporal resolution of 2 ms. Both long and short pauses are imaged, and the correlations between the pause duration, the rotational behaviour of the cargo at the pause, and the moving direction after the pause are established. Furthermore, the rotational dynamics leading to switching tracks are visualized in detail. These first-time observations of cargo's rotational dynamics provide new insights on how kinesin and dynein motors take the cargo through the alternating stages of active directional transport and pause. To improve the localization precision of the SPT technique with DIC microscopy, a precise three-dimensional (3D) localization method of spherical gold nanoparticle probes using model-based correlation coefficient mapping was introduced. To accomplish this, a stack of sample images at different z-positions are acquired, and a 3D intensity profile of the probe serving as the model is used to map out the positions of nanoparticles in the sample. By using this model-based correlation imaging method, precise localization can be achieved in imaging techniques with complicated point spread functions (PSF) such as differential interference contrast (DIC) microscopy. The 3D superlocalization method was applied to tracking gold nanospheres during live endocytosis events. Finally, a novel dual-modality imaging technique has been developed to super-localize a single gold nanorod while providing its orientation and rotational information. The super-localization of the gold nanorod can be accomplished by curve fitting the modified bright-field images generated by one of the two beams laterally shifted by the first Nomarski prism in a DIC microscope. The orientation and rotational information is derived from the DIC images of gold nanorods. The new imaging setup has been applied to study the steric hindrance induced by relatively large cargos in the microtubule gliding assay and to track nanocargos in the crowded cellular environment.

Principles and biophysical applications of single particle super-localization and rotational tracking

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

Gu, Yan

While conventional Single Particle Tracking (SPT) techniques acquire 2D or 3D trajectories of particle probes, we have developed Single Particle Orientation and Rotational Tracking (SPORT) techniques to extract orientation and rotational information. Combined with DIC microscopy, the SPORT technique has been applied in biophysical studies, including membrane diffusion and intracellular transport. The rotational dynamics of nanoparticle vectors on live cell membranes was recorded and its influence on the fate of these nanoparticle vectors was elucidated. The rotational motions of gold nanorods with various surface modifiers were tracked continuously at a temporal resolution of 5 ms under a DIC microscope. Wemore » found that the rotational behaviors of gold nanorod vectors are strongly related to their surface charge, specific surface functional groups, and the availability of receptors on cell membranes. The study of rotational Brownian motion of nanoparticles on cell membranes will lead to a better understanding of the mechanisms of drug delivery and provide guidance in designing surface modification strategies for drug delivery vectors under various circumstances. To characterize the rotation mode of surface functionalized gold nanorods on cell membranes, the SPORT technique is combined with the correlation analysis of the bright and dark DIC intensities. The unique capabilities of visualizing and understanding rotational motions of functionalized nanoparticles on live cell membranes allow us to correlate rotational and translational dynamics in unprecedented detail and provide new insights for complex membrane processes, including electrostatic interactions, ligand-receptor binding, and lateral (confined and hopping) diffusion of membrane receptors. Surface-functionalized nanoparticles interact with the membrane in fundamentally different ways and exhibit distinct rotational modes. The early events of particle-membrane approach and attachment are directly visualized for the first time. The rotational dynamics of cargos in both active directional transport and pausing stages of axonal transport was also visualized using high-speed SPORT with a temporal resolution of 2 ms. Both long and short pauses are imaged, and the correlations between the pause duration, the rotational behaviour of the cargo at the pause, and the moving direction after the pause are established. Furthermore, the rotational dynamics leading to switching tracks are visualized in detail. These first-time observations of cargo's rotational dynamics provide new insights on how kinesin and dynein motors take the cargo through the alternating stages of active directional transport and pause. To improve the localization precision of the SPT technique with DIC microscopy, a precise three-dimensional (3D) localization method of spherical gold nanoparticle probes using model-based correlation coefficient mapping was introduced. To accomplish this, a stack of sample images at different z-positions are acquired, and a 3D intensity profile of the probe serving as the model is used to map out the positions of nanoparticles in the sample. By using this model-based correlation imaging method, precise localization can be achieved in imaging techniques with complicated point spread functions (PSF) such as differential interference contrast (DIC) microscopy. The 3D superlocalization method was applied to tracking gold nanospheres during live endocytosis events. Finally, a novel dual-modality imaging technique has been developed to super-localize a single gold nanorod while providing its orientation and rotational information. The super-localization of the gold nanorod can be accomplished by curve fitting the modified bright-field images generated by one of the two beams laterally shifted by the first Nomarski prism in a DIC microscope. The orientation and rotational information is derived from the DIC images of gold nanorods. The new imaging setup has been applied to study the steric hindrance induced by relatively large cargos in the microtubule gliding assay and to track nanocargos in the crowded cellular environment.« less

Dynamics and control of quadcopter using linear model predictive control approach

NASA Astrophysics Data System (ADS)

Islam, M.; Okasha, M.; Idres, M. M.

2017-12-01

This paper investigates the dynamics and control of a quadcopter using the Model Predictive Control (MPC) approach. The dynamic model is of high fidelity and nonlinear, with six degrees of freedom that include disturbances and model uncertainties. The control approach is developed based on MPC to track different reference trajectories ranging from simple ones such as circular to complex helical trajectories. In this control technique, a linearized model is derived and the receding horizon method is applied to generate the optimal control sequence. Although MPC is computer expensive, it is highly effective to deal with the different types of nonlinearities and constraints such as actuators’ saturation and model uncertainties. The MPC parameters (control and prediction horizons) are selected by trial-and-error approach. Several simulation scenarios are performed to examine and evaluate the performance of the proposed control approach using MATLAB and Simulink environment. Simulation results show that this control approach is highly effective to track a given reference trajectory.

A comparison of satellite systems for gravity field measurements

NASA Technical Reports Server (NTRS)

Argentiero, P. D.; Lowrey, B. E.

1977-01-01

A detailed and accurate earth gravity field model is important to the understanding of the structure and composition of the earth's crust and upper mantle. Various satellite-based techniques for providing more accurate models of the gravity field are analyzed and compared. A high-low configuration satellite-to-satellite tracking mission is recommended for the determination of both the long wavelength and short wavelength portions of the field. Satellite altimetry and satellite gradiometry missions are recommended for determination of the short wavelength portion of the field.

Robust stability of second-order systems

NASA Technical Reports Server (NTRS)

Chuang, C.-H.

1993-01-01

A feedback linearization technique is used in conjunction with passivity concepts to design robust controllers for space robots. It is assumed that bounded modeling uncertainties exist in the inertia matrix and the vector representing the coriolis, centripetal, and friction forces. Under these assumptions, the controller guarantees asymptotic tracking of the joint variables. A Lagrangian approach is used to develop a dynamic model for space robots. Closed-loop simulation results are illustrated for a simple case of a single link planar manipulator with freely floating base.

Knowledge-based vision for space station object motion detection, recognition, and tracking

NASA Technical Reports Server (NTRS)

Symosek, P.; Panda, D.; Yalamanchili, S.; Wehner, W., III

1987-01-01

Computer vision, especially color image analysis and understanding, has much to offer in the area of the automation of Space Station tasks such as construction, satellite servicing, rendezvous and proximity operations, inspection, experiment monitoring, data management and training. Knowledge-based techniques improve the performance of vision algorithms for unstructured environments because of their ability to deal with imprecise a priori information or inaccurately estimated feature data and still produce useful results. Conventional techniques using statistical and purely model-based approaches lack flexibility in dealing with the variabilities anticipated in the unstructured viewing environment of space. Algorithms developed under NASA sponsorship for Space Station applications to demonstrate the value of a hypothesized architecture for a Video Image Processor (VIP) are presented. Approaches to the enhancement of the performance of these algorithms with knowledge-based techniques and the potential for deployment of highly-parallel multi-processor systems for these algorithms are discussed.

Precise tracking of remote sensing satellites with the Global Positioning System

NASA Technical Reports Server (NTRS)

Yunck, Thomas P.; Wu, Sien-Chong; Wu, Jiun-Tsong; Thornton, Catherine L.

1990-01-01

The Global Positioning System (GPS) can be applied in a number of ways to track remote sensing satellites at altitudes below 3000 km with accuracies of better than 10 cm. All techniques use a precise global network of GPS ground receivers operating in concert with a receiver aboard the user satellite, and all estimate the user orbit, GPS orbits, and selected ground locations simultaneously. The GPS orbit solutions are always dynamic, relying on the laws of motion, while the user orbit solution can range from purely dynamic to purely kinematic (geometric). Two variations show considerable promise. The first one features an optimal synthesis of dynamics and kinematics in the user solution, while the second introduces a novel gravity model adjustment technique to exploit data from repeat ground tracks. These techniques, to be demonstrated on the Topex/Poseidon mission in 1992, will offer subdecimeter tracking accuracy for dynamically unpredictable satellites down to the lowest orbital altitudes.

Simulation and training of ultrasound supported anaesthesia: a low-cost approach

NASA Astrophysics Data System (ADS)

Schaaf, T.; Lamontain, M.; Hilpert, J.; Schilling, F.; Tolxdorff, T.

2010-03-01

The use of ultrasound imaging technology during techniques of peripheral nerve blockade offers several clinical benefits. Here we report on a new method to educate residents in ultrasound-guided regional anesthesia. The daily challenge for the anesthesiologists is the 3D angle-depending handling of the stimulation needle and the ultrasound probe while watching the 2D ultrasound image on the monitor. Purpose: Our approach describes how a computer-aided simulation and training set for ultrasound-guided regional anesthesia could be built based on wireless low-cost devices and an interactive simulation of a 2D ultrasound image. For training purposes the injection needle and the ultrasound probe are replaced by wireless Bluetooth-connected 3D tracking devices, which are embedded in WII-mote controllers (Nintendo-Brand). In correlation to the tracked 3D positions of the needle and transducer models the visibility and position of the needle should be simulated in the 2D generated ultrasound image. Conclusion: In future, this tracking and visualization software module could be integrated in a more complex training set, where complex injection paths could be trained based on a 3D segmented model and the training results could be part of a curricular e-learning module.

Active MRI tracking for robotic assisted FUS

NASA Astrophysics Data System (ADS)

Xiao, Xu; Huang, Zhihong; Melzer, Andreas

2017-03-01

MR guided FUS is a noninvasive method producing thermal necrosis at the position of tumors with high accuracy and temperature control. Because the typical size of the ultrasound focus is smaller than the area of interested treatment tissues, focus repositioning become necessary to achieve multiple sonications to cover the whole targeted area. Using MR compatible mechanical actuators could help the ultrasound beam to reach a wider treatment range than using electrical beam steering technique and more flexibility in position the transducer. An active MR tracking technique was combined into the MRgFUS system to help locating the position of the mechanical actuator and the FUS transducer. For this study, a precise agar reference model was designed and fabricated to test the performance of the active tracking technique when it was used on the MR-compatible robotics InnoMotion™ (IBSMM, Engineering spol. s r.o. / Ltd, Czech Republic). The precision, tracking range and positioning speed of the combined robotic FUS system were evaluated in this study. Compared to the existing MR guided HIFU systems, the combined robotic system with active tracking techniques provides a potential that allows the FUS treatment to operate in a larger spatial range and with a faster speed, which is one of the main challenges for organ motion tracking.

Adaptive Flight Control Design with Optimal Control Modification on an F-18 Aircraft Model

NASA Technical Reports Server (NTRS)

Burken, John J.; Nguyen, Nhan T.; Griffin, Brian J.

2010-01-01

In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to as the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly; however, a large adaptive gain can lead to high-frequency oscillations which can adversely affect the robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient robustness. A damping term (v) is added in the modification to increase damping as needed. Simulations were conducted on a damaged F-18 aircraft (McDonnell Douglas, now The Boeing Company, Chicago, Illinois) with both the standard baseline dynamic inversion controller and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model.

A Model-Based Approach for the Measurement of Eye Movements Using Image Processing

NASA Technical Reports Server (NTRS)

Sung, Kwangjae; Reschke, Millard F.

1997-01-01

This paper describes a video eye-tracking algorithm which searches for the best fit of the pupil modeled as a circular disk. The algorithm is robust to common image artifacts such as the droopy eyelids and light reflections while maintaining the measurement resolution available by the centroid algorithm. The presented algorithm is used to derive the pupil size and center coordinates, and can be combined with iris-tracking techniques to measure ocular torsion. A comparison search method of pupil candidates using pixel coordinate reference lookup tables optimizes the processing requirements for a least square fit of the circular disk model. This paper includes quantitative analyses and simulation results for the resolution and the robustness of the algorithm. The algorithm presented in this paper provides a platform for a noninvasive, multidimensional eye measurement system which can be used for clinical and research applications requiring the precise recording of eye movements in three-dimensional space.

Single and multiple object tracking using log-euclidean Riemannian subspace and block-division appearance model.

PubMed

Hu, Weiming; Li, Xi; Luo, Wenhan; Zhang, Xiaoqin; Maybank, Stephen; Zhang, Zhongfei

2012-12-01

Object appearance modeling is crucial for tracking objects, especially in videos captured by nonstationary cameras and for reasoning about occlusions between multiple moving objects. Based on the log-euclidean Riemannian metric on symmetric positive definite matrices, we propose an incremental log-euclidean Riemannian subspace learning algorithm in which covariance matrices of image features are mapped into a vector space with the log-euclidean Riemannian metric. Based on the subspace learning algorithm, we develop a log-euclidean block-division appearance model which captures both the global and local spatial layout information about object appearances. Single object tracking and multi-object tracking with occlusion reasoning are then achieved by particle filtering-based Bayesian state inference. During tracking, incremental updating of the log-euclidean block-division appearance model captures changes in object appearance. For multi-object tracking, the appearance models of the objects can be updated even in the presence of occlusions. Experimental results demonstrate that the proposed tracking algorithm obtains more accurate results than six state-of-the-art tracking algorithms.

Geopotential models of the Earth from satellite tracking, altimeter and surface gravity observations: GEM-T3 and GEM-T3S

NASA Technical Reports Server (NTRS)

Lerch, F. J.; Nerem, R. S.; Putney, B. H.; Felsentreger, T. L.; Sanchez, B. V.; Klosko, S. M.; Patel, G. B.; Williamson, R. G.; Chinn, D. S.; Chan, J. C.

1992-01-01

Improved models of the Earth's gravitational field have been developed from conventional tracking data and from a combination of satellite tracking, satellite altimeter and surface gravimetric data. This combination model represents a significant improvement in the modeling of the gravity field at half-wavelengths of 300 km and longer. Both models are complete to degree and order 50. The Goddard Earth Model-T3 (GEM-T3) provides more accurate computation of satellite orbital effects as well as giving superior geoidal representation from that achieved in any previous GEM. A description of the models, their development and an assessment of their accuracy is presented. The GEM-T3 model used altimeter data from previous satellite missions in estimating the orbits, geoid, and dynamic height fields. Other satellite tracking data are largely the same as was used to develop GEM-T2, but contain certain important improvements in data treatment and expanded laser tracking coverage. Over 1300 arcs of tracking data from 31 different satellites have been used in the solution. Reliable estimates of the model uncertainties via error calibration and optimal data weighting techniques are discussed.

Screening for Dyslexia Using Eye Tracking during Reading.

PubMed

Nilsson Benfatto, Mattias; Öqvist Seimyr, Gustaf; Ygge, Jan; Pansell, Tony; Rydberg, Agneta; Jacobson, Christer

2016-01-01

Dyslexia is a neurodevelopmental reading disability estimated to affect 5-10% of the population. While there is yet no full understanding of the cause of dyslexia, or agreement on its precise definition, it is certain that many individuals suffer persistent problems in learning to read for no apparent reason. Although it is generally agreed that early intervention is the best form of support for children with dyslexia, there is still a lack of efficient and objective means to help identify those at risk during the early years of school. Here we show that it is possible to identify 9-10 year old individuals at risk of persistent reading difficulties by using eye tracking during reading to probe the processes that underlie reading ability. In contrast to current screening methods, which rely on oral or written tests, eye tracking does not depend on the subject to produce some overt verbal response and thus provides a natural means to objectively assess the reading process as it unfolds in real-time. Our study is based on a sample of 97 high-risk subjects with early identified word decoding difficulties and a control group of 88 low-risk subjects. These subjects were selected from a larger population of 2165 school children attending second grade. Using predictive modeling and statistical resampling techniques, we develop classification models from eye tracking records less than one minute in duration and show that the models are able to differentiate high-risk subjects from low-risk subjects with high accuracy. Although dyslexia is fundamentally a language-based learning disability, our results suggest that eye movements in reading can be highly predictive of individual reading ability and that eye tracking can be an efficient means to identify children at risk of long-term reading difficulties.

Quantitative analysis of the improvement in omnidirectional maritime surveillance and tracking due to real-time image enhancement

NASA Astrophysics Data System (ADS)

de Villiers, Jason P.; Bachoo, Asheer K.; Nicolls, Fred C.; le Roux, Francois P. J.

2011-05-01

Tracking targets in a panoramic image is in many senses the inverse problem of tracking targets with a narrow field of view camera on a pan-tilt pedestal. In a narrow field of view camera tracking a moving target, the object is constant and the background is changing. A panoramic camera is able to model the entire scene, or background, and those areas it cannot model well are the potential targets and typically subtended far fewer pixels in the panoramic view compared to the narrow field of view. The outputs of an outward staring array of calibrated machine vision cameras are stitched into a single omnidirectional panorama and used to observe False Bay near Simon's Town, South Africa. A ground truth data-set was created by geo-aligning the camera array and placing a differential global position system receiver on a small target boat thus allowing its position in the array's field of view to be determined. Common tracking techniques including level-sets, Kalman filters and particle filters were implemented to run on the central processing unit of the tracking computer. Image enhancement techniques including multi-scale tone mapping, interpolated local histogram equalisation and several sharpening techniques were implemented on the graphics processing unit. An objective measurement of each tracking algorithm's robustness in the presence of sea-glint, low contrast visibility and sea clutter - such as white caps is performed on the raw recorded video data. These results are then compared to those obtained with the enhanced video data.

Intelligent robust control for uncertain nonlinear time-varying systems and its application to robotic systems.

PubMed

Chang, Yeong-Chan

2005-12-01

This paper addresses the problem of designing adaptive fuzzy-based (or neural network-based) robust controls for a large class of uncertain nonlinear time-varying systems. This class of systems can be perturbed by plant uncertainties, unmodeled perturbations, and external disturbances. Nonlinear H(infinity) control technique incorporated with adaptive control technique and VSC technique is employed to construct the intelligent robust stabilization controller such that an H(infinity) control is achieved. The problem of the robust tracking control design for uncertain robotic systems is employed to demonstrate the effectiveness of the developed robust stabilization control scheme. Therefore, an intelligent robust tracking controller for uncertain robotic systems in the presence of high-degree uncertainties can easily be implemented. Its solution requires only to solve a linear algebraic matrix inequality and a satisfactorily transient and asymptotical tracking performance is guaranteed. A simulation example is made to confirm the performance of the developed control algorithms.

Adaptive Control of a Transport Aircraft Using Differential Thrust

NASA Technical Reports Server (NTRS)

Stepanyan, Vahram; Krishnakumar, Kalmanje; Nguyen, Nhan

2009-01-01

The paper presents an adaptive control technique for a damaged large transport aircraft subject to unknown atmospheric disturbances such as wind gust or turbulence. It is assumed that the damage results in vertical tail loss with no rudder authority, which is replaced with a differential thrust input. The proposed technique uses the adaptive prediction based control design in conjunction with the time scale separation principle, based on the singular perturbation theory. The application of later is necessitated by the fact that the engine response to a throttle command is substantially slow that the angular rate dynamics of the aircraft. It is shown that this control technique guarantees the stability of the closed-loop system and the tracking of a given reference model. The simulation example shows the benefits of the approach.

2-D Versus 3-D Cross-Correlation-Based Radial and Circumferential Strain Estimation Using Multiplane 2-D Ultrafast Ultrasound in a 3-D Atherosclerotic Carotid Artery Model.

PubMed

Fekkes, Stein; Swillens, Abigail E S; Hansen, Hendrik H G; Saris, Anne E C M; Nillesen, Maartje M; Iannaccone, Francesco; Segers, Patrick; de Korte, Chris L

2016-10-01

Three-dimensional (3-D) strain estimation might improve the detection and localization of high strain regions in the carotid artery (CA) for identification of vulnerable plaques. This paper compares 2-D versus 3-D displacement estimation in terms of radial and circumferential strain using simulated ultrasound (US) images of a patient-specific 3-D atherosclerotic CA model at the bifurcation embedded in surrounding tissue generated with ABAQUS software. Global longitudinal motion was superimposed to the model based on the literature data. A Philips L11-3 linear array transducer was simulated, which transmitted plane waves at three alternating angles at a pulse repetition rate of 10 kHz. Interframe (IF) radio-frequency US data were simulated in Field II for 191 equally spaced longitudinal positions of the internal CA. Accumulated radial and circumferential displacements were estimated using tracking of the IF displacements estimated by a two-step normalized cross-correlation method and displacement compounding. Least-squares strain estimation was performed to determine accumulated radial and circumferential strain. The performance of the 2-D and 3-D methods was compared by calculating the root-mean-squared error of the estimated strains with respect to the reference strains obtained from the model. More accurate strain images were obtained using the 3-D displacement estimation for the entire cardiac cycle. The 3-D technique clearly outperformed the 2-D technique in phases with high IF longitudinal motion. In fact, the large IF longitudinal motion rendered it impossible to accurately track the tissue and cumulate strains over the entire cardiac cycle with the 2-D technique.

Radio-controlled model design and testing techniques for stall/spin evaluation of general-aviation aircraft

NASA Technical Reports Server (NTRS)

Burk, S. M., Jr.; Wilson, C. F., Jr.

1975-01-01

A relatively inexpensive radio-controlled model stall/spin test technique was developed. Operational experiences using the technique are presented. A discussion of model construction techniques, spin-recovery parachute system, data recording system, and movie camera tracking system is included. Also discussed are a method of measuring moments of inertia, scaling of engine thrust, cost and time required to conduct a program, and examples of the results obtained from the flight tests.

Subdiffractional tracking of internalized molecules reveals heterogeneous motion states of synaptic vesicles

PubMed Central

Morrow, Isabel C.; Harper, Callista B.

2016-01-01

Our understanding of endocytic pathway dynamics is severely restricted by the diffraction limit of light microscopy. To address this, we implemented a novel technique based on the subdiffractional tracking of internalized molecules (sdTIM). This allowed us to image anti–green fluorescent protein Atto647N-tagged nanobodies trapped in synaptic vesicles (SVs) from live hippocampal nerve terminals expressing vesicle-associated membrane protein 2 (VAMP2)–pHluorin with 36-nm localization precision. Our results showed that, once internalized, VAMP2–pHluorin/Atto647N–tagged nanobodies exhibited a markedly lower mobility than on the plasma membrane, an effect that was reversed upon restimulation in presynapses but not in neighboring axons. Using Bayesian model selection applied to hidden Markov modeling, we found that SVs oscillated between diffusive states or a combination of diffusive and transport states with opposite directionality. Importantly, SVs exhibiting diffusive motion were relatively less likely to switch to the transport motion. These results highlight the potential of the sdTIM technique to provide new insights into the dynamics of endocytic pathways in a wide variety of cellular settings. PMID:27810917

Trends in Correlation-Based Pattern Recognition and Tracking in Forward-Looking Infrared Imagery

PubMed Central

Alam, Mohammad S.; Bhuiyan, Sharif M. A.

2014-01-01

In this paper, we review the recent trends and advancements on correlation-based pattern recognition and tracking in forward-looking infrared (FLIR) imagery. In particular, we discuss matched filter-based correlation techniques for target detection and tracking which are widely used for various real time applications. We analyze and present test results involving recently reported matched filters such as the maximum average correlation height (MACH) filter and its variants, and distance classifier correlation filter (DCCF) and its variants. Test results are presented for both single/multiple target detection and tracking using various real-life FLIR image sequences. PMID:25061840

Binocular Vision-Based Position and Pose of Hand Detection and Tracking in Space

NASA Astrophysics Data System (ADS)

Jun, Chen; Wenjun, Hou; Qing, Sheng

After the study of image segmentation, CamShift target tracking algorithm and stereo vision model of space, an improved algorithm based of Frames Difference and a new space point positioning model were proposed, a binocular visual motion tracking system was constructed to verify the improved algorithm and the new model. The problem of the spatial location and pose of the hand detection and tracking have been solved.

A discrete time-varying internal model-based approach for high precision tracking of a multi-axis servo gantry.

PubMed

Zhang, Zhen; Yan, Peng; Jiang, Huan; Ye, Peiqing

2014-09-01

In this paper, we consider the discrete time-varying internal model-based control design for high precision tracking of complicated reference trajectories generated by time-varying systems. Based on a novel parallel time-varying internal model structure, asymptotic tracking conditions for the design of internal model units are developed, and a low order robust time-varying stabilizer is further synthesized. In a discrete time setting, the high precision tracking control architecture is deployed on a Voice Coil Motor (VCM) actuated servo gantry system, where numerical simulations and real time experimental results are provided, achieving the tracking errors around 3.5‰ for frequency-varying signals. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Robust Optimal Adaptive Control Method with Large Adaptive Gain

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2009-01-01

In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly. However, a large adaptive gain can lead to high-frequency oscillations which can adversely affect robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient stability robustness. Simulations were conducted for a damaged generic transport aircraft with both standard adaptive control and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model while maintaining a sufficient time delay margin.

Track monitoring from the dynamic response of a passing train: A sparse approach

NASA Astrophysics Data System (ADS)

Lederman, George; Chen, Siheng; Garrett, James H.; Kovačević, Jelena; Noh, Hae Young; Bielak, Jacobo

2017-06-01

Collecting vibration data from revenue service trains could be a low-cost way to more frequently monitor railroad tracks, yet operational variability makes robust analysis a challenge. We propose a novel analysis technique for track monitoring that exploits the sparsity inherent in train-vibration data. This sparsity is based on the observation that large vertical train vibrations typically involve the excitation of the train's fundamental mode due to track joints, switchgear, or other discrete hardware. Rather than try to model the entire rail profile, in this study we examine a sparse approach to solving an inverse problem where (1) the roughness is constrained to a discrete and limited set of "bumps"; and (2) the train system is idealized as a simple damped oscillator that models the train's vibration in the fundamental mode. We use an expectation maximization (EM) approach to iteratively solve for the track profile and the train system properties, using orthogonal matching pursuit (OMP) to find the sparse approximation within each step. By enforcing sparsity, the inverse problem is well posed and the train's position can be found relative to the sparse bumps, thus reducing the uncertainty in the GPS data. We validate the sparse approach on two sections of track monitored from an operational train over a 16 month period of time, one where track changes did not occur during this period and another where changes did occur. We show that this approach can not only detect when track changes occur, but also offers insight into the type of such changes.

Hybrid three-dimensional and support vector machine approach for automatic vehicle tracking and classification using a single camera

NASA Astrophysics Data System (ADS)

Kachach, Redouane; Cañas, José María

2016-05-01

Using video in traffic monitoring is one of the most active research domains in the computer vision community. TrafficMonitor, a system that employs a hybrid approach for automatic vehicle tracking and classification on highways using a simple stationary calibrated camera, is presented. The proposed system consists of three modules: vehicle detection, vehicle tracking, and vehicle classification. Moving vehicles are detected by an enhanced Gaussian mixture model background estimation algorithm. The design includes a technique to resolve the occlusion problem by using a combination of two-dimensional proximity tracking algorithm and the Kanade-Lucas-Tomasi feature tracking algorithm. The last module classifies the shapes identified into five vehicle categories: motorcycle, car, van, bus, and truck by using three-dimensional templates and an algorithm based on histogram of oriented gradients and the support vector machine classifier. Several experiments have been performed using both real and simulated traffic in order to validate the system. The experiments were conducted on GRAM-RTM dataset and a proper real video dataset which is made publicly available as part of this work.

The HEP.TrkX Project: deep neural networks for HL-LHC online and offline tracking

DOE PAGES

Farrell, Steven; Anderson, Dustin; Calafiura, Paolo; ...

2017-08-08

Particle track reconstruction in dense environments such as the detectors of the High Luminosity Large Hadron Collider (HL-LHC) is a challenging pattern recognition problem. Traditional tracking algorithms such as the combinatorial Kalman Filter have been used with great success in LHC experiments for years. However, these state-of-the-art techniques are inherently sequential and scale poorly with the expected increases in detector occupancy in the HL-LHC conditions. The HEP.TrkX project is a pilot project with the aim to identify and develop cross-experiment solutions based on machine learning algorithms for track reconstruction. Machine learning algorithms bring a lot of potential to this problemmore » thanks to their capability to model complex non-linear data dependencies, to learn effective representations of high-dimensional data through training, and to parallelize easily on high-throughput architectures such as GPUs. This contribution will describe our initial explorations into this relatively unexplored idea space. Furthermore, we will discuss the use of recurrent (LSTM) and convolutional neural networks to find and fit tracks in toy detector data.« less

The HEP.TrkX Project: deep neural networks for HL-LHC online and offline tracking

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

Farrell, Steven; Anderson, Dustin; Calafiura, Paolo

Particle track reconstruction in dense environments such as the detectors of the High Luminosity Large Hadron Collider (HL-LHC) is a challenging pattern recognition problem. Traditional tracking algorithms such as the combinatorial Kalman Filter have been used with great success in LHC experiments for years. However, these state-of-the-art techniques are inherently sequential and scale poorly with the expected increases in detector occupancy in the HL-LHC conditions. The HEP.TrkX project is a pilot project with the aim to identify and develop cross-experiment solutions based on machine learning algorithms for track reconstruction. Machine learning algorithms bring a lot of potential to this problemmore » thanks to their capability to model complex non-linear data dependencies, to learn effective representations of high-dimensional data through training, and to parallelize easily on high-throughput architectures such as GPUs. This contribution will describe our initial explorations into this relatively unexplored idea space. Furthermore, we will discuss the use of recurrent (LSTM) and convolutional neural networks to find and fit tracks in toy detector data.« less

The HEP.TrkX Project: deep neural networks for HL-LHC online and offline tracking

NASA Astrophysics Data System (ADS)

Farrell, Steven; Anderson, Dustin; Calafiura, Paolo; Cerati, Giuseppe; Gray, Lindsey; Kowalkowski, Jim; Mudigonda, Mayur; Prabhat; Spentzouris, Panagiotis; Spiropoulou, Maria; Tsaris, Aristeidis; Vlimant, Jean-Roch; Zheng, Stephan

2017-08-01

Particle track reconstruction in dense environments such as the detectors of the High Luminosity Large Hadron Collider (HL-LHC) is a challenging pattern recognition problem. Traditional tracking algorithms such as the combinatorial Kalman Filter have been used with great success in LHC experiments for years. However, these state-of-the-art techniques are inherently sequential and scale poorly with the expected increases in detector occupancy in the HL-LHC conditions. The HEP.TrkX project is a pilot project with the aim to identify and develop cross-experiment solutions based on machine learning algorithms for track reconstruction. Machine learning algorithms bring a lot of potential to this problem thanks to their capability to model complex non-linear data dependencies, to learn effective representations of high-dimensional data through training, and to parallelize easily on high-throughput architectures such as GPUs. This contribution will describe our initial explorations into this relatively unexplored idea space. We will discuss the use of recurrent (LSTM) and convolutional neural networks to find and fit tracks in toy detector data.

Satellite laser ranging to low Earth orbiters: orbit and network validation

NASA Astrophysics Data System (ADS)

Arnold, Daniel; Montenbruck, Oliver; Hackel, Stefan; Sośnica, Krzysztof

2018-04-01

Satellite laser ranging (SLR) to low Earth orbiters (LEOs) provides optical distance measurements with mm-to-cm-level precision. SLR residuals, i.e., differences between measured and modeled ranges, serve as a common figure of merit for the quality assessment of orbits derived by radiometric tracking techniques. We discuss relevant processing standards for the modeling of SLR observations and highlight the importance of line-of-sight-dependent range corrections for the various types of laser retroreflector arrays. A 1-3 cm consistency of SLR observations and GPS-based precise orbits is demonstrated for a wide range of past and present LEO missions supported by the International Laser Ranging Service (ILRS). A parameter estimation approach is presented to investigate systematic orbit errors and it is shown that SLR validation of LEO satellites is not only able to detect radial but also along-track and cross-track offsets. SLR residual statistics clearly depend on the employed precise orbit determination technique (kinematic vs. reduced-dynamic, float vs. fixed ambiguities) but also reveal pronounced differences in the ILRS station performance. Using the residual-based parameter estimation approach, corrections to ILRS station coordinates, range biases, and timing offsets are derived. As a result, root-mean-square residuals of 5-10 mm have been achieved over a 1-year data arc in 2016 using observations from a subset of high-performance stations and ambiguity-fixed orbits of four LEO missions. As a final contribution, we demonstrate that SLR can not only validate single-satellite orbit solutions but also precise baseline solutions of formation flying missions such as GRACE, TanDEM-X, and Swarm.

Approach for gait analysis in persons with limb loss including residuum and prosthesis socket dynamics.

PubMed

LaPrè, A K; Price, M A; Wedge, R D; Umberger, B R; Sup, Frank C

2018-04-01

Musculoskeletal modeling and marker-based motion capture techniques are commonly used to quantify the motions of body segments, and the forces acting on them during human gait. However, when these techniques are applied to analyze the gait of people with lower limb loss, the clinically relevant interaction between the residual limb and prosthesis socket is typically overlooked. It is known that there is considerable motion and loading at the residuum-socket interface, yet traditional gait analysis techniques do not account for these factors due to the inability to place tracking markers on the residual limb inside of the socket. In the present work, we used a global optimization technique and anatomical constraints to estimate the motion and loading at the residuum-socket interface as part of standard gait analysis procedures. We systematically evaluated a range of parameters related to the residuum-socket interface, such as the number of degrees of freedom, and determined the configuration that yields the best compromise between faithfully tracking experimental marker positions while yielding anatomically realistic residuum-socket kinematics and loads that agree with data from the literature. Application of the present model to gait analysis for people with lower limb loss will deepen our understanding of the biomechanics of walking with a prosthesis, which should facilitate the development of enhanced rehabilitation protocols and improved assistive devices. Copyright © 2017 John Wiley & Sons, Ltd.

Survey of adaptive control using Liapunov design

NASA Technical Reports Server (NTRS)

Lindorff, D. P.; Carroll, R. L.

1972-01-01

A survey was made of the literature devoted to the synthesis of model-tracking adaptive systems based on application of Liapunov's second method. The basic synthesis procedure is introduced and a critical review of extensions made to the theory since 1966 is made. The extensions relate to design for relative stability, reduction of order techniques, design with disturbance, design with time variable parameters, multivariable systems, identification, and an adaptive observer.

A Novel Hybrid Mental Spelling Application Based on Eye Tracking and SSVEP-Based BCI

PubMed Central

Stawicki, Piotr; Gembler, Felix; Rezeika, Aya; Volosyak, Ivan

2017-01-01

Steady state visual evoked potentials (SSVEPs)-based Brain-Computer interfaces (BCIs), as well as eyetracking devices, provide a pathway for re-establishing communication for people with severe disabilities. We fused these control techniques into a novel eyetracking/SSVEP hybrid system, which utilizes eye tracking for initial rough selection and the SSVEP technology for fine target activation. Based on our previous studies, only four stimuli were used for the SSVEP aspect, granting sufficient control for most BCI users. As Eye tracking data is not used for activation of letters, false positives due to inappropriate dwell times are avoided. This novel approach combines the high speed of eye tracking systems and the high classification accuracies of low target SSVEP-based BCIs, leading to an optimal combination of both methods. We evaluated accuracy and speed of the proposed hybrid system with a 30-target spelling application implementing all three control approaches (pure eye tracking, SSVEP and the hybrid system) with 32 participants. Although the highest information transfer rates (ITRs) were achieved with pure eye tracking, a considerable amount of subjects was not able to gain sufficient control over the stand-alone eye-tracking device or the pure SSVEP system (78.13% and 75% of the participants reached reliable control, respectively). In this respect, the proposed hybrid was most universal (over 90% of users achieved reliable control), and outperformed the pure SSVEP system in terms of speed and user friendliness. The presented hybrid system might offer communication to a wider range of users in comparison to the standard techniques. PMID:28379187

A Region Tracking-Based Vehicle Detection Algorithm in Nighttime Traffic Scenes

PubMed Central

Wang, Jianqiang; Sun, Xiaoyan; Guo, Junbin

2013-01-01

The preceding vehicles detection technique in nighttime traffic scenes is an important part of the advanced driver assistance system (ADAS). This paper proposes a region tracking-based vehicle detection algorithm via the image processing technique. First, the brightness of the taillights during nighttime is used as the typical feature, and we use the existing global detection algorithm to detect and pair the taillights. When the vehicle is detected, a time series analysis model is introduced to predict vehicle positions and the possible region (PR) of the vehicle in the next frame. Then, the vehicle is only detected in the PR. This could reduce the detection time and avoid the false pairing between the bright spots in the PR and the bright spots out of the PR. Additionally, we present a thresholds updating method to make the thresholds adaptive. Finally, experimental studies are provided to demonstrate the application and substantiate the superiority of the proposed algorithm. The results show that the proposed algorithm can simultaneously reduce both the false negative detection rate and the false positive detection rate.

Visual Tracking Based on Extreme Learning Machine and Sparse Representation

PubMed Central

Wang, Baoxian; Tang, Linbo; Yang, Jinglin; Zhao, Baojun; Wang, Shuigen

2015-01-01

The existing sparse representation-based visual trackers mostly suffer from both being time consuming and having poor robustness problems. To address these issues, a novel tracking method is presented via combining sparse representation and an emerging learning technique, namely extreme learning machine (ELM). Specifically, visual tracking can be divided into two consecutive processes. Firstly, ELM is utilized to find the optimal separate hyperplane between the target observations and background ones. Thus, the trained ELM classification function is able to remove most of the candidate samples related to background contents efficiently, thereby reducing the total computational cost of the following sparse representation. Secondly, to further combine ELM and sparse representation, the resultant confidence values (i.e., probabilities to be a target) of samples on the ELM classification function are used to construct a new manifold learning constraint term of the sparse representation framework, which tends to achieve robuster results. Moreover, the accelerated proximal gradient method is used for deriving the optimal solution (in matrix form) of the constrained sparse tracking model. Additionally, the matrix form solution allows the candidate samples to be calculated in parallel, thereby leading to a higher efficiency. Experiments demonstrate the effectiveness of the proposed tracker. PMID:26506359

Kalman Filter Tracking on Parallel Architectures

NASA Astrophysics Data System (ADS)

Cerati, Giuseppe; Elmer, Peter; Krutelyov, Slava; Lantz, Steven; Lefebvre, Matthieu; McDermott, Kevin; Riley, Daniel; Tadel, Matevž; Wittich, Peter; Würthwein, Frank; Yagil, Avi

2016-11-01

Power density constraints are limiting the performance improvements of modern CPUs. To address this we have seen the introduction of lower-power, multi-core processors such as GPGPU, ARM and Intel MIC. In order to achieve the theoretical performance gains of these processors, it will be necessary to parallelize algorithms to exploit larger numbers of lightweight cores and specialized functions like large vector units. Track finding and fitting is one of the most computationally challenging problems for event reconstruction in particle physics. At the High-Luminosity Large Hadron Collider (HL-LHC), for example, this will be by far the dominant problem. The need for greater parallelism has driven investigations of very different track finding techniques such as Cellular Automata or Hough Transforms. The most common track finding techniques in use today, however, are those based on a Kalman filter approach. Significant experience has been accumulated with these techniques on real tracking detector systems, both in the trigger and offline. They are known to provide high physics performance, are robust, and are in use today at the LHC. Given the utility of the Kalman filter in track finding, we have begun to port these algorithms to parallel architectures, namely Intel Xeon and Xeon Phi. We report here on our progress towards an end-to-end track reconstruction algorithm fully exploiting vectorization and parallelization techniques in a simplified experimental environment.

Biaxial Mechanical Testing of Posterior Sclera using High-Resolution Ultrasound Speckle Tracking for Strain Measurements

PubMed Central

Cruz-Perez, Benjamin; Tang, Junhua; Morris, Hugh J.; Palko, Joel R.; Pan, Xueliang; Hart, Richard T.; Liu, Jun

2014-01-01

This study aimed to characterize the mechanical responses of the sclera, the white outer coat of the eye, under equal-biaxial loading with unrestricted shear. An ultrasound speckle tracking technique was used to measure tissue deformation through sample thickness, expanding the capabilities of surface strain techniques. Eight porcine scleral samples were tested within 72 hours postmortem. High resolution ultrasound scans of scleral cross-sections along the two loading axes were acquired at 25 consecutive biaxial load levels. An additional repeat of the biaxial loading cycle was performed to measure a third normal strain emulating a strain gauge rosette for calculating the in-plane shear. The repeatability of the strain measurements during identical biaxial ramps was evaluated. A correlation-based ultrasound speckle tracking algorithm was used to compute the displacement field and determine the distributive strains in the sample cross-sections. A Fung type constitutive model including a shear term was used to determine the material constants of each individual specimen by fitting the model parameters to the experimental stress-strain data. A non-linear stress-strain response was observed in all samples. The meridian direction had significantly larger strains than the circumferential direction during equal-biaxial loadings (P’s<0.05). The stiffness along the two directions were also significantly different (P=0.02) but highly correlated (R2=0.8). These results showed that the mechanical properties of the porcine sclera were nonlinear and anisotropic under biaxial loading. This work has also demonstrated the feasibility of using ultrasound speckle tracking for strain measurements during mechanical testing. PMID:24438767

A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements: toward image registration in minimally invasive surgery†

PubMed Central

Burgner, J.; Simpson, A. L.; Fitzpatrick, J. M.; Lathrop, R. A.; Herrell, S. D.; Miga, M. I.; Webster, R. J.

2013-01-01

Background Registered medical images can assist with surgical navigation and enable image-guided therapy delivery. In soft tissues, surface-based registration is often used and can be facilitated by laser surface scanning. Tracked conoscopic holography (which provides distance measurements) has been recently proposed as a minimally invasive way to obtain surface scans. Moving this technique from concept to clinical use requires a rigorous accuracy evaluation, which is the purpose of our paper. Methods We adapt recent non-homogeneous and anisotropic point-based registration results to provide a theoretical framework for predicting the accuracy of tracked distance measurement systems. Experiments are conducted a complex objects of defined geometry, an anthropomorphic kidney phantom and a human cadaver kidney. Results Experiments agree with model predictions, producing point RMS errors consistently < 1 mm, surface-based registration with mean closest point error < 1 mm in the phantom and a RMS target registration error of 0.8 mm in the human cadaver kidney. Conclusions Tracked conoscopic holography is clinically viable; it enables minimally invasive surface scan accuracy comparable to current clinical methods that require open surgery. PMID:22761086

Kalman Filter Tracking on Parallel Architectures

NASA Astrophysics Data System (ADS)

Cerati, Giuseppe; Elmer, Peter; Lantz, Steven; McDermott, Kevin; Riley, Dan; Tadel, Matevž; Wittich, Peter; Würthwein, Frank; Yagil, Avi

2015-12-01

Power density constraints are limiting the performance improvements of modern CPUs. To address this we have seen the introduction of lower-power, multi-core processors, but the future will be even more exciting. In order to stay within the power density limits but still obtain Moore's Law performance/price gains, it will be necessary to parallelize algorithms to exploit larger numbers of lightweight cores and specialized functions like large vector units. Example technologies today include Intel's Xeon Phi and GPGPUs. Track finding and fitting is one of the most computationally challenging problems for event reconstruction in particle physics. At the High Luminosity LHC, for example, this will be by far the dominant problem. The need for greater parallelism has driven investigations of very different track finding techniques including Cellular Automata or returning to Hough Transform. The most common track finding techniques in use today are however those based on the Kalman Filter [2]. Significant experience has been accumulated with these techniques on real tracking detector systems, both in the trigger and offline. They are known to provide high physics performance, are robust and are exactly those being used today for the design of the tracking system for HL-LHC. Our previous investigations showed that, using optimized data structures, track fitting with Kalman Filter can achieve large speedup both with Intel Xeon and Xeon Phi. We report here our further progress towards an end-to-end track reconstruction algorithm fully exploiting vectorization and parallelization techniques in a realistic simulation setup.

Measuring Memory and Attention to Preview in Motion.

PubMed

Jagacinski, Richard J; Hammond, Gordon M; Rizzi, Emanuele

2017-08-01

Objective Use perceptual-motor responses to perturbations to reveal the spatio-temporal detail of memory for the recent past and attention to preview when participants track a winding roadway. Background Memory of the recently passed roadway can be inferred from feedback control models of the participants' manual movement patterns. Similarly, attention to preview of the upcoming roadway can be inferred from feedforward control models of manual movement patterns. Method Perturbation techniques were used to measure these memory and attention functions. Results In a laboratory tracking task, the bandwidth of lateral roadway deviations was found to primarily influence memory for the past roadway rather than attention to preview. A secondary auditory/verbal/vocal memory task resulted in higher velocity error and acceleration error in the tracking task but did not affect attention to preview. Attention to preview was affected by the frequency pattern of sinusoidal perturbations of the roadway. Conclusion Perturbation techniques permit measurement of the spatio-temporal span of memory and attention to preview that affect tracking a winding roadway. They also provide new ways to explore goal-directed forgetting and spatially distributed attention in the context of movement. More generally, these techniques provide sensitive measures of individual differences in cognitive aspects of action. Application Models of driving behavior and assessment of driving skill may benefit from more detailed spatio-temporal measurement of attention to preview.

Model-Based Localization and Tracking Using Bluetooth Low-Energy Beacons

PubMed Central

Cemgil, Ali Taylan

2017-01-01

We introduce a high precision localization and tracking method that makes use of cheap Bluetooth low-energy (BLE) beacons only. We track the position of a moving sensor by integrating highly unreliable and noisy BLE observations streaming from multiple locations. A novel aspect of our approach is the development of an observation model, specifically tailored for received signal strength indicator (RSSI) fingerprints: a combination based on the optimal transport model of Wasserstein distance. The tracking results of the entire system are compared with alternative baseline estimation methods, such as nearest neighboring fingerprints and an artificial neural network. Our results show that highly accurate estimation from noisy Bluetooth data is practically feasible with an observation model based on Wasserstein distance interpolation combined with the sequential Monte Carlo (SMC) method for tracking. PMID:29109375

Model-Based Localization and Tracking Using Bluetooth Low-Energy Beacons.

PubMed

Daniş, F Serhan; Cemgil, Ali Taylan

2017-10-29

We introduce a high precision localization and tracking method that makes use of cheap Bluetooth low-energy (BLE) beacons only. We track the position of a moving sensor by integrating highly unreliable and noisy BLE observations streaming from multiple locations. A novel aspect of our approach is the development of an observation model, specifically tailored for received signal strength indicator (RSSI) fingerprints: a combination based on the optimal transport model of Wasserstein distance. The tracking results of the entire system are compared with alternative baseline estimation methods, such as nearest neighboring fingerprints and an artificial neural network. Our results show that highly accurate estimation from noisy Bluetooth data is practically feasible with an observation model based on Wasserstein distance interpolation combined with the sequential Monte Carlo (SMC) method for tracking.

Tracking dynamic team activity

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

Tambe, M.

1996-12-31

AI researchers are striving to build complex multi-agent worlds with intended applications ranging from the RoboCup robotic soccer tournaments, to interactive virtual theatre, to large-scale real-world battlefield simulations. Agent tracking - monitoring other agent`s actions and inferring their higher-level goals and intentions - is a central requirement in such worlds. While previous work has mostly focused on tracking individual agents, this paper goes beyond by focusing on agent teams. Team tracking poses the challenge of tracking a team`s joint goals and plans. Dynamic, real-time environments add to the challenge, as ambiguities have to be resolved in real-time. The central hypothesismore » underlying the present work is that an explicit team-oriented perspective enables effective team tracking. This hypothesis is instantiated using the model tracing technology employed in tracking individual agents. Thus, to track team activities, team models are put to service. Team models are a concrete application of the joint intentions framework and enable an agent to track team activities, regardless of the agent`s being a collaborative participant or a non-participant in the team. To facilitate real-time ambiguity resolution with team models: (i) aspects of tracking are cast as constraint satisfaction problems to exploit constraint propagation techniques; and (ii) a cost minimality criterion is applied to constrain tracking search. Empirical results from two separate tasks in real-world, dynamic environments one collaborative and one competitive - are provided.« less

Threat evaluation for impact assessment in situation analysis systems

NASA Astrophysics Data System (ADS)

Roy, Jean; Paradis, Stephane; Allouche, Mohamad

2002-07-01

Situation analysis is defined as a process, the examination of a situation, its elements, and their relations, to provide and maintain a product, i.e., a state of situation awareness, for the decision maker. Data fusion is a key enabler to meeting the demanding requirements of military situation analysis support systems. According to the data fusion model maintained by the Joint Directors of Laboratories' Data Fusion Group, impact assessment estimates the effects on situations of planned or estimated/predicted actions by the participants, including interactions between action plans of multiple players. In this framework, the appraisal of actual or potential threats is a necessary capability for impact assessment. This paper reviews and discusses in details the fundamental concepts of threat analysis. In particular, threat analysis generally attempts to compute some threat value, for the individual tracks, that estimates the degree of severity with which engagement events will potentially occur. Presenting relevant tracks to the decision maker in some threat list, sorted from the most threatening to the least, is clearly in-line with the cognitive demands associated with threat evaluation. A key parameter in many threat value evaluation techniques is the Closest Point of Approach (CPA). Along this line of thought, threatening tracks are often prioritized based upon which ones will reach their CPA first. Hence, the Time-to-CPA (TCPA), i.e., the time it will take for a track to reach its CPA, is also a key factor. Unfortunately, a typical assumption for the computation of the CPA/TCPA parameters is that the track velocity will remain constant. When a track is maneuvering, the CPA/TCPA values will change accordingly. These changes will in turn impact the threat value computations and, ultimately, the resulting threat list. This is clearly undesirable from a command decision-making perspective. In this regard, the paper briefly discusses threat value stabilization approaches based on neural networks and other mathematical techniques.

Error rate information in attention allocation pilot models

NASA Technical Reports Server (NTRS)

Faulkner, W. H.; Onstott, E. D.

1977-01-01

The Northrop urgency decision pilot model was used in a command tracking task to compare the optimized performance of multiaxis attention allocation pilot models whose urgency functions were (1) based on tracking error alone, and (2) based on both tracking error and error rate. A matrix of system dynamics and command inputs was employed, to create both symmetric and asymmetric two axis compensatory tracking tasks. All tasks were single loop on each axis. Analysis showed that a model that allocates control attention through nonlinear urgency functions using only error information could not achieve performance of the full model whose attention shifting algorithm included both error and error rate terms. Subsequent to this analysis, tracking performance predictions for the full model were verified by piloted flight simulation. Complete model and simulation data are presented.

Quantization-Based Adaptive Actor-Critic Tracking Control With Tracking Error Constraints.

PubMed

Fan, Quan-Yong; Yang, Guang-Hong; Ye, Dan

2018-04-01

In this paper, the problem of adaptive actor-critic (AC) tracking control is investigated for a class of continuous-time nonlinear systems with unknown nonlinearities and quantized inputs. Different from the existing results based on reinforcement learning, the tracking error constraints are considered and new critic functions are constructed to improve the performance further. To ensure that the tracking errors keep within the predefined time-varying boundaries, a tracking error transformation technique is used to constitute an augmented error system. Specific critic functions, rather than the long-term cost function, are introduced to supervise the tracking performance and tune the weights of the AC neural networks (NNs). A novel adaptive controller with a special structure is designed to reduce the effect of the NN reconstruction errors, input quantization, and disturbances. Based on the Lyapunov stability theory, the boundedness of the closed-loop signals and the desired tracking performance can be guaranteed. Finally, simulations on two connected inverted pendulums are given to illustrate the effectiveness of the proposed method.

Nonrigid motion compensation in B-mode and contrast enhanced ultrasound image sequences of the carotid artery

NASA Astrophysics Data System (ADS)

Carvalho, Diego D. B.; Akkus, Zeynettin; Bosch, Johan G.; van den Oord, Stijn C. H.; Niessen, Wiro J.; Klein, Stefan

2014-03-01

In this work, we investigate nonrigid motion compensation in simultaneously acquired (side-by-side) B-mode ultrasound (BMUS) and contrast enhanced ultrasound (CEUS) image sequences of the carotid artery. These images are acquired to study the presence of intraplaque neovascularization (IPN), which is a marker of plaque vulnerability. IPN quantification is visualized by performing the maximum intensity projection (MIP) on the CEUS image sequence over time. As carotid images contain considerable motion, accurate global nonrigid motion compensation (GNMC) is required prior to the MIP. Moreover, we demonstrate that an improved lumen and plaque differentiation can be obtained by averaging the motion compensated BMUS images over time. We propose to use a previously published 2D+t nonrigid registration method, which is based on minimization of pixel intensity variance over time, using a spatially and temporally smooth B-spline deformation model. The validation compares displacements of plaque points with manual trackings by 3 experts in 11 carotids. The average (+/- standard deviation) root mean square error (RMSE) was 99+/-74μm for longitudinal and 47+/-18μm for radial displacements. These results were comparable with the interobserver variability, and with results of a local rigid registration technique based on speckle tracking, which estimates motion in a single point, whereas our approach applies motion compensation to the entire image. In conclusion, we evaluated that the GNMC technique produces reliable results. Since this technique tracks global deformations, it can aid in the quantification of IPN and the delineation of lumen and plaque contours.

Visual Target Tracking in the Presence of Unknown Observer Motion

NASA Technical Reports Server (NTRS)

Williams, Stephen; Lu, Thomas

2009-01-01

Much attention has been given to the visual tracking problem due to its obvious uses in military surveillance. However, visual tracking is complicated by the presence of motion of the observer in addition to the target motion, especially when the image changes caused by the observer motion are large compared to those caused by the target motion. Techniques for estimating the motion of the observer based on image registration techniques and Kalman filtering are presented and simulated. With the effects of the observer motion removed, an additional phase is implemented to track individual targets. This tracking method is demonstrated on an image stream from a buoy-mounted or periscope-mounted camera, where large inter-frame displacements are present due to the wave action on the camera. This system has been shown to be effective at tracking and predicting the global position of a planar vehicle (boat) being observed from a single, out-of-plane camera. Finally, the tracking system has been extended to a multi-target scenario.

Choledochoscopic Examination of a 3-Dimensional Printing Model Using Augmented Reality Techniques: A Preliminary Proof of Concept Study.

PubMed

Tang, Rui; Ma, Longfei; Li, Ang; Yu, Lihan; Rong, Zhixia; Zhang, Xinjing; Xiang, Canhong; Liao, Hongen; Dong, Jiahong

2018-06-01

We applied augmented reality (AR) techniques to flexible choledochoscopy examinations. Enhanced computed tomography data of a patient with intrahepatic and extrahepatic biliary duct dilatation were collected to generate a hollow, 3-dimensional (3D) model of the biliary tree by 3D printing. The 3D printed model was placed in an opaque box. An electromagnetic (EM) sensor was internally installed in the choledochoscope instrument channel for tracking its movements through the passages of the 3D printed model, and an AR navigation platform was built using image overlay display. The porta hepatis was used as the reference marker with rigid image registration. The trajectories of the choledochoscope and the EM sensor were observed and recorded using the operator interface of the choledochoscope. Training choledochoscopy was performed on the 3D printed model. The choledochoscope was guided into the left and right hepatic ducts, the right anterior hepatic duct, the bile ducts of segment 8, the hepatic duct in subsegment 8, the right posterior hepatic duct, and the left and the right bile ducts of the caudate lobe. Although stability in tracking was less than ideal, the virtual choledochoscope images and EM sensor tracking were effective for navigation. AR techniques can be used to assist navigation in choledochoscopy examinations in bile duct models. Further research is needed to determine its benefits in clinical settings.

Electric vehicle chassis dynamometer test methods at JPL and their correlation to track tests

NASA Technical Reports Server (NTRS)

Marte, J.; Bryant, J.

1983-01-01

Early in its electric vehicle (EV) test program, JPL recognized that EV test procedures were too vague and too loosely defined to permit much meaningful data to be obtained from the testing. Therefore, JPL adopted more stringent test procedures and chose the chassis dynamometer rather than the track as its principal test technique. Through the years, test procedures continued to evolve towards a methodology based on chassis dynamometers which would exhibit good correlation with track testing. Based on comparative dynamometer and track test results on the ETV-1 vehicle, the test methods discussed in this report demonstrate a means by which excellent track-to-dynamometer correlation can be obtained.

IVF: exploiting intensity variation function for high-performance pedestrian tracking in forward-looking infrared imagery

NASA Astrophysics Data System (ADS)

Lamberti, Fabrizio; Sanna, Andrea; Paravati, Gianluca; Belluccini, Luca

2014-02-01

Tracking pedestrian targets in forward-looking infrared video sequences is a crucial component of a growing number of applications. At the same time, it is particularly challenging, since image resolution and signal-to-noise ratio are generally very low, while the nonrigidity of the human body produces highly variable target shapes. Moreover, motion can be quite chaotic with frequent target-to-target and target-to-scene occlusions. Hence, the trend is to design ever more sophisticated techniques, able to ensure rather accurate tracking results at the cost of a generally higher complexity. However, many of such techniques might not be suitable for real-time tracking in limited-resource environments. This work presents a technique that extends an extremely computationally efficient tracking method based on target intensity variation and template matching originally designed for targets with a marked and stable hot spot by adapting it to deal with much more complex thermal signatures and by removing the native dependency on configuration choices. Experimental tests demonstrated that, by working on multiple hot spots, the designed technique is able to achieve the robustness of other common approaches by limiting drifts and preserving the low-computational footprint of the reference method.

Differential correction capability of the GTDS using TDRSS data

NASA Technical Reports Server (NTRS)

Liu, S. Y.; Soskey, D. G.; Jacintho, J.

1980-01-01

A differential correction (DC) capability was implemented in the Goddard Trajectory Determination System (GTDS) to process satellite tracking data acquired via the Tracking and Data Relay Satellite System (TRDRSS). Configuration of the TDRSS is reviewed, observation modeling is presented, and major features of the capability are discussed. The following types of TDRSS data can be processed by GTDS: two way relay range and Doppler measurements, hybrid relay range and Doppler measurements, one way relay Doppler measurements, and differenced one way relay Doppler measurements. These data may be combined with conventional ground based direct tracking data. By using Bayesian weighted least squares techniques, the software allows the simultaneous determination of the trajectories of up to four different satellites - one user satellite and three relay satellites. In addition to satellite trajectories, the following parameters can be optionally solved: for drag coefficient, reflectivity of a satellite for solar radiation pressure, transponder delay, station position, and biases.

Preview-Based Stable-Inversion for Output Tracking

NASA Technical Reports Server (NTRS)

Zou, Qing-Ze; Devasia, Santosh

1999-01-01

Stable Inversion techniques can be used to achieve high-accuracy output tracking. However, for nonminimum phase systems, the inverse is non-causal - hence the inverse has to be pre-computed using a pre-specified desired-output trajectory. This requirement for pre-specification of the desired output restricts the use of inversion-based approaches to trajectory planning problems (for nonminimum phase systems). In the present article, it is shown that preview information of the desired output can be used to achieve online inversion-based output tracking of linear systems. The amount of preview-time needed is quantified in terms of the tracking error and the internal dynamics of the system (zeros of the system). The methodology is applied to the online output tracking of a flexible structure and experimental results are presented.

Modeling and Development of INS-Aided PLLs in a GNSS/INS Deeply-Coupled Hardware Prototype for Dynamic Applications

PubMed Central

Zhang, Tisheng; Niu, Xiaoji; Ban, Yalong; Zhang, Hongping; Shi, Chuang; Liu, Jingnan

2015-01-01

A GNSS/INS deeply-coupled system can improve the satellite signals tracking performance by INS aiding tracking loops under dynamics. However, there was no literature available on the complete modeling of the INS branch in the INS-aided tracking loop, which caused the lack of a theoretical tool to guide the selections of inertial sensors, parameter optimization and quantitative analysis of INS-aided PLLs. This paper makes an effort on the INS branch in modeling and parameter optimization of phase-locked loops (PLLs) based on the scalar-based GNSS/INS deeply-coupled system. It establishes the transfer function between all known error sources and the PLL tracking error, which can be used to quantitatively evaluate the candidate inertial measurement unit (IMU) affecting the carrier phase tracking error. Based on that, a steady-state error model is proposed to design INS-aided PLLs and to analyze their tracking performance. Based on the modeling and error analysis, an integrated deeply-coupled hardware prototype is developed, with the optimization of the aiding information. Finally, the performance of the INS-aided PLLs designed based on the proposed steady-state error model is evaluated through the simulation and road tests of the hardware prototype. PMID:25569751

Three-dimensional spatiotemporal tracking of fluorine-18 radiolabeled yeast cells via positron emission particle tracking

DOE PAGES

Langford, Seth T.; Wiggins, Cody S.; Santos, Roque; ...

2017-07-06

A method for Positron Emission Particle Tracking (PEPT) based on optical feature point identification techniques is demonstrated for use in low activity tracking experiments. Furthermore, a population of yeast cells of approximately 125,000 members is activated to roughly 55 Bq/cell by 18F uptake. An in vitro particle tracking experiment is performed with nearly 20 of these cells after decay to 32 Bq/cell. These cells are successfully identified and tracked simultaneously in this experiment. Our work extends the applicability of PEPT as a cell tracking method by allowing a number of cells to be tracked together, and demonstrating tracking for verymore » low activity tracers.« less

Three-dimensional spatiotemporal tracking of fluorine-18 radiolabeled yeast cells via positron emission particle tracking

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

Langford, Seth T.; Wiggins, Cody S.; Santos, Roque

A method for Positron Emission Particle Tracking (PEPT) based on optical feature point identification techniques is demonstrated for use in low activity tracking experiments. Furthermore, a population of yeast cells of approximately 125,000 members is activated to roughly 55 Bq/cell by 18F uptake. An in vitro particle tracking experiment is performed with nearly 20 of these cells after decay to 32 Bq/cell. These cells are successfully identified and tracked simultaneously in this experiment. Our work extends the applicability of PEPT as a cell tracking method by allowing a number of cells to be tracked together, and demonstrating tracking for verymore » low activity tracers.« less

Automated tracking for advanced satellite laser ranging systems

NASA Astrophysics Data System (ADS)

McGarry, Jan F.; Degnan, John J.; Titterton, Paul J., Sr.; Sweeney, Harold E.; Conklin, Brion P.; Dunn, Peter J.

1996-06-01

NASA's Satellite Laser Ranging Network was originally developed during the 1970's to track satellites carrying corner cube reflectors. Today eight NASA systems, achieving millimeter ranging precision, are part of a global network of more than 40 stations that track 17 international satellites. To meet the tracking demands of a steadily growing satellite constellation within existing resources, NASA is embarking on a major automation program. While manpower on the current systems will be reduced to a single operator, the fully automated SLR2000 system is being designed to operate for months without human intervention. Because SLR2000 must be eyesafe and operate in daylight, tracking is often performed in a low probability of detection and high noise environment. The goal is to automatically select the satellite, setup the tracking and ranging hardware, verify acquisition, and close the tracking loop to optimize data yield. TO accomplish the autotracking tasks, we are investigating (1) improved satellite force models, (2) more frequent updates of orbital ephemerides, (3) lunar laser ranging data processing techniques to distinguish satellite returns from noise, and (4) angular detection and search techniques to acquire the satellite. A Monte Carlo simulator has been developed to allow optimization of the autotracking algorithms by modeling the relevant system errors and then checking performance against system truth. A combination of simulator and preliminary field results will be presented.

AN ALTERNATIVE CALIBRATION OF CR-39 DETECTORS FOR RADON DETECTION BEYOND THE SATURATION LIMIT.

PubMed

Franci, Daniele; Aureli, Tommaso; Cardellini, Francesco

2016-12-01

Time-integrated measurements of indoor radon levels are commonly carried out using solid-state nuclear track detectors (SSNTDs), due to the numerous advantages offered by this radiation detection technique. However, the use of SSNTD also presents some problems that may affect the accuracy of the results. The effect of overlapping tracks often results in the underestimation of the detected track density, which leads to the reduction of the counting efficiency for increasing radon exposure. This article aims to address the effect of overlapping tracks by proposing an alternative calibration technique based on the measurement of the fraction of the detector surface covered by alpha tracks. The method has been tested against a set of Monte Carlo data and then applied to a set of experimental data collected at the radon chamber of the Istituto Nazionale di Metrologia delle Radiazioni Ionizzanti, at the ENEA centre in Casaccia, using CR-39 detectors. It has been proved that the method allows to extend the detectable range of radon exposure far beyond the intrinsic limit imposed by the standard calibration based on the track density. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

A hybrid approach to estimate the complex motions of clouds in sky images

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

Peng, Zhenzhou; Yu, Dantong; Huang, Dong

Tracking the motion of clouds is essential to forecasting the weather and to predicting the short-term solar energy generation. Existing techniques mainly fall into two categories: variational optical flow, and block matching. In this article, we summarize recent advances in estimating cloud motion using ground-based sky imagers and quantitatively evaluate state-of-the-art approaches. Then we propose a hybrid tracking framework to incorporate the strength of both block matching and optical flow models. To validate the accuracy of the proposed approach, we introduce a series of synthetic images to simulate the cloud movement and deformation, and thereafter comprehensively compare our hybrid approachmore » with several representative tracking algorithms over both simulated and real images collected from various sites/imagers. The results show that our hybrid approach outperforms state-of-the-art models by reducing at least 30% motion estimation errors compared with the ground-truth motions in most of simulated image sequences. Furthermore, our hybrid model demonstrates its superior efficiency in several real cloud image datasets by lowering at least 15% Mean Absolute Error (MAE) between predicted images and ground-truth images.« less

A hybrid approach to estimate the complex motions of clouds in sky images

DOE PAGES

Peng, Zhenzhou; Yu, Dantong; Huang, Dong; ...

2016-09-14

Tracking the motion of clouds is essential to forecasting the weather and to predicting the short-term solar energy generation. Existing techniques mainly fall into two categories: variational optical flow, and block matching. In this article, we summarize recent advances in estimating cloud motion using ground-based sky imagers and quantitatively evaluate state-of-the-art approaches. Then we propose a hybrid tracking framework to incorporate the strength of both block matching and optical flow models. To validate the accuracy of the proposed approach, we introduce a series of synthetic images to simulate the cloud movement and deformation, and thereafter comprehensively compare our hybrid approachmore » with several representative tracking algorithms over both simulated and real images collected from various sites/imagers. The results show that our hybrid approach outperforms state-of-the-art models by reducing at least 30% motion estimation errors compared with the ground-truth motions in most of simulated image sequences. Furthermore, our hybrid model demonstrates its superior efficiency in several real cloud image datasets by lowering at least 15% Mean Absolute Error (MAE) between predicted images and ground-truth images.« less

Quantitative nanoparticle tracking: applications to nanomedicine.

PubMed

Huang, Feiran; Dempsey, Christopher; Chona, Daniela; Suh, Junghae

2011-06-01

Particle tracking is an invaluable technique to extract quantitative and qualitative information regarding the transport of nanomaterials through complex biological environments. This technique can be used to probe the dynamic behavior of nanoparticles as they interact with and navigate through intra- and extra-cellular barriers. In this article, we focus on the recent developments in the application of particle-tracking technology to nanomedicine, including the study of synthetic and virus-based materials designed for gene and drug delivery. Specifically, we cover research where mean square displacements of nanomaterial transport were explicitly determined in order to quantitatively assess the transport of nanoparticles through biological environments. Particle-tracking experiments can provide important insights that may help guide the design of more intelligent and effective diagnostic and therapeutic nanoparticles.

Borrowing yet another technique from manufacturing, investigators find that 'operational flexibility' can offer dividends to ED operations.

PubMed

2015-03-01

Through the use of a sophisticated modeling technique, investigators at the University of Cincinnati have found that the creation of a so-called "flex track" that includes beds that can be assigned to either high-acuity or Iow-acuity- patients has the potential to lower mean wait times for patients when it is i added to the traditional fast-track and high-acuity areas of a 50-bed ED that sees 85,000 patients per year. Investigators used discrete-event simulation to model the patient flow and characteristics of the ED at the University of Cincinnati Medical Center, and to test out various operational scenarios without disrupting real-world operations. The investigators concluded that patient wait times were lowest when three flex beds were appropriated from the 10-bed fast track area of the EDs. In light of the results, three flex rooms are being incorporated into a newly remodeled ED scheduled for completion laterthis spring. Investigators suggest the modeling technique could be useful to other EDs interested in optimizing their operational plans. Further, they suggest that ED administrators consider ways to introduce flexibility into departments that are now more rigidly divided between high- and low-acuity areas.

Advanced sensor-simulation capability

NASA Astrophysics Data System (ADS)

Cota, Stephen A.; Kalman, Linda S.; Keller, Robert A.

1990-09-01

This paper provides an overview of an advanced simulation capability currently in use for analyzing visible and infrared sensor systems. The software system, called VISTAS (VISIBLE/INFRARED SENSOR TRADES, ANALYSES, AND SIMULATIONS) combines classical image processing techniques with detailed sensor models to produce static and time dependent simulations of a variety of sensor systems including imaging, tracking, and point target detection systems. Systems modelled to date include space-based scanning line-array sensors as well as staring 2-dimensional array sensors which can be used for either imaging or point source detection.

A path reconstruction method integrating dead-reckoning and position fixes applied to humpback whales.

PubMed

Wensveen, Paul J; Thomas, Len; Miller, Patrick J O

2015-01-01

Detailed information about animal location and movement is often crucial in studies of natural behaviour and how animals respond to anthropogenic activities. Dead-reckoning can be used to infer such detailed information, but without additional positional data this method results in uncertainty that grows with time. Combining dead-reckoning with new Fastloc-GPS technology should provide good opportunities for reconstructing georeferenced fine-scale tracks, and should be particularly useful for marine animals that spend most of their time under water. We developed a computationally efficient, Bayesian state-space modelling technique to estimate humpback whale locations through time, integrating dead-reckoning using on-animal sensors with measurements of whale locations using on-animal Fastloc-GPS and visual observations. Positional observation models were based upon error measurements made during calibrations. High-resolution 3-dimensional movement tracks were produced for 13 whales using a simple process model in which errors caused by water current movements, non-location sensor errors, and other dead-reckoning errors were accumulated into a combined error term. Positional uncertainty quantified by the track reconstruction model was much greater for tracks with visual positions and few or no GPS positions, indicating a strong benefit to using Fastloc-GPS for track reconstruction. Compared to tracks derived only from position fixes, the inclusion of dead-reckoning data greatly improved the level of detail in the reconstructed tracks of humpback whales. Using cross-validation, a clear improvement in the predictability of out-of-set Fastloc-GPS data was observed compared to more conventional track reconstruction methods. Fastloc-GPS observation errors during calibrations were found to vary by number of GPS satellites received and by orthogonal dimension analysed; visual observation errors varied most by distance to the whale. By systematically accounting for the observation errors in the position fixes, our model provides a quantitative estimate of location uncertainty that can be appropriately incorporated into analyses of animal movement. This generic method has potential application for a wide range of marine animal species and data recording systems.

AAA gunnermodel based on observer theory. [predicting a gunner's tracking response

NASA Technical Reports Server (NTRS)

Kou, R. S.; Glass, B. C.; Day, C. N.; Vikmanis, M. M.

1978-01-01

The Luenberger observer theory is used to develop a predictive model of a gunner's tracking response in antiaircraft artillery systems. This model is composed of an observer, a feedback controller and a remnant element. An important feature of the model is that the structure is simple, hence a computer simulation requires only a short execution time. A parameter identification program based on the least squares curve fitting method and the Gauss Newton gradient algorithm is developed to determine the parameter values of the gunner model. Thus, a systematic procedure exists for identifying model parameters for a given antiaircraft tracking task. Model predictions of tracking errors are compared with human tracking data obtained from manned simulation experiments. Model predictions are in excellent agreement with the empirical data for several flyby and maneuvering target trajectories.

Automated segmentation and tracking of non-rigid objects in time-lapse microscopy videos of polymorphonuclear neutrophils.

PubMed

Brandes, Susanne; Mokhtari, Zeinab; Essig, Fabian; Hünniger, Kerstin; Kurzai, Oliver; Figge, Marc Thilo

2015-02-01

Time-lapse microscopy is an important technique to study the dynamics of various biological processes. The labor-intensive manual analysis of microscopy videos is increasingly replaced by automated segmentation and tracking methods. These methods are often limited to certain cell morphologies and/or cell stainings. In this paper, we present an automated segmentation and tracking framework that does not have these restrictions. In particular, our framework handles highly variable cell shapes and does not rely on any cell stainings. Our segmentation approach is based on a combination of spatial and temporal image variations to detect moving cells in microscopy videos. This method yields a sensitivity of 99% and a precision of 95% in object detection. The tracking of cells consists of different steps, starting from single-cell tracking based on a nearest-neighbor-approach, detection of cell-cell interactions and splitting of cell clusters, and finally combining tracklets using methods from graph theory. The segmentation and tracking framework was applied to synthetic as well as experimental datasets with varying cell densities implying different numbers of cell-cell interactions. We established a validation framework to measure the performance of our tracking technique. The cell tracking accuracy was found to be >99% for all datasets indicating a high accuracy for connecting the detected cells between different time points. Copyright © 2014 Elsevier B.V. All rights reserved.

Observer-Based Adaptive Fault-Tolerant Tracking Control of Nonlinear Nonstrict-Feedback Systems.

PubMed

Wu, Chengwei; Liu, Jianxing; Xiong, Yongyang; Wu, Ligang

2017-06-28

This paper studies an output-based adaptive fault-tolerant control problem for nonlinear systems with nonstrict-feedback form. Neural networks are utilized to identify the unknown nonlinear characteristics in the system. An observer and a general fault model are constructed to estimate the unavailable states and describe the fault, respectively. Adaptive parameters are constructed to overcome the difficulties in the design process for nonstrict-feedback systems. Meanwhile, dynamic surface control technique is introduced to avoid the problem of ''explosion of complexity''. Furthermore, based on adaptive backstepping control method, an output-based adaptive neural tracking control strategy is developed for the considered system against actuator fault, which can ensure that all the signals in the resulting closed-loop system are bounded, and the system output signal can be regulated to follow the response of the given reference signal with a small error. Finally, the simulation results are provided to validate the effectiveness of the control strategy proposed in this paper.

Model development and system performance optimization for staring infrared search and track (IRST) sensors

NASA Astrophysics Data System (ADS)

Olson, Craig; Theisen, Michael; Pace, Teresa; Halford, Carl; Driggers, Ronald

2016-05-01

The mission of an Infrared Search and Track (IRST) system is to detect and locate (sometimes called find and fix) enemy aircraft at significant ranges. Two extreme opposite examples of IRST applications are 1) long range offensive aircraft detection when electronic warfare equipment is jammed, compromised, or intentionally turned off, and 2) distributed aperture systems where enemy aircraft may be in the proximity of the host aircraft. Past IRST systems have been primarily long range offensive systems that were based on the LWIR second generation thermal imager. The new IRST systems are primarily based on staring infrared focal planes and sensors. In the same manner that FLIR92 did not work well in the design of staring infrared cameras (NVTherm was developed to address staring infrared sensor performance), current modeling techniques do not adequately describe the performance of a staring IRST sensor. There are no standard military IRST models (per AFRL and NAVAIR), and each program appears to perform their own modeling. For this reason, L-3 has decided to develop a corporate model, working with AFRL and NAVAIR, for the analysis, design, and evaluation of IRST concepts, programs, and solutions. This paper provides some of the first analyses in the L-3 IRST model development program for the optimization of staring IRST sensors.

Fecal indicator organism modeling and microbial source tracking in environmental waters: Chapter 3.4.6

USGS Publications Warehouse

Nevers, Meredith; Byappanahalli, Muruleedhara; Phanikumar, Mantha S.; Whitman, Richard L.

2016-01-01

Mathematical models have been widely applied to surface waters to estimate rates of settling, resuspension, flow, dispersion, and advection in order to calculate movement of particles that influence water quality. Of particular interest are the movement, survival, and persistence of microbial pathogens or their surrogates, which may contaminate recreational water, drinking water, or shellfish. Most models devoted to microbial water quality have been focused on fecal indicator organisms (FIO), which act as a surrogate for pathogens and viruses. Process-based modeling and statistical modeling have been used to track contamination events to source and to predict future events. The use of these two types of models require different levels of expertise and input; process-based models rely on theoretical physical constructs to explain present conditions and biological distribution while data-based, statistical models use extant paired data to do the same. The selection of the appropriate model and interpretation of results is critical to proper use of these tools in microbial source tracking. Integration of the modeling approaches could provide insight for tracking and predicting contamination events in real time. A review of modeling efforts reveals that process-based modeling has great promise for microbial source tracking efforts; further, combining the understanding of physical processes influencing FIO contamination developed with process-based models and molecular characterization of the population by gene-based (i.e., biological) or chemical markers may be an effective approach for locating sources and remediating contamination in order to protect human health better.

Adaptive Environmental Source Localization and Tracking with Unknown Permittivity and Path Loss Coefficients †

PubMed Central

Fidan, Barış; Umay, Ilknur

2015-01-01

Accurate signal-source and signal-reflector target localization tasks via mobile sensory units and wireless sensor networks (WSNs), including those for environmental monitoring via sensory UAVs, require precise knowledge of specific signal propagation properties of the environment, which are permittivity and path loss coefficients for the electromagnetic signal case. Thus, accurate estimation of these coefficients has significant importance for the accuracy of location estimates. In this paper, we propose a geometric cooperative technique to instantaneously estimate such coefficients, with details provided for received signal strength (RSS) and time-of-flight (TOF)-based range sensors. The proposed technique is integrated to a recursive least squares (RLS)-based adaptive localization scheme and an adaptive motion control law, to construct adaptive target localization and adaptive target tracking algorithms, respectively, that are robust to uncertainties in aforementioned environmental signal propagation coefficients. The efficiency of the proposed adaptive localization and tracking techniques are both mathematically analysed and verified via simulation experiments. PMID:26690441

Particle-tracking analysis of contributing areas of public-supply wells in simple and complex flow systems, Cape Cod, Massachusetts

USGS Publications Warehouse

Barlow, Paul M.

1997-01-01

Steady-state, two- and three-dimensional, ground-water-flow models coupled with particle tracking were evaluated to determine their effectiveness in delineating contributing areas of wells pumping from stratified-drift aquifers of Cape Cod, Massachusetts. Several contributing areas delineated by use of the three-dimensional models do not conform to simple ellipsoidal shapes that are typically delineated by use of two-dimensional analytical and numerical modeling techniques and included discontinuous areas of the water table.

Tracking of multiple targets using online learning for reference model adaptation.

PubMed

Pernkopf, Franz

2008-12-01

Recently, much work has been done in multiple object tracking on the one hand and on reference model adaptation for a single-object tracker on the other side. In this paper, we do both tracking of multiple objects (faces of people) in a meeting scenario and online learning to incrementally update the models of the tracked objects to account for appearance changes during tracking. Additionally, we automatically initialize and terminate tracking of individual objects based on low-level features, i.e., face color, face size, and object movement. Many methods unlike our approach assume that the target region has been initialized by hand in the first frame. For tracking, a particle filter is incorporated to propagate sample distributions over time. We discuss the close relationship between our implemented tracker based on particle filters and genetic algorithms. Numerous experiments on meeting data demonstrate the capabilities of our tracking approach. Additionally, we provide an empirical verification of the reference model learning during tracking of indoor and outdoor scenes which supports a more robust tracking. Therefore, we report the average of the standard deviation of the trajectories over numerous tracking runs depending on the learning rate.

Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey.

PubMed

Shi, Chaoyang; Luo, Xiongbiao; Qi, Peng; Li, Tianliang; Song, Shuang; Najdovski, Zoran; Fukuda, Toshio; Ren, Hongliang

2017-08-01

Continuum robots provide inherent structural compliance with high dexterity to access the surgical target sites along tortuous anatomical paths under constrained environments and enable to perform complex and delicate operations through small incisions in minimally invasive surgery. These advantages enable their broad applications with minimal trauma and make challenging clinical procedures possible with miniaturized instrumentation and high curvilinear access capabilities. However, their inherent deformable designs make it difficult to realize 3-D intraoperative real-time shape sensing to accurately model their shape. Solutions to this limitation can lead themselves to further develop closely associated techniques of closed-loop control, path planning, human-robot interaction, and surgical manipulation safety concerns in minimally invasive surgery. Although extensive model-based research that relies on kinematics and mechanics has been performed, accurate shape sensing of continuum robots remains challenging, particularly in cases of unknown and dynamic payloads. This survey investigates the recent advances in alternative emerging techniques for 3-D shape sensing in this field and focuses on the following categories: fiber-optic-sensor-based, electromagnetic-tracking-based, and intraoperative imaging modality-based shape-reconstruction methods. The limitations of existing technologies and prospects of new technologies are also discussed.

Multi-Scale Modeling of the Gamma Radiolysis of Nitrate Solutions.

PubMed

Horne, Gregory P; Donoclift, Thomas A; Sims, Howard E; Orr, Robin M; Pimblott, Simon M

2016-11-17

A multiscale modeling approach has been developed for the extended time scale long-term radiolysis of aqueous systems. The approach uses a combination of stochastic track structure and track chemistry as well as deterministic homogeneous chemistry techniques and involves four key stages: radiation track structure simulation, the subsequent physicochemical processes, nonhomogeneous diffusion-reaction kinetic evolution, and homogeneous bulk chemistry modeling. The first three components model the physical and chemical evolution of an isolated radiation chemical track and provide radiolysis yields, within the extremely low dose isolated track paradigm, as the input parameters for a bulk deterministic chemistry model. This approach to radiation chemical modeling has been tested by comparison with the experimentally observed yield of nitrite from the gamma radiolysis of sodium nitrate solutions. This is a complex radiation chemical system which is strongly dependent on secondary reaction processes. The concentration of nitrite is not just dependent upon the evolution of radiation track chemistry and the scavenging of the hydrated electron and its precursors but also on the subsequent reactions of the products of these scavenging reactions with other water radiolysis products. Without the inclusion of intratrack chemistry, the deterministic component of the multiscale model is unable to correctly predict experimental data, highlighting the importance of intratrack radiation chemistry in the chemical evolution of the irradiated system.

Supporting Collaborative Health Tracking in the Hospital: Patients’ Perspectives

PubMed Central

Mishra, Sonali R.; Miller, Andrew D.; Haldar, Shefali; Khelifi, Maher; Eschler, Jordan; Elera, Rashmi G.; Pollack, Ari H; Pratt, Wanda

2018-01-01

The hospital setting creates a high-stakes environment where patients’ lives depend on accurate tracking of health data. Despite recent work emphasizing the importance of patients’ engagement in their own health care, less is known about how patients track their health and care in the hospital. Through interviews and design probes, we investigated hospitalized patients’ tracking activity and analyzed our results using the stage-based personal informatics model. We used this model to understand how to support the tracking needs of hospitalized patients at each stage. In this paper, we discuss hospitalized patients’ needs for collaboratively tracking their health with their care team. We suggest future extensions of the stage-based model to accommodate collaborative tracking situations, such as hospitals, where data is collected, analyzed, and acted on by multiple people. Our findings uncover new directions for HCI research and highlight ways to support patients in tracking their care and improving patient safety. PMID:29721554

Long-range eye tracking: A feasibility study

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

Jayaweera, S.K.; Lu, Shin-yee

1994-08-24

The design considerations for a long-range Purkinje effects based video tracking system using current technology is presented. Past work, current experiments, and future directions are thoroughly discussed, with an emphasis on digital signal processing techniques and obstacles. It has been determined that while a robust, efficient, long-range, and non-invasive eye tracking system will be difficult to develop, such as a project is indeed feasible.

Modeling of human operator dynamics in simple manual control utilizing time series analysis. [tracking (position)

NASA Technical Reports Server (NTRS)

Agarwal, G. C.; Osafo-Charles, F.; Oneill, W. D.; Gottlieb, G. L.

1982-01-01

Time series analysis is applied to model human operator dynamics in pursuit and compensatory tracking modes. The normalized residual criterion is used as a one-step analytical tool to encompass the processes of identification, estimation, and diagnostic checking. A parameter constraining technique is introduced to develop more reliable models of human operator dynamics. The human operator is adequately modeled by a second order dynamic system both in pursuit and compensatory tracking modes. In comparing the data sampling rates, 100 msec between samples is adequate and is shown to provide better results than 200 msec sampling. The residual power spectrum and eigenvalue analysis show that the human operator is not a generator of periodic characteristics.

Modal-space reference-model-tracking fuzzy control of earthquake excited structures

NASA Astrophysics Data System (ADS)

Park, Kwan-Soon; Ok, Seung-Yong

2015-01-01

This paper describes an adaptive modal-space reference-model-tracking fuzzy control technique for the vibration control of earthquake-excited structures. In the proposed approach, the fuzzy logic is introduced to update optimal control force so that the controlled structural response can track the desired response of a reference model. For easy and practical implementation, the reference model is constructed by assigning the target damping ratios to the first few dominant modes in modal space. The numerical simulation results demonstrate that the proposed approach successfully achieves not only the adaptive fault-tolerant control system against partial actuator failures but also the robust performance against the variations of the uncertain system properties by redistributing the feedback control forces to the available actuators.

Sensitivity Analysis of Repeat Track Estimation Techniques for Detection of Elevation Change in Polar Ice Sheets

NASA Astrophysics Data System (ADS)

Harpold, R. E.; Urban, T. J.; Schutz, B. E.

2008-12-01

Interest in elevation change detection in the polar regions has increased recently due to concern over the potential sea level rise from the melting of the polar ice caps. Repeat track analysis can be used to estimate elevation change rate by fitting elevation data to model parameters. Several aspects of this method have been tested to improve the recovery of the model parameters. Elevation data from ICESat over Antarctica and Greenland from 2003-2007 are used to test several grid sizes and types, such as grids based on latitude and longitude and grids centered on the ICESat reference groundtrack. Different sets of parameters are estimated, some of which include seasonal terms or alternate types of slopes (linear, quadratic, etc.). In addition, the effects of including crossovers and other solution constraints are evaluated. Simulated data are used to infer potential errors due to unmodeled parameters.

Gold nanoparticles for non-invasive cell tracking with CT imaging

NASA Astrophysics Data System (ADS)

Meir, Rinat; Betzer, Oshra; Barnoy, Eran; Motiei, Menachem; Popovtzer, Rachela

2018-02-01

Cell-based therapies use living cells with therapeutic traits to treat various diseases. This is a beneficial alternative for diseases that existing medicine cannot cure efficiently. However, inconsistent results in clinical trials are preventing the advancement and implementation of cell-based therapy. In order to explain such results, there is a need to discover the fate of the transplanted cells. To answer this need, we developed a technique for noninvasive in vivo cell tracking, which uses gold nanoparticles as contrast agents for CT imaging. Herein, we investigate the design principles of this technique for intramuscular transplantation of therapeutic cells. Longitudinal studies were performed, demonstrating the ability to track cells over long periods of time. As few as 500 cells could be detected and a way to quantify the number of cells visualized by CT was demonstrated. This cell-tracking technology has the potential to become an essential tool in pre-clinical studies as well as in clinical trials and advance cell therapy.

Analyses of track shift under high-speed vehicle-track interaction : safety of high speed ground transportation systems

DOT National Transportation Integrated Search

1997-06-01

This report describes analysis tools to predict shift under high-speed vehicle- : track interaction. The analysis approach is based on two fundamental models : developed (as part of this research); the first model computes the track lateral : residua...

Text Detection, Tracking and Recognition in Video: A Comprehensive Survey.

PubMed

Yin, Xu-Cheng; Zuo, Ze-Yu; Tian, Shu; Liu, Cheng-Lin

2016-04-14

Intelligent analysis of video data is currently in wide demand because video is a major source of sensory data in our lives. Text is a prominent and direct source of information in video, while recent surveys of text detection and recognition in imagery [1], [2] focus mainly on text extraction from scene images. Here, this paper presents a comprehensive survey of text detection, tracking and recognition in video with three major contributions. First, a generic framework is proposed for video text extraction that uniformly describes detection, tracking, recognition, and their relations and interactions. Second, within this framework, a variety of methods, systems and evaluation protocols of video text extraction are summarized, compared, and analyzed. Existing text tracking techniques, tracking based detection and recognition techniques are specifically highlighted. Third, related applications, prominent challenges, and future directions for video text extraction (especially from scene videos and web videos) are also thoroughly discussed.

Multiple template-based fluoroscopic tracking of lung tumor mass without implanted fiducial markers

NASA Astrophysics Data System (ADS)

Cui, Ying; Dy, Jennifer G.; Sharp, Gregory C.; Alexander, Brian; Jiang, Steve B.

2007-10-01

Precise lung tumor localization in real time is particularly important for some motion management techniques, such as respiratory gating or beam tracking with a dynamic multi-leaf collimator, due to the reduced clinical tumor volume (CTV) to planning target volume (PTV) margin and/or the escalated dose. There might be large uncertainties in deriving tumor position from external respiratory surrogates. While tracking implanted fiducial markers has sufficient accuracy, this procedure may not be widely accepted due to the risk of pneumothorax. Previously, we have developed a technique to generate gating signals from fluoroscopic images without implanted fiducial markers using a template matching method (Berbeco et al 2005 Phys. Med. Biol. 50 4481-90, Cui et al 2007 Phys. Med. Biol. 52 741-55). In this paper, we present an extension of this method to multiple-template matching for directly tracking the lung tumor mass in fluoroscopy video. The basic idea is as follows: (i) during the patient setup session, a pair of orthogonal fluoroscopic image sequences are taken and processed off-line to generate a set of reference templates that correspond to different breathing phases and tumor positions; (ii) during treatment delivery, fluoroscopic images are continuously acquired and processed; (iii) the similarity between each reference template and the processed incoming image is calculated; (iv) the tumor position in the incoming image is then estimated by combining the tumor centroid coordinates in reference templates with proper weights based on the measured similarities. With different handling of image processing and similarity calculation, two such multiple-template tracking techniques have been developed: one based on motion-enhanced templates and Pearson's correlation score while the other based on eigen templates and mean-squared error. The developed techniques have been tested on six sequences of fluoroscopic images from six lung cancer patients against the reference tumor positions manually determined by a radiation oncologist. The tumor centroid coordinates automatically detected using both methods agree well with the manually marked reference locations. The eigenspace tracking method performs slightly better than the motion-enhanced method, with average localization errors less than 2 pixels (1 mm) and the error at a 95% confidence level of about 2-4 pixels (1-2 mm). This work demonstrates the feasibility of direct tracking of a lung tumor mass in fluoroscopic images without implanted fiducial markers using multiple reference templates.

Current methods of monitoring radiation exposure from CT.

PubMed

Talati, Ronak K; Dunkin, Jared; Parikh, Shrujal; Moore, William H

2013-09-01

Increased public and regulatory scrutiny of imaging-related radiation exposure requires familiarity with current dose-monitoring techniques and best practices. CT-related ionizing radiation exposure has been cited as the largest and fastest growing source of population-wide iatrogenic ionizing radiation exposure. Upcoming federal regulations require imaging centers to familiarize themselves with available dose-monitoring techniques and implement comprehensive strategies to track patient dose, with particular emphasis on CT. Because of institution-specific and vendor-specific technologies, there are significant barriers to adoption and implementation. In this article, the authors outline the core components of a universal dose-monitoring strategy and detail a few of the many available commercial platforms. In addition, the authors introduce a cloud-based hybrid model dose-tracking system with the goal of rapid implementation, multicenter scalability, real-time dose feedback for technologists, cumulative dose monitoring, and optional dose communication to patients and into the record; doing so results in improved patient loyalty, referring physician satisfaction, and opportunity for repeat business. Copyright © 2013 American College of Radiology. All rights reserved.

Underwater Acoustic Target Tracking: A Review

PubMed Central

Han, Ying; Fan, Liying

2018-01-01

Advances in acoustic technology and instrumentation now make it possible to explore marine resources. As a significant component of ocean exploration, underwater acoustic target tracking has aroused wide attention both in military and civil fields. Due to the complexity of the marine environment, numerous techniques have been proposed to obtain better tracking performance. In this paper, we survey over 100 papers ranging from innovative papers to the state-of-the-art in this field to present underwater tracking technologies. Not only the related knowledge of acoustic tracking instrument and tracking progress is clarified in detail, but also a novel taxonomy method is proposed. In this paper, algorithms for underwater acoustic target tracking are classified based on the methods used as: (1) instrument-assisted methods; (2) mode-based methods; (3) tracking optimization methods. These algorithms are compared and analyzed in the aspect of dimensions, numbers, and maneuvering of the tracking target, which is different from other survey papers. Meanwhile, challenges, countermeasures, and lessons learned are illustrated in this paper. PMID:29301318

Type I Diabetic Akita Mouse Model is Characterized by Abnormal Cardiac Deformation During Early Stages of Diabetic Cardiomyopathy with Speckle-Tracking Based Strain Imaging.

PubMed

Zhou, Yingchao; Xiao, Hong; Wu, Jianfei; Zha, Lingfeng; Zhou, Mengchen; Li, Qianqian; Wang, Mengru; Shi, Shumei; Li, Yanze; Lyu, Liangkun; Wang, Qing; Tu, Xin; Lu, Qiulun

2018-01-01

Diabetes mellitus (DM) has been demonstrated to have a strong association with heart failure. Conventional echocardiographic analysis cannot sensitively monitor cardiac dysfunction in type I diabetic Akita hearts, but the phenotype of heart failure is observed in molecular levels during the early stages. Male Akita (Ins2WT/C96Y) mice were monitored with echocardiographic imaging at various ages, and then with conventional echocardiographic analysis and speckle-tracking based strain analyses. With speckle-tracking based strain analyses, diabetic Akita mice showed changes in average global radial strain at the age of 12 weeks, as well as decreased longitudinal strain. These changes occurred in the early stage and remained throughout the progression of diabetic cardiomyopathy in Akita mice. Speckle-tracking showed that the detailed and precise changes of cardiac deformation in the progression of diabetic cardiomyopathy in the genetic type I diabetic Akita mice were uncoupled. We monitored early-stage changes in the heart of diabetic Akita mice. We utilize this technique to elucidate the underlying mechanism for heart failure in Akita genetic type I diabetic mice. It will further advance the assessment of cardiac abnormalities, as well as the discovery of new drug treatments using Akita genetic type I diabetic mice. © 2018 The Author(s). Published by S. Karger AG, Basel.

Experiments in Aligning Threaded Parts Using a Robot Hand

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Walker, I. D.

1999-01-01

Techniques for determining and correcting threaded part alignment using force and angular position data are developed to augment currently limited techniques for align- ing threaded parts. These new techniques are based on backspinning a nut with respect to a bolt and measuring the force change that occurs when the bolt "falls" into the nut. Kinematic models that describe the relationship between threaded parts during backspinning are introduced and are used to show how angular alignment may be determined. The models indicate how to distinguish between the aligned and misaligned cases of a bolt and a nut connection by using axial force data only. In addition, by tracking the in-plane relative attitude of the bolt during spinning, data can be obtained on the direction of the angular misalignment which, in turn, is used to correct the misalignment. Results from experiments using a bolt held in a specialized fixture and a three fingers Stanford/JPL hand are presented.

Subjective evaluation with FAA criteria: A multidimensional scaling approach. [ground track control management

NASA Technical Reports Server (NTRS)

Kreifeldt, J. G.; Parkin, L.; Wempe, T. E.; Huff, E. F.

1975-01-01

Perceived orderliness in the ground tracks of five A/C during their simulated flights was studied. Dynamically developing ground tracks for five A/C from 21 separate runs were reproduced from computer storage and displayed on CRTS to professional pilots and controllers for their evaluations and preferences under several criteria. The ground tracks were developed in 20 seconds as opposed to the 5 minutes of simulated flight using speedup techniques for display. Metric and nonmetric multidimensional scaling techniques are being used to analyze the subjective responses in an effort to: (1) determine the meaningfulness of basing decisions on such complex subjective criteria; (2) compare pilot/controller perceptual spaces; (3) determine the dimensionality of the subjects' perceptual spaces; and thereby (4) determine objective measures suitable for comparing alternative traffic management simulations.

Combined Feature Based and Shape Based Visual Tracker for Robot Navigation

NASA Technical Reports Server (NTRS)

Deans, J.; Kunz, C.; Sargent, R.; Park, E.; Pedersen, L.

2005-01-01

We have developed a combined feature based and shape based visual tracking system designed to enable a planetary rover to visually track and servo to specific points chosen by a user with centimeter precision. The feature based tracker uses invariant feature detection and matching across a stereo pair, as well as matching pairs before and after robot movement in order to compute an incremental 6-DOF motion at each tracker update. This tracking method is subject to drift over time, which can be compensated by the shape based method. The shape based tracking method consists of 3D model registration, which recovers 6-DOF motion given sufficient shape and proper initialization. By integrating complementary algorithms, the combined tracker leverages the efficiency and robustness of feature based methods with the precision and accuracy of model registration. In this paper, we present the algorithms and their integration into a combined visual tracking system.

Infrared measurement and composite tracking algorithm for air-breathing hypersonic vehicles

NASA Astrophysics Data System (ADS)

Zhang, Zhao; Gao, Changsheng; Jing, Wuxing

2018-03-01

Air-breathing hypersonic vehicles have capabilities of hypersonic speed and strong maneuvering, and thus pose a significant challenge to conventional tracking methodologies. To achieve desirable tracking performance for hypersonic targets, this paper investigates the problems related to measurement model design and tracking model mismatching. First, owing to the severe aerothermal effect of hypersonic motion, an infrared measurement model in near space is designed and analyzed based on target infrared radiation and an atmospheric model. Second, using information from infrared sensors, a composite tracking algorithm is proposed via a combination of the interactive multiple models (IMM) algorithm, fitting dynamics model, and strong tracking filter. During the procedure, the IMMs algorithm generates tracking data to establish a fitting dynamics model of the target. Then, the strong tracking unscented Kalman filter is employed to estimate the target states for suppressing the impact of target maneuvers. Simulations are performed to verify the feasibility of the presented composite tracking algorithm. The results demonstrate that the designed infrared measurement model effectively and continuously observes hypersonic vehicles, and the proposed composite tracking algorithm accurately and stably tracks these targets.

Research of maneuvering target prediction and tracking technology based on IMM algorithm

NASA Astrophysics Data System (ADS)

Cao, Zheng; Mao, Yao; Deng, Chao; Liu, Qiong; Chen, Jing

2016-09-01

Maneuvering target prediction and tracking technology is widely used in both military and civilian applications, the study of those technologies is all along the hotspot and difficulty. In the Electro-Optical acquisition-tracking-pointing system (ATP), the primary traditional maneuvering targets are ballistic target, large aircraft and other big targets. Those targets have the features of fast velocity and a strong regular trajectory and Kalman Filtering and polynomial fitting have good effects when they are used to track those targets. In recent years, the small unmanned aerial vehicles developed rapidly for they are small, nimble and simple operation. The small unmanned aerial vehicles have strong maneuverability in the observation system of ATP although they are close-in, slow and small targets. Moreover, those vehicles are under the manual operation, therefore, the acceleration of them changes greatly and they move erratically. So the prediction and tracking precision is low when traditional algorithms are used to track the maneuvering fly of those targets, such as speeding up, turning, climbing and so on. The interacting multiple model algorithm (IMM) use multiple models to match target real movement trajectory, there are interactions between each model. The IMM algorithm can switch model based on a Markov chain to adapt to the change of target movement trajectory, so it is suitable to solve the prediction and tracking problems of the small unmanned aerial vehicles because of the better adaptability of irregular movement. This paper has set up model set of constant velocity model (CV), constant acceleration model (CA), constant turning model (CT) and current statistical model. And the results of simulating and analyzing the real movement trajectory data of the small unmanned aerial vehicles show that the prediction and tracking technology based on the interacting multiple model algorithm can get relatively lower tracking error and improve tracking precision comparing with traditional algorithms.

A RSSI-based parameter tracking strategy for constrained position localization

NASA Astrophysics Data System (ADS)

Du, Jinze; Diouris, Jean-François; Wang, Yide

2017-12-01

In this paper, a received signal strength indicator (RSSI)-based parameter tracking strategy for constrained position localization is proposed. To estimate channel model parameters, least mean squares method (LMS) is associated with the trilateration method. In the context of applications where the positions are constrained on a grid, a novel tracking strategy is proposed to determine the real position and obtain the actual parameters in the monitored region. Based on practical data acquired from a real localization system, an experimental channel model is constructed to provide RSSI values and verify the proposed tracking strategy. Quantitative criteria are given to guarantee the efficiency of the proposed tracking strategy by providing a trade-off between the grid resolution and parameter variation. The simulation results show a good behavior of the proposed tracking strategy in the presence of space-time variation of the propagation channel. Compared with the existing RSSI-based algorithms, the proposed tracking strategy exhibits better localization accuracy but consumes more calculation time. In addition, a tracking test is performed to validate the effectiveness of the proposed tracking strategy.

Deriving inertial wave characteristics from surface drifter velocities: Frequency variability in the Tropical Pacific

NASA Astrophysics Data System (ADS)

Poulain, Pierre-Marie; Luther, Douglas S.; Patzert, William C.

1992-11-01

Two techniques have been developed for estimating statistics of inertial oscillations from satellite-tracked drifters. These techniques overcome the difficulties inherent in estimating such statistics from data dependent upon space coordinates that are a function of time. Application of these techniques to tropical surface drifter data collected during the NORPAX, EPOCS, and TOGA programs reveals a latitude-dependent, statistically significant "blue shift" of inertial wave frequency. The latitudinal dependence of the blue shift is similar to predictions based on "global" internal wave spectral models, with a superposition of frequency shifting due to modification of the effective local inertial frequency by the presence of strongly sheared zonal mean currents within 12° of the equator.

Thermal and Kinetic Modelling of Elastomer Flow—Application to an Extrusion Die

NASA Astrophysics Data System (ADS)

Launay, J.; Allanic, N.; Mousseau, P.; Deterre, R.

2011-05-01

This paper reports and discusses the thermal and kinetic behaviour of elastomer flow inside an extrusion die. The reaction progress through the runner was modeled by using a particle tracking technique. The aim is to analyze viscous dissipation phenomena to control scorch arisen, improve the rubber compound curing homogeneity and reduce the heating time in the mould using the progress of the induction time. The heat and momentum equations were solved in three dimensions with Ansys Polyflow. A particle tracking technique was set up to calculate the reaction progress. Several simulations were performed to highlight the influence of process parameters and geometry modifications on the rubber compound thermal and cure homogeneity.

Compressive self-interference Fresnel digital holography with faithful reconstruction

NASA Astrophysics Data System (ADS)

Wan, Yuhong; Man, Tianlong; Han, Ying; Zhou, Hongqiang; Wang, Dayong

2017-05-01

We developed compressive self-interference digital holographic approach that allows retrieving three-dimensional information of the spatially incoherent objects from single-shot captured hologram. The Fresnel incoherent correlation holography is combined with parallel phase-shifting technique to instantaneously obtain spatial-multiplexed phase-shifting holograms. The recording scheme is regarded as compressive forward sensing model, thus the compressive-sensing-based reconstruction algorithm is implemented to reconstruct the original object from the under sampled demultiplexed sub-holograms. The concept was verified by simulations and experiments with simulating use of the polarizer array. The proposed technique has great potential to be applied in 3D tracking of spatially incoherent samples.

Network exploitation using WAMI tracks

NASA Astrophysics Data System (ADS)

Rimey, Ray; Record, Jim; Keefe, Dan; Kennedy, Levi; Cramer, Chris

2011-06-01

Creating and exploiting network models from wide area motion imagery (WAMI) is an important task for intelligence analysis. Tracks of entities observed moving in the WAMI sensor data are extracted, then large numbers of tracks are studied over long time intervals to determine specific locations that are visited (e.g., buildings in an urban environment), what locations are related to other locations, and the function of each location. This paper describes several parts of the network detection/exploitation problem, and summarizes a solution technique for each: (a) Detecting nodes; (b) Detecting links between known nodes; (c) Node attributes to characterize a node; (d) Link attributes to characterize each link; (e) Link structure inferred from node attributes and vice versa; and (f) Decomposing a detected network into smaller networks. Experimental results are presented for each solution technique, and those are used to discuss issues for each problem part and its solution technique.

2-D left ventricular flow estimation by combining speckle tracking with Navier-Stokes-based regularization: an in silico, in vitro and in vivo study.

PubMed

Gao, Hang; Bijnens, Nathalie; Coisne, Damien; Lugiez, Mathieu; Rutten, Marcel; D'hooge, Jan

2015-01-01

Despite the availability of multiple ultrasound approaches to left ventricular (LV) flow characterization in two dimensions, this technique remains in its childhood and further developments seem warranted. This article describes a new methodology for tracking the 2-D LV flow field based on ultrasound data. Hereto, a standard speckle tracking algorithm was modified by using a dynamic kernel embedding Navier-Stokes-based regularization in an iterative manner. The performance of the proposed approach was first quantified in synthetic ultrasound data based on a computational fluid dynamics model of LV flow. Next, an experimental flow phantom setup mimicking the normal human heart was used for experimental validation by employing simultaneous optical particle image velocimetry as a standard reference technique. Finally, the applicability of the approach was tested in a clinical setting. On the basis of the simulated data, pointwise evaluation of the estimated velocity vectors correlated well (mean r = 0.84) with the computational fluid dynamics measurement. During the filling period of the left ventricle, the properties of the main vortex obtained from the proposed method were also measured, and their correlations with the reference measurement were also calculated (radius, r = 0.96; circulation, r = 0.85; weighted center, r = 0.81). In vitro results at 60 bpm during one cardiac cycle confirmed that the algorithm properly measures typical characteristics of the vortex (radius, r = 0.60; circulation, r = 0.81; weighted center, r = 0.92). Preliminary qualitative results on clinical data revealed physiologic flow fields. Copyright © 2015 World Federation for Ultrasound in Medicine & Biology. Published by Elsevier Inc. All rights reserved.

Momentum--"Evaluating Your Marketing Program: Measuring and Tracking Techniques."

ERIC Educational Resources Information Center

Meservey, Lynne D.

1990-01-01

Suggests 10 tracking techniques for evaluating marketing performance. Techniques involve utilization rate, inquiry and source of inquiry tracking, appointment and interview tracking, enrollment conversion, cost per inquiry and per enrollment, retention rate, survey results, and "mystery shopper." (RJC)

Predicting full-field dynamic strain on a three-bladed wind turbine using three dimensional point tracking and expansion techniques

NASA Astrophysics Data System (ADS)

Baqersad, Javad; Niezrecki, Christopher; Avitabile, Peter

2014-03-01

As part of a project to predict the full-field dynamic strain in rotating structures (e.g. wind turbines and helicopter blades), an experimental measurement was performed on a wind turbine attached to a 500-lb steel block and excited using a mechanical shaker. In this paper, the dynamic displacement of several optical targets mounted to a turbine placed in a semi-built-in configuration was measured by using three-dimensional point tracking. Using an expansion algorithm in conjunction with a finite element model of the blades, the measured displacements were expanded to all finite element degrees of freedom. The calculated displacements were applied to the finite element model to extract dynamic strain on the surface as well as within the interior points of the structure. To validate the technique for dynamic strain prediction, the physical strain at eight locations on the blades was measured during excitation using strain-gages. The expansion was performed by using both structural modes of an individual cantilevered blade and using modes of the entire structure (three-bladed wind turbine and the fixture) and the predicted strain was compared to the physical strain-gage measurements. The results demonstrate the ability of the technique to predict full-field dynamic strain from limited sets of measurements and can be used as a condition based monitoring tool to help provide damage prognosis of structures during operation.

Novel laser communications transceiver with internal gimbal-less pointing and tracking

NASA Astrophysics Data System (ADS)

Chalfant, Charles H., III; Orlando, Fred J., Jr.; Gregory, Jeff T.; Sulham, Clifford; O'Neal, Chad B.; Taylor, Geoffrey W.; Craig, Douglas M.; Foshee, James J.; Lovett, J. Timothy

2002-12-01

This paper describes a novel laser communications transceiver for use in multi-platform satellite networks or clusters that provides internal pointing and tracking technique allowing static mounting of the transceiver subsystems and minimal use of mechanical stabilization techniques. This eliminates the need for the large, power hungry, mechanical gimbals that are required for laser cross-link pointing, acquisition and tracking. The miniature transceiver is designed for pointing accuracies required for satellite cross-link distances of between 500 meters to 5000 meters. Specifically, the designs are targeting Air Force Research Lab's TechSat21 Program, although alternative transceiver configurations can provide for much greater link distances and other satellite systems. The receiver and transmitter are connected via fiber optic cabling from a separate electronics subsystem containing the optoelectronics PCBs, thereby eliminating active optoelectronic elements from the transceiver's mechanical housing. The internal acquisition and tracking capability is provided by an advanced micro-electro-mechanical system (MEMS) and an optical design that provides a specific field-of-view based on the satellite cluster's interface specifications. The acquisition & tracking control electronics will utilize conventional closed loop tracking techniques. The link optical power budget and optoelectronics designs allow use of transmitter sources with output powers of near 100 mW. The transceiver will provide data rates of up to 2.5 Gbps and operate at either 1310 nm or 1550 nm. In addition to space-based satellite to satellite cross-links, we are planning to develop a broad range of applications including air to air communications between highly mobile airborne platforms and terrestrial fixed point to point communications.

A proposed adaptive step size perturbation and observation maximum power point tracking algorithm based on photovoltaic system modeling

NASA Astrophysics Data System (ADS)

Huang, Yu

Solar energy becomes one of the major alternative renewable energy options for its huge abundance and accessibility. Due to the intermittent nature, the high demand of Maximum Power Point Tracking (MPPT) techniques exists when a Photovoltaic (PV) system is used to extract energy from the sunlight. This thesis proposed an advanced Perturbation and Observation (P&O) algorithm aiming for relatively practical circumstances. Firstly, a practical PV system model is studied with determining the series and shunt resistances which are neglected in some research. Moreover, in this proposed algorithm, the duty ratio of a boost DC-DC converter is the object of the perturbation deploying input impedance conversion to achieve working voltage adjustment. Based on the control strategy, the adaptive duty ratio step size P&O algorithm is proposed with major modifications made for sharp insolation change as well as low insolation scenarios. Matlab/Simulink simulation for PV model, boost converter control strategy and various MPPT process is conducted step by step. The proposed adaptive P&O algorithm is validated by the simulation results and detail analysis of sharp insolation changes, low insolation condition and continuous insolation variation.

Reproducibility of tract segmentation between sessions using an unsupervised modelling-based approach.

PubMed

Clayden, Jonathan D; Storkey, Amos J; Muñoz Maniega, Susana; Bastin, Mark E

2009-04-01

This work describes a reproducibility analysis of scalar water diffusion parameters, measured within white matter tracts segmented using a probabilistic shape modelling method. In common with previously reported neighbourhood tractography (NT) work, the technique optimises seed point placement for fibre tracking by matching the tracts generated using a number of candidate points against a reference tract, which is derived from a white matter atlas in the present study. No direct constraints are applied to the fibre tracking results. An Expectation-Maximisation algorithm is used to fully automate the procedure, and make dramatically more efficient use of data than earlier NT methods. Within-subject and between-subject variances for fractional anisotropy and mean diffusivity within the tracts are then separated using a random effects model. We find test-retest coefficients of variation (CVs) similar to those reported in another study using landmark-guided single seed points; and subject to subject CVs similar to a constraint-based multiple ROI method. We conclude that our approach is at least as effective as other methods for tract segmentation using tractography, whilst also having some additional benefits, such as its provision of a goodness-of-match measure for each segmentation.

Horizontal cosmic ray muon radiography for imaging nuclear threats

NASA Astrophysics Data System (ADS)

Morris, Christopher L.; Bacon, Jeffrey; Borozdin, Konstantin; Fabritius, Joseph; Miyadera, Haruo; Perry, John; Sugita, Tsukasa

2014-07-01

Muon tomography is a technique that uses information contained in the Coulomb scattering of cosmic ray muons to generate three dimension images of volumes between tracking detectors. Advantages of this technique are the muons ability to penetrate significant overburden and the absence of any additional dose beyond the natural cosmic ray flux. Disadvantages include the long exposure times and limited resolution because of the low flux. Here we compare the times needed to image objects using both vertically and horizontally mounted tracking detectors and we develop a predictive model for other geometries.

A precise integration method for solving coupled vehicle-track dynamics with nonlinear wheel-rail contact

NASA Astrophysics Data System (ADS)

Zhang, J.; Gao, Q.; Tan, S. J.; Zhong, W. X.

2012-10-01

A new method is proposed as a solution for the large-scale coupled vehicle-track dynamic model with nonlinear wheel-rail contact. The vehicle is simplified as a multi-rigid-body model, and the track is treated as a three-layer beam model. In the track model, the rail is assumed to be an Euler-Bernoulli beam supported by discrete sleepers. The vehicle model and the track model are coupled using Hertzian nonlinear contact theory, and the contact forces of the vehicle subsystem and the track subsystem are approximated by the Lagrange interpolation polynomial. The response of the large-scale coupled vehicle-track model is calculated using the precise integration method. A more efficient algorithm based on the periodic property of the track is applied to calculate the exponential matrix and certain matrices related to the solution of the track subsystem. Numerical examples demonstrate the computational accuracy and efficiency of the proposed method.

Implementation of an RBF neural network on embedded systems: real-time face tracking and identity verification.

PubMed

Yang, Fan; Paindavoine, M

2003-01-01

This paper describes a real time vision system that allows us to localize faces in video sequences and verify their identity. These processes are image processing techniques based on the radial basis function (RBF) neural network approach. The robustness of this system has been evaluated quantitatively on eight video sequences. We have adapted our model for an application of face recognition using the Olivetti Research Laboratory (ORL), Cambridge, UK, database so as to compare the performance against other systems. We also describe three hardware implementations of our model on embedded systems based on the field programmable gate array (FPGA), zero instruction set computer (ZISC) chips, and digital signal processor (DSP) TMS320C62, respectively. We analyze the algorithm complexity and present results of hardware implementations in terms of the resources used and processing speed. The success rates of face tracking and identity verification are 92% (FPGA), 85% (ZISC), and 98.2% (DSP), respectively. For the three embedded systems, the processing speeds for images size of 288 /spl times/ 352 are 14 images/s, 25 images/s, and 4.8 images/s, respectively.

Magnetic Resonance Imaging of Iron Oxide-Labeled Human Embryonic Stem Cell-Derived Cardiac Progenitors.

PubMed

Skelton, Rhys J P; Khoja, Suhail; Almeida, Shone; Rapacchi, Stanislas; Han, Fei; Engel, James; Zhao, Peng; Hu, Peng; Stanley, Edouard G; Elefanty, Andrew G; Kwon, Murray; Elliott, David A; Ardehali, Reza

2016-01-01

Given the limited regenerative capacity of the heart, cellular therapy with stem cell-derived cardiac cells could be a potential treatment for patients with heart disease. However, reliable imaging techniques to longitudinally assess engraftment of the transplanted cells are scant. To address this issue, we used ferumoxytol as a labeling agent of human embryonic stem cell-derived cardiac progenitor cells (hESC-CPCs) to facilitate tracking by magnetic resonance imaging (MRI) in a large animal model. Differentiating hESCs were exposed to ferumoxytol at different time points and varying concentrations. We determined that treatment with ferumoxytol at 300 μg/ml on day 0 of cardiac differentiation offered adequate cell viability and signal intensity for MRI detection without compromising further differentiation into definitive cardiac lineages. Labeled hESC-CPCs were transplanted by open surgical methods into the left ventricular free wall of uninjured pig hearts and imaged both ex vivo and in vivo. Comprehensive T2*-weighted images were obtained immediately after transplantation and 40 days later before termination. The localization and dispersion of labeled cells could be effectively imaged and tracked at days 0 and 40 by MRI. Thus, under the described conditions, ferumoxytol can be used as a long-term, differentiation-neutral cell-labeling agent to track transplanted hESC-CPCs in vivo using MRI. The development of a safe and reproducible in vivo imaging technique to track the fate of transplanted human embryonic stem cell-derived cardiac progenitor cells (hESC-CPCs) is a necessary step to clinical translation. An iron oxide nanoparticle (ferumoxytol)-based approach was used for cell labeling and subsequent in vivo magnetic resonance imaging monitoring of hESC-CPCs transplanted into uninjured pig hearts. The present results demonstrate the use of ferumoxytol labeling and imaging techniques in tracking the location and dispersion of cell grafts, highlighting its utility in future cardiac stem cell therapy trials. ©AlphaMed Press.

Model-based approach to partial tracking for musical transcription

NASA Astrophysics Data System (ADS)

Sterian, Andrew; Wakefield, Gregory H.

1998-10-01

We present a new method for musical partial tracking in the context of musical transcription using a time-frequency Kalman filter structure. The filter is based upon a model for the evolution of a partial behavior across a wide range of pitch from four brass instruments. Statistics are computed independently for the partial attributes of frequency and log-power first differences. We present observed power spectral density shapes, total powers, and histograms, as well as least-squares approximations to these. We demonstrate that a Kalman filter tracker using this partial model is capable of tracking partials in music. We discuss how the filter structure naturally provides quality-of-fit information about the data for use in further processing and how this information can be used to perform partial track initiation and termination within a common framework. We propose that a model-based approach to partial tracking is preferable to existing approaches which generally use heuristic rules or birth/death notions over a small time neighborhood. The advantages include better performance in the presence of cluttered data and simplified tracking over missed observations.

Planetary Radio Interferometry and Doppler Experiment (PRIDE) technique: A test case of the Mars Express Phobos Flyby. II. Doppler tracking: Formulation of observed and computed values, and noise budget

NASA Astrophysics Data System (ADS)

Bocanegra-Bahamón, T. M.; Molera Calvés, G.; Gurvits, L. I.; Duev, D. A.; Pogrebenko, S. V.; Cimò, G.; Dirkx, D.; Rosenblatt, P.

2018-01-01

Context. Closed-loop Doppler data obtained by deep space tracking networks, such as the NASA Deep Space Network (DSN) and the ESA tracking station network (Estrack), are routinely used for navigation and science applications. By shadow tracking the spacecraft signal, Earth-based radio telescopes involved in the Planetary Radio Interferometry and Doppler Experiment (PRIDE) can provide open-loop Doppler tracking data only when the dedicated deep space tracking facilities are operating in closed-loop mode. Aims: We explain the data processing pipeline in detail and discuss the capabilities of the technique and its potential applications in planetary science. Methods: We provide the formulation of the observed and computed values of the Doppler data in PRIDE tracking of spacecraft and demonstrate the quality of the results using an experiment with the ESA Mars Express spacecraft as a test case. Results: We find that the Doppler residuals and the corresponding noise budget of the open-loop Doppler detections obtained with the PRIDE stations compare to the closed-loop Doppler detections obtained with dedicated deep space tracking facilities.

Reproducibility of apatite fission-track length data and thermal history reconstruction

NASA Astrophysics Data System (ADS)

Ketcham, Richard A.; Donelick, Raymond A.; Balestrieri, Maria Laura; Zattin, Massimiliano

2009-07-01

The ability to derive detailed thermal history information from apatite fission-track analysis is predicated on the reliability of track length measurements. However, insufficient attention has been given to whether and how these measurements should be standardized. In conjunction with a fission-track workshop we conducted an experiment in which 11 volunteers measured ~ 50 track lengths on one or two samples. One mount contained Durango apatite with unannealed induced tracks, and one contained apatite from a crystalline rock containing spontaneous tracks with a broad length distribution caused by partial resetting. Results for both mounts showed scatter indicative of differences in measurement technique among the individual analysts. The effects of this variability on thermal history inversion were tested using the HeFTy computer program to model the spontaneous track measurements. A cooling-only scenario and a reheating scenario more consistent with the sample's geological history were posed. When a uniform initial length value from the literature was used, results among analysts were very inconsistent in both scenarios, although normalizing for track angle by projecting all lengths to a c-axis parallel crystallographic orientation improved some aspects of congruency. When the induced track measurement was used as the basis for thermal history inversion congruency among analysts, and agreement with inversions based on data previously collected, was significantly improved. Further improvement was obtained by using c-axis projection. Differences among inversions that persisted could be traced to differential sampling of long- and short-track populations among analysts. The results of this study, while demonstrating the robustness of apatite fission-track thermal history inversion, nevertheless point to the necessity for a standardized length calibration schema that accounts for analyst variation.

An Empirical Human Controller Model for Preview Tracking Tasks.

PubMed

van der El, Kasper; Pool, Daan M; Damveld, Herman J; van Paassen, Marinus Rene M; Mulder, Max

2016-11-01

Real-life tracking tasks often show preview information to the human controller about the future track to follow. The effect of preview on manual control behavior is still relatively unknown. This paper proposes a generic operator model for preview tracking, empirically derived from experimental measurements. Conditions included pursuit tracking, i.e., without preview information, and tracking with 1 s of preview. Controlled element dynamics varied between gain, single integrator, and double integrator. The model is derived in the frequency domain, after application of a black-box system identification method based on Fourier coefficients. Parameter estimates are obtained to assess the validity of the model in both the time domain and frequency domain. Measured behavior in all evaluated conditions can be captured with the commonly used quasi-linear operator model for compensatory tracking, extended with two viewpoints of the previewed target. The derived model provides new insights into how human operators use preview information in tracking tasks.

Characterization of Orbital Debris Via Hyper-Velocity Ground-Based Tests

NASA Technical Reports Server (NTRS)

Cowardin, Heather

2015-01-01

To replicate a hyper-velocity fragmentation event using modern-day spacecraft materials and construction techniques to better improve the existing DoD and NASA breakup models. DebriSat is intended to be representative of modern LEO satellites.Major design decisions were reviewed and approved by Aerospace subject matter experts from different disciplines. DebriSat includes 7 major subsystems. Attitude determination and control system (ADCS), command and data handling (C&DH), electrical power system (EPS), payload, propulsion, telemetry tracking and command (TT&C), and thermal management. To reduce cost, most components are emulated based on existing design of flight hardware and fabricated with the same materials. A key laboratory-based test, Satellite Orbital debris Characterization Impact Test (SOCIT), supporting the development of the DoD and NASA satellite breakup models was conducted at AEDC in 1992 .Breakup models based on SOCIT have supported many applications and matched on-orbit events reasonably well over the years.

A Technique for Real-Time Ionospheric Ranging Error Correction Based On Radar Dual-Frequency Detection

NASA Astrophysics Data System (ADS)

Lyu, Jiang-Tao; Zhou, Chen

2017-12-01

Ionospheric refraction is one of the principal error sources for limiting the accuracy of radar systems for space target detection. High-accuracy measurement of the ionospheric electron density along the propagation path of radar wave is the most important procedure for the ionospheric refraction correction. Traditionally, the ionospheric model and the ionospheric detection instruments, like ionosonde or GPS receivers, are employed for obtaining the electron density. However, both methods are not capable of satisfying the requirements of correction accuracy for the advanced space target radar system. In this study, we propose a novel technique for ionospheric refraction correction based on radar dual-frequency detection. Radar target range measurements at two adjacent frequencies are utilized for calculating the electron density integral exactly along the propagation path of the radar wave, which can generate accurate ionospheric range correction. The implementation of radar dual-frequency detection is validated by a P band radar located in midlatitude China. The experimental results present that the accuracy of this novel technique is more accurate than the traditional ionospheric model correction. The technique proposed in this study is very promising for the high-accuracy radar detection and tracking of objects in geospace.

Following the Social Media: Aspect Evolution of Online Discussion

NASA Astrophysics Data System (ADS)

Tang, Xuning; Yang, Christopher C.

Due to the advance of Internet and Web 2.0 technologies, it is easy to extract thousands of threads about a topic of interest from an online forum but it is nontrivial to capture the blueprint of different aspects (i.e., subtopic, or facet) associated with the topic. To better understand and analyze a forum discussion given topic, it is important to uncover the evolution relationships (temporal dependencies) between different topic aspects (i.e. how the discussion topic is evolving). Traditional Topic Detection and Tracking (TDT) techniques usually organize topics as a flat structure but it does not present the evolution relationships between topic aspects. In addition, the properties of short and sparse messages make the content-based TDT techniques difficult to perform well in identifying evolution relationships. The contributions in this paper are two-folded. We formally define a topic aspect evolution graph modeling framework and propose to utilize social network information, content similarity and temporal proximity to model evolution relationships between topic aspects. The experimental results showed that, by incorporating social network information, our technique significantly outperformed content-based technique in the task of extracting evolution relationships between topic aspects.

Vision-Based Finger Detection, Tracking, and Event Identification Techniques for Multi-Touch Sensing and Display Systems

PubMed Central

Chen, Yen-Lin; Liang, Wen-Yew; Chiang, Chuan-Yen; Hsieh, Tung-Ju; Lee, Da-Cheng; Yuan, Shyan-Ming; Chang, Yang-Lang

2011-01-01

This study presents efficient vision-based finger detection, tracking, and event identification techniques and a low-cost hardware framework for multi-touch sensing and display applications. The proposed approach uses a fast bright-blob segmentation process based on automatic multilevel histogram thresholding to extract the pixels of touch blobs obtained from scattered infrared lights captured by a video camera. The advantage of this automatic multilevel thresholding approach is its robustness and adaptability when dealing with various ambient lighting conditions and spurious infrared noises. To extract the connected components of these touch blobs, a connected-component analysis procedure is applied to the bright pixels acquired by the previous stage. After extracting the touch blobs from each of the captured image frames, a blob tracking and event recognition process analyzes the spatial and temporal information of these touch blobs from consecutive frames to determine the possible touch events and actions performed by users. This process also refines the detection results and corrects for errors and occlusions caused by noise and errors during the blob extraction process. The proposed blob tracking and touch event recognition process includes two phases. First, the phase of blob tracking associates the motion correspondence of blobs in succeeding frames by analyzing their spatial and temporal features. The touch event recognition process can identify meaningful touch events based on the motion information of touch blobs, such as finger moving, rotating, pressing, hovering, and clicking actions. Experimental results demonstrate that the proposed vision-based finger detection, tracking, and event identification system is feasible and effective for multi-touch sensing applications in various operational environments and conditions. PMID:22163990

Lipid diffusion in the distal and proximal leaflets of supported lipid bilayer membranes studied by single particle tracking

NASA Astrophysics Data System (ADS)

Schoch, Rafael L.; Barel, Itay; Brown, Frank L. H.; Haran, Gilad

2018-03-01

Supported lipid bilayers (SLBs) have been studied extensively as simple but powerful models for cellular membranes. Yet, potential differences in the dynamics of the two leaflets of a SLB remain poorly understood. Here, using single particle tracking, we obtain a detailed picture of bilayer dynamics. We observe two clearly separate diffusing populations, fast and slow, that we associate with motion in the distal and proximal leaflets of the SLB, respectively, based on fluorescence quenching experiments. We estimate diffusion coefficients using standard techniques as well as a new method based on the blur of images due to motion. Fitting the observed diffusion coefficients to a two-leaflet membrane hydrodynamic model allows for the simultaneous determination of the intermonolayer friction coefficient and the substrate-membrane friction coefficient, without any prior assumptions on the strengths of the relevant interactions. Remarkably, our calculations suggest that the viscosity of the interfacial water confined between the membrane and the substrate is elevated by ˜104 as compared to bulk water. Using hidden Markov model analysis, we then obtain insight into the transbilayer movement of lipids. We find that lipid flip-flop dynamics are very fast, with half times in the range of seconds. Importantly, we find little evidence for membrane defect mediated lipid flip-flop for SLBs at temperatures well above the solid-to-liquid transition, though defects seem to be involved when the SLBs are cooled down. Our work thus shows that the combination of single particle tracking and advanced hydrodynamic modeling provides a powerful means to obtain insight into membrane dynamics.

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

Rottmann, J; Berbeco, R; Keall, P

Purpose: To maximize normal tissue sparing for treatments requiring motion encompassing margins. Motion mitigation techniques including DMLC or couch tracking can freeze tumor motion within the treatment aperture potentially allowing for smaller treatment margins and thus better sparing of normal tissue. To enable for a safe application of this concept in the clinic we propose adapting margins dynamically in real-time during radiotherapy delivery based on personalized tumor localization confidence. To demonstrate technical feasibility we present a phantom study. Methods: We utilize a realistic anthropomorphic dynamic thorax phantom with a lung tumor model embedded close to the spine. The tumor, amore » 3D-printout of a patient's GTV, is moved 15mm peak-to-peak by diaphragm compression and monitored by continuous EPID imaging in real-time. Two treatment apertures are created for each beam, one representing ITV -based and the other GTV-based margin expansion. A soft tissue localization (STiL) algorithm utilizing the continuous EPID images is employed to freeze tumor motion within the treatment aperture by means of DMLC tracking. Depending on a tracking confidence measure (TCM), the treatment aperture is adjusted between the ITV and the GTV leaf. Results: We successfully demonstrate real-time personalized margin adjustment in a phantom study. We measured a system latency of about 250 ms which we compensated by utilizing a respiratory motion prediction algorithm (ridge regression). With prediction in place we observe tracking accuracies better than 1mm. For TCM=0 (as during startup) an ITV-based treatment aperture is chosen, for TCM=1 a GTV-based aperture and for 0« less

Accuracy assessment of fluoroscopy-transesophageal echocardiography registration

NASA Astrophysics Data System (ADS)

Lang, Pencilla; Seslija, Petar; Bainbridge, Daniel; Guiraudon, Gerard M.; Jones, Doug L.; Chu, Michael W.; Holdsworth, David W.; Peters, Terry M.

2011-03-01

This study assesses the accuracy of a new transesophageal (TEE) ultrasound (US) fluoroscopy registration technique designed to guide percutaneous aortic valve replacement. In this minimally invasive procedure, a valve is inserted into the aortic annulus via a catheter. Navigation and positioning of the valve is guided primarily by intra-operative fluoroscopy. Poor anatomical visualization of the aortic root region can result in incorrect positioning, leading to heart valve embolization, obstruction of the coronary ostia and acute kidney injury. The use of TEE US images to augment intra-operative fluoroscopy provides significant improvements to image-guidance. Registration is achieved using an image-based TEE probe tracking technique and US calibration. TEE probe tracking is accomplished using a single-perspective pose estimation algorithm. Pose estimation from a single image allows registration to be achieved using only images collected in standard OR workflow. Accuracy of this registration technique is assessed using three models: a point target phantom, a cadaveric porcine heart with implanted fiducials, and in-vivo porcine images. Results demonstrate that registration can be achieved with an RMS error of less than 1.5mm, which is within the clinical accuracy requirements of 5mm. US-fluoroscopy registration based on single-perspective pose estimation demonstrates promise as a method for providing guidance to percutaneous aortic valve replacement procedures. Future work will focus on real-time implementation and a visualization system that can be used in the operating room.

MODAL TRACKING of A Structural Device: A Subspace Identification Approach

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

Candy, J. V.; Franco, S. N.; Ruggiero, E. L.

Mechanical devices operating in an environment contaminated by noise, uncertainties, and extraneous disturbances lead to low signal-to-noise-ratios creating an extremely challenging processing problem. To detect/classify a device subsystem from noisy data, it is necessary to identify unique signatures or particular features. An obvious feature would be resonant (modal) frequencies emitted during its normal operation. In this report, we discuss a model-based approach to incorporate these physical features into a dynamic structure that can be used for such an identification. The approach we take after pre-processing the raw vibration data and removing any extraneous disturbances is to obtain a representation ofmore » the structurally unknown device along with its subsystems that capture these salient features. One approach is to recognize that unique modal frequencies (sinusoidal lines) appear in the estimated power spectrum that are solely characteristic of the device under investigation. Therefore, the objective of this effort is based on constructing a black box model of the device that captures these physical features that can be exploited to “diagnose” whether or not the particular device subsystem (track/detect/classify) is operating normally from noisy vibrational data. Here we discuss the application of a modern system identification approach based on stochastic subspace realization techniques capable of both (1) identifying the underlying black-box structure thereby enabling the extraction of structural modes that can be used for analysis and modal tracking as well as (2) indicators of condition and possible changes from normal operation.« less

Discriminative correlation filter tracking with occlusion detection

NASA Astrophysics Data System (ADS)

Zhang, Shuo; Chen, Zhong; Yu, XiPeng; Zhang, Ting; He, Jing

2018-03-01

Aiming at the problem that the correlation filter-based tracking algorithm can not track the target of severe occlusion, a target re-detection mechanism is proposed. First of all, based on the ECO, we propose the multi-peak detection model and the response value to distinguish the occlusion and deformation in the target tracking, which improve the success rate of tracking. And then we add the confidence model to update the mechanism to effectively prevent the model offset problem which due to similar targets or background during the tracking process. Finally, the redetection mechanism of the target is added, and the relocation is performed after the target is lost, which increases the accuracy of the target positioning. The experimental results demonstrate that the proposed tracker performs favorably against state-of-the-art methods in terms of robustness and accuracy.

Differential tracking data types for accurate and efficient Mars planetary navigation

NASA Technical Reports Server (NTRS)

Edwards, C. D., Jr.; Kahn, R. D.; Folkner, W. M.; Border, J. S.

1991-01-01

Ways in which high-accuracy differential observations of two or more deep space vehicles can dramatically extend the power of earth-based tracking over conventional range and Doppler tracking are discussed. Two techniques - spacecraft-spacecraft differential very long baseline interferometry (S/C-S/C Delta(VLBI)) and same-beam interferometry (SBI) - are discussed. The tracking and navigation capabilities of conventional range, Doppler, and quasar-relative Delta(VLBI) are reviewed, and the S/C-S/C Delta (VLBI) and SBI types are introduced. For each data type, the formation of the observable is discussed, an error budget describing how physical error sources manifest themselves in the observable is presented, and potential applications of the technique for Space Exploration Initiative scenarios are examined. Requirements for spacecraft and ground systems needed to enable and optimize these types of observations are discussed.

Labeled RFS-Based Track-Before-Detect for Multiple Maneuvering Targets in the Infrared Focal Plane Array.

PubMed

Li, Miao; Li, Jun; Zhou, Yiyu

2015-12-08

The problem of jointly detecting and tracking multiple targets from the raw observations of an infrared focal plane array is a challenging task, especially for the case with uncertain target dynamics. In this paper a multi-model labeled multi-Bernoulli (MM-LMB) track-before-detect method is proposed within the labeled random finite sets (RFS) framework. The proposed track-before-detect method consists of two parts-MM-LMB filter and MM-LMB smoother. For the MM-LMB filter, original LMB filter is applied to track-before-detect based on target and measurement models, and is integrated with the interacting multiple models (IMM) approach to accommodate the uncertainty of target dynamics. For the MM-LMB smoother, taking advantage of the track labels and posterior model transition probability, the single-model single-target smoother is extended to a multi-model multi-target smoother. A Sequential Monte Carlo approach is also presented to implement the proposed method. Simulation results show the proposed method can effectively achieve tracking continuity for multiple maneuvering targets. In addition, compared with the forward filtering alone, our method is more robust due to its combination of forward filtering and backward smoothing.

Labeled RFS-Based Track-Before-Detect for Multiple Maneuvering Targets in the Infrared Focal Plane Array

PubMed Central

Li, Miao; Li, Jun; Zhou, Yiyu

2015-01-01

The problem of jointly detecting and tracking multiple targets from the raw observations of an infrared focal plane array is a challenging task, especially for the case with uncertain target dynamics. In this paper a multi-model labeled multi-Bernoulli (MM-LMB) track-before-detect method is proposed within the labeled random finite sets (RFS) framework. The proposed track-before-detect method consists of two parts—MM-LMB filter and MM-LMB smoother. For the MM-LMB filter, original LMB filter is applied to track-before-detect based on target and measurement models, and is integrated with the interacting multiple models (IMM) approach to accommodate the uncertainty of target dynamics. For the MM-LMB smoother, taking advantage of the track labels and posterior model transition probability, the single-model single-target smoother is extended to a multi-model multi-target smoother. A Sequential Monte Carlo approach is also presented to implement the proposed method. Simulation results show the proposed method can effectively achieve tracking continuity for multiple maneuvering targets. In addition, compared with the forward filtering alone, our method is more robust due to its combination of forward filtering and backward smoothing. PMID:26670234

On use of characteristic wavelengths of track irregularities to predict track portions with deteriorated wheel/rail forces

NASA Astrophysics Data System (ADS)

Xu, Lei; Zhai, Wanming; Chen, Zhaowei

2018-05-01

The dynamic performance of the railway vehicles and the guiding tracks is mainly governed by the wheel-rail interactions, particularly in cases of track irregularities. In this work, a united model was developed to investigate the track portions subject to violent wheel/rail forces triggered by track irregularities at middle-low frequencies. In the modeling procedures, a time-frequency unification method combining wavelet transform and Wigner-Ville distribution for characterizing time-frequency characteristics of track irregularities and a three-dimensional nonlinear model for describing vehicle-track interaction signatures were developed and coupled, based on which the method for predicting track portions subject to deteriorated wheel/rail forces was proposed. The theoretical models developed in this paper were comprehensively validated by numerical investigations. The significance of this present study mainly lies on offering a new path to establish correlation and realize mutual prediction between track irregularity and railway system dynamics.

3D Visual Tracking of an Articulated Robot in Precision Automated Tasks

PubMed Central

Alzarok, Hamza; Fletcher, Simon; Longstaff, Andrew P.

2017-01-01

The most compelling requirements for visual tracking systems are a high detection accuracy and an adequate processing speed. However, the combination between the two requirements in real world applications is very challenging due to the fact that more accurate tracking tasks often require longer processing times, while quicker responses for the tracking system are more prone to errors, therefore a trade-off between accuracy and speed, and vice versa is required. This paper aims to achieve the two requirements together by implementing an accurate and time efficient tracking system. In this paper, an eye-to-hand visual system that has the ability to automatically track a moving target is introduced. An enhanced Circular Hough Transform (CHT) is employed for estimating the trajectory of a spherical target in three dimensions, the colour feature of the target was carefully selected by using a new colour selection process, the process relies on the use of a colour segmentation method (Delta E) with the CHT algorithm for finding the proper colour of the tracked target, the target was attached to the six degree of freedom (DOF) robot end-effector that performs a pick-and-place task. A cooperation of two Eye-to Hand cameras with their image Averaging filters are used for obtaining clear and steady images. This paper also examines a new technique for generating and controlling the observation search window in order to increase the computational speed of the tracking system, the techniques is named Controllable Region of interest based on Circular Hough Transform (CRCHT). Moreover, a new mathematical formula is introduced for updating the depth information of the vision system during the object tracking process. For more reliable and accurate tracking, a simplex optimization technique was employed for the calculation of the parameters for camera to robotic transformation matrix. The results obtained show the applicability of the proposed approach to track the moving robot with an overall tracking error of 0.25 mm. Also, the effectiveness of CRCHT technique in saving up to 60% of the overall time required for image processing. PMID:28067860

One-Dimensional Hybrid Satellite Track Model for the Dynamics Explorer 2 (DE 2) Satellite

NASA Technical Reports Server (NTRS)

Deng, Wei; Killeen, T. L.; Burns, A. G.; Johnson, R. M.; Emery, B. A.; Roble, R. G.; Winningham, J. D.; Gary, J. B.

1995-01-01

A one-dimensional hybrid satellite track model has been developed to calculate the high-latitude thermospheric/ionospheric structure below the satellite altitude using Dynamics Explorer 2 (DE 2) satellite measurements and theory. This model is based on Emery et al. satellite track code but also includes elements of Roble et al. global mean thermosphere/ionosphere model. A number of parameterizations and data handling techniques are used to input satellite data from several DE 2 instruments into this model. Profiles of neutral atmospheric densities are determined from the MSIS-90 model and measured neutral temperatures. Measured electron precipitation spectra are used in an auroral model to calculate particle impact ionization rates below the satellite. These rates are combined with a solar ionization rate profile and used to solve the O(+) diffusion equation, with the measured electron density as an upper boundary condition. The calculated O(+) density distribution, as well as the ionization profiles, are then used in a photochemical equilibrium model to calculate the electron and molecular ion densities. The electron temperature is also calculated by solving the electron energy equation with an upper boundary condition determined by the DE 2 measurement. The model enables calculations of altitude profiles of conductivity and Joule beating rate along and below the satellite track. In a first application of the new model, a study is made of thermospheric and ionospheric structure below the DE 2 satellite for a single orbit which occurred on October 25, 1981. The field-aligned Poynting flux, which is independently obtained for this orbit, is compared with the model predictions of the height-integrated energy conversion rate. Good quantitative agreement between these two estimates has been reached. In addition, measurements taken at the incoherent scatter radar site at Chatanika (65.1 deg N, 147.4 deg W) during a DE 2 overflight are compared with the model calculations. A good agreement was found in lower thermospheric conductivities and Joule heating rate.

High-efficiency resonant coupled wireless power transfer via tunable impedance matching

NASA Astrophysics Data System (ADS)

Anowar, Tanbir Ibne; Barman, Surajit Das; Wasif Reza, Ahmed; Kumar, Narendra

2017-10-01

For magnetic resonant coupled wireless power transfer (WPT), the axial movement of near-field coupled coils adversely degrades the power transfer efficiency (PTE) of the system and often creates sub-resonance. This paper presents a tunable impedance matching technique based on optimum coupling tuning to enhance the efficiency of resonant coupled WPT system. The optimum power transfer model is analysed from equivalent circuit model via reflected load principle, and the adequate matching are achieved through the optimum tuning of coupling coefficients at both the transmitting and receiving end of the system. Both simulations and experiments are performed to evaluate the theoretical model of the proposed matching technique, and results in a PTE over 80% at close coil proximity without shifting the original resonant frequency. Compared to the fixed coupled WPT, the extracted efficiency shows 15.1% and 19.9% improvements at the centre-to-centre misalignment of 10 and 70 cm, respectively. Applying this technique, the extracted S21 parameter shows more than 10 dB improvements at both strong and weak couplings. Through the developed model, the optimum coupling tuning also significantly improves the performance over matching techniques using frequency tracking and tunable matching circuits.

Single-Molecule Tracking and Its Application in Biomolecular Binding Detection.

PubMed

Liu, Cong; Liu, Yen-Liang; Perillo, Evan P; Dunn, Andrew K; Yeh, Hsin-Chih

2016-01-01

In the past two decades significant advances have been made in single-molecule detection, which enables the direct observation of single biomolecules at work in real time and under physiological conditions. In particular, the development of single-molecule tracking (SMT) microscopy allows us to monitor the motion paths of individual biomolecules in living systems, unveiling the localization dynamics and transport modalities of the biomolecules that support the development of life. Beyond the capabilities of traditional camera-based tracking techniques, state-of-the-art SMT microscopies developed in recent years can record fluorescence lifetime while tracking a single molecule in the 3D space. This multiparameter detection capability can open the door to a wide range of investigations at the cellular or tissue level, including identification of molecular interaction hotspots and characterization of association/dissociation kinetics between molecules. In this review, we discuss various SMT techniques developed to date, with an emphasis on our recent development of the next generation 3D tracking system that not only achieves ultrahigh spatiotemporal resolution but also provides sufficient working depth suitable for live animal imaging. We also discuss the challenges that current SMT techniques are facing and the potential strategies to tackle those challenges.

Single-Molecule Tracking and Its Application in Biomolecular Binding Detection

PubMed Central

Liu, Cong; Liu, Yen-Liang; Perillo, Evan P.; Dunn, Andrew K.; Yeh, Hsin-Chih

2016-01-01

In the past two decades significant advances have been made in single-molecule detection, which enables the direct observation of single biomolecules at work in real time and under physiological conditions. In particular, the development of single-molecule tracking (SMT) microscopy allows us to monitor the motion paths of individual biomolecules in living systems, unveiling the localization dynamics and transport modalities of the biomolecules that support the development of life. Beyond the capabilities of traditional camera-based tracking techniques, state-of-the-art SMT microscopies developed in recent years can record fluorescence lifetime while tracking a single molecule in the 3D space. This multiparameter detection capability can open the door to a wide range of investigations at the cellular or tissue level, including identification of molecular interaction hotspots and characterization of association/dissociation kinetics between molecules. In this review, we discuss various SMT techniques developed to date, with an emphasis on our recent development of the next generation 3D tracking system that not only achieves ultrahigh spatiotemporal resolution but also provides sufficient working depth suitable for live animal imaging. We also discuss the challenges that current SMT techniques are facing and the potential strategies to tackle those challenges. PMID:27660404

Distributed Adaptive Neural Network Output Tracking of Leader-Following High-Order Stochastic Nonlinear Multiagent Systems With Unknown Dead-Zone Input.

PubMed

Hua, Changchun; Zhang, Liuliu; Guan, Xinping

2017-01-01

This paper studies the problem of distributed output tracking consensus control for a class of high-order stochastic nonlinear multiagent systems with unknown nonlinear dead-zone under a directed graph topology. The adaptive neural networks are used to approximate the unknown nonlinear functions and a new inequality is used to deal with the completely unknown dead-zone input. Then, we design the controllers based on backstepping method and the dynamic surface control technique. It is strictly proved that the resulting closed-loop system is stable in probability in the sense of semiglobally uniform ultimate boundedness and the tracking errors between the leader and the followers approach to a small residual set based on Lyapunov stability theory. Finally, two simulation examples are presented to show the effectiveness and the advantages of the proposed techniques.

Adaptive Shape Kernel-Based Mean Shift Tracker in Robot Vision System

PubMed Central

2016-01-01

This paper proposes an adaptive shape kernel-based mean shift tracker using a single static camera for the robot vision system. The question that we address in this paper is how to construct such a kernel shape that is adaptive to the object shape. We perform nonlinear manifold learning technique to obtain the low-dimensional shape space which is trained by training data with the same view as the tracking video. The proposed kernel searches the shape in the low-dimensional shape space obtained by nonlinear manifold learning technique and constructs the adaptive kernel shape in the high-dimensional shape space. It can improve mean shift tracker performance to track object position and object contour and avoid the background clutter. In the experimental part, we take the walking human as example to validate that our method is accurate and robust to track human position and describe human contour. PMID:27379165

Stat-tracks and mediotypes: powerful tools for modern ichnology based on 3D models

PubMed Central

Bennett, Matthew R.; Marty, Daniel; Budka, Marcin; Reynolds, Sally C.; Bakirov, Rashid

2018-01-01

Vertebrate tracks are subject to a wide distribution of morphological types. A single trackmaker may be associated with a range of tracks reflecting individual pedal anatomy and behavioural kinematics mediated through substrate properties which may vary both in space and time. Accordingly, the same trackmaker can leave substantially different morphotypes something which must be considered in creating ichnotaxa. In modern practice this is often captured by the collection of a series of 3D track models. We introduce two concepts to help integrate these 3D models into ichnological analysis procedures. The mediotype is based on the idea of using statistically-generated three-dimensional track models (median or mean) of the type specimens to create a composite track to support formal recognition of a ichno type. A representative track (mean and/or median) is created from a set of individual reference tracks or from multiple examples from one or more trackways. In contrast, stat-tracks refer to other digitally generated tracks which may explore variance. For example, they are useful in: understanding the preservation variability of a given track sample; identifying characteristics or unusual track features; or simply as a quantitative comparison tool. Both concepts assist in making ichnotaxonomical interpretations and we argue that they should become part of the standard procedure when instituting new ichnotaxa. As three-dimensional models start to become a standard in publications on vertebrate ichnology, the mediotype and stat-track concepts have the potential to help guiding a revolution in the study of vertebrate ichnology and ichnotaxonomy. PMID:29340246

Nondynamic Tracking Using The Global Positioning System

NASA Technical Reports Server (NTRS)

Yunck, T. P.; Wu, Sien-Chong

1988-01-01

Report describes technique for using Global Positioning System (GPS) to determine position of low Earth orbiter without need for dynamic models. Differential observing strategy requires GPS receiver on user vehicle and network of six ground receivers. Computationally efficient technique delivers decimeter accuracy on orbits down to lowest altitudes. New technique nondynamic long-arc strategy having potential for accuracy of best dynamic techniques while retaining much of computational simplicity of geometric techniques.

3-D model-based vehicle tracking.

PubMed

Lou, Jianguang; Tan, Tieniu; Hu, Weiming; Yang, Hao; Maybank, Steven J

2005-10-01

This paper aims at tracking vehicles from monocular intensity image sequences and presents an efficient and robust approach to three-dimensional (3-D) model-based vehicle tracking. Under the weak perspective assumption and the ground-plane constraint, the movements of model projection in the two-dimensional image plane can be decomposed into two motions: translation and rotation. They are the results of the corresponding movements of 3-D translation on the ground plane (GP) and rotation around the normal of the GP, which can be determined separately. A new metric based on point-to-line segment distance is proposed to evaluate the similarity between an image region and an instantiation of a 3-D vehicle model under a given pose. Based on this, we provide an efficient pose refinement method to refine the vehicle's pose parameters. An improved EKF is also proposed to track and to predict vehicle motion with a precise kinematics model. Experimental results with both indoor and outdoor data show that the algorithm obtains desirable performance even under severe occlusion and clutter.

Performance Analysis of a De-correlated Modified Code Tracking Loop for Synchronous DS-CDMA System under Multiuser Environment

NASA Astrophysics Data System (ADS)

Wu, Ya-Ting; Wong, Wai-Ki; Leung, Shu-Hung; Zhu, Yue-Sheng

This paper presents the performance analysis of a De-correlated Modified Code Tracking Loop (D-MCTL) for synchronous direct-sequence code-division multiple-access (DS-CDMA) systems under multiuser environment. Previous studies have shown that the imbalance of multiple access interference (MAI) in the time lead and time lag portions of the signal causes tracking bias or instability problem in the traditional correlating tracking loop like delay lock loop (DLL) or modified code tracking loop (MCTL). In this paper, we exploit the de-correlating technique to combat the MAI at the on-time code position of the MCTL. Unlike applying the same technique to DLL which requires an extensive search algorithm to compensate the noise imbalance which may introduce small tracking bias under low signal-to-noise ratio (SNR), the proposed D-MCTL has much lower computational complexity and exhibits zero tracking bias for the whole range of SNR, regardless of the number of interfering users. Furthermore, performance analysis and simulations based on Gold codes show that the proposed scheme has better mean square tracking error, mean-time-to-lose-lock and near-far resistance than the other tracking schemes, including traditional DLL (T-DLL), traditional MCTL (T-MCTL) and modified de-correlated DLL (MD-DLL).

Probing the solar corona with very long baseline interferometry.

PubMed

Soja, B; Heinkelmann, R; Schuh, H

2014-06-20

Understanding and monitoring the solar corona and solar wind is important for many applications like telecommunications or geomagnetic studies. Coronal electron density models have been derived by various techniques over the last 45 years, principally by analysing the effect of the corona on spacecraft tracking. Here we show that recent observational data from very long baseline interferometry (VLBI), a radio technique crucial for astrophysics and geodesy, could be used to develop electron density models of the Sun's corona. The VLBI results agree well with previous models from spacecraft measurements. They also show that the simple spherical electron density model is violated by regional density variations and that on average the electron density in active regions is about three times that of low-density regions. Unlike spacecraft tracking, a VLBI campaign would be possible on a regular basis and would provide highly resolved spatial-temporal samplings over a complete solar cycle.

Toward a comprehensive hybrid physical-virtual reality simulator of peripheral anesthesia with ultrasound and neurostimulator guidance.

PubMed

Samosky, Joseph T; Allen, Pete; Boronyak, Steve; Branstetter, Barton; Hein, Steven; Juhas, Mark; Nelson, Douglas A; Orebaugh, Steven; Pinto, Rohan; Smelko, Adam; Thompson, Mitch; Weaver, Robert A

2011-01-01

We are developing a simulator of peripheral nerve block utilizing a mixed-reality approach: the combination of a physical model, an MRI-derived virtual model, mechatronics and spatial tracking. Our design uses tangible (physical) interfaces to simulate surface anatomy, haptic feedback during needle insertion, mechatronic display of muscle twitch corresponding to the specific nerve stimulated, and visual and haptic feedback for the injection syringe. The twitch response is calculated incorporating the sensed output of a real neurostimulator. The virtual model is isomorphic with the physical model and is derived from segmented MRI data. This model provides the subsurface anatomy and, combined with electromagnetic tracking of a sham ultrasound probe and a standard nerve block needle, supports simulated ultrasound display and measurement of needle location and proximity to nerves and vessels. The needle tracking and virtual model also support objective performance metrics of needle targeting technique.

Model assessment using a multi-metric ranking technique

NASA Astrophysics Data System (ADS)

Fitzpatrick, P. J.; Lau, Y.; Alaka, G.; Marks, F.

2017-12-01

Validation comparisons of multiple models presents challenges when skill levels are similar, especially in regimes dominated by the climatological mean. Assessing skill separation will require advanced validation metrics and identifying adeptness in extreme events, but maintain simplicity for management decisions. Flexibility for operations is also an asset. This work postulates a weighted tally and consolidation technique which ranks results by multiple types of metrics. Variables include absolute error, bias, acceptable absolute error percentages, outlier metrics, model efficiency, Pearson correlation, Kendall's Tau, reliability Index, multiplicative gross error, and root mean squared differences. Other metrics, such as root mean square difference and rank correlation were also explored, but removed when the information was discovered to be generally duplicative to other metrics. While equal weights are applied, weights could be altered depending for preferred metrics. Two examples are shown comparing ocean models' currents and tropical cyclone products, including experimental products. The importance of using magnitude and direction for tropical cyclone track forecasts instead of distance, along-track, and cross-track are discussed. Tropical cyclone intensity and structure prediction are also assessed. Vector correlations are not included in the ranking process, but found useful in an independent context, and will be briefly reported.

The performance of matched-field track-before-detect methods using shallow-water Pacific data.

PubMed

Tantum, Stacy L; Nolte, Loren W; Krolik, Jeffrey L; Harmanci, Kerem

2002-07-01

Matched-field track-before-detect processing, which extends the concept of matched-field processing to include modeling of the source dynamics, has recently emerged as a promising approach for maintaining the track of a moving source. In this paper, optimal Bayesian and minimum variance beamforming track-before-detect algorithms which incorporate a priori knowledge of the source dynamics in addition to the underlying uncertainties in the ocean environment are presented. A Markov model is utilized for the source motion as a means of capturing the stochastic nature of the source dynamics without assuming uniform motion. In addition, the relationship between optimal Bayesian track-before-detect processing and minimum variance track-before-detect beamforming is examined, revealing how an optimal tracking philosophy may be used to guide the modification of existing beamforming techniques to incorporate track-before-detect capabilities. Further, the benefits of implementing an optimal approach over conventional methods are illustrated through application of these methods to shallow-water Pacific data collected as part of the SWellEX-1 experiment. The results show that incorporating Markovian dynamics for the source motion provides marked improvement in the ability to maintain target track without the use of a uniform velocity hypothesis.

Real-time target tracking of soft tissues in 3D ultrasound images based on robust visual information and mechanical simulation.

PubMed

Royer, Lucas; Krupa, Alexandre; Dardenne, Guillaume; Le Bras, Anthony; Marchand, Eric; Marchal, Maud

2017-01-01

In this paper, we present a real-time approach that allows tracking deformable structures in 3D ultrasound sequences. Our method consists in obtaining the target displacements by combining robust dense motion estimation and mechanical model simulation. We perform evaluation of our method through simulated data, phantom data, and real-data. Results demonstrate that this novel approach has the advantage of providing correct motion estimation regarding different ultrasound shortcomings including speckle noise, large shadows and ultrasound gain variation. Furthermore, we show the good performance of our method with respect to state-of-the-art techniques by testing on the 3D databases provided by MICCAI CLUST'14 and CLUST'15 challenges. Copyright © 2016 Elsevier B.V. All rights reserved.

A pilot modeling technique for handling-qualities research

NASA Technical Reports Server (NTRS)

Hess, R. A.

1980-01-01

A brief survey of the more dominant analysis techniques used in closed-loop handling-qualities research is presented. These techniques are shown to rely on so-called classical and modern analytical models of the human pilot which have their foundation in the analysis and design principles of feedback control. The optimal control model of the human pilot is discussed in some detail and a novel approach to the a priori selection of pertinent model parameters is discussed. Frequency domain and tracking performance data from 10 pilot-in-the-loop simulation experiments involving 3 different tasks are used to demonstrate the parameter selection technique. Finally, the utility of this modeling approach in handling-qualities research is discussed.

Graphs and Tracks Revisited

NASA Astrophysics Data System (ADS)

Christian, Wolfgang; Belloni, Mario

2013-04-01

We have recently developed a Graphs and Tracks model based on an earlier program by David Trowbridge, as shown in Fig. 1. Our model can show position, velocity, acceleration, and energy graphs and can be used for motion-to-graphs exercises. Users set the heights of the track segments, and the model displays the motion of the ball on the track together with position, velocity, and acceleration graphs. This ready-to-run model is available in the ComPADRE OSP Collection at www.compadre.org/osp/items/detail.cfm?ID=12023.

Eyelid contour detection and tracking for startle research related eye-blink measurements from high-speed video records.

PubMed

Bernard, Florian; Deuter, Christian Eric; Gemmar, Peter; Schachinger, Hartmut

2013-10-01

Using the positions of the eyelids is an effective and contact-free way for the measurement of startle induced eye-blinks, which plays an important role in human psychophysiological research. To the best of our knowledge, no methods for an efficient detection and tracking of the exact eyelid contours in image sequences captured at high-speed exist that are conveniently usable by psychophysiological researchers. In this publication a semi-automatic model-based eyelid contour detection and tracking algorithm for the analysis of high-speed video recordings from an eye tracker is presented. As a large number of images have been acquired prior to method development it was important that our technique is able to deal with images that are recorded without any special parametrisation of the eye tracker. The method entails pupil detection, specular reflection removal and makes use of dynamic model adaption. In a proof-of-concept study we could achieve a correct detection rate of 90.6%. With this approach, we provide a feasible method to accurately assess eye-blinks from high-speed video recordings. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Investigation of new radar-data-reduction techniques used to determine drag characteristics of a free-flight vehicle

NASA Technical Reports Server (NTRS)

Woodbury, G. E.; Wallace, J. W.

1974-01-01

An investigation was conducted of new techniques used to determine the complete transonic drag characteristics of a series of free-flight drop-test models using principally radar tracking data. The full capabilities of the radar tracking and meteorological measurement systems were utilized. In addition, preflight trajectory design, exact kinematic equations, and visual-analytical filtering procedures were employed. The results of this study were compared with the results obtained from analysis of the onboard, accelerometer and pressure sensor data of the only drop-test model that was instrumented. The accelerometer-pressure drag curve was approximated by the radar-data drag curve. However, a small amplitude oscillation on the latter curve precluded a precise definition of its drag rise.

A Wireless Sensor Network with Soft Computing Localization Techniques for Track Cycling Applications.

PubMed

Gharghan, Sadik Kamel; Nordin, Rosdiadee; Ismail, Mahamod

2016-08-06

In this paper, we propose two soft computing localization techniques for wireless sensor networks (WSNs). The two techniques, Neural Fuzzy Inference System (ANFIS) and Artificial Neural Network (ANN), focus on a range-based localization method which relies on the measurement of the received signal strength indicator (RSSI) from the three ZigBee anchor nodes distributed throughout the track cycling field. The soft computing techniques aim to estimate the distance between bicycles moving on the cycle track for outdoor and indoor velodromes. In the first approach the ANFIS was considered, whereas in the second approach the ANN was hybridized individually with three optimization algorithms, namely Particle Swarm Optimization (PSO), Gravitational Search Algorithm (GSA), and Backtracking Search Algorithm (BSA). The results revealed that the hybrid GSA-ANN outperforms the other methods adopted in this paper in terms of accuracy localization and distance estimation accuracy. The hybrid GSA-ANN achieves a mean absolute distance estimation error of 0.02 m and 0.2 m for outdoor and indoor velodromes, respectively.

A Wireless Sensor Network with Soft Computing Localization Techniques for Track Cycling Applications

PubMed Central

Gharghan, Sadik Kamel; Nordin, Rosdiadee; Ismail, Mahamod

2016-01-01

In this paper, we propose two soft computing localization techniques for wireless sensor networks (WSNs). The two techniques, Neural Fuzzy Inference System (ANFIS) and Artificial Neural Network (ANN), focus on a range-based localization method which relies on the measurement of the received signal strength indicator (RSSI) from the three ZigBee anchor nodes distributed throughout the track cycling field. The soft computing techniques aim to estimate the distance between bicycles moving on the cycle track for outdoor and indoor velodromes. In the first approach the ANFIS was considered, whereas in the second approach the ANN was hybridized individually with three optimization algorithms, namely Particle Swarm Optimization (PSO), Gravitational Search Algorithm (GSA), and Backtracking Search Algorithm (BSA). The results revealed that the hybrid GSA-ANN outperforms the other methods adopted in this paper in terms of accuracy localization and distance estimation accuracy. The hybrid GSA-ANN achieves a mean absolute distance estimation error of 0.02 m and 0.2 m for outdoor and indoor velodromes, respectively. PMID:27509495

Global Output-Feedback Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robots

NASA Astrophysics Data System (ADS)

Chang, J.; Zhang, L. J.; Xue, D.

A time-varying global output-feedback controller is presented that solves both tracking and stabilization for wheeled mobile robots simultaneously at the torque level. The controller synthesis is based on a coordinate transformation, Lyapunov direct method and backstepping technique. The performance of the proposed controller is demonstrated by simulation.

Experimental and computational results on exciton/free-carrier ratio, hot/thermalized carrier diffusion, and linear/nonlinear rate constants affecting scintillator proportionality

NASA Astrophysics Data System (ADS)

Williams, R. T.; Grim, Joel Q.; Li, Qi; Ucer, K. B.; Bizarri, G. A.; Kerisit, S.; Gao, Fei; Bhattacharya, P.; Tupitsyn, E.; Rowe, E.; Buliga, V. M.; Burger, A.

2013-09-01

Models of nonproportional response in scintillators have highlighted the importance of parameters such as branching ratios, carrier thermalization times, diffusion, kinetic order of quenching, associated rate constants, and radius of the electron track. For example, the fraction ηeh of excitations that are free carriers versus excitons was shown by Payne and coworkers to have strong correlation with the shape of electron energy response curves from Compton-coincidence studies. Rate constants for nonlinear quenching are implicit in almost all models of nonproportionality, and some assumption about track radius must invariably be made if one is to relate linear energy deposition dE/dx to volume-based excitation density n (eh/cm3) in terms of which the rates are defined. Diffusion, affecting time-dependent track radius and thus density of excitations, has been implicated as an important factor in nonlinear light yield. Several groups have recently highlighted diffusion of hot electrons in addition to thermalized carriers and excitons in scintillators. However, experimental determination of many of these parameters in the insulating crystals used as scintillators has seemed difficult. Subpicosecond laser techniques including interband z scan light yield, fluence-dependent decay time, and transient optical absorption are now yielding experimental values for some of the missing rates and ratios needed for modeling scintillator response. First principles calculations and Monte Carlo simulations can fill in additional parameters still unavailable from experiment. As a result, quantitative modeling of scintillator electron energy response from independently determined material parameters is becoming possible on an increasingly firmer data base. This paper describes recent laser experiments, calculations, and numerical modeling of scintillator response.

Experimental and computational results on exciton/free-carrier ratio, hot/thermalized carrier diffusion, and linear/nonlinear rate constants affecting scintillator proportionality

DOE PAGES

Williams, R. T.; Grim, Joel Q.; Li, Qi; ...

2013-09-26

Models of nonproportional response in scintillators have highlighted the importance of parameters such as branching ratios, carrier thermalization times, diffusion, kinetic order of quenching, associated rate constants, and radius of the electron track. For example, the fraction ηeh of excitations that are free carriers versus excitons was shown by Payne and coworkers to have strong correlation with the shape of electron energy response curves from Compton-coincidence studies. Rate constants for nonlinear quenching are implicit in almost all models of nonproportionality, and some assumption about track radius must invariably be made if one is to relate linear energy deposition dE/dx tomore » volume-based excitation density n (eh/cm 3) in terms of which the rates are defined. Diffusion, affecting time-dependent track radius and thus density of excitations, has been implicated as an important factor in nonlinear light yield. Several groups have recently highlighted diffusion of hot electrons in addition to thermalized carriers and excitons in scintillators. However, experimental determination of many of these parameters in the insulating crystals used as scintillators has seemed difficult. Subpicosecond laser techniques including interband z scan light yield, fluence-dependent decay time, and transient optical absorption are now yielding experimental values for some of the missing rates and ratios needed for modeling scintillator response. First principles calculations and Monte Carlo simulations can fill in additional parameters still unavailable from experiment. As a result, quantitative modeling of scintillator electron energy response from independently determined material parameters is becoming possible on an increasingly firmer data base. This study describes recent laser experiments, calculations, and numerical modeling of scintillator response.« less

Visual Sensor Based Abnormal Event Detection with Moving Shadow Removal in Home Healthcare Applications

PubMed Central

Lee, Young-Sook; Chung, Wan-Young

2012-01-01

Vision-based abnormal event detection for home healthcare systems can be greatly improved using visual sensor-based techniques able to detect, track and recognize objects in the scene. However, in moving object detection and tracking processes, moving cast shadows can be misclassified as part of objects or moving objects. Shadow removal is an essential step for developing video surveillance systems. The goal of the primary is to design novel computer vision techniques that can extract objects more accurately and discriminate between abnormal and normal activities. To improve the accuracy of object detection and tracking, our proposed shadow removal algorithm is employed. Abnormal event detection based on visual sensor by using shape features variation and 3-D trajectory is presented to overcome the low fall detection rate. The experimental results showed that the success rate of detecting abnormal events was 97% with a false positive rate of 2%. Our proposed algorithm can allow distinguishing diverse fall activities such as forward falls, backward falls, and falling asides from normal activities. PMID:22368486

Is a Picture Worth a Thousand Words? Few Evidence-Based Features of Dietary Interventions Included in Photo Diet Tracking Mobile Apps for Weight Loss.

PubMed

Hales, Sarah; Dunn, Caroline; Wilcox, Sara; Turner-McGrievy, Gabrielle M

2016-11-01

Apps using digital photos to track dietary intake and provide feedback are common, but currently there has been no research examining what evidence-based strategies are included in these apps. A content analysis of mobile apps for photo diet tracking was conducted, including whether effective techniques for interventions promoting behavior change, including self-regulation, for healthy eating (HE) are targeted. An initial search of app stores yielded 34 apps (n = 8 Android and Apple; n = 11 Android; n = 15 Apple). One app was removed (unable to download), and other apps (n = 4) were unable to be rated (no longer available). Remaining apps (n = 29) were downloaded, reviewed, and coded by 2 independent reviewers to determine the number of known effective self-regulation and other behavior change techniques included. The raters met to compare their coding of the apps, calculate interrater agreement, resolve any discrepancies, and come to a consensus. Six apps (21%) did not utilize any of the behavior change techniques examined. Three apps (10%) provided feedback to users via crowdsourcing or collective feedback from other users and professionals, 7 apps (24%) used crowdsourcing or collective feedback, 1 app (3%) used professionals, and 18 apps (62%) did not provide any dietary feedback to users. Few photo diet-tracking apps include evidence-based strategies to improve dietary intake. Use of photos to self-monitor dietary intake and receive feedback has the potential to reduce user burden for self-monitoring, yet photo diet tracking apps need to incorporate known effective behavior strategies for HE, including self-regulation. © 2016 Diabetes Technology Society.

Guidance of Nonlinear Nonminimum-Phase Dynamic Systems

NASA Technical Reports Server (NTRS)

Devasia, Santosh

1996-01-01

The research work has advanced the inversion-based guidance theory for: systems with non-hyperbolic internal dynamics; systems with parameter jumps; and systems where a redesign of the output trajectory is desired. A technique to achieve output tracking for nonminimum phase linear systems with non-hyperbolic and near non-hyperbolic internal dynamics was developed. This approach integrated stable inversion techniques, that achieve exact-tracking, with approximation techniques, that modify the internal dynamics to achieve desirable performance. Such modification of the internal dynamics was used (a) to remove non-hyperbolicity which is an obstruction to applying stable inversion techniques and (b) to reduce large preactuation times needed to apply stable inversion for near non-hyperbolic cases. The method was applied to an example helicopter hover control problem with near non-hyperbolic internal dynamics for illustrating the trade-off between exact tracking and reduction of preactuation time. Future work will extend these results to guidance of nonlinear non-hyperbolic systems. The exact output tracking problem for systems with parameter jumps was considered. Necessary and sufficient conditions were derived for the elimination of switching-introduced output transient. While previous works had studied this problem by developing a regulator that maintains exact tracking through parameter jumps (switches), such techniques are, however, only applicable to minimum-phase systems. In contrast, our approach is also applicable to nonminimum-phase systems and leads to bounded but possibly non-causal solutions. In addition, for the case when the reference trajectories are generated by an exosystem, we developed an exact-tracking controller which could be written in a feedback form. As in standard regulator theory, we also obtained a linear map from the states of the exosystem to the desired system state, which was defined via a matrix differential equation.

Graph-based geometric-iconic guide-wire tracking.

PubMed

Honnorat, Nicolas; Vaillant, Régis; Paragios, Nikos

2011-01-01

In this paper we introduce a novel hybrid graph-based approach for Guide-wire tracking. The image support is captured by steerable filters and improved through tensor voting. Then, a graphical model is considered that represents guide-wire extraction/tracking through a B-spline control-point model. Points with strong geometric interest (landmarks) are automatically determined and anchored to such a representation. Tracking is then performed through discrete MRFs that optimize the spatio-temporal positions of the control points while establishing landmark temporal correspondences. Promising results demonstrate the potentials of our method.

Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems.

PubMed

Chen, Mou; Wu, Qing-Xian; Cui, Rong-Xin

2013-03-01

In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Based on the output of designed disturbance observer, the terminal sliding mode tracking control is presented for uncertain SISO nonlinear systems. Subsequently, terminal sliding mode tracking control is developed using disturbance observer technique for the uncertain SISO nonlinear system with control singularity and unknown non-symmetric input saturation. The effects of the control singularity and unknown input saturation are combined with the external disturbance which is approximated using the disturbance observer. Under the proposed terminal sliding mode tracking control techniques, the finite time convergence of all closed-loop signals are guaranteed via Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the proposed terminal sliding mode tracking control. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Energy awareness for supercapacitors using Kalman filter state-of-charge tracking

NASA Astrophysics Data System (ADS)

Nadeau, Andrew; Hassanalieragh, Moeen; Sharma, Gaurav; Soyata, Tolga

2015-11-01

Among energy buffering alternatives, supercapacitors can provide unmatched efficiency and durability. Additionally, the direct relation between a supercapacitor's terminal voltage and stored energy can improve energy awareness. However, a simple capacitive approximation cannot adequately represent the stored energy in a supercapacitor. It is shown that the three branch equivalent circuit model provides more accurate energy awareness. This equivalent circuit uses three capacitances and associated resistances to represent the supercapacitor's internal SOC (state-of-charge). However, the SOC cannot be determined from one observation of the terminal voltage, and must be tracked over time using inexact measurements. We present: 1) a Kalman filtering solution for tracking the SOC; 2) an on-line system identification procedure to efficiently estimate the equivalent circuit's parameters; and 3) experimental validation of both parameter estimation and SOC tracking for 5 F, 10 F, 50 F, and 350 F supercapacitors. Validation is done within the operating range of a solar powered application and the associated power variability due to energy harvesting. The proposed techniques are benchmarked against the simple capacitive model and prior parameter estimation techniques, and provide a 67% reduction in root-mean-square error for predicting usable buffered energy.

The virtual craniofacial patient: 3D jaw modeling and animation.

PubMed

Enciso, Reyes; Memon, Ahmed; Fidaleo, Douglas A; Neumann, Ulrich; Mah, James

2003-01-01

In this paper, we present new developments in the area of 3D human jaw modeling and animation. CT (Computed Tomography) scans have traditionally been used to evaluate patients with dental implants, assess tumors, cysts, fractures and surgical procedures. More recently this data has been utilized to generate models. Researchers have reported semi-automatic techniques to segment and model the human jaw from CT images and manually segment the jaw from MRI images. Recently opto-electronic and ultrasonic-based systems (JMA from Zebris) have been developed to record mandibular position and movement. In this research project we introduce: (1) automatic patient-specific three-dimensional jaw modeling from CT data and (2) three-dimensional jaw motion simulation using jaw tracking data from the JMA system (Zebris).

Object Tracking Using Adaptive Covariance Descriptor and Clustering-Based Model Updating for Visual Surveillance

PubMed Central

Qin, Lei; Snoussi, Hichem; Abdallah, Fahed

2014-01-01

We propose a novel approach for tracking an arbitrary object in video sequences for visual surveillance. The first contribution of this work is an automatic feature extraction method that is able to extract compact discriminative features from a feature pool before computing the region covariance descriptor. As the feature extraction method is adaptive to a specific object of interest, we refer to the region covariance descriptor computed using the extracted features as the adaptive covariance descriptor. The second contribution is to propose a weakly supervised method for updating the object appearance model during tracking. The method performs a mean-shift clustering procedure among the tracking result samples accumulated during a period of time and selects a group of reliable samples for updating the object appearance model. As such, the object appearance model is kept up-to-date and is prevented from contamination even in case of tracking mistakes. We conducted comparing experiments on real-world video sequences, which confirmed the effectiveness of the proposed approaches. The tracking system that integrates the adaptive covariance descriptor and the clustering-based model updating method accomplished stable object tracking on challenging video sequences. PMID:24865883

High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model.

PubMed

Gu, Guoying; Zhu, Limin

2010-08-01

In this paper, an ellipse-based mathematic model is developed to characterize the rate-dependent hysteresis in piezoelectric actuators. Based on the proposed model, an expanded input space is constructed to describe the multivalued hysteresis function H[u](t) by a multiple input single output (MISO) mapping Gamma:R(2)-->R. Subsequently, the inverse MISO mapping Gamma(-1)(H[u](t),H[u](t);u(t)) is proposed for real-time hysteresis compensation. In controller design, a hybrid control strategy combining a model-based feedforward controller and a proportional integral differential (PID) feedback loop is used for high-accuracy and high-speed tracking control of piezoelectric actuators. The real-time feedforward controller is developed to cancel the rate-dependent hysteresis based on the inverse hysteresis model, while the PID controller is used to compensate for the creep, modeling errors, and parameter uncertainties. Finally, experiments with and without hysteresis compensation are conducted and the experimental results are compared. The experimental results show that the hysteresis compensation in the feedforward path can reduce the hysteresis-caused error by up to 88% and the tracking performance of the hybrid controller is greatly improved in high-speed tracking control applications, e.g., the root-mean-square tracking error is reduced to only 0.34% of the displacement range under the input frequency of 100 Hz.

B-spline based image tracking by detection

NASA Astrophysics Data System (ADS)

Balaji, Bhashyam; Sithiravel, Rajiv; Damini, Anthony; Kirubarajan, Thiagalingam; Rajan, Sreeraman

2016-05-01

Visual image tracking involves the estimation of the motion of any desired targets in a surveillance region using a sequence of images. A standard method of isolating moving targets in image tracking uses background subtraction. The standard background subtraction method is often impacted by irrelevant information in the images, which can lead to poor performance in image-based target tracking. In this paper, a B-Spline based image tracking is implemented. The novel method models the background and foreground using the B-Spline method followed by a tracking-by-detection algorithm. The effectiveness of the proposed algorithm is demonstrated.

A modeling approach for aerosol optical depth analysis during forest fire events

NASA Astrophysics Data System (ADS)

Aube, Martin P.; O'Neill, Normand T.; Royer, Alain; Lavoue, David

2004-10-01

Measurements of aerosol optical depth (AOD) are important indicators of aerosol particle behavior. Up to now the two standard techniques used for retrieving AOD are; (i) sun photometry which provides measurements of high temporal frequency and sparse spatial frequency, and (ii) satellite based approaches such as DDV (Dense Dark Vegetation) based inversion algorithms which yield AOD over dark targets in remotely sensed imagery. Although the latter techniques allow AOD retrieval over appreciable spatial domains, the irregular spatial pattern of dark targets and the typically low repeat frequencies of imaging satellites exclude the acquisition of AOD databases on a continuous spatio-temporal basis. We attempt to fill gaps in spatio-temporal AOD measurements using a new assimilation methodology that links AOD measurements and the predictions of a particulate matter Transport Model. This modelling package (AODSEM V2.0 for Aerosol Optical Depth Spatio-temporal Evolution Model) uses a size and aerosol type segregated semi-Lagrangian trajectory algorithm driven by analysed meteorological data. Its novelty resides in the fact that the model evolution may be tied to both ground based and satellite level AOD measurement and all physical processes have been optimized to track this important and robust parameter. We applied this methodology to a significant smoke event that occurred over the eastern part of North America in July 2002.

A Deep-Structured Conditional Random Field Model for Object Silhouette Tracking

PubMed Central

Shafiee, Mohammad Javad; Azimifar, Zohreh; Wong, Alexander

2015-01-01

In this work, we introduce a deep-structured conditional random field (DS-CRF) model for the purpose of state-based object silhouette tracking. The proposed DS-CRF model consists of a series of state layers, where each state layer spatially characterizes the object silhouette at a particular point in time. The interactions between adjacent state layers are established by inter-layer connectivity dynamically determined based on inter-frame optical flow. By incorporate both spatial and temporal context in a dynamic fashion within such a deep-structured probabilistic graphical model, the proposed DS-CRF model allows us to develop a framework that can accurately and efficiently track object silhouettes that can change greatly over time, as well as under different situations such as occlusion and multiple targets within the scene. Experiment results using video surveillance datasets containing different scenarios such as occlusion and multiple targets showed that the proposed DS-CRF approach provides strong object silhouette tracking performance when compared to baseline methods such as mean-shift tracking, as well as state-of-the-art methods such as context tracking and boosted particle filtering. PMID:26313943

Monitoring estuarine circulation and ocean waste dispersion using an integrated satellite-aircraft-drogue approach. [Delaware coast and Delaware Bay

NASA Technical Reports Server (NTRS)

Klemas, V. (Principal Investigator); Davis, G.; Wang, H.

1975-01-01

The author has identified the following significant results. An inexpensive, integrated drogue-aircraft-satellite approach was developed which is based on the Lagrangian technique and employs remotely tracked drogues and dyes together with satellite observation of natural tracers, such as suspended sediment. Results include current circulation studies in Delaware Bay in support of an oil slick movement model; investigations of the dispersion and movement of acid wastes dumped 40 miles off the Delaware coast; and coastal current circulation. In each case, the integrated drogue-aircraft-satellite approach compares favorably with other techniques on the basis of accuracy, cost effectiveness, and performance under severe weather conditions.

Deriving inertial wave characteristics from surface drifter velocities - Frequency variability in the tropical Pacific

NASA Technical Reports Server (NTRS)

Poulain, Pierre-Marie; Luther, Douglas S.; Patzert, William C.

1992-01-01

Two techniques were developed for estimating statistics of inertial oscillations from satellite-tracked drifters that overcome the difficulties inherent in estimating such statistics from data dependent upon space coordinates that are a function of time. Application of these techniques to tropical surface drifter data collected during the NORPAX, EPOCS, and TOGA programs reveals a latitude-dependent, statistically significant 'blue shift' of inertial wave frequency. The latitudinal dependence of the blue shift is similar to predictions based on 'global' internal-wave spectral models, with a superposition of frequency shifting due to modification of the effective local inertial frequency by the presence of strongly sheared zonal mean currents within 12 deg of the equator.

Distributed cluster management techniques for unattended ground sensor networks

NASA Astrophysics Data System (ADS)

Essawy, Magdi A.; Stelzig, Chad A.; Bevington, James E.; Minor, Sharon

2005-05-01

Smart Sensor Networks are becoming important target detection and tracking tools. The challenging problems in such networks include the sensor fusion, data management and communication schemes. This work discusses techniques used to distribute sensor management and multi-target tracking responsibilities across an ad hoc, self-healing cluster of sensor nodes. Although miniaturized computing resources possess the ability to host complex tracking and data fusion algorithms, there still exist inherent bandwidth constraints on the RF channel. Therefore, special attention is placed on the reduction of node-to-node communications within the cluster by minimizing unsolicited messaging, and distributing the sensor fusion and tracking tasks onto local portions of the network. Several challenging problems are addressed in this work including track initialization and conflict resolution, track ownership handling, and communication control optimization. Emphasis is also placed on increasing the overall robustness of the sensor cluster through independent decision capabilities on all sensor nodes. Track initiation is performed using collaborative sensing within a neighborhood of sensor nodes, allowing each node to independently determine if initial track ownership should be assumed. This autonomous track initiation prevents the formation of duplicate tracks while eliminating the need for a central "management" node to assign tracking responsibilities. Track update is performed as an ownership node requests sensor reports from neighboring nodes based on track error covariance and the neighboring nodes geo-positional location. Track ownership is periodically recomputed using propagated track states to determine which sensing node provides the desired coverage characteristics. High fidelity multi-target simulation results are presented, indicating the distribution of sensor management and tracking capabilities to not only reduce communication bandwidth consumption, but to also simplify multi-target tracking within the cluster.

Tracking flow of leukocytes in blood for drug analysis

NASA Astrophysics Data System (ADS)

Basharat, Arslan; Turner, Wesley; Stephens, Gillian; Badillo, Benjamin; Lumpkin, Rick; Andre, Patrick; Perera, Amitha

2011-03-01

Modern microscopy techniques allow imaging of circulating blood components under vascular flow conditions. The resulting video sequences provide unique insights into the behavior of blood cells within the vasculature and can be used as a method to monitor and quantitate the recruitment of inflammatory cells at sites of vascular injury/ inflammation and potentially serve as a pharmacodynamic biomarker, helping screen new therapies and individualize dose and combinations of drugs. However, manual analysis of these video sequences is intractable, requiring hours per 400 second video clip. In this paper, we present an automated technique to analyze the behavior and recruitment of human leukocytes in whole blood under physiological conditions of shear through a simple multi-channel fluorescence microscope in real-time. This technique detects and tracks the recruitment of leukocytes to a bioactive surface coated on a flow chamber. Rolling cells (cells which partially bind to the bioactive matrix) are detected counted, and have their velocity measured and graphed. The challenges here include: high cell density, appearance similarity, and low (1Hz) frame rate. Our approach performs frame differencing based motion segmentation, track initialization and online tracking of individual leukocytes.

Tracking reliability for space cabin-borne equipment in development by Crow model.

PubMed

Chen, J D; Jiao, S J; Sun, H L

2001-12-01

Objective. To study and track the reliability growth of manned spaceflight cabin-borne equipment in the course of its development. Method. A new technique of reliability growth estimation and prediction, which is composed of the Crow model and test data conversion (TDC) method was used. Result. The estimation and prediction value of the reliability growth conformed to its expectations. Conclusion. The method could dynamically estimate and predict the reliability of the equipment by making full use of various test information in the course of its development. It offered not only a possibility of tracking the equipment reliability growth, but also the reference for quality control in manned spaceflight cabin-borne equipment design and development process.

Reducing Interprocessor Dependence in Recoverable Distributed Shared Memory

NASA Technical Reports Server (NTRS)

Janssens, Bob; Fuchs, W. Kent

1994-01-01

Checkpointing techniques in parallel systems use dependency tracking and/or message logging to ensure that a system rolls back to a consistent state. Traditional dependency tracking in distributed shared memory (DSM) systems is expensive because of high communication frequency. In this paper we show that, if designed correctly, a DSM system only needs to consider dependencies due to the transfer of blocks of data, resulting in reduced dependency tracking overhead and reduced potential for rollback propagation. We develop an ownership timestamp scheme to tolerate the loss of block state information and develop a passive server model of execution where interactions between processors are considered atomic. With our scheme, dependencies are significantly reduced compared to the traditional message-passing model.

The performance of the ZEUS central tracking detector z-by-timing electronics in a transputer based data acquisition system

NASA Astrophysics Data System (ADS)

Foster, B.; Heath, G. P.; Llewellyn, T. J.; Gingrich, D. M.; Harnew, N.; Hallam-Baker, P. M.; Khatri, T.; McArthur, I. C.; Morawitz, P.; Nash, J.; Shield, P. D.; Topp-Jorgensen, S.; Wilson, F. F.; Allen, D. B.; Carter, R. C.; Jeffs, M. D.; Morrissey, M. C.; Quinton, S. P. H.; Lane, J. B.; Postranecky, M.

1993-05-01

The Central Tracking Detector of the ZEUS experiment employs a time difference technique to measure the z coordinate of each hit. The method provides fast, three-dimensional space point measurements which are used as input to all levels of the ZEUS trigger. Such a tracking trigger is essential in order to discriminate against events with vertices lying outside the nominal electron-proton interaction region. Since the beam crossing interval of the HERA collider is 96 ns, all data must be pipelined through the front-end readout electronics. Subsequent data aquisition employs a novel technique which utilizes a network of approximately 120 INMOS transputers to process the data in parallel. The z-by-timing method and its data aquisition have been employed successfully in recording and reconstructing tracks from electron-proton interactions in ZEUS.

Dual Use of Image Based Tracking Techniques: Laser Eye Surgery and Low Vision Prosthesis

NASA Technical Reports Server (NTRS)

Juday, Richard D.; Barton, R. Shane

1994-01-01

With a concentration on Fourier optics pattern recognition, we have developed several methods of tracking objects in dynamic imagery to automate certain space applications such as orbital rendezvous and spacecraft capture, or planetary landing. We are developing two of these techniques for Earth applications in real-time medical image processing. The first is warping of a video image, developed to evoke shift invariance to scale and rotation in correlation pattern recognition. The technology is being applied to compensation for certain field defects in low vision humans. The second is using the optical joint Fourier transform to track the translation of unmodeled scenes. Developed as an image fixation tool to assist in calculating shape from motion, it is being applied to tracking motions of the eyeball quickly enough to keep a laser photocoagulation spot fixed on the retina, thus avoiding collateral damage.

CMOS imager for pointing and tracking applications

NASA Technical Reports Server (NTRS)

Sun, Chao (Inventor); Pain, Bedabrata (Inventor); Yang, Guang (Inventor); Heynssens, Julie B. (Inventor)

2006-01-01

Systems and techniques to realize pointing and tracking applications with CMOS imaging devices. In general, in one implementation, the technique includes: sampling multiple rows and multiple columns of an active pixel sensor array into a memory array (e.g., an on-chip memory array), and reading out the multiple rows and multiple columns sampled in the memory array to provide image data with reduced motion artifact. Various operation modes may be provided, including TDS, CDS, CQS, a tracking mode to read out multiple windows, and/or a mode employing a sample-first-read-later readout scheme. The tracking mode can take advantage of a diagonal switch array. The diagonal switch array, the active pixel sensor array and the memory array can be integrated onto a single imager chip with a controller. This imager device can be part of a larger imaging system for both space-based applications and terrestrial applications.

Dual use of image based tracking techniques: Laser eye surgery and low vision prosthesis

NASA Technical Reports Server (NTRS)

Juday, Richard D.

1994-01-01

With a concentration on Fourier optics pattern recognition, we have developed several methods of tracking objects in dynamic imagery to automate certain space applications such as orbital rendezvous and spacecraft capture, or planetary landing. We are developing two of these techniques for Earth applications in real-time medical image processing. The first is warping of a video image, developed to evoke shift invariance to scale and rotation in correlation pattern recognition. The technology is being applied to compensation for certain field defects in low vision humans. The second is using the optical joint Fourier transform to track the translation of unmodeled scenes. Developed as an image fixation tool to assist in calculating shape from motion, it is being applied to tracking motions of the eyeball quickly enough to keep a laser photocoagulation spot fixed on the retina, thus avoiding collateral damage.

A Study of Synchronization Techniques for Optical Communication Systems

NASA Technical Reports Server (NTRS)

Gagliardi, R. M.

1975-01-01

The study of synchronization techniques and related topics in the design of high data rate, deep space, optical communication systems was reported. Data cover: (1) effects of timing errors in narrow pulsed digital optical systems, (2) accuracy of microwave timing systems operating in low powered optical systems, (3) development of improved tracking systems for the optical channel and determination of their tracking performance, (4) development of usable photodetector mathematical models for application to analysis and performance design in communication receivers, and (5) study application of multi-level block encoding to optical transmission of digital data.

Non-invasive studies of multiphase flow in process equipment. Positron emission particle tracking technique

NASA Astrophysics Data System (ADS)

Balakin, B. V.; Adamsen, T. C. H.; Chang, Y.-F.; Kosinski, P.; Hoffmann, A. C.

2017-01-01

Positron emission particle tracking (PEPT) is a novel experimental technique for non-invasive inspection of industrial fluid/particle flows. The method is based on the dynamic positioning of a positron-emitting, flowing object (particle) performed through the sensing of annihilation events and subsequent numerical treatment to determine the particle position. The present paper shows an integrated overview of PEPT studies which were carried out using a new PET scanner in the Bergen University Hospital to study multiphase flows in different geometric configurations.

Predicting Structure-Function Relations and Survival following Surgical and Bronchoscopic Lung Volume Reduction Treatment of Emphysema.

PubMed

Mondoñedo, Jarred R; Suki, Béla

2017-02-01

Lung volume reduction surgery (LVRS) and bronchoscopic lung volume reduction (bLVR) are palliative treatments aimed at reducing hyperinflation in advanced emphysema. Previous work has evaluated functional improvements and survival advantage for these techniques, although their effects on the micromechanical environment in the lung have yet to be determined. Here, we introduce a computational model to simulate a force-based destruction of elastic networks representing emphysema progression, which we use to track the response to lung volume reduction via LVRS and bLVR. We find that (1) LVRS efficacy can be predicted based on pre-surgical network structure; (2) macroscopic functional improvements following bLVR are related to microscopic changes in mechanical force heterogeneity; and (3) both techniques improve aspects of survival and quality of life influenced by lung compliance, albeit while accelerating disease progression. Our model predictions yield unique insights into the microscopic origins underlying emphysema progression before and after lung volume reduction.

Predicting Structure-Function Relations and Survival following Surgical and Bronchoscopic Lung Volume Reduction Treatment of Emphysema

PubMed Central

Mondoñedo, Jarred R.

2017-01-01

Lung volume reduction surgery (LVRS) and bronchoscopic lung volume reduction (bLVR) are palliative treatments aimed at reducing hyperinflation in advanced emphysema. Previous work has evaluated functional improvements and survival advantage for these techniques, although their effects on the micromechanical environment in the lung have yet to be determined. Here, we introduce a computational model to simulate a force-based destruction of elastic networks representing emphysema progression, which we use to track the response to lung volume reduction via LVRS and bLVR. We find that (1) LVRS efficacy can be predicted based on pre-surgical network structure; (2) macroscopic functional improvements following bLVR are related to microscopic changes in mechanical force heterogeneity; and (3) both techniques improve aspects of survival and quality of life influenced by lung compliance, albeit while accelerating disease progression. Our model predictions yield unique insights into the microscopic origins underlying emphysema progression before and after lung volume reduction. PMID:28182686

Automatic techniques for 3D reconstruction of critical workplace body postures from range imaging data

NASA Astrophysics Data System (ADS)

Westfeld, Patrick; Maas, Hans-Gerd; Bringmann, Oliver; Gröllich, Daniel; Schmauder, Martin

2013-11-01

The paper shows techniques for the determination of structured motion parameters from range camera image sequences. The core contribution of the work presented here is the development of an integrated least squares 3D tracking approach based on amplitude and range image sequences to calculate dense 3D motion vector fields. Geometric primitives of a human body model are fitted to time series of range camera point clouds using these vector fields as additional information. Body poses and motion information for individual body parts are derived from the model fit. On the basis of these pose and motion parameters, critical body postures are detected. The primary aim of the study is to automate ergonomic studies for risk assessments regulated by law, identifying harmful movements and awkward body postures in a workplace.

Operational Impact of Improved Space Tracking on Collision Avoidance in the Future LEO Space Debris Environment

NASA Astrophysics Data System (ADS)

Sibert, D.; Borgeson, D.; Peterson, G.; Jenkin, A.; Sorge, M.

2010-09-01

Even if global space policy successfully curtails on orbit explosions and ASAT demonstrations, studies indicate that the number of debris objects in Low Earth Orbit (LEO) will continue to grow solely from debris on debris collisions and debris generated from new launches. This study examines the threat posed by this growing space debris population over the next 30 years and how improvements in our space tracking capabilities can reduce the number of Collision Avoidance (COLA) maneuvers required keep the risk of operational satellite loss within tolerable limits. Particular focus is given to satellites operated by the Department of Defense (DoD) and Intelligence Community (IC) in Low Earth Orbit (LEO). The following debris field and space tracking performance parameters were varied parametrically in the experiment to study the impact on the number of collision avoidance maneuvers required: - Debris Field Density (by year 2009, 2019, 2029, and 2039) - Quality of Track Update (starting 1 sigma error ellipsoid) - Future Propagator Accuracy (error ellipsoid growth rates - Special Perturbations in 3 axes) - Track Update Rate for Debris (stochastic) - Track Update Rate for Payloads (stochastic) Baseline values matching present day tracking performance for quality of track update, propagator accuracy, and track update rate were derived by analyzing updates to the unclassified Satellite Catalog (SatCat). Track update rates varied significantly for active payloads and debris and as such we used different models for the track update rates for military payloads and debris. The analysis was conducted using the System Effectiveness Analysis Simulation (SEAS) an agent based model developed by the United States Air Force Space Command’s Space and Missile Systems Center to evaluate the military utility of space systems. The future debris field was modeled by The Aerospace Corporation using a tool chain which models the growth of the 10cm+ debris field using high fidelity propagation, collision, and breakup models. Our analysis uses Two Line Element (TLE) sets and surface area data generated by this model sampled at the years 2019, 2029, and 2039. Data for the 2009 debris field is taken from the unclassified SatCat. By using Monte Carlo simulation techniques and varying the epoch of the military constellation relative to the debris field we were able to remove the bias of initial conditions. Additional analysis was conducted looking at the military utility impact of temporarily losing the use of Intelligence Surveillance and Reconnaissance (ISR) assets due to COLA maneuvers during a large classified scenario with stressful satellite tasking. This paper and presentation will focus only on unclassified results quantifying the potential reduction in the risk assumed by satellite flyers, and the potential reduction in Delta-V usage that is possible if we are able to improve our tracking performance in any of these three areas and reduce the positional uncertainty of space objects at the time of closest approach.

Nonlinear models for estimating GSFC travel requirements

NASA Technical Reports Server (NTRS)

Buffalano, C.; Hagan, F. J.

1974-01-01

A methodology is presented for estimating travel requirements for a particular period of time. Travel models were generated using nonlinear regression analysis techniques on a data base of FY-72 and FY-73 information from 79 GSFC projects. Although the subject matter relates to GSFX activities, the type of analysis used and the manner of selecting the relevant variables would be of interest to other NASA centers, government agencies, private corporations and, in general, any organization with a significant travel budget. Models were developed for each of six types of activity: flight projects (in-house and out-of-house), experiments on non-GSFC projects, international projects, ART/SRT, data analysis, advanced studies, tracking and data, and indirects.

Motion-adaptive model-assisted compatible coding with spatiotemporal scalability

NASA Astrophysics Data System (ADS)

Lee, JaeBeom; Eleftheriadis, Alexandros

1997-01-01

We introduce the concept of motion adaptive spatio-temporal model-assisted compatible (MA-STMAC) coding, a technique to selectively encode areas of different importance to the human eye in terms of space and time in moving images with the consideration of object motion. PRevious STMAC was proposed base don the fact that human 'eye contact' and 'lip synchronization' are very important in person-to-person communication. Several areas including the eyes and lips need different types of quality, since different areas have different perceptual significance to human observers. The approach provides a better rate-distortion tradeoff than conventional image coding techniques base don MPEG-1, MPEG- 2, H.261, as well as H.263. STMAC coding is applied on top of an encoder, taking full advantage of its core design. Model motion tracking in our previous STMAC approach was not automatic. The proposed MA-STMAC coding considers the motion of the human face within the STMAC concept using automatic area detection. Experimental results are given using ITU-T H.263, addressing very low bit-rate compression.

Development of a railway wagon-track interaction model: Case studies on excited tracks

NASA Astrophysics Data System (ADS)

Xu, Lei; Chen, Xianmai; Li, Xuwei; He, Xianglin

2018-02-01

In this paper, a theoretical framework for modeling the railway wagon-ballast track interactions is presented, in which the dynamic equations of motion of wagon-track systems are constructed by effectively coupling the linear and nonlinear dynamic characteristics of system components. For the linear components, the energy-variational principle is directly used to derive their dynamic matrices, while for the nonlinear components, the dynamic equilibrium method is implemented to deduce the load vectors, based on which a novel railway wagon-ballast track interaction model is developed, and being validated by comparing with the experimental data measured from a heavy haul railway and another advanced model. With this study, extensive contributions in figuring out the critical speed of instability, limits and localizations of track irregularities over derailment accidents are presented by effectively integrating the dynamic simulation model, the track irregularity probabilistic model and time-frequency analysis method. The proposed approaches can provide crucial information to guarantee the running safety and stability of the wagon-track system when considering track geometries and various running speeds.

Communications and Tracking Distributed Systems Evolution Study

NASA Technical Reports Server (NTRS)

Culpepper, William

1990-01-01

The Communications and Tracking (C & T) techniques and equipment to support evolutionary space station concepts are being analyzed. Evolutionary space station configurations and operational concepts are used to derive the results to date. A description of the C & T system based on future capability needs is presented. Included are the hooks and scars currently identified to support future growth.

Time-Lapse and Slow-Motion Tracking of Temperature Changes: Response Time of a Thermometer

ERIC Educational Resources Information Center

Moggio, L.; Onorato, P.; Gratton, L. M.; Oss, S.

2017-01-01

We propose the use of a smartphone based time-lapse and slow-motion video techniques together with tracking analysis as valuable tools for investigating thermal processes such as the response time of a thermometer. The two simple experimental activities presented here, suitable also for high school and undergraduate students, allow one to measure…

MO-AB-BRA-09: Development and Evaluation of a Biomechanical Modeling-Assisted CBCT Reconstruction Technique (Bio-Recon)

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

Zhang, Y; Nasehi Tehrani, J; Wang, J

Purpose: To develop a Bio-recon technique by incorporating the biomechanical properties of anatomical structures into the deformation-based CBCT reconstruction process. Methods: Bio-recon reconstructs the CBCT by deforming a prior high-quality CT/CBCT using a deformation-vector-field (DVF). The DVF is solved through two alternating steps: 2D–3D deformation and finite-element-analysis based biomechanical modeling. 2D–3D deformation optimizes the DVF through an ‘intensity-driven’ approach, which updates the DVF to minimize intensity mismatches between the acquired projections and the simulated projections from the deformed CBCT. In contrast, biomechanical modeling optimizes the DVF through a ‘biomechanical-feature-driven’ approach, which updates the DVF based on the biophysical properties ofmore » anatomical structures. In general, Biorecon extracts the 2D–3D deformation-optimized DVF at high-contrast structure boundaries, and uses it as the boundary condition to drive biomechanical modeling to optimize the overall DVF, especially at low-contrast regions. The optimized DVF is fed back into the 2D–3D deformation for further optimization, which forms an iterative loop. The efficacy of Bio-recon was evaluated on 11 lung patient cases, each with a prior CT and a new CT. Cone-beam projections were generated from the new CTs to reconstruct CBCTs, which were compared with the original new CTs for evaluation. 872 anatomical landmarks were also manually identified by a clinician on both the prior and new CTs to track the lung motion, which was used to evaluate the DVF accuracy. Results: Using 10 projections for reconstruction, the average (± s.d.) relative errors of reconstructed CBCTs by the clinical FDK technique, the 2D–3D deformation-only technique and Bio-recon were 46.5±5.9%, 12.0±2.3% and 10.4±1.3%, respectively. The average residual errors of DVF-tracked landmark motion by the 2D–3D deformation-only technique and Bio-recon were 5.6±4.3mm and 3.1±2.4mm, respectively. Conclusion: Bio-recon improved accuracy for both the reconstructed CBCT and the DVF. The accurate DVF can benefit multiple clinical practices, such as image-guided adaptive radiotherapy. We acknowledge funding support from the American Cancer Society (RSG-13-326-01-CCE), from the US National Institutes of Health (R01 EB020366), and from the Cancer Prevention and Research Institute of Texas (RP130109).« less

The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.

PubMed

Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

2017-05-30

The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network

PubMed Central

Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

2017-01-01

The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control. PMID:28556817

Vibro-acoustic performance of newly designed tram track structures

NASA Astrophysics Data System (ADS)

Haladin, Ivo; Lakušić, Stjepan; Ahac, Maja

2017-09-01

Rail vehicles in interaction with a railway structure induce vibrations that are propagating to surrounding structures and cause noise disturbance in the surrounding areas. Since tram tracks in urban areas often share the running surface with road vehicles one of top priorities is to achieve low maintenance and long lasting structure. Research conducted in scope of this paper gives an overview of newly designed tram track structures designated for use on Zagreb tram network and their performance in terms of noise and vibration mitigation. Research has been conducted on a 150 m long test section consisted of three tram track types: standard tram track structure commonly used on tram lines in Zagreb, optimized tram structure for better noise and vibration mitigation and a slab track with double sleepers embedded in a concrete slab, which presents an entirely new approach of tram track construction in Zagreb. Track has been instrumented with acceleration sensors, strain gauges and revision shafts for inspection. Relative deformations give an insight into track structure dynamic load distribution through the exploitation period. Further the paper describes vibro-acoustic measurements conducted at the test site. To evaluate the track performance from the vibro-acoustical standpoint, detailed analysis of track decay rate has been analysed. Opposed to measurement technique using impact hammer for track decay rate measurements, newly developed measuring technique using vehicle pass by vibrations as a source of excitation has been proposed and analysed. Paper gives overview of the method, it’s benefits compared to standard method of track decay rate measurements and method evaluation based on noise measurements of the vehicle pass by.

Recognition of human activity characteristics based on state transitions modeling technique

NASA Astrophysics Data System (ADS)

Elangovan, Vinayak; Shirkhodaie, Amir

2012-06-01

Human Activity Discovery & Recognition (HADR) is a complex, diverse and challenging task but yet an active area of ongoing research in the Department of Defense. By detecting, tracking, and characterizing cohesive Human interactional activity patterns, potential threats can be identified which can significantly improve situation awareness, particularly, in Persistent Surveillance Systems (PSS). Understanding the nature of such dynamic activities, inevitably involves interpretation of a collection of spatiotemporally correlated activities with respect to a known context. In this paper, we present a State Transition model for recognizing the characteristics of human activities with a link to a prior contextbased ontology. Modeling the state transitions between successive evidential events determines the activities' temperament. The proposed state transition model poses six categories of state transitions including: Human state transitions of Object handling, Visibility, Entity-entity relation, Human Postures, Human Kinematics and Distance to Target. The proposed state transition model generates semantic annotations describing the human interactional activities via a technique called Casual Event State Inference (CESI). The proposed approach uses a low cost kinect depth camera for indoor and normal optical camera for outdoor monitoring activities. Experimental results are presented here to demonstrate the effectiveness and efficiency of the proposed technique.

An Improved Interacting Multiple Model Filtering Algorithm Based on the Cubature Kalman Filter for Maneuvering Target Tracking.

PubMed

Zhu, Wei; Wang, Wei; Yuan, Gannan

2016-06-01

In order to improve the tracking accuracy, model estimation accuracy and quick response of multiple model maneuvering target tracking, the interacting multiple models five degree cubature Kalman filter (IMM5CKF) is proposed in this paper. In the proposed algorithm, the interacting multiple models (IMM) algorithm processes all the models through a Markov Chain to simultaneously enhance the model tracking accuracy of target tracking. Then a five degree cubature Kalman filter (5CKF) evaluates the surface integral by a higher but deterministic odd ordered spherical cubature rule to improve the tracking accuracy and the model switch sensitivity of the IMM algorithm. Finally, the simulation results demonstrate that the proposed algorithm exhibits quick and smooth switching when disposing different maneuver models, and it also performs better than the interacting multiple models cubature Kalman filter (IMMCKF), interacting multiple models unscented Kalman filter (IMMUKF), 5CKF and the optimal mode transition matrix IMM (OMTM-IMM).

UmUTracker: A versatile MATLAB program for automated particle tracking of 2D light microscopy or 3D digital holography data

NASA Astrophysics Data System (ADS)

Zhang, Hanqing; Stangner, Tim; Wiklund, Krister; Rodriguez, Alvaro; Andersson, Magnus

2017-10-01

We present a versatile and fast MATLAB program (UmUTracker) that automatically detects and tracks particles by analyzing video sequences acquired by either light microscopy or digital in-line holographic microscopy. Our program detects the 2D lateral positions of particles with an algorithm based on the isosceles triangle transform, and reconstructs their 3D axial positions by a fast implementation of the Rayleigh-Sommerfeld model using a radial intensity profile. To validate the accuracy and performance of our program, we first track the 2D position of polystyrene particles using bright field and digital holographic microscopy. Second, we determine the 3D particle position by analyzing synthetic and experimentally acquired holograms. Finally, to highlight the full program features, we profile the microfluidic flow in a 100 μm high flow chamber. This result agrees with computational fluid dynamic simulations. On a regular desktop computer UmUTracker can detect, analyze, and track multiple particles at 5 frames per second for a template size of 201 ×201 in a 1024 × 1024 image. To enhance usability and to make it easy to implement new functions we used object-oriented programming. UmUTracker is suitable for studies related to: particle dynamics, cell localization, colloids and microfluidic flow measurement. Program Files doi : http://dx.doi.org/10.17632/fkprs4s6xp.1 Licensing provisions : Creative Commons by 4.0 (CC by 4.0) Programming language : MATLAB Nature of problem: 3D multi-particle tracking is a common technique in physics, chemistry and biology. However, in terms of accuracy, reliable particle tracking is a challenging task since results depend on sample illumination, particle overlap, motion blur and noise from recording sensors. Additionally, the computational performance is also an issue if, for example, a computationally expensive process is executed, such as axial particle position reconstruction from digital holographic microscopy data. Versatile robust tracking programs handling these concerns and providing a powerful post-processing option are significantly limited. Solution method: UmUTracker is a multi-functional tool to extract particle positions from long video sequences acquired with either light microscopy or digital holographic microscopy. The program provides an easy-to-use graphical user interface (GUI) for both tracking and post-processing that does not require any programming skills to analyze data from particle tracking experiments. UmUTracker first conduct automatic 2D particle detection even under noisy conditions using a novel circle detector based on the isosceles triangle sampling technique with a multi-scale strategy. To reduce the computational load for 3D tracking, it uses an efficient implementation of the Rayleigh-Sommerfeld light propagation model. To analyze and visualize the data, an efficient data analysis step, which can for example show 4D flow visualization using 3D trajectories, is included. Additionally, UmUTracker is easy to modify with user-customized modules due to the object-oriented programming style Additional comments: Program obtainable from https://sourceforge.net/projects/umutracker/

Device, Algorithm and Integrated Modeling Research for Performance-Drive Multi-Modal Optical Sensors

DTIC Science & Technology

2012-12-17

to!feature!aided!tracking! using !spectral! information .! ! !iii! •! A!novel!technique!for!spectral!waveband!selection!was!developed!and! used !as! part! of ... of !spectral! information ! using !the!tunable!single;pixel!spectrometer!concept.! •! A! database! was! developed! of ! spectral! reflectance! measurements...exploring! the! utility! of ! spectral! and! polarimetric! information !to!help!with!the!vehicle!tracking!application.!Through!the! use ! of ! both

Space Shuttle/TDRSS communication and tracking systems analysis

NASA Astrophysics Data System (ADS)

Lindsey, W. C.; Chie, C. M.; Cideciyan, R.; Dessouky, K.; Su, Y. T.; Tsang, C. S.

1986-04-01

In order to evaluate the technical and operational problem areas and provide a recommendation, the enhancements to the Tracking and Data Delay Satellite System (TDRSS) and Shuttle must be evaluated through simulation and analysis. These enhancement techniques must first be characterized, then modeled mathematically, and finally updated into LinCsim (analytical simulation package). The LinCsim package can then be used as an evaluation tool. Three areas of potential enhancements were identified: shuttle payload accommodations, TDRSS SSA and KSA services, and shuttle tracking system and navigation sensors. Recommendations for each area were discussed.

Space Shuttle/TDRSS communication and tracking systems analysis

NASA Technical Reports Server (NTRS)

Lindsey, W. C.; Chie, C. M.; Cideciyan, R.; Dessouky, K.; Su, Y. T.; Tsang, C. S.

1986-01-01

In order to evaluate the technical and operational problem areas and provide a recommendation, the enhancements to the Tracking and Data Delay Satellite System (TDRSS) and Shuttle must be evaluated through simulation and analysis. These enhancement techniques must first be characterized, then modeled mathematically, and finally updated into LinCsim (analytical simulation package). The LinCsim package can then be used as an evaluation tool. Three areas of potential enhancements were identified: shuttle payload accommodations, TDRSS SSA and KSA services, and shuttle tracking system and navigation sensors. Recommendations for each area were discussed.

Four-dimensional (4D) tracking of high-temperature microparticles

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

Wang, Zhehui, E-mail: zwang@lanl.gov; Liu, Q.; Waganaar, W.

High-speed tracking of hot and molten microparticles in motion provides rich information about burning plasmas in magnetic fusion. An exploding-wire apparatus is used to produce moving high-temperature metallic microparticles and to develop four-dimensional (4D) or time-resolved 3D particle tracking techniques. The pinhole camera model and algorithms developed for computer vision are used for scene calibration and 4D reconstructions. 3D positions and velocities are then derived for different microparticles. Velocity resolution approaches 0.1 m/s by using the local constant velocity approximation.

Four-dimensional (4D) tracking of high-temperature microparticles

NASA Astrophysics Data System (ADS)

Wang, Zhehui; Liu, Q.; Waganaar, W.; Fontanese, J.; James, D.; Munsat, T.

2016-11-01

High-speed tracking of hot and molten microparticles in motion provides rich information about burning plasmas in magnetic fusion. An exploding-wire apparatus is used to produce moving high-temperature metallic microparticles and to develop four-dimensional (4D) or time-resolved 3D particle tracking techniques. The pinhole camera model and algorithms developed for computer vision are used for scene calibration and 4D reconstructions. 3D positions and velocities are then derived for different microparticles. Velocity resolution approaches 0.1 m/s by using the local constant velocity approximation.

Four-dimensional (4D) tracking of high-temperature microparticles

DOE PAGES

Wang, Zhehui; Liu, Qiuguang; Waganaar, Bill; ...

2016-07-08

High-speed tracking of hot and molten microparticles in motion provides rich information about burning plasmas in magnetic fusion. An exploding-wire apparatus is used to produce moving high-temperature metallic microparticles and to develop four-dimensional (4D) or time-resolved 3D particle tracking techniques. The pinhole camera model and algorithms developed for computer vision are used for scene calibration and 4D reconstructions. 3D positions and velocities are then derived for different microparticles. As a result, velocity resolution approaches 0.1 m/s by using the local constant velocity approximation.

Four-dimensional (4D) tracking of high-temperature microparticles.

PubMed

Wang, Zhehui; Liu, Q; Waganaar, W; Fontanese, J; James, D; Munsat, T

2016-11-01

High-speed tracking of hot and molten microparticles in motion provides rich information about burning plasmas in magnetic fusion. An exploding-wire apparatus is used to produce moving high-temperature metallic microparticles and to develop four-dimensional (4D) or time-resolved 3D particle tracking techniques. The pinhole camera model and algorithms developed for computer vision are used for scene calibration and 4D reconstructions. 3D positions and velocities are then derived for different microparticles. Velocity resolution approaches 0.1 m/s by using the local constant velocity approximation.

Dynamic heart phantom with functional mitral and aortic valves

NASA Astrophysics Data System (ADS)

Vannelli, Claire; Moore, John; McLeod, Jonathan; Ceh, Dennis; Peters, Terry

2015-03-01

Cardiac valvular stenosis, prolapse and regurgitation are increasingly common conditions, particularly in an elderly population with limited potential for on-pump cardiac surgery. NeoChord©, MitraClipand numerous stent-based transcatheter aortic valve implantation (TAVI) devices provide an alternative to intrusive cardiac operations; performed while the heart is beating, these procedures require surgeons and cardiologists to learn new image-guidance based techniques. Developing these visual aids and protocols is a challenging task that benefits from sophisticated simulators. Existing models lack features needed to simulate off-pump valvular procedures: functional, dynamic valves, apical and vascular access, and user flexibility for different activation patterns such as variable heart rates and rapid pacing. We present a left ventricle phantom with these characteristics. The phantom can be used to simulate valvular repair and replacement procedures with magnetic tracking, augmented reality, fluoroscopy and ultrasound guidance. This tool serves as a platform to develop image-guidance and image processing techniques required for a range of minimally invasive cardiac interventions. The phantom mimics in vivo mitral and aortic valve motion, permitting realistic ultrasound images of these components to be acquired. It also has a physiological realistic left ventricular ejection fraction of 50%. Given its realistic imaging properties and non-biodegradable composition—silicone for tissue, water for blood—the system promises to reduce the number of animal trials required to develop image guidance applications for valvular repair and replacement. The phantom has been used in validation studies for both TAVI image-guidance techniques1, and image-based mitral valve tracking algorithms2.

Rail corrugation growth accounting for the flexibility and rotation of the wheel set and the non-Hertzian and non-steady-state effects at contact patch

NASA Astrophysics Data System (ADS)

Vila, Paloma; Baeza, Luis; Martínez-Casas, José; Carballeira, Javier

2014-05-01

In this work, a simulation tool is developed to analyse the growth of rail corrugation consisting of several models connected in a feedback loop in order to account for both the short-term dynamic vehicle-track interaction and the long-term damage. The time-domain vehicle-track interaction model comprises a flexible rotating wheel set model, a cyclic track model based on a substructuring technique and a non-Hertzian and non-steady-state three-dimensional wheel-rail contact model, based on the variational theory by Kalker. Wear calculation is performed with Archard's wear model by using the contact parameters obtained with the non-Hertzian and non-steady-state three-dimensional contact model. The aim of this paper is to analyse the influence of the excitation of two coinciding resonances of the flexible rotating wheel set on the rail corrugation growth in the frequency range from 20 to 1500 Hz, when contact conditions similar to those that can arise while a wheel set is negotiating a gentle curve are simulated. Numerical results show that rail corrugation grows only on the low rail for two cases in which two different modes of the rotating wheel set coincide in frequency. In the first case, identified by using the Campbell diagram, the excitation of both the backward wheel mode and the forward third bending mode of the wheel set model (B-F modes) promotes the growth of rail corrugation with a wavelength of 110 mm for a vehicle velocity of 142 km/h. In the second case, the excitation of both the backward wheel mode and the backward third bending mode (B-B modes) gives rise to rail corrugation growth at a wavelength of 156 mm when the vehicle velocity is 198 km/h.

A numerical study on hurricane-induced storm surge and inundation in Charleston Harbor, South Carolina

NASA Astrophysics Data System (ADS)

Peng, Machuan; Xie, Lian; Pietrafesa, Leonard J.

2006-08-01

A storm surge and inundation model is configured in Charleston Harbor and its adjacent coastal region to study the harbor's response to hurricanes. The hydrodynamic component of the modeling system is based on the Princeton Ocean Model, and a scheme with multiple inundation speed options is imbedded in the model for the inundation calculation. Historic observations (Hurricane Hugo and its related storm surge and inundation) in the Charleston Harbor region indicate that among three possible inundation speeds in the model, taking Ct (gd)1/2 (Ct is a terrain-related parameter) as the inundation speed is the best choice. Choosing a different inundation speed in the model has effects not only on inundation area but also on storm surge height. A nesting technique is necessary for the model system to capture the mesoscale feature of a hurricane and meanwhile to maintain a higher horizontal resolution in the harbor region, where details of the storm surge and inundation are required. Hurricane-induced storm surge and inundation are very sensitive to storm tracks. Twelve hurricanes with different tracks are simulated to investigate how Charleston Harbor might respond to tracks that are parallel or perpendicular to the coastline or landfall at Charleston at different angles. Experiments show that large differences of storm surge and inundation may have occurred if Hurricane Hugo had approached Charleston Harbor with a slightly different angle. A hurricane's central pressure, radius of maximum wind, and translation speed have their own complicated effects on surge and inundation when the hurricane approaches the coast on different tracks. Systematic experiments are performed in order to illustrate how each of such factors, or a combination of them, may affect the storm surge height and inundation area in the Charleston Harbor region. Finally, suggestions are given on how this numerical model system may be used for hurricane-induced storm surge and inundation forecasting.

Multimodal Translation System Using Texture-Mapped Lip-Sync Images for Video Mail and Automatic Dubbing Applications

NASA Astrophysics Data System (ADS)

Morishima, Shigeo; Nakamura, Satoshi

2004-12-01

We introduce a multimodal English-to-Japanese and Japanese-to-English translation system that also translates the speaker's speech motion by synchronizing it to the translated speech. This system also introduces both a face synthesis technique that can generate any viseme lip shape and a face tracking technique that can estimate the original position and rotation of a speaker's face in an image sequence. To retain the speaker's facial expression, we substitute only the speech organ's image with the synthesized one, which is made by a 3D wire-frame model that is adaptable to any speaker. Our approach provides translated image synthesis with an extremely small database. The tracking motion of the face from a video image is performed by template matching. In this system, the translation and rotation of the face are detected by using a 3D personal face model whose texture is captured from a video frame. We also propose a method to customize the personal face model by using our GUI tool. By combining these techniques and the translated voice synthesis technique, an automatic multimodal translation can be achieved that is suitable for video mail or automatic dubbing systems into other languages.

Validation of a track repeating algorithm for intensity modulated proton therapy: clinical cases study

NASA Astrophysics Data System (ADS)

Yepes, Pablo P.; Eley, John G.; Liu, Amy; Mirkovic, Dragan; Randeniya, Sharmalee; Titt, Uwe; Mohan, Radhe

2016-04-01

Monte Carlo (MC) methods are acknowledged as the most accurate technique to calculate dose distributions. However, due its lengthy calculation times, they are difficult to utilize in the clinic or for large retrospective studies. Track-repeating algorithms, based on MC-generated particle track data in water, accelerate dose calculations substantially, while essentially preserving the accuracy of MC. In this study, we present the validation of an efficient dose calculation algorithm for intensity modulated proton therapy, the fast dose calculator (FDC), based on a track-repeating technique. We validated the FDC algorithm for 23 patients, which included 7 brain, 6 head-and-neck, 5 lung, 1 spine, 1 pelvis and 3 prostate cases. For validation, we compared FDC-generated dose distributions with those from a full-fledged Monte Carlo based on GEANT4 (G4). We compared dose-volume-histograms, 3D-gamma-indices and analyzed a series of dosimetric indices. More than 99% of the voxels in the voxelized phantoms describing the patients have a gamma-index smaller than unity for the 2%/2 mm criteria. In addition the difference relative to the prescribed dose between the dosimetric indices calculated with FDC and G4 is less than 1%. FDC reduces the calculation times from 5 ms per proton to around 5 μs.

Enhancement of ELDA Tracker Based on CNN Features and Adaptive Model Update.

PubMed

Gao, Changxin; Shi, Huizhang; Yu, Jin-Gang; Sang, Nong

2016-04-15

Appearance representation and the observation model are the most important components in designing a robust visual tracking algorithm for video-based sensors. Additionally, the exemplar-based linear discriminant analysis (ELDA) model has shown good performance in object tracking. Based on that, we improve the ELDA tracking algorithm by deep convolutional neural network (CNN) features and adaptive model update. Deep CNN features have been successfully used in various computer vision tasks. Extracting CNN features on all of the candidate windows is time consuming. To address this problem, a two-step CNN feature extraction method is proposed by separately computing convolutional layers and fully-connected layers. Due to the strong discriminative ability of CNN features and the exemplar-based model, we update both object and background models to improve their adaptivity and to deal with the tradeoff between discriminative ability and adaptivity. An object updating method is proposed to select the "good" models (detectors), which are quite discriminative and uncorrelated to other selected models. Meanwhile, we build the background model as a Gaussian mixture model (GMM) to adapt to complex scenes, which is initialized offline and updated online. The proposed tracker is evaluated on a benchmark dataset of 50 video sequences with various challenges. It achieves the best overall performance among the compared state-of-the-art trackers, which demonstrates the effectiveness and robustness of our tracking algorithm.

Enhancement of ELDA Tracker Based on CNN Features and Adaptive Model Update

PubMed Central

Gao, Changxin; Shi, Huizhang; Yu, Jin-Gang; Sang, Nong

2016-01-01

Appearance representation and the observation model are the most important components in designing a robust visual tracking algorithm for video-based sensors. Additionally, the exemplar-based linear discriminant analysis (ELDA) model has shown good performance in object tracking. Based on that, we improve the ELDA tracking algorithm by deep convolutional neural network (CNN) features and adaptive model update. Deep CNN features have been successfully used in various computer vision tasks. Extracting CNN features on all of the candidate windows is time consuming. To address this problem, a two-step CNN feature extraction method is proposed by separately computing convolutional layers and fully-connected layers. Due to the strong discriminative ability of CNN features and the exemplar-based model, we update both object and background models to improve their adaptivity and to deal with the tradeoff between discriminative ability and adaptivity. An object updating method is proposed to select the “good” models (detectors), which are quite discriminative and uncorrelated to other selected models. Meanwhile, we build the background model as a Gaussian mixture model (GMM) to adapt to complex scenes, which is initialized offline and updated online. The proposed tracker is evaluated on a benchmark dataset of 50 video sequences with various challenges. It achieves the best overall performance among the compared state-of-the-art trackers, which demonstrates the effectiveness and robustness of our tracking algorithm. PMID:27092505

Backstepping-based cooperative and adaptive tracking control design for a group of underactuated AUVs in horizontal plan

NASA Astrophysics Data System (ADS)

Ghommam, Jawhar; Saad, Maarouf

2014-05-01

In this paper, we investigate new implementable cooperative adaptive backstepping controllers for a group of underactuated autonomous vehicles that are communicating with their local neighbours to track a time-varying virtual leader of which the relative position may only be available to a portion of the team members. At the kinematic cooperative control level of the autonomous underwater vehicle, the virtual cooperative controller is basically designed on a proportional and derivative consensus algorithm presented in Ren (2010), which involves velocity information from local neighbours. In this paper, we propose a new design algorithm based on singular perturbation theory that precludes the use of the neighbours' velocity information in the cooperative design. At the dynamic cooperative control level, calculation of the partial derivatives of some stabilising functions which in turn will contain velocity information from the local neighbours is required. To facilitate the implementation of the cooperative controllers, we propose a command filter approach technique to avoid analytic differentiation of the virtual cooperative control laws. We show how Lyapunov-based techniques and graph theory can be combined together to yield a robust cooperative controller where the uncertain dynamics of the cooperating vehicles and the constraints on the communication topology which contains a directed spanning tree are explicitly taken into account. Simulation results with a dynamic model of underactuated autonomous underwater vehicles moving on the horizontal plane are presented and discussed.

Gold nanoparticle-cell labeling methodology for tracking stem cells within the brain

NASA Astrophysics Data System (ADS)

Betzer, Oshra; Meir, Rinat; Motiei, Menachem; Yadid, Gal; Popovtzer, Rachela

2017-02-01

Cell therapy provides a promising approach for diseases and injuries that conventional therapies cannot cure effectively. Mesenchymal stem cells (MSCs) can be used as effective targeted therapy, as they exhibit homing capabilities to sites of injury and inflammation, exert anti-inflammatory effects, and can differentiate in order to regenerate damaged tissue. Despite the potential efficacy of cell therapy, applying cell-based therapy in clinical practice is very challenging; there is a need to uncover the mystery regarding the fate of the transplanted cells. Therefore, in this study, we developed a method for longitudinal and quantitative in vivo cell tracking, based on the superior visualization abilities of classical X-ray computed tomography (CT), and combined with gold nanoparticles as labeling agents. We applied this technique for non-invasive imaging of MSCs transplanted in a rat model for depression, a highly prevalent and disabling neuropsychiatric disorder lacking effective treatment. Our results, which demonstrate that cell migration could be detected as early as 24 hours and up to one month post-transplantation, revealed that MSCs specifically navigated and homed to distinct depression related brain regions. This research further reveals that cell therapy is a beneficial approach for treating neuropsychiatric disorders; Behavioral manifestations of core symptoms of depressive behavior, were significantly attenuated following treatment. We expect This CT-based technique to lead to a significant enhancement in cellular therapy both for basic research and clinical applications of brain pathologies.

Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation

NASA Astrophysics Data System (ADS)

Meng, Deyuan; Tao, Guoliang; Liu, Hao; Zhu, Xiaocong

2014-07-01

Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation (RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This paper constructs an adaptive robust controller which can compensate the friction force in the cylinder.

Instrumentation by distributed optical fiber sensors of a new ballastless track structure

NASA Astrophysics Data System (ADS)

Chapeleau, Xavier; Cottineau, Louis-Marie; Sedran, Thierry; Gueguen, Ivan; Cailliau, Joël

2013-04-01

While relatively expensive to build, ballastless track structures are presently seen as an attractive alternative to conventional ballast. With its service life of at least 60 years, they require little maintenance and hence they offer great availability. Other reasons for using ballastless tracks instead of ballasted tracks are the lack of suitable ballast material and the need of less noise and vibration for high-speed, in particularly. A new ballastless track structure has been designed to be circulated up to 300km/h, with a target life of 100 years. It is an interoperable way on concrete slabs that are cast-in-place and slip formed. This structure has been built and tested at the scale one in our laboratory. Indeed, ten millions cyclic loads were applied at 2.5Hz to evaluate the fatigue behaviour under selected mechanical and thermal conditions. To monitor the thermo-mechanical behavior of this new structure and to verify the numerical simulations used for its design, a lot of sensors have been embedded. In particularly, we have tested an optical fiber as distributed sensors to measure strain distribution in the railway model. This sensor can also be used to detect, localize and monitor cracks in concrete slabs. The optical fiber sensing technique ("Rayleigh technique") used in this experimentation has a centimetric spatial resolution which allows to measure complex strain profiles unlike electrical strain gauges which only give local information. Firstly, optical cables used as sensors have been successfully embedded and attached to the reinforcing steel bars in the structure. We have noted that they are resistant enough to resist concrete pouring and working activities. Secondly, strains measured by conventional strain gauges has confirmed the quality of the strain profiles measurements obtained by optical fiber sensors. Moreover, we have found a good agreement between experimental profiles measurements and those obtained by numerical simulations. Early during the fatigue test, some cracks have been observed. It is a current phenomenon in concrete slab which is due to drying shrinkage, load action, environmental factors and creep of concrete. Cracks can reduce the durability of the tract structure. So, it is important to be able to monitor them during the service of ballastless track line. We have demonstrated that cracks can detect, localized and monitor by a judicious placement of optical fibers. A crack corresponds to the appearance of a narrow peak on the strain profile. This peak can be detected and localized thanks to the very high spatial resolution of the optical Rayleigh sensing technique. Thus, we have noted that the cracks remain localized in slab edge without affecting the mechanical performances of the ballastless track structure. In conclusion, distributed sensing based on optical fiber sensor is a promising technique to monitor ballastless track structures and more generally, civil engineering structures. Some tests on a portion of a ballastless track line (still under construction) are planned in the next month.

Mathematical analysis techniques for modeling the space network activities

NASA Technical Reports Server (NTRS)

Foster, Lisa M.

1992-01-01

The objective of the present work was to explore and identify mathematical analysis techniques, and in particular, the use of linear programming. This topic was then applied to the Tracking and Data Relay Satellite System (TDRSS) in order to understand the space network better. Finally, a small scale version of the system was modeled, variables were identified, data was gathered, and comparisons were made between actual and theoretical data.

Differential thermal voltammetry for tracking of degradation in lithium-ion batteries

NASA Astrophysics Data System (ADS)

Wu, Billy; Yufit, Vladimir; Merla, Yu; Martinez-Botas, Ricardo F.; Brandon, Nigel P.; Offer, Gregory J.

2015-01-01

Monitoring of lithium-ion batteries is of critical importance in electric vehicle applications in order to manage the operational condition of the cells. Measurements on a vehicle often involve current, voltage and temperature which enable in-situ diagnostic techniques. This paper presents a novel diagnostic technique, termed differential thermal voltammetry, which is capable of monitoring the state of the battery using voltage and temperature measurements in galvanostatic operating modes. This tracks battery degradation through phase transitions, and the resulting entropic heat, occurring in the electrodes. Experiments to monitor battery degradation using the new technique are compared with a pseudo-2D cell model. Results show that the differential thermal voltammetry technique provides information comparable to that of slow rate cyclic voltammetry at shorter timescale and with load conditions easier to replicate in a vehicle.

Giving students the run of sprinting models

NASA Astrophysics Data System (ADS)

Heck, André; Ellermeijer, Ton

2009-11-01

A biomechanical study of sprinting is an interesting task for students who have a background in mechanics and calculus. These students can work with real data and do practical investigations similar to the way sports scientists do research. Student research activities are viable when the students are familiar with tools to collect and work with data from sensors and video recordings and with modeling tools for comparing simulation and experimental results. This article describes a multipurpose system, named COACH, that offers a versatile integrated set of tools for learning, doing, and teaching mathematics and science in a computer-based inquiry approach. Automated tracking of reference points and correction of perspective distortion in videos, state-of-the-art algorithms for data smoothing and numerical differentiation, and graphical system dynamics based modeling are some of the built-in techniques that are suitable for motion analysis. Their implementation and their application in student activities involving models of running are discussed.

Global fast dynamic terminal sliding mode control for a quadrotor UAV.

PubMed

Xiong, Jing-Jing; Zhang, Guo-Bao

2017-01-01

A control method based on global fast dynamic terminal sliding mode control (TSMC) technique is proposed to design the flight controller for performing the finite-time position and attitude tracking control of a small quadrotor UAV. Firstly, the dynamic model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. Secondly, the dynamic flight controllers of the quadrotor are formulated based on global fast dynamic TSMC, which is able to guarantee that the position and velocity tracking errors of all system state variables converge to zero in finite-time. Moreover, the global fast dynamic TSMC is also able to eliminate the chattering phenomenon caused by the switching control action and realize the high precision performance. In addition, the stabilities of two subsystems are demonstrated by Lyapunov theory, respectively. Lastly, the simulation results are given to illustrate the effectiveness and robustness of the proposed control method in the presence of external disturbances. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Enhanced compressed sensing for visual target tracking in wireless visual sensor networks

NASA Astrophysics Data System (ADS)

Qiang, Guo

2017-11-01

Moving object tracking in wireless sensor networks (WSNs) has been widely applied in various fields. Designing low-power WSNs for the limited resources of the sensor, such as energy limitation, energy restriction, and bandwidth constraints, is of high priority. However, most existing works focus on only single conflicting optimization criteria. An efficient compressive sensing technique based on a customized memory gradient pursuit algorithm with early termination in WSNs is presented, which strikes compelling trade-offs among energy dissipation for wireless transmission, certain types of bandwidth, and minimum storage. Then, the proposed approach adopts an unscented particle filter to predict the location of the target. The experimental results with a theoretical analysis demonstrate the substantially superior effectiveness of the proposed model and framework in regard to the energy and speed under the resource limitation of a visual sensor node.

3D Finite Element Analysis of Some Structural Modified PC Sleeper with the Vibration Characteristics between Sleeper and Ballast

NASA Astrophysics Data System (ADS)

Sakai, Hirotaka; Urakawa, Fumihiro; Aikawa, Akira; Namura, Akira

The vibration of concrete sleepers is an important factor engendering track deterioration. In this paper, we created a three-dimensional finite element model to reproduce a prestressed concrete (PC) sleeper in detail, expressing influence of ballast layers with a 3D spring series and dampers to reproduce their vibration and dynamic characteristics. Determination of these parameters bases on the experimental modal analysis using an impact excitation technique for PC sleepers by adjusting the accelerance between the analytical results and experimental results. Furthermore, we compared the difference of these characteristics between normal sleepers and those with some structural modifications. Analytical results clarified that such means as sleeper width extension and increased sleeper thickness will influence the reduction of ballasted track vibration as improvements of PC sleepers.

Real time eye tracking using Kalman extended spatio-temporal context learning

NASA Astrophysics Data System (ADS)

Munir, Farzeen; Minhas, Fayyaz ul Amir Asfar; Jalil, Abdul; Jeon, Moongu

2017-06-01

Real time eye tracking has numerous applications in human computer interaction such as a mouse cursor control in a computer system. It is useful for persons with muscular or motion impairments. However, tracking the movement of the eye is complicated by occlusion due to blinking, head movement, screen glare, rapid eye movements, etc. In this work, we present the algorithmic and construction details of a real time eye tracking system. Our proposed system is an extension of Spatio-Temporal context learning through Kalman Filtering. Spatio-Temporal Context Learning offers state of the art accuracy in general object tracking but its performance suffers due to object occlusion. Addition of the Kalman filter allows the proposed method to model the dynamics of the motion of the eye and provide robust eye tracking in cases of occlusion. We demonstrate the effectiveness of this tracking technique by controlling the computer cursor in real time by eye movements.

Robust tracking and quantification of C. elegans body shape and locomotion through coiling, entanglement, and omega bends

PubMed Central

Roussel, Nicolas; Sprenger, Jeff; Tappan, Susan J; Glaser, Jack R

2014-01-01

The behavior of the well-characterized nematode, Caenorhabditis elegans (C. elegans), is often used to study the neurologic control of sensory and motor systems in models of health and neurodegenerative disease. To advance the quantification of behaviors to match the progress made in the breakthroughs of genetics, RNA, proteins, and neuronal circuitry, analysis must be able to extract subtle changes in worm locomotion across a population. The analysis of worm crawling motion is complex due to self-overlap, coiling, and entanglement. Using current techniques, the scope of the analysis is typically restricted to worms to their non-occluded, uncoiled state which is incomplete and fundamentally biased. Using a model describing the worm shape and crawling motion, we designed a deformable shape estimation algorithm that is robust to coiling and entanglement. This model-based shape estimation algorithm has been incorporated into a framework where multiple worms can be automatically detected and tracked simultaneously throughout the entire video sequence, thereby increasing throughput as well as data validity. The newly developed algorithms were validated against 10 manually labeled datasets obtained from video sequences comprised of various image resolutions and video frame rates. The data presented demonstrate that tracking methods incorporated in WormLab enable stable and accurate detection of these worms through coiling and entanglement. Such challenging tracking scenarios are common occurrences during normal worm locomotion. The ability for the described approach to provide stable and accurate detection of C. elegans is critical to achieve unbiased locomotory analysis of worm motion. PMID:26435884

Label free cell-tracking and division detection based on 2D time-lapse images for lineage analysis of early embryo development.

PubMed

Cicconet, Marcelo; Gutwein, Michelle; Gunsalus, Kristin C; Geiger, Davi

2014-08-01

In this paper we report a database and a series of techniques related to the problem of tracking cells, and detecting their divisions, in time-lapse movies of mammalian embryos. Our contributions are (1) a method for counting embryos in a well, and cropping each individual embryo across frames, to create individual movies for cell tracking; (2) a semi-automated method for cell tracking that works up to the 8-cell stage, along with a software implementation available to the public (this software was used to build the reported database); (3) an algorithm for automatic tracking up to the 4-cell stage, based on histograms of mirror symmetry coefficients captured using wavelets; (4) a cell-tracking database containing 100 annotated examples of mammalian embryos up to the 8-cell stage; and (5) statistical analysis of various timing distributions obtained from those examples. Copyright © 2014 Elsevier Ltd. All rights reserved.

Optical tracking of nanoscale particles in microscale environments

NASA Astrophysics Data System (ADS)

Mathai, P. P.; Liddle, J. A.; Stavis, S. M.

2016-03-01

The trajectories of nanoscale particles through microscale environments record useful information about both the particles and the environments. Optical microscopes provide efficient access to this information through measurements of light in the far field from nanoparticles. Such measurements necessarily involve trade-offs in tracking capabilities. This article presents a measurement framework, based on information theory, that facilitates a more systematic understanding of such trade-offs to rationally design tracking systems for diverse applications. This framework includes the degrees of freedom of optical microscopes, which determine the limitations of tracking measurements in theory. In the laboratory, tracking systems are assemblies of sources and sensors, optics and stages, and nanoparticle emitters. The combined characteristics of such systems determine the limitations of tracking measurements in practice. This article reviews this tracking hardware with a focus on the essential functions of nanoparticles as optical emitters and microenvironmental probes. Within these theoretical and practical limitations, experimentalists have implemented a variety of tracking systems with different capabilities. This article reviews a selection of apparatuses and techniques for tracking multiple and single particles by tuning illumination and detection, and by using feedback and confinement to improve the measurements. Prior information is also useful in many tracking systems and measurements, which apply across a broad spectrum of science and technology. In the context of the framework and review of apparatuses and techniques, this article reviews a selection of applications, with particle diffusion serving as a prelude to tracking measurements in biological, fluid, and material systems, fabrication and assembly processes, and engineered devices. In so doing, this review identifies trends and gaps in particle tracking that might influence future research.

Towards an in-plane methodology to track breast lesions using mammograms and patient-specific finite-element simulations

NASA Astrophysics Data System (ADS)

Lapuebla-Ferri, Andrés; Cegoñino-Banzo, José; Jiménez-Mocholí, Antonio-José; Pérez del Palomar, Amaya

2017-11-01

In breast cancer screening or diagnosis, it is usual to combine different images in order to locate a lesion as accurately as possible. These images are generated using a single or several imaging techniques. As x-ray-based mammography is widely used, a breast lesion is located in the same plane of the image (mammogram), but tracking it across mammograms corresponding to different views is a challenging task for medical physicians. Accordingly, simulation tools and methodologies that use patient-specific numerical models can facilitate the task of fusing information from different images. Additionally, these tools need to be as straightforward as possible to facilitate their translation to the clinical area. This paper presents a patient-specific, finite-element-based and semi-automated simulation methodology to track breast lesions across mammograms. A realistic three-dimensional computer model of a patient’s breast was generated from magnetic resonance imaging to simulate mammographic compressions in cranio-caudal (CC, head-to-toe) and medio-lateral oblique (MLO, shoulder-to-opposite hip) directions. For each compression being simulated, a virtual mammogram was obtained and posteriorly superimposed to the corresponding real mammogram, by sharing the nipple as a common feature. Two-dimensional rigid-body transformations were applied, and the error distance measured between the centroids of the tumors previously located on each image was 3.84 mm and 2.41 mm for CC and MLO compression, respectively. Considering that the scope of this work is to conceive a methodology translatable to clinical practice, the results indicate that it could be helpful in supporting the tracking of breast lesions.

Probabilistic Multi-Sensor Fusion Based Indoor Positioning System on a Mobile Device

PubMed Central

He, Xiang; Aloi, Daniel N.; Li, Jia

2015-01-01

Nowadays, smart mobile devices include more and more sensors on board, such as motion sensors (accelerometer, gyroscope, magnetometer), wireless signal strength indicators (WiFi, Bluetooth, Zigbee), and visual sensors (LiDAR, camera). People have developed various indoor positioning techniques based on these sensors. In this paper, the probabilistic fusion of multiple sensors is investigated in a hidden Markov model (HMM) framework for mobile-device user-positioning. We propose a graph structure to store the model constructed by multiple sensors during the offline training phase, and a multimodal particle filter to seamlessly fuse the information during the online tracking phase. Based on our algorithm, we develop an indoor positioning system on the iOS platform. The experiments carried out in a typical indoor environment have shown promising results for our proposed algorithm and system design. PMID:26694387

Probabilistic Multi-Sensor Fusion Based Indoor Positioning System on a Mobile Device.

PubMed

He, Xiang; Aloi, Daniel N; Li, Jia

2015-12-14

Nowadays, smart mobile devices include more and more sensors on board, such as motion sensors (accelerometer, gyroscope, magnetometer), wireless signal strength indicators (WiFi, Bluetooth, Zigbee), and visual sensors (LiDAR, camera). People have developed various indoor positioning techniques based on these sensors. In this paper, the probabilistic fusion of multiple sensors is investigated in a hidden Markov model (HMM) framework for mobile-device user-positioning. We propose a graph structure to store the model constructed by multiple sensors during the offline training phase, and a multimodal particle filter to seamlessly fuse the information during the online tracking phase. Based on our algorithm, we develop an indoor positioning system on the iOS platform. The experiments carried out in a typical indoor environment have shown promising results for our proposed algorithm and system design.

A measurement technique to determine the calibration accuracy of an electromagnetic tracking system to radiation isocenter.

PubMed

Litzenberg, Dale W; Gallagher, Ian; Masi, Kathryn J; Lee, Choonik; Prisciandaro, Joann I; Hamstra, Daniel A; Ritter, Timothy; Lam, Kwok L

2013-08-01

To present and characterize a measurement technique to quantify the calibration accuracy of an electromagnetic tracking system to radiation isocenter. This technique was developed as a quality assurance method for electromagnetic tracking systems used in a multi-institutional clinical hypofractionated prostate study. In this technique, the electromagnetic tracking system is calibrated to isocenter with the manufacturers recommended technique, using laser-based alignment. A test patient is created with a transponder at isocenter whose position is measured electromagnetically. Four portal images of the transponder are taken with collimator rotations of 45° 135°, 225°, and 315°, at each of four gantry angles (0°, 90°, 180°, 270°) using a 3×6 cm2 radiation field. In each image, the center of the copper-wrapped iron core of the transponder is determined. All measurements are made relative to this transponder position to remove gantry and imager sag effects. For each of the 16 images, the 50% collimation edges are identified and used to find a ray representing the rotational axis of each collimation edge. The 16 collimator rotation rays from four gantry angles pass through and bound the radiation isocenter volume. The center of the bounded region, relative to the transponder, is calculated and then transformed to tracking system coordinates using the transponder position, allowing the tracking system's calibration offset from radiation isocenter to be found. All image analysis and calculations are automated with inhouse software for user-independent accuracy. Three different tracking systems at two different sites were evaluated for this study. The magnitude of the calibration offset was always less than the manufacturer's stated accuracy of 0.2 cm using their standard clinical calibration procedure, and ranged from 0.014 to 0.175 cm. On three systems in clinical use, the magnitude of the offset was found to be 0.053±0.036, 0.121±0.023, and 0.093±0.013 cm. The method presented here provides an independent technique to verify the calibration of an electromagnetic tracking system to radiation isocenter. The calibration accuracy of the system was better than the 0.2 cm accuracy stated by the manufacturer. However, it should not be assumed to be zero, especially for stereotactic radiation therapy treatments where planning target volume margins are very small.

Dual-modality single particle orientation and rotational tracking of intracellular transport of nanocargos.

PubMed

Sun, Wei; Gu, Yan; Wang, Gufeng; Fang, Ning

2012-01-17

The single particle orientation and rotational tracking (SPORT) technique was introduced recently to follow the rotational motion of plasmonic gold nanorod under a differential interference contrast (DIC) microscope. In biological studies, however, cellular activities usually involve a multiplicity of molecules; thus, tracking the motion of a single molecule/object is insufficient. Fluorescence-based techniques have long been used to follow the spatial and temporal distributions of biomolecules of interest thanks to the availability of multiplexing fluorescent probes. To know the type and number of molecules and the timing of their involvement in a biological process under investigation by SPORT, we constructed a dual-modality DIC/fluorescence microscope to simultaneously image fluorescently tagged biomolecules and plasmonic nanoprobes in living cells. With the dual-modality SPORT technique, the microtubule-based intracellular transport can be unambiguously identified while the dynamic orientation of nanometer-sized cargos can be monitored at video rate. Furthermore, the active transport on the microtubule can be easily separated from the diffusion before the nanocargo docks on the microtubule or after it undocks from the microtubule. The potential of dual-modality SPORT is demonstrated for shedding new light on unresolved questions in intracellular transport.

Real-time intra-fraction-motion tracking using the treatment couch: a feasibility study

NASA Astrophysics Data System (ADS)

D'Souza, Warren D.; Naqvi, Shahid A.; Yu, Cedric X.

2005-09-01

Significant differences between planned and delivered treatments may occur due to respiration-induced tumour motion, leading to underdosing of parts of the tumour and overdosing of parts of the surrounding critical structures. Existing methods proposed to counter tumour motion include breath-holds, gating and MLC-based tracking. Breath-holds and gating techniques increase treatment time considerably, whereas MLC-based tracking is limited to two dimensions. We present an alternative solution in which a robotic couch moves in real time in response to organ motion. To demonstrate proof-of-principle, we constructed a miniature adaptive couch model consisting of two movable platforms that simulate tumour motion and couch motion, respectively. These platforms were connected via an electronic feedback loop so that the bottom platform responded to the motion of the top platform. We tested our model with a seven-field step-and-shoot delivery case in which we performed three film-based experiments: (1) static geometry, (2) phantom-only motion and (3) phantom motion with simulated couch motion. Our measurements demonstrate that the miniature couch was able to compensate for phantom motion to the extent that the dose distributions were practically indistinguishable from those in static geometry. Motivated by this initial success, we investigated a real-time couch compensation system consisting of a stereoscopic infra-red camera system interfaced to a robotic couch known as the Hexapod™, which responds in real time to any change in position detected by the cameras. Optical reflectors placed on a solid water phantom were used as surrogates for motion. We tested the effectiveness of couch-based motion compensation for fixed fields and a dynamic arc delivery cases. Due to hardware limitations, we performed film-based experiments (1), (2) and (3), with the robotic couch at a phantom motion period and dose rate of 16 s and 100 MU min-1, respectively. Analysis of film measurements showed near-equivalent dose distributions (<=2 mm agreement of corresponding isodose lines) for static geometry and motion-synchronized real-time robotic couch tracking-based radiation delivery.

An object tracking method based on guided filter for night fusion image

NASA Astrophysics Data System (ADS)

Qian, Xiaoyan; Wang, Yuedong; Han, Lei

2016-01-01

Online object tracking is a challenging problem as it entails learning an effective model to account for appearance change caused by intrinsic and extrinsic factors. In this paper, we propose a novel online object tracking with guided image filter for accurate and robust night fusion image tracking. Firstly, frame difference is applied to produce the coarse target, which helps to generate observation models. Under the restriction of these models and local source image, guided filter generates sufficient and accurate foreground target. Then accurate boundaries of the target can be extracted from detection results. Finally timely updating for observation models help to avoid tracking shift. Both qualitative and quantitative evaluations on challenging image sequences demonstrate that the proposed tracking algorithm performs favorably against several state-of-art methods.

Granular Flow Graph, Adaptive Rule Generation and Tracking.

PubMed

Pal, Sankar Kumar; Chakraborty, Debarati Bhunia

2017-12-01

A new method of adaptive rule generation in granular computing framework is described based on rough rule base and granular flow graph, and applied for video tracking. In the process, several new concepts and operations are introduced, and methodologies formulated with superior performance. The flow graph enables in defining an intelligent technique for rule base adaptation where its characteristics in mapping the relevance of attributes and rules in decision-making system are exploited. Two new features, namely, expected flow graph and mutual dependency between flow graphs are defined to make the flow graph applicable in the tasks of both training and validation. All these techniques are performed in neighborhood granular level. A way of forming spatio-temporal 3-D granules of arbitrary shape and size is introduced. The rough flow graph-based adaptive granular rule-based system, thus produced for unsupervised video tracking, is capable of handling the uncertainties and incompleteness in frames, able to overcome the incompleteness in information that arises without initial manual interactions and in providing superior performance and gaining in computation time. The cases of partial overlapping and detecting the unpredictable changes are handled efficiently. It is shown that the neighborhood granulation provides a balanced tradeoff between speed and accuracy as compared to pixel level computation. The quantitative indices used for evaluating the performance of tracking do not require any information on ground truth as in the other methods. Superiority of the algorithm to nonadaptive and other recent ones is demonstrated extensively.

Rapid, topology-based particle tracking for high-resolution measurements of large complex 3D motion fields.

PubMed

Patel, Mohak; Leggett, Susan E; Landauer, Alexander K; Wong, Ian Y; Franck, Christian

2018-04-03

Spatiotemporal tracking of tracer particles or objects of interest can reveal localized behaviors in biological and physical systems. However, existing tracking algorithms are most effective for relatively low numbers of particles that undergo displacements smaller than their typical interparticle separation distance. Here, we demonstrate a single particle tracking algorithm to reconstruct large complex motion fields with large particle numbers, orders of magnitude larger than previously tractably resolvable, thus opening the door for attaining very high Nyquist spatial frequency motion recovery in the images. Our key innovations are feature vectors that encode nearest neighbor positions, a rigorous outlier removal scheme, and an iterative deformation warping scheme. We test this technique for its accuracy and computational efficacy using synthetically and experimentally generated 3D particle images, including non-affine deformation fields in soft materials, complex fluid flows, and cell-generated deformations. We augment this algorithm with additional particle information (e.g., color, size, or shape) to further enhance tracking accuracy for high gradient and large displacement fields. These applications demonstrate that this versatile technique can rapidly track unprecedented numbers of particles to resolve large and complex motion fields in 2D and 3D images, particularly when spatial correlations exist.

Quantitative analysis and feature recognition in 3-D microstructural data sets

NASA Astrophysics Data System (ADS)

Lewis, A. C.; Suh, C.; Stukowski, M.; Geltmacher, A. B.; Spanos, G.; Rajan, K.

2006-12-01

A three-dimensional (3-D) reconstruction of an austenitic stainless-steel microstructure was used as input for an image-based finite-element model to simulate the anisotropic elastic mechanical response of the microstructure. The quantitative data-mining and data-warehousing techniques used to correlate regions of high stress with critical microstructural features are discussed. Initial analysis of elastic stresses near grain boundaries due to mechanical loading revealed low overall correlation with their location in the microstructure. However, the use of data-mining and feature-tracking techniques to identify high-stress outliers revealed that many of these high-stress points are generated near grain boundaries and grain edges (triple junctions). These techniques also allowed for the differentiation between high stresses due to boundary conditions of the finite volume reconstructed, and those due to 3-D microstructural features.

An optical tracking system for virtual reality

NASA Astrophysics Data System (ADS)

Hrimech, Hamid; Merienne, Frederic

2009-03-01

In this paper we present a low-cost 3D tracking system which we have developed and tested in order to move away from traditional 2D interaction techniques (keyboard and mouse) in an attempt to improve user's experience while using a CVE. Such a tracking system is used to implement 3D interaction techniques that augment user experience, promote user's sense of transportation in the virtual world as well as user's awareness of their partners. The tracking system is a passive optical tracking system using stereoscopy a technique allowing the reconstruction of three-dimensional information from a couple of images. We have currently deployed our 3D tracking system on a collaborative research platform for investigating 3D interaction techniques in CVEs.

Real-Time Radar-Based Tracking and State Estimation of Multiple Non-Conformant Aircraft

NASA Technical Reports Server (NTRS)

Cook, Brandon; Arnett, Timothy; Macmann, Owen; Kumar, Manish

2017-01-01

In this study, a novel solution for automated tracking of multiple unknown aircraft is proposed. Many current methods use transponders to self-report state information and augment track identification. While conformant aircraft typically report transponder information to alert surrounding aircraft of its state, vehicles may exist in the airspace that are non-compliant and need to be accurately tracked using alternative methods. In this study, a multi-agent tracking solution is presented that solely utilizes primary surveillance radar data to estimate aircraft state information. Main research challenges include state estimation, track management, data association, and establishing persistent track validity. In an effort to realize these challenges, techniques such as Maximum a Posteriori estimation, Kalman filtering, degree of membership data association, and Nearest Neighbor Spanning Tree clustering are implemented for this application.

A detailed study of gold-nanoparticle loaded cells using X-ray based techniques for cell-tracking applications with single-cell sensitivity

NASA Astrophysics Data System (ADS)

Astolfo, Alberto; Arfelli, Fulvia; Schültke, Elisabeth; James, Simon; Mancini, Lucia; Menk, Ralf-Hendrik

2013-03-01

In the present study complementary high-resolution imaging techniques on different length scales are applied to elucidate a cellular loading protocol of gold nanoparticles and subsequently its impact on long term and high-resolution cell-tracking utilizing X-ray technology. Although demonstrated for malignant cell lines the results can be applied to non-malignant cell lines as well. In particular the accumulation of the gold marker per cell has been assessed quantitatively by virtue of electron microscopy, two-dimensional X-ray fluorescence imaging techniques and X-ray CT with micrometric and sub-micrometric resolution. Moreover, utilizing these techniques the three dimensional distribution of the incorporated nanoparticles, which are sequestered in lysosomes as a permanent marker, could be determined. The latter allowed elucidation of the gold partition during mitosis and the cell size, which subsequently enabled us to define the optimal instrument settings of a compact microCT system to visualize gold loaded cells. The results obtained demonstrate the feasibility of cell-tracking using X-ray CT with compact sources.

Exploiting range imagery: techniques and applications

NASA Astrophysics Data System (ADS)

Armbruster, Walter

2009-07-01

Practically no applications exist for which automatic processing of 2D intensity imagery can equal human visual perception. This is not the case for range imagery. The paper gives examples of 3D laser radar applications, for which automatic data processing can exceed human visual cognition capabilities and describes basic processing techniques for attaining these results. The examples are drawn from the fields of helicopter obstacle avoidance, object detection in surveillance applications, object recognition at high range, multi-object-tracking, and object re-identification in range image sequences. Processing times and recognition performances are summarized. The techniques used exploit the bijective continuity of the imaging process as well as its independence of object reflectivity, emissivity and illumination. This allows precise formulations of the probability distributions involved in figure-ground segmentation, feature-based object classification and model based object recognition. The probabilistic approach guarantees optimal solutions for single images and enables Bayesian learning in range image sequences. Finally, due to recent results in 3D-surface completion, no prior model libraries are required for recognizing and re-identifying objects of quite general object categories, opening the way to unsupervised learning and fully autonomous cognitive systems.

Dictionary learning-based spatiotemporal regularization for 3D dense speckle tracking

NASA Astrophysics Data System (ADS)

Lu, Allen; Zontak, Maria; Parajuli, Nripesh; Stendahl, John C.; Boutagy, Nabil; Eberle, Melissa; O'Donnell, Matthew; Sinusas, Albert J.; Duncan, James S.

2017-03-01

Speckle tracking is a common method for non-rigid tissue motion analysis in 3D echocardiography, where unique texture patterns are tracked through the cardiac cycle. However, poor tracking often occurs due to inherent ultrasound issues, such as image artifacts and speckle decorrelation; thus regularization is required. Various methods, such as optical flow, elastic registration, and block matching techniques have been proposed to track speckle motion. Such methods typically apply spatial and temporal regularization in a separate manner. In this paper, we propose a joint spatiotemporal regularization method based on an adaptive dictionary representation of the dense 3D+time Lagrangian motion field. Sparse dictionaries have good signal adaptive and noise-reduction properties; however, they are prone to quantization errors. Our method takes advantage of the desirable noise suppression, while avoiding the undesirable quantization error. The idea is to enforce regularization only on the poorly tracked trajectories. Specifically, our method 1.) builds data-driven 4-dimensional dictionary of Lagrangian displacements using sparse learning, 2.) automatically identifies poorly tracked trajectories (outliers) based on sparse reconstruction errors, and 3.) performs sparse reconstruction of the outliers only. Our approach can be applied on dense Lagrangian motion fields calculated by any method. We demonstrate the effectiveness of our approach on a baseline block matching speckle tracking and evaluate performance of the proposed algorithm using tracking and strain accuracy analysis.

Proton Upset Monte Carlo Simulation

NASA Technical Reports Server (NTRS)

O'Neill, Patrick M.; Kouba, Coy K.; Foster, Charles C.

2009-01-01

The Proton Upset Monte Carlo Simulation (PROPSET) program calculates the frequency of on-orbit upsets in computer chips (for given orbits such as Low Earth Orbit, Lunar Orbit, and the like) from proton bombardment based on the results of heavy ion testing alone. The software simulates the bombardment of modern microelectronic components (computer chips) with high-energy (.200 MeV) protons. The nuclear interaction of the proton with the silicon of the chip is modeled and nuclear fragments from this interaction are tracked using Monte Carlo techniques to produce statistically accurate predictions.

Online Hierarchical Sparse Representation of Multifeature for Robust Object Tracking

PubMed Central

Qu, Shiru

2016-01-01

Object tracking based on sparse representation has given promising tracking results in recent years. However, the trackers under the framework of sparse representation always overemphasize the sparse representation and ignore the correlation of visual information. In addition, the sparse coding methods only encode the local region independently and ignore the spatial neighborhood information of the image. In this paper, we propose a robust tracking algorithm. Firstly, multiple complementary features are used to describe the object appearance; the appearance model of the tracked target is modeled by instantaneous and stable appearance features simultaneously. A two-stage sparse-coded method which takes the spatial neighborhood information of the image patch and the computation burden into consideration is used to compute the reconstructed object appearance. Then, the reliability of each tracker is measured by the tracking likelihood function of transient and reconstructed appearance models. Finally, the most reliable tracker is obtained by a well established particle filter framework; the training set and the template library are incrementally updated based on the current tracking results. Experiment results on different challenging video sequences show that the proposed algorithm performs well with superior tracking accuracy and robustness. PMID:27630710

A vector radiative transfer model for coupled atmosphere and ocean systems based on successive order of scattering method.

PubMed

Zhai, Peng-Wang; Hu, Yongxiang; Trepte, Charles R; Lucker, Patricia L

2009-02-16

A vector radiative transfer model has been developed for coupled atmosphere and ocean systems based on the Successive Order of Scattering (SOS) Method. The emphasis of this study is to make the model easy-to-use and computationally efficient. This model provides the full Stokes vector at arbitrary locations which can be conveniently specified by users. The model is capable of tracking and labeling different sources of the photons that are measured, e.g. water leaving radiances and reflected sky lights. This model also has the capability to separate florescence from multi-scattered sunlight. The delta - fit technique has been adopted to reduce computational time associated with the strongly forward-peaked scattering phase matrices. The exponential - linear approximation has been used to reduce the number of discretized vertical layers while maintaining the accuracy. This model is developed to serve the remote sensing community in harvesting physical parameters from multi-platform, multi-sensor measurements that target different components of the atmosphere-oceanic system.

Western North Pacific Tropical Cyclone Model Tracks in Present and Future Climates

NASA Astrophysics Data System (ADS)

Nakamura, Jennifer; Camargo, Suzana J.; Sobel, Adam H.; Henderson, Naomi; Emanuel, Kerry A.; Kumar, Arun; LaRow, Timothy E.; Murakami, Hiroyuki; Roberts, Malcolm J.; Scoccimarro, Enrico; Vidale, Pier Luigi; Wang, Hui; Wehner, Michael F.; Zhao, Ming

2017-09-01

Western North Pacific tropical cyclone (TC) model tracks are analyzed in two large multimodel ensembles, spanning a large variety of models and multiple future climate scenarios. Two methodologies are used to synthesize the properties of TC tracks in this large data set: cluster analysis and mass moment ellipses. First, the models' TC tracks are compared to observed TC tracks' characteristics, and a subset of the models is chosen for analysis, based on the tracks' similarity to observations and sample size. Potential changes in track types in a warming climate are identified by comparing the kernel smoothed probability distributions of various track variables in historical and future scenarios using a Kolmogorov-Smirnov significance test. Two track changes are identified. The first is a statistically significant increase in the north-south expansion, which can also be viewed as a poleward shift, as TC tracks are prevented from expanding equatorward due to the weak Coriolis force near the equator. The second change is an eastward shift in the storm tracks that occur near the central Pacific in one of the multimodel ensembles, indicating a possible increase in the occurrence of storms near Hawaii in a warming climate. The dependence of the results on which model and future scenario are considered emphasizes the necessity of including multiple models and scenarios when considering future changes in TC characteristics.

Characterizing convective cold pools: Characterizing Convective Cold Pools

DOE PAGES

Drager, Aryeh J.; van den Heever, Susan C.

2017-05-09

Cold pools produced by convective storms play an important role in Earth's climate system. However, a common framework does not exist for objectively identifying convective cold pools in observations and models. The present study investigates convective cold pools within a simulation of tropical continental convection that uses a cloud-resolving model with a coupled land-surface model. Multiple variables are assessed for their potential in identifying convective cold pool boundaries, and a novel technique is developed and tested for identifying and tracking cold pools in numerical model simulations. This algorithm is based on surface rainfall rates and radial gradients in the densitymore » potential temperature field. The algorithm successfully identifies near-surface cold pool boundaries and is able to distinguish between connected cold pools. Once cold pools have been identified and tracked, composites of cold pool evolution are then constructed, and average cold pool properties are investigated. Wet patches are found to develop within the centers of cold pools where the ground has been soaked with rainwater. These wet patches help to maintain cool surface temperatures and reduce cold pool dissipation, which has implications for the development of subsequent convection.« less

Characterizing convective cold pools: Characterizing Convective Cold Pools

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

Drager, Aryeh J.; van den Heever, Susan C.

Cold pools produced by convective storms play an important role in Earth's climate system. However, a common framework does not exist for objectively identifying convective cold pools in observations and models. The present study investigates convective cold pools within a simulation of tropical continental convection that uses a cloud-resolving model with a coupled land-surface model. Multiple variables are assessed for their potential in identifying convective cold pool boundaries, and a novel technique is developed and tested for identifying and tracking cold pools in numerical model simulations. This algorithm is based on surface rainfall rates and radial gradients in the densitymore » potential temperature field. The algorithm successfully identifies near-surface cold pool boundaries and is able to distinguish between connected cold pools. Once cold pools have been identified and tracked, composites of cold pool evolution are then constructed, and average cold pool properties are investigated. Wet patches are found to develop within the centers of cold pools where the ground has been soaked with rainwater. These wet patches help to maintain cool surface temperatures and reduce cold pool dissipation, which has implications for the development of subsequent convection.« less

A new technique for monitoring the water vapor in the atmosphere

NASA Technical Reports Server (NTRS)

Black, H. D.; Eisner, A.

1984-01-01

In the correction of satellite Doppler data for tropospheric effects the precipitable water vapor (PWV) is inferred at the tracking site. The technique depends on: (1) an ephemeris for the satellite; (2) an analytic model for the refraction range effect that is good to a few centimeters; (3) Doppler data with noise level below 10 centimeters; and (4) a surface pressure/temperature measurement at the tracking site. The PWV is a by product of the computation necessary to correct the Doppler data for tropospheric effects. A formulation of the refraction integral minimizes the necessity for explicit water vapor, temperature and pressure profiles.

Fuzzy Neural Network-Based Interacting Multiple Model for Multi-Node Target Tracking Algorithm

PubMed Central

Sun, Baoliang; Jiang, Chunlan; Li, Ming

2016-01-01

An interacting multiple model for multi-node target tracking algorithm was proposed based on a fuzzy neural network (FNN) to solve the multi-node target tracking problem of wireless sensor networks (WSNs). Measured error variance was adaptively adjusted during the multiple model interacting output stage using the difference between the theoretical and estimated values of the measured error covariance matrix. The FNN fusion system was established during multi-node fusion to integrate with the target state estimated data from different nodes and consequently obtain network target state estimation. The feasibility of the algorithm was verified based on a network of nine detection nodes. Experimental results indicated that the proposed algorithm could trace the maneuvering target effectively under sensor failure and unknown system measurement errors. The proposed algorithm exhibited great practicability in the multi-node target tracking of WSNs. PMID:27809271

Real time markerless motion tracking using linked kinematic chains

DOEpatents

Luck, Jason P [Arvada, CO; Small, Daniel E [Albuquerque, NM

2007-08-14

A markerless method is described for tracking the motion of subjects in a three dimensional environment using a model based on linked kinematic chains. The invention is suitable for tracking robotic, animal or human subjects in real-time using a single computer with inexpensive video equipment, and does not require the use of markers or specialized clothing. A simple model of rigid linked segments is constructed of the subject and tracked using three dimensional volumetric data collected by a multiple camera video imaging system. A physics based method is then used to compute forces to align the model with subsequent volumetric data sets in real-time. The method is able to handle occlusion of segments and accommodates joint limits, velocity constraints, and collision constraints and provides for error recovery. The method further provides for elimination of singularities in Jacobian based calculations, which has been problematic in alternative methods.

State Tracking and Fault Diagnosis for Dynamic Systems Using Labeled Uncertainty Graph.

PubMed

Zhou, Gan; Feng, Wenquan; Zhao, Qi; Zhao, Hongbo

2015-11-05

Cyber-physical systems such as autonomous spacecraft, power plants and automotive systems become more vulnerable to unanticipated failures as their complexity increases. Accurate tracking of system dynamics and fault diagnosis are essential. This paper presents an efficient state estimation method for dynamic systems modeled as concurrent probabilistic automata. First, the Labeled Uncertainty Graph (LUG) method in the planning domain is introduced to describe the state tracking and fault diagnosis processes. Because the system model is probabilistic, the Monte Carlo technique is employed to sample the probability distribution of belief states. In addition, to address the sample impoverishment problem, an innovative look-ahead technique is proposed to recursively generate most likely belief states without exhaustively checking all possible successor modes. The overall algorithms incorporate two major steps: a roll-forward process that estimates system state and identifies faults, and a roll-backward process that analyzes possible system trajectories once the faults have been detected. We demonstrate the effectiveness of this approach by applying it to a real world domain: the power supply control unit of a spacecraft.

Preview Scheduled Model Predictive Control For Horizontal Axis Wind Turbines

NASA Astrophysics Data System (ADS)

Laks, Jason H.

This research investigates the use of model predictive control (MPC) in application to wind turbine operation from start-up to cut-out. The studies conducted are focused on the design of an MPC controller for a 650˜KW, three-bladed horizontal axis turbine that is in operation at the National Renewable Energy Laboratory's National Wind Technology Center outside of Golden, Colorado. This turbine is at the small end of utility scale turbines, but it provides advanced instrumentation and control capabilities, and there is a good probability that the approach developed in simulation for this thesis, will be field tested on the actual turbine. A contribution of this thesis is a method to combine the use of preview measurements with MPC while also providing regulation of turbine speed and cyclic blade loading. A common MPC technique provides integral-like control to achieve offset-free operation. At the same time in wind turbine applications, multiple studies have developed "feed-forward" controls based on applying a gain to an estimate of the wind speed changes obtained from an observer incorporating a disturbance model. These approaches are based on a technique that can be referred to as disturbance accommodating control (DAC). In this thesis, it is shown that offset-free tracking MPC is equivalent to a DAC approach when the disturbance gain is computed to satisfy a regulator equation. Although the MPC literature has recognized that this approach provides "structurally stable" disturbance rejection and tracking, this step is not typically divorced from the MPC computations repeated each sample hit. The DAC formulation is conceptually simpler, and essentially uncouples regulation considerations from MPC related issues. This thesis provides a self contained proof that the DAC formulation (an observer-controller and appropriate disturbance gain) provides structurally stable regulation.

Model-based framework for multi-axial real-time hybrid simulation testing

NASA Astrophysics Data System (ADS)

Fermandois, Gaston A.; Spencer, Billie F.

2017-10-01

Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction (CSI). One approach to reducing experimental errors considers a multi-input, multi-output (MIMO) controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation (maRTHS) testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-offreedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box (LBCB) located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the frame is represented physically in the laboratory as a cantilevered steel column. For realtime execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controlled at the interface between substructures.

PubMed related articles: a probabilistic topic-based model for content similarity

PubMed Central

Lin, Jimmy; Wilbur, W John

2007-01-01

Background We present a probabilistic topic-based model for content similarity called pmra that underlies the related article search feature in PubMed. Whether or not a document is about a particular topic is computed from term frequencies, modeled as Poisson distributions. Unlike previous probabilistic retrieval models, we do not attempt to estimate relevance–but rather our focus is "relatedness", the probability that a user would want to examine a particular document given known interest in another. We also describe a novel technique for estimating parameters that does not require human relevance judgments; instead, the process is based on the existence of MeSH ® in MEDLINE ®. Results The pmra retrieval model was compared against bm25, a competitive probabilistic model that shares theoretical similarities. Experiments using the test collection from the TREC 2005 genomics track shows a small but statistically significant improvement of pmra over bm25 in terms of precision. Conclusion Our experiments suggest that the pmra model provides an effective ranking algorithm for related article search. PMID:17971238

Adaptive neural control for a class of nonlinear time-varying delay systems with unknown hysteresis.

PubMed

Liu, Zhi; Lai, Guanyu; Zhang, Yun; Chen, Xin; Chen, Chun Lung Philip

2014-12-01

This paper investigates the fusion of unknown direction hysteresis model with adaptive neural control techniques in face of time-delayed continuous time nonlinear systems without strict-feedback form. Compared with previous works on the hysteresis phenomenon, the direction of the modified Bouc-Wen hysteresis model investigated in the literature is unknown. To reduce the computation burden in adaptation mechanism, an optimized adaptation method is successfully applied to the control design. Based on the Lyapunov-Krasovskii method, two neural-network-based adaptive control algorithms are constructed to guarantee that all the system states and adaptive parameters remain bounded, and the tracking error converges to an adjustable neighborhood of the origin. In final, some numerical examples are provided to validate the effectiveness of the proposed control methods.

The feasibility of paper-based Tracking Codes and electronic medical record systems to monitor tobacco-use assessment and intervention in an Individual Practice Association (IPA) Model health maintenance organization (HMO).

PubMed

Bentz, Charles J; Davis, Nancy; Bayley, Bruce

2002-01-01

Despite evidence of its effectiveness, tobacco cessation is not systematically addressed in routine healthcare settings. Its measurement is part of the problem. A pilot study was designed to develop and implement two different tobacco tracking systems in two independent primary care offices that participated in an IPA Model health maintenance organization in Portland, Oregon. The first clinic, which utilized a paper-based charting system, implemented CPT-like tracking codes to measure and report tobacco-cessation activities, which were eventually included in the managed-care organization's (MCO) claims database. The second clinic implemented an electronic tracking system based on its computerized electronic medical record (EMR) charting system. This paper describes the pilot study, including the processes involved in building provider acceptance for the new tracking systems in these two clinics, the barriers and successes encountered during implementation, and the resources expended by the clinics and by the MCO during the pilot. The findings from the 3-month implementation period were that documentation of tobacco-use status remained stable at 42-45% in the paper-based clinic and increased from 79% to 88% in the EMR clinic. This pilot study demonstrated that Tracking Codes are a feasible preventive-care tracking system in paper-based medical offices. However, high levels of effort and support are needed, and a critical mass of insurers and health plans would need to adopt Tracking Codes before widespread use could be expected. Results of the EMR-based tracking system are also reviewed and discussed.

Tracking and visualization of space-time activities for a micro-scale flu transmission study.

PubMed

Qi, Feng; Du, Fei

2013-02-07

Infectious diseases pose increasing threats to public health with increasing population density and more and more sophisticated social networks. While efforts continue in studying the large scale dissemination of contagious diseases, individual-based activity and behaviour study benefits not only disease transmission modelling but also the control, containment, and prevention decision making at the local scale. The potential for using tracking technologies to capture detailed space-time trajectories and model individual behaviour is increasing rapidly, as technological advances enable the manufacture of small, lightweight, highly sensitive, and affordable receivers and the routine use of location-aware devices has become widespread (e.g., smart cellular phones). The use of low-cost tracking devices in medical research has also been proved effective by more and more studies. This study describes the use of tracking devices to collect data of space-time trajectories and the spatiotemporal processing of such data to facilitate micro-scale flu transmission study. We also reports preliminary findings on activity patterns related to chances of influenza infection in a pilot study. Specifically, this study employed A-GPS tracking devices to collect data on a university campus. Spatiotemporal processing was conducted for data cleaning and segmentation. Processed data was validated with traditional activity diaries. The A-GPS data set was then used for visual explorations including density surface visualization and connection analysis to examine space-time activity patterns in relation to chances of influenza infection. When compared to diary data, the segmented tracking data demonstrated to be an effective alternative and showed greater accuracies in time as well as the details of routes taken by participants. A comparison of space-time activity patterns between participants who caught seasonal influenza and those who did not revealed interesting patterns. This study proved that tracking technology an effective technique for obtaining data for micro-scale influenza transmission research. The findings revealed micro-scale transmission hotspots on a university campus and provided insights for local control and prevention strategies.

Model-Free Primitive-Based Iterative Learning Control Approach to Trajectory Tracking of MIMO Systems With Experimental Validation.

PubMed

Radac, Mircea-Bogdan; Precup, Radu-Emil; Petriu, Emil M

2015-11-01

This paper proposes a novel model-free trajectory tracking of multiple-input multiple-output (MIMO) systems by the combination of iterative learning control (ILC) and primitives. The optimal trajectory tracking solution is obtained in terms of previously learned solutions to simple tasks called primitives. The library of primitives that are stored in memory consists of pairs of reference input/controlled output signals. The reference input primitives are optimized in a model-free ILC framework without using knowledge of the controlled process. The guaranteed convergence of the learning scheme is built upon a model-free virtual reference feedback tuning design of the feedback decoupling controller. Each new complex trajectory to be tracked is decomposed into the output primitives regarded as basis functions. The optimal reference input for the control system to track the desired trajectory is next recomposed from the reference input primitives. This is advantageous because the optimal reference input is computed straightforward without the need to learn from repeated executions of the tracking task. In addition, the optimization problem specific to trajectory tracking of square MIMO systems is decomposed in a set of optimization problems assigned to each separate single-input single-output control channel that ensures a convenient model-free decoupling. The new model-free primitive-based ILC approach is capable of planning, reasoning, and learning. A case study dealing with the model-free control tuning for a nonlinear aerodynamic system is included to validate the new approach. The experimental results are given.

How High Is the Tramping Track? Mathematising and Applying in a Calculus Model-Eliciting Activity

ERIC Educational Resources Information Center

Yoon, Caroline; Dreyfus, Tommy; Thomas, Michael O. J.

2010-01-01

Two complementary processes involved in mathematical modelling are mathematising a realistic situation and applying a mathematical technique to a given realistic situation. We present and analyse work from two undergraduate students and two secondary school teachers who engaged in both processes during a mathematical modelling task that required…

Development of a model using the MATLAB System identification toolbox to estimate (222)Rn equilibrium factor from CR-39 based passive measurements.

PubMed

Abo-Elmagd, M; Sadek, A M

2014-12-01

Can and Bare method is a widely used passive method for measuring the equilibrium factor F through the determination of the track density ratio between bare (D) and filtered (Do) detectors. The dimensions of the used diffusion chamber are altering the deposition ratios of Po-isotopes on the chamber walls as well as the ratios of the existing alpha emitters in air. Then the measured filtered track density and therefore the resultant equilibrium factor is changed according to the diffusion chamber dimensions. For this reason, high uncertainty was expected in the measured F using different diffusion chambers. In the present work, F is derived as a function of both track density ratio (D/Do) and the dimensions of the used diffusion chambers (its volume to the total internal surface area; V/A). The accuracy of the derived formula was verified using the black-box modeling technique via the MATLAB System identification toolbox. The results show that the uncertainty of the calculated F by using the derived formula of F (D/Do, V/A) is only 5%. The obtained uncertainty ensures the quality of the derived function to calculate F using diffusion chambers with wide range of dimensions. Copyright © 2014 Elsevier Ltd. All rights reserved.

Space debris measurement program at Phillips Laboratory

NASA Technical Reports Server (NTRS)

Dao, Phan D.; Mcnutt, Ross T.

1992-01-01

Ground-based optical sensing was identified as a technique for measuring space debris complementary to radar in the critical debris size range of 1 to 10 cm. The Phillips Laboratory is building a staring optical sensor for space debris measurement and considering search and track optical measurement at additional sites. The staring sensor is implemented in collaboration with Wright Laboratory using the 2.5 m telescope at Wright Patterson AFB, Dayton, Ohio. The search and track sensor is designed to detect and track orbital debris in tasked orbits. A progress report and a discussion of sensor performance and search and track strategies will be given.

The Ionospheric Scintillation Effects on the BeiDou Signal Receiver

PubMed Central

He, Zhijun; Zhao, Hongbo; Feng, Wenquan

2016-01-01

Irregularities in the Earth’s ionosphere can make the amplitude and phase of radio signals fluctuate rapidly, which is known as ionospheric scintillation. Severe ionospheric scintillation could affect the performance of the Global Navigation Satellite System (GNSS). Currently, the Multiple Phase Screen (MPS) technique is widely used in solving problems caused by weak and strong scintillations. Considering that Southern China is mainly located in the area where moderate and intense scintillation occur frequently, this paper built a model based on the MPS technique and discussed the scintillation impacts on China’s BeiDou navigation system. By using the BeiDou B1I signal, this paper analyzed the scintillation effects on the receiver, which includes the acquisition and tracking process. For acquisition process, this paper focused on the correlation peak and acquisition probability. For the tracking process, this paper focused on the carrier tracking loop and the code tracking loop. Simulation results show that under high scintillation intensity, the phase fluctuation could be −1.13 ± 0.087 rad to 1.40 ± 0.087 rad and the relative amplitude fluctuation could be −10 dB to 8 dB. As the scintillation intensity increased, the average correlation peak would decrease more than 8%, which could thus degrade acquisition performance. On the other hand, when the signal-to-noise ratio (SNR) is comparatively lower, the influence of strong scintillation on the phase locked loop (PLL) is much higher than that of weak scintillation. As the scintillation becomes more intense, PLL variance could consequently results in an error of more than 2.02 cm in carrier-phase based ranging. In addition, the delay locked loop (DLL) simulation results indicated that the pseudo-range error caused by strong scintillation could be more than 4 m and the consequent impact on positioning accuracy could be more than 6 m. PMID:27834867

Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing †

PubMed Central

Latella, Claudia; Kuppuswamy, Naveen; Romano, Francesco; Traversaro, Silvio; Nori, Francesco

2016-01-01

Human motion tracking is a powerful tool used in a large range of applications that require human movement analysis. Although it is a well-established technique, its main limitation is the lack of estimation of real-time kinetics information such as forces and torques during the motion capture. In this paper, we present a novel approach for a human soft wearable force tracking for the simultaneous estimation of whole-body forces along with the motion. The early stage of our framework encompasses traditional passive marker based methods, inertial and contact force sensor modalities and harnesses a probabilistic computational technique for estimating dynamic quantities, originally proposed in the domain of humanoid robot control. We present experimental analysis on subjects performing a two degrees-of-freedom bowing task, and we estimate the motion and kinetics quantities. The results demonstrate the validity of the proposed method. We discuss the possible use of this technique in the design of a novel soft wearable force tracking device and its potential applications. PMID:27213394

Short-Arc Analysis of Intersatellite Tracking Data in a Gravity Mapping Mission

NASA Technical Reports Server (NTRS)

Rowlands, David D.; Ray, Richard D.; Chinn, Douglas S.; Lemoine, Frank G.; Smith, David E. (Technical Monitor)

2001-01-01

A technique for the analysis of low-low intersatellite range-rate data in a gravity mapping mission is explored. The technique is based on standard tracking data analysis for orbit determination but uses a spherical coordinate representation of the 12 epoch state parameters describing the baseline between the two satellites. This representation of the state parameters is exploited to allow the intersatellite range-rate analysis to benefit from information provided by other tracking data types without large simultaneous multiple data type solutions. The technique appears especially valuable for estimating gravity from short arcs (e.g., less than 15 minutes) of data. Gravity recovery simulations which use short arcs are compared with those using arcs a day in length. For a high-inclination orbit, the short-arc analysis recovers low-order gravity coefficients remarkably well, although higher order terms, especially sectorial terms, are less accurate. Simulations suggest that either long or short arcs of GRACE data are likely to improve parts of the geopotential spectrum by orders of magnitude.

4D computerized ionospheric tomography by using GPS measurements and IRI-Plas model

NASA Astrophysics Data System (ADS)

Tuna, Hakan; Arikan, Feza; Arikan, Orhan

2016-07-01

Ionospheric imaging is an important subject in ionospheric studies. GPS based TEC measurements provide very accurate information about the electron density values in the ionosphere. However, since the measurements are generally very sparse and non-uniformly distributed, computation of 3D electron density estimation from measurements alone is an ill-defined problem. Model based 3D electron density estimations provide physically feasible distributions. However, they are not generally compliant with the TEC measurements obtained from GPS receivers. In this study, GPS based TEC measurements and an ionosphere model known as International Reference Ionosphere Extended to Plasmasphere (IRI-Plas) are employed together in order to obtain a physically accurate 3D electron density distribution which is compliant with the real measurements obtained from a GPS satellite - receiver network. Ionospheric parameters input to the IRI-Plas model are perturbed in the region of interest by using parametric perturbation models such that the synthetic TEC measurements calculated from the resultant 3D electron density distribution fit to the real TEC measurements. The problem is considered as an optimization problem where the optimization parameters are the parameters of the parametric perturbation models. Proposed technique is applied over Turkey, on both calm and storm days of the ionosphere. Results show that the proposed technique produces 3D electron density distributions which are compliant with IRI-Plas model, GPS TEC measurements and ionosonde measurements. The effect of the GPS receiver station number on the performance of the proposed technique is investigated. Results showed that 7 GPS receiver stations in a region as large as Turkey is sufficient for both calm and storm days of the ionosphere. Since the ionization levels in the ionosphere are highly correlated in time, the proposed technique is extended to the time domain by applying Kalman based tracking and smoothing approaches onto the obtained results. Combining Kalman methods with the proposed 3D CIT technique creates a robust 4D ionospheric electron density estimation model, and has the advantage of decreasing the computational cost of the proposed method. Results applied on both calm and storm days of the ionosphere show that, new technique produces more robust solutions especially when the number of GPS receiver stations in the region is small. This study is supported by TUBITAK 114E541, 115E915 and Joint TUBITAK 114E092 and AS CR 14/001 projects.

Modeling of Aerosol Optical Depth Variability during the 1998 Canadian Forest Fire Smoke Event

NASA Astrophysics Data System (ADS)

Aubé, M.; O`Neill, N. T.; Royer, A.; Lavoué, D.

2003-04-01

Monitoring of aerosol optical depth (AOD) is of particular importance due to the significant role of aerosols in the atmospheric radiative budget. Up to now the two standard techniques used for retrieving AOD are; (i) sun photometry which provides measurements of high temporal frequency and sparse spatial frequency, and (ii) satellite based approaches such as based DDV (Dense Dark Vegetation) inversion algorithms which extract AOD over dark targets in remotely sensed imagery. Although the latter techniques allow AOD retrieval over appreciable spatial domains, the irregular spatial pattern of dark targets and the typically low repeat frequencies of imaging satellites exclude the acquisition of AOD databases on a continuous spatio-temporal basis. We attempt to fill gaps in spatio-temporal AOD measurements using a new methodology that links AOD measurements and particulate matter Transport Model using a data assimilation approach. This modelling package (AODSEM for Aerosol Optical Depth Spatio-temporal Evolution Model) uses a size and aerosol type segregated semi-Lagrangian-Eulerian trajectory algorithm driven by analysed meteorological data. Its novelty resides in the fact that the model evolution is tied to both ground based and satellite level AOD measurement and all physical processes have been optimized to track this important but crude parameter. We applied this methodology to a significant smoke event that occurred over Canada in august 1998. The results show the potential of this approach inasmuch as residuals between AODSEM assimilated analysis and measurements are smaller than typical errors associated to remotely sensed AOD (satellite or ground based). The AODSEM assimilation approach also gives better results than classical interpolation techniques. This improvement is especially evident when the available number of AOD measurements is small.

Tracking and characterizing the head motion of unanaesthetized rats in positron emission tomography

PubMed Central

Kyme, Andre; Meikle, Steven; Baldock, Clive; Fulton, Roger

2012-01-01

Positron emission tomography (PET) is an important in vivo molecular imaging technique for translational research. Imaging unanaesthetized rats using motion-compensated PET avoids the confounding impact of anaesthetic drugs and enables animals to be imaged during normal or evoked behaviour. However, there is little published data on the nature of rat head motion to inform the design of suitable marker-based motion-tracking set-ups for brain imaging—specifically, set-ups that afford close to uninterrupted tracking. We performed a systematic study of rat head motion parameters for unanaesthetized tube-bound and freely moving rats with a view to designing suitable motion-tracking set-ups in each case. For tube-bound rats, using a single appropriately placed binocular tracker, uninterrupted tracking was possible greater than 95 per cent of the time. For freely moving rats, simulations and measurements of a live subject indicated that two opposed binocular trackers are sufficient (less than 10% interruption to tracking) for a wide variety of behaviour types. We conclude that reliable tracking of head pose can be achieved with marker-based optical-motion-tracking systems for both tube-bound and freely moving rats undergoing PET studies without sedation. PMID:22718992

Smart Sensor-Based Motion Detection System for Hand Movement Training in Open Surgery.

PubMed

Sun, Xinyao; Byrns, Simon; Cheng, Irene; Zheng, Bin; Basu, Anup

2017-02-01

We introduce a smart sensor-based motion detection technique for objective measurement and assessment of surgical dexterity among users at different experience levels. The goal is to allow trainees to evaluate their performance based on a reference model shared through communication technology, e.g., the Internet, without the physical presence of an evaluating surgeon. While in the current implementation we used a Leap Motion Controller to obtain motion data for analysis, our technique can be applied to motion data captured by other smart sensors, e.g., OptiTrack. To differentiate motions captured from different participants, measurement and assessment in our approach are achieved using two strategies: (1) low level descriptive statistical analysis, and (2) Hidden Markov Model (HMM) classification. Based on our surgical knot tying task experiment, we can conclude that finger motions generated from users with different surgical dexterity, e.g., expert and novice performers, display differences in path length, number of movements and task completion time. In order to validate the discriminatory ability of HMM for classifying different movement patterns, a non-surgical task was included in our analysis. Experimental results demonstrate that our approach had 100 % accuracy in discriminating between expert and novice performances. Our proposed motion analysis technique applied to open surgical procedures is a promising step towards the development of objective computer-assisted assessment and training systems.

The Coplane Analysis Technique for Three-Dimensional Wind Retrieval Using the HIWRAP Airborne Doppler Radar

NASA Technical Reports Server (NTRS)

Didlake, Anthony C., Jr.; Heymsfield, Gerald M.; Tian, Lin; Guimond, Stephen R.

2015-01-01

The coplane analysis technique for mapping the three-dimensional wind field of precipitating systems is applied to the NASA High Altitude Wind and Rain Airborne Profiler (HIWRAP). HIWRAP is a dual-frequency Doppler radar system with two downward pointing and conically scanning beams. The coplane technique interpolates radar measurements to a natural coordinate frame, directly solves for two wind components, and integrates the mass continuity equation to retrieve the unobserved third wind component. This technique is tested using a model simulation of a hurricane and compared to a global optimization retrieval. The coplane method produced lower errors for the cross-track and vertical wind components, while the global optimization method produced lower errors for the along-track wind component. Cross-track and vertical wind errors were dependent upon the accuracy of the estimated boundary condition winds near the surface and at nadir, which were derived by making certain assumptions about the vertical velocity field. The coplane technique was then applied successfully to HIWRAP observations of Hurricane Ingrid (2013). Unlike the global optimization method, the coplane analysis allows for a transparent connection between the radar observations and specific analysis results. With this ability, small-scale features can be analyzed more adequately and erroneous radar measurements can be identified more easily.

Validating Ultrasound-based HIFU Lesion-size Monitoring Technique with MR Thermometry and Histology

NASA Astrophysics Data System (ADS)

Zhou, Shiwei; Petruzzello, John; Anand, Ajay; Sethuraman, Shriram; Azevedo, Jose

2010-03-01

In order to control and monitor HIFU lesions accurately and cost-effectively in real-time, we have developed an ultrasound-based therapy monitoring technique using acoustic radiation force to track the change in tissue mechanical properties. We validate our method with concurrent MR thermometry and histology. Comparison studies have been completed on in-vitro bovine liver samples. A single-element 1.1 MHz focused transducer was used to deliver HIFU and produce acoustic radiation force (ARF). A 5 MHz single-element transducer was placed co-axially with the HIFU transducer to acquire the RF data, and track the tissue displacement induced by ARF. During therapy, the monitoring procedure was interleaved with HIFU. MR thermometry (Philips Panorama 1T system) and ultrasound monitoring were performed simultaneously. The tissue temperature and thermal dose (CEM43 = 240 mins) were computed from the MR thermometry data. The tissue displacement induced by the acoustic radiation force was calculated from the ultrasound RF data in real-time using a cross-correlation based method. A normalized displacement difference (NDD) parameter was developed and calibrated to estimate the lesion size. The lesion size estimated by the NDD was compared with both MR thermometry prediction and the histology analysis. For lesions smaller than 8mm, the NDD-based lesion monitoring technique showed very similar performance as MR thermometry. The standard deviation of lesion size error is 0.66 mm, which is comparable to MR thermal dose contour prediction (0.42 mm). A phased array is needed for tracking displacement in 2D and monitoring lesion larger than 8 mm. The study demonstrates the potential of our ultrasound based technique to achieve precise HIFU lesion control through real-time monitoring. The results compare well with histology and an established technique like MR Thermometry. This approach provides feedback control in real-time to terminate therapy when a pre-determined lesion size is achieved, and can be extended to 2D and implemented on commercial ultrasound scanner systems.

Autonomous Integrated Receive System (AIRS) requirements definition. Volume 2: Design and development

NASA Technical Reports Server (NTRS)

Chie, C. M.; White, M. A.; Lindsey, W. C.; Davarian, F.; Dixon, R. C.

1984-01-01

Functional requirements and specifications are defined for an autonomous integrated receive system (AIRS) to be used as an improvement in the current tracking and data relay satellite system (TDRSS), and as a receiving system in the future tracking and data acquisition system (TDAS). The AIRS provides improved acquisition, tracking, bit error rate (BER), RFI mitigation techniques, and data operations performance compared to the current TDRSS ground segment receive system. A computer model of the AIRS is used to provide simulation results predicting the performance of AIRS. Cost and technology assessments are included.

Nearly automatic motion capture system for tracking octopus arm movements in 3D space.

PubMed

Zelman, Ido; Galun, Meirav; Akselrod-Ballin, Ayelet; Yekutieli, Yoram; Hochner, Binyamin; Flash, Tamar

2009-08-30

Tracking animal movements in 3D space is an essential part of many biomechanical studies. The most popular technique for human motion capture uses markers placed on the skin which are tracked by a dedicated system. However, this technique may be inadequate for tracking animal movements, especially when it is impossible to attach markers to the animal's body either because of its size or shape or because of the environment in which the animal performs its movements. Attaching markers to an animal's body may also alter its behavior. Here we present a nearly automatic markerless motion capture system that overcomes these problems and successfully tracks octopus arm movements in 3D space. The system is based on three successive tracking and processing stages. The first stage uses a recently presented segmentation algorithm to detect the movement in a pair of video sequences recorded by two calibrated cameras. In the second stage, the results of the first stage are processed to produce 2D skeletal representations of the moving arm. Finally, the 2D skeletons are used to reconstruct the octopus arm movement as a sequence of 3D curves varying in time. Motion tracking, segmentation and reconstruction are especially difficult problems in the case of octopus arm movements because of the deformable, non-rigid structure of the octopus arm and the underwater environment in which it moves. Our successful results suggest that the motion-tracking system presented here may be used for tracking other elongated objects.

H∞ output tracking control of uncertain and disturbed nonlinear systems based on neural network model

NASA Astrophysics Data System (ADS)

Li, Chengcheng; Li, Yuefeng; Wang, Guanglin

2017-07-01

The work presented in this paper seeks to address the tracking problem for uncertain continuous nonlinear systems with external disturbances. The objective is to obtain a model that uses a reference-based output feedback tracking control law. The control scheme is based on neural networks and a linear difference inclusion (LDI) model, and a PDC structure and H∞ performance criterion are used to attenuate external disturbances. The stability of the whole closed-loop model is investigated using the well-known quadratic Lyapunov function. The key principles of the proposed approach are as follows: neural networks are first used to approximate nonlinearities, to enable a nonlinear system to then be represented as a linearised LDI model. An LMI (linear matrix inequality) formula is obtained for uncertain and disturbed linear systems. This formula enables a solution to be obtained through an interior point optimisation method for some nonlinear output tracking control problems. Finally, simulations and comparisons are provided on two practical examples to illustrate the validity and effectiveness of the proposed method.

Traditional Tracking with Kalman Filter on Parallel Architectures

NASA Astrophysics Data System (ADS)

Cerati, Giuseppe; Elmer, Peter; Lantz, Steven; MacNeill, Ian; McDermott, Kevin; Riley, Dan; Tadel, Matevž; Wittich, Peter; Würthwein, Frank; Yagil, Avi

2015-05-01

Power density constraints are limiting the performance improvements of modern CPUs. To address this, we have seen the introduction of lower-power, multi-core processors, but the future will be even more exciting. In order to stay within the power density limits but still obtain Moore's Law performance/price gains, it will be necessary to parallelize algorithms to exploit larger numbers of lightweight cores and specialized functions like large vector units. Example technologies today include Intel's Xeon Phi and GPGPUs. Track finding and fitting is one of the most computationally challenging problems for event reconstruction in particle physics. At the High Luminosity LHC, for example, this will be by far the dominant problem. The most common track finding techniques in use today are however those based on the Kalman Filter. Significant experience has been accumulated with these techniques on real tracking detector systems, both in the trigger and offline. We report the results of our investigations into the potential and limitations of these algorithms on the new parallel hardware.

3D imaging of cells in scaffolds: direct labelling for micro CT.

PubMed

Shepherd, David V; Shepherd, Jennifer H; Best, Serena M; Cameron, Ruth E

2018-06-12

The development of in-vitro techniques to characterise the behaviour of cells in biomedical scaffolds is a rapidly developing field. However, until now it has not been possible to visualise, directly in 3D, the extent of cell migration using a desktop X-ray microCT. This paper describes a new technique based on cell labelling with a radio opacifier (barium sulphate), which permits cell tracking without the need for destructive sample preparation. The ability to track cells is highlighted via a comparison of cell migration through demonstrator lyophilised collagen scaffolds with contrasting pore size and interconnectivity. The results demonstrate the ease with which the technique can be used to characterise the effects of scaffold architecture on cell infiltration.

Particle Tracking Facilitates Real Time Capable Motion Correction in 2D or 3D Two-Photon Imaging of Neuronal Activity.

PubMed

Aghayee, Samira; Winkowski, Daniel E; Bowen, Zachary; Marshall, Erin E; Harrington, Matt J; Kanold, Patrick O; Losert, Wolfgang

2017-01-01

The application of 2-photon laser scanning microscopy (TPLSM) techniques to measure the dynamics of cellular calcium signals in populations of neurons is an extremely powerful technique for characterizing neural activity within the central nervous system. The use of TPLSM on awake and behaving subjects promises new insights into how neural circuit elements cooperatively interact to form sensory perceptions and generate behavior. A major challenge in imaging such preparations is unavoidable animal and tissue movement, which leads to shifts in the imaging location (jitter). The presence of image motion can lead to artifacts, especially since quantification of TPLSM images involves analysis of fluctuations in fluorescence intensities for each neuron, determined from small regions of interest (ROIs). Here, we validate a new motion correction approach to compensate for motion of TPLSM images in the superficial layers of auditory cortex of awake mice. We use a nominally uniform fluorescent signal as a secondary signal to complement the dynamic signals from genetically encoded calcium indicators. We tested motion correction for single plane time lapse imaging as well as multiplane (i.e., volume) time lapse imaging of cortical tissue. Our procedure of motion correction relies on locating the brightest neurons and tracking their positions over time using established techniques of particle finding and tracking. We show that our tracking based approach provides subpixel resolution without compromising speed. Unlike most established methods, our algorithm also captures deformations of the field of view and thus can compensate e.g., for rotations. Object tracking based motion correction thus offers an alternative approach for motion correction, one that is well suited for real time spike inference analysis and feedback control, and for correcting for tissue distortions.

Particle Tracking Facilitates Real Time Capable Motion Correction in 2D or 3D Two-Photon Imaging of Neuronal Activity

PubMed Central

Aghayee, Samira; Winkowski, Daniel E.; Bowen, Zachary; Marshall, Erin E.; Harrington, Matt J.; Kanold, Patrick O.; Losert, Wolfgang

2017-01-01

The application of 2-photon laser scanning microscopy (TPLSM) techniques to measure the dynamics of cellular calcium signals in populations of neurons is an extremely powerful technique for characterizing neural activity within the central nervous system. The use of TPLSM on awake and behaving subjects promises new insights into how neural circuit elements cooperatively interact to form sensory perceptions and generate behavior. A major challenge in imaging such preparations is unavoidable animal and tissue movement, which leads to shifts in the imaging location (jitter). The presence of image motion can lead to artifacts, especially since quantification of TPLSM images involves analysis of fluctuations in fluorescence intensities for each neuron, determined from small regions of interest (ROIs). Here, we validate a new motion correction approach to compensate for motion of TPLSM images in the superficial layers of auditory cortex of awake mice. We use a nominally uniform fluorescent signal as a secondary signal to complement the dynamic signals from genetically encoded calcium indicators. We tested motion correction for single plane time lapse imaging as well as multiplane (i.e., volume) time lapse imaging of cortical tissue. Our procedure of motion correction relies on locating the brightest neurons and tracking their positions over time using established techniques of particle finding and tracking. We show that our tracking based approach provides subpixel resolution without compromising speed. Unlike most established methods, our algorithm also captures deformations of the field of view and thus can compensate e.g., for rotations. Object tracking based motion correction thus offers an alternative approach for motion correction, one that is well suited for real time spike inference analysis and feedback control, and for correcting for tissue distortions. PMID:28860973

An Investigation of Large Aircraft Handling Qualities

NASA Astrophysics Data System (ADS)

Joyce, Richard D.

An analytical technique for investigating transport aircraft handling qualities is exercised in a study using models of two such vehicles, a Boeing 747 and Lockheed C-5A. Two flight conditions are employed for climb and directional tasks, and a third included for a flare task. The analysis technique is based upon a "structural model" of the human pilot developed by Hess. The associated analysis procedure has been discussed previously in the literature, but centered almost exclusively on the characteristics of high-performance fighter aircraft. The handling qualities rating level (HQRL) and pilot induced oscillation tendencies rating level (PIORL) are predicted for nominal configurations of the aircraft and for "damaged" configurations where actuator rate limits are introduced as nonlinearites. It is demonstrated that the analysis can accommodate nonlinear pilot/vehicle behavior and do so in the context of specific flight tasks, yielding estimates of handling qualities, pilot-induced oscillation tendencies and upper limits of task performance. A brief human-in-the-loop tracking study was performed to provide a limited validation of the pilot model employed.

Comparative assessment of pressure field reconstructions from particle image velocimetry measurements and Lagrangian particle tracking

NASA Astrophysics Data System (ADS)

van Gent, P. L.; Michaelis, D.; van Oudheusden, B. W.; Weiss, P.-É.; de Kat, R.; Laskari, A.; Jeon, Y. J.; David, L.; Schanz, D.; Huhn, F.; Gesemann, S.; Novara, M.; McPhaden, C.; Neeteson, N. J.; Rival, D. E.; Schneiders, J. F. G.; Schrijer, F. F. J.

2017-04-01

A test case for pressure field reconstruction from particle image velocimetry (PIV) and Lagrangian particle tracking (LPT) has been developed by constructing a simulated experiment from a zonal detached eddy simulation for an axisymmetric base flow at Mach 0.7. The test case comprises sequences of four subsequent particle images (representing multi-pulse data) as well as continuous time-resolved data which can realistically only be obtained for low-speed flows. Particle images were processed using tomographic PIV processing as well as the LPT algorithm `Shake-The-Box' (STB). Multiple pressure field reconstruction techniques have subsequently been applied to the PIV results (Eulerian approach, iterative least-square pseudo-tracking, Taylor's hypothesis approach, and instantaneous Vortex-in-Cell) and LPT results (FlowFit, Vortex-in-Cell-plus, Voronoi-based pressure evaluation, and iterative least-square pseudo-tracking). All methods were able to reconstruct the main features of the instantaneous pressure fields, including methods that reconstruct pressure from a single PIV velocity snapshot. Highly accurate reconstructed pressure fields could be obtained using LPT approaches in combination with more advanced techniques. In general, the use of longer series of time-resolved input data, when available, allows more accurate pressure field reconstruction. Noise in the input data typically reduces the accuracy of the reconstructed pressure fields, but none of the techniques proved to be critically sensitive to the amount of noise added in the present test case.

Magnetically launched flyer plate technique for probing electrical conductivity of compressed copper

NASA Astrophysics Data System (ADS)

Cochrane, K. R.; Lemke, R. W.; Riford, Z.; Carpenter, J. H.

2016-03-01

The electrical conductivity of materials under extremes of temperature and pressure is of crucial importance for a wide variety of phenomena, including planetary modeling, inertial confinement fusion, and pulsed power based dynamic materials experiments. There is a dearth of experimental techniques and data for highly compressed materials, even at known states such as along the principal isentrope and Hugoniot, where many pulsed power experiments occur. We present a method for developing, calibrating, and validating material conductivity models as used in magnetohydrodynamic (MHD) simulations. The difficulty in calibrating a conductivity model is in knowing where the model should be modified. Our method isolates those regions that will have an impact. It also quantitatively prioritizes which regions will have the most beneficial impact. Finally, it tracks the quantitative improvements to the conductivity model during each incremental adjustment. In this paper, we use an experiment on Sandia National Laboratories Z-machine to isentropically launch multiple flyer plates and, with the MHD code ALEGRA and the optimization code DAKOTA, calibrated the conductivity such that we matched an experimental figure of merit to +/-1%.

Magnetically launched flyer plate technique for probing electrical conductivity of compressed copper

DOE PAGES

Cochrane, Kyle R.; Lemke, Raymond W.; Riford, Z.; ...

2016-03-11

The electrical conductivity of materials under extremes of temperature and pressure is of crucial importance for a wide variety of phenomena, including planetary modeling, inertial confinement fusion, and pulsed power based dynamic materialsexperiments. There is a dearth of experimental techniques and data for highly compressed materials, even at known states such as along the principal isentrope and Hugoniot, where many pulsed power experiments occur. We present a method for developing, calibrating, and validating material conductivity models as used in magnetohydrodynamic(MHD) simulations. The difficulty in calibrating a conductivity model is in knowing where the model should be modified. Our method isolatesmore » those regions that will have an impact. It also quantitatively prioritizes which regions will have the most beneficial impact. Finally, it tracks the quantitative improvements to the conductivity model during each incremental adjustment. In this study, we use an experiment on Sandia National Laboratories Z-machine to isentropically launch multiple flyer plates and, with the MHD code ALEGRA and the optimization code DAKOTA, calibrated the conductivity such that we matched an experimental figure of merit to +/–1%.« less

Merging universal and indicated prevention programs: the Fast Track model. Conduct Problems Prevention Research Group.

PubMed

2000-01-01

Fast Track is a multisite, multicomponent preventive intervention for young children at high risk for long-term antisocial behavior. Based on a comprehensive developmental model, this intervention includes a universal-level classroom program plus social-skill training, academic tutoring, parent training, and home visiting to improve competencies and reduce problems in a high-risk group of children selected in kindergarten. The theoretical principles and clinical strategies utilized in the Fast Track Project are described to illustrate the interplay between basic developmental research, the understanding of risk and protective factors, and a research-based model of preventive intervention that integrates universal and indicated models of prevention.

Probabilistic retinal vessel segmentation

NASA Astrophysics Data System (ADS)

Wu, Chang-Hua; Agam, Gady

2007-03-01

Optic fundus assessment is widely used for diagnosing vascular and non-vascular pathology. Inspection of the retinal vasculature may reveal hypertension, diabetes, arteriosclerosis, cardiovascular disease and stroke. Due to various imaging conditions retinal images may be degraded. Consequently, the enhancement of such images and vessels in them is an important task with direct clinical applications. We propose a novel technique for vessel enhancement in retinal images that is capable of enhancing vessel junctions in addition to linear vessel segments. This is an extension of vessel filters we have previously developed for vessel enhancement in thoracic CT scans. The proposed approach is based on probabilistic models which can discern vessels and junctions. Evaluation shows the proposed filter is better than several known techniques and is comparable to the state of the art when evaluated on a standard dataset. A ridge-based vessel tracking process is applied on the enhanced image to demonstrate the effectiveness of the enhancement filter.

Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

NASA Astrophysics Data System (ADS)

Kapoor, Neha; Ohri, Jyoti

2017-02-01

Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

Robot Grasps Rotating Object

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.; Tso, Kam S.; Litwin, Todd E.; Hayati, Samad A.; Bon, Bruce B.

1991-01-01

Experimental robotic system semiautomatically grasps rotating object, stops rotation, and pulls object to rest in fixture. Based on combination of advanced techniques for sensing and control, constructed to test concepts for robotic recapture of spinning artificial satellites. Potential terrestrial applications for technology developed with help of system includes tracking and grasping of industrial parts on conveyor belts, tracking of vehicles and animals, and soft grasping of moving objects in general.

Adaptive mesh refinement and front-tracking for shear bands in an antiplane shear model

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

Garaizar, F.X.; Trangenstein, J.

1998-09-01

In this paper the authors describe a numerical algorithm for the study of hear-band formation and growth in a two-dimensional antiplane shear of granular materials. The algorithm combines front-tracking techniques and adaptive mesh refinement. Tracking provides a more careful evolution of the band when coupled with special techniques to advance the ends of the shear band in the presence of a loss of hyperbolicity. The adaptive mesh refinement allows the computational effort to be concentrated in important areas of the deformation, such as the shear band and the elastic relief wave. The main challenges are the problems related to shearmore » bands that extend across several grid patches and the effects that a nonhyperbolic growth rate of the shear bands has in the refinement process. They give examples of the success of the algorithm for various levels of refinement.« less

Tracking of Pacific walruses in the Chukchi Sea using a single hydrophone.

PubMed

Mouy, Xavier; Hannay, David; Zykov, Mikhail; Martin, Bruce

2012-02-01

The vocal repertoire of Pacific walruses includes underwater sound pulses referred to as knocks and bell-like calls. An extended acoustic monitoring program was performed in summer 2007 over a large region of the eastern Chukchi Sea using autonomous seabed-mounted acoustic recorders. Walrus knocks were identified in many of the recordings and most of these sounds included multiple bottom and surface reflected signals. This paper investigates the use of a localization technique based on relative multipath arrival times (RMATs) for potential behavior studies. First, knocks are detected using a semi-automated kurtosis-based algorithm. Then RMATs are matched to values predicted by a ray-tracing model. Walrus tracks with vertical and horizontal movements were obtained. The tracks included repeated dives between 4.0 m and 15.5 m depth and a deep dive to the sea bottom (53 m). Depths at which bell-like sounds are produced, average knock production rate and source levels estimates of the knocks were determined. Bell sounds were produced at all depths throughout the dives. Average knock production rates varied from 59 to 75 knocks/min. Average source level of the knocks was estimated to 177.6 ± 7.5 dB re 1 μPa peak @ 1 m. © 2012 Acoustical Society of America

Optical tracking of nanoscale particles in microscale environments

PubMed Central

Mathai, P. P.; Liddle, J. A.; Stavis, S. M.

2016-01-01

The trajectories of nanoscale particles through microscale environments record useful information about both the particles and the environments. Optical microscopes provide efficient access to this information through measurements of light in the far field from nanoparticles. Such measurements necessarily involve trade-offs in tracking capabilities. This article presents a measurement framework, based on information theory, that facilitates a more systematic understanding of such trade-offs to rationally design tracking systems for diverse applications. This framework includes the degrees of freedom of optical microscopes, which determine the limitations of tracking measurements in theory. In the laboratory, tracking systems are assemblies of sources and sensors, optics and stages, and nanoparticle emitters. The combined characteristics of such systems determine the limitations of tracking measurements in practice. This article reviews this tracking hardware with a focus on the essential functions of nanoparticles as optical emitters and microenvironmental probes. Within these theoretical and practical limitations, experimentalists have implemented a variety of tracking systems with different capabilities. This article reviews a selection of apparatuses and techniques for tracking multiple and single particles by tuning illumination and detection, and by using feedback and confinement to improve the measurements. Prior information is also useful in many tracking systems and measurements, which apply across a broad spectrum of science and technology. In the context of the framework and review of apparatuses and techniques, this article reviews a selection of applications, with particle diffusion serving as a prelude to tracking measurements in biological, fluid, and material systems, fabrication and assembly processes, and engineered devices. In so doing, this review identifies trends and gaps in particle tracking that might influence future research. PMID:27213022

Refining the modelling of vehicle-track interaction

NASA Astrophysics Data System (ADS)

Kaiser, Ingo

2012-01-01

An enhanced model of a passenger coach running on a straight track is developed. This model includes wheelsets modelled as rotating flexible bodies, a track consisting of flexible rails supported on discrete sleepers and wheel-rail contact modules, which can describe non-elliptic contact patches based on a boundary element method (BEM). For the scenarios of undisturbed centred running and permanent hunting, the impact of the structural deformations of the wheelsets and the rails on the stress distribution in the wheel-rail contact is investigated.

Modeling the effects of high-G stress on pilots in a tracking task

NASA Technical Reports Server (NTRS)

Korn, J.; Kleinman, D. L.

1978-01-01

Air-to-air tracking experiments were conducted at the Aerospace Medical Research Laboratories using both fixed and moving base dynamic environment simulators. The obtained data, which includes longitudinal error of a simulated air-to-air tracking task as well as other auxiliary variables, was analyzed using an ensemble averaging method. In conjunction with these experiments, the optimal control model is applied to model a human operator under high-G stress.

Lidar-based wake tracking for closed-loop wind farm control

NASA Astrophysics Data System (ADS)

Raach, Steffen; Schlipf, David; Cheng, Po Wen

2016-09-01

This work presents two advancements towards closed-loop wake redirecting of a wind turbine. First, a model-based estimation approach is presented which uses a nacelle-based lidar system facing downwind to obtain information about the wake. A reduced order wake model is described which is then used in the estimation to track the wake. The tracking is demonstrated with lidar measurement data from an offshore campaign and with simulated lidar data from a SOWFA simulation. Second, a controller for closed-loop wake steering is presented. It uses the wake tracking information to set the yaw actuator of the wind turbine to redirect the wake to a desired position. Altogether, this paper aims to present the concept of closed-loop wake redirecting and gives a possible solution to it.

Image sequence analysis workstation for multipoint motion analysis

NASA Astrophysics Data System (ADS)

Mostafavi, Hassan

1990-08-01

This paper describes an application-specific engineering workstation designed and developed to analyze motion of objects from video sequences. The system combines the software and hardware environment of a modem graphic-oriented workstation with the digital image acquisition, processing and display techniques. In addition to automation and Increase In throughput of data reduction tasks, the objective of the system Is to provide less invasive methods of measurement by offering the ability to track objects that are more complex than reflective markers. Grey level Image processing and spatial/temporal adaptation of the processing parameters is used for location and tracking of more complex features of objects under uncontrolled lighting and background conditions. The applications of such an automated and noninvasive measurement tool include analysis of the trajectory and attitude of rigid bodies such as human limbs, robots, aircraft in flight, etc. The system's key features are: 1) Acquisition and storage of Image sequences by digitizing and storing real-time video; 2) computer-controlled movie loop playback, freeze frame display, and digital Image enhancement; 3) multiple leading edge tracking in addition to object centroids at up to 60 fields per second from both live input video or a stored Image sequence; 4) model-based estimation and tracking of the six degrees of freedom of a rigid body: 5) field-of-view and spatial calibration: 6) Image sequence and measurement data base management; and 7) offline analysis software for trajectory plotting and statistical analysis.

A Saccade Based Framework for Real-Time Motion Segmentation Using Event Based Vision Sensors

PubMed Central

Mishra, Abhishek; Ghosh, Rohan; Principe, Jose C.; Thakor, Nitish V.; Kukreja, Sunil L.

2017-01-01

Motion segmentation is a critical pre-processing step for autonomous robotic systems to facilitate tracking of moving objects in cluttered environments. Event based sensors are low power analog devices that represent a scene by means of asynchronous information updates of only the dynamic details at high temporal resolution and, hence, require significantly less calculations. However, motion segmentation using spatiotemporal data is a challenging task due to data asynchrony. Prior approaches for object tracking using neuromorphic sensors perform well while the sensor is static or a known model of the object to be followed is available. To address these limitations, in this paper we develop a technique for generalized motion segmentation based on spatial statistics across time frames. First, we create micromotion on the platform to facilitate the separation of static and dynamic elements of a scene, inspired by human saccadic eye movements. Second, we introduce the concept of spike-groups as a methodology to partition spatio-temporal event groups, which facilitates computation of scene statistics and characterize objects in it. Experimental results show that our algorithm is able to classify dynamic objects with a moving camera with maximum accuracy of 92%. PMID:28316563

A Eulerian-Lagrangian Model to Simulate Two-Phase/Particulate Flows

NASA Technical Reports Server (NTRS)

Apte, S. V.; Mahesh, K.; Lundgren, T.

2003-01-01

Figure 1 shows a snapshot of liquid fuel spray coming out of an injector nozzle in a realistic gas-turbine combustor. Here the spray atomization was simulated using a stochastic secondary breakup model (Apte et al. 2003a) with point-particle approximation for the droplets. Very close to the injector, it is observed that the spray density is large and the droplets cannot be treated as point-particles. The volume displaced by the liquid in this region is significant and can alter the gas-phase ow and spray evolution. In order to address this issue, one can compute the dense spray regime by an Eulerian-Lagrangian technique using advanced interface tracking/level-set methods (Sussman et al. 1994; Tryggvason et al. 2001; Herrmann 2003). This, however, is computationally intensive and may not be viable in realistic complex configurations. We therefore plan to develop a methodology based on Eulerian-Lagrangian technique which will allow us to capture the essential features of primary atomization using models to capture interactions between the fluid and droplets and which can be directly applied to the standard atomization models used in practice. The numerical scheme for unstructured grids developed by Mahesh et al. (2003) for incompressible flows is modified to take into account the droplet volume fraction. The numerical framework is directly applicable to realistic combustor geometries. Our main objectives in this work are: Develop a numerical formulation based on Eulerian-Lagrangian techniques with models for interaction terms between the fluid and particles to capture the Kelvin- Helmholtz type instabilities observed during primary atomization. Validate this technique for various two-phase and particulate flows. Assess its applicability to capture primary atomization of liquid jets in conjunction with secondary atomization models.

F-14 modeling study

NASA Technical Reports Server (NTRS)

Levison, William H.

1988-01-01

This study explored application of a closed loop pilot/simulator model to the analysis of some simulator fidelity issues. The model was applied to two data bases: (1) a NASA ground based simulation of an air-to-air tracking task in which nonvisual cueing devices were explored, and (2) a ground based and inflight study performed by the Calspan Corporation to explore the effects of simulator delay on attitude tracking performance. The model predicted the major performance trends obtained in both studies. A combined analytical and experimental procedure for exploring simulator fidelity issues is outlined.

19F-perfluorocarbon-labeled human peripheral blood mononuclear cells can be detected in vivo using clinical MRI parameters in a therapeutic cell setting.

PubMed

Fink, Corby; Gaudet, Jeffrey M; Fox, Matthew S; Bhatt, Shashank; Viswanathan, Sowmya; Smith, Michael; Chin, Joseph; Foster, Paula J; Dekaban, Gregory A

2018-01-12

A 19 Fluorine ( 19 F) perfluorocarbon cell labeling agent, when employed with an appropriate cellular MRI protocol, allows for in vivo cell tracking. 19 F cellular MRI can be used to non-invasively assess the location and persistence of cell-based cancer vaccines and other cell-based therapies. This study was designed to determine the feasibility of labeling and tracking peripheral blood mononuclear cells (PBMC), a heterogeneous cell population. Under GMP-compliant conditions human PBMC were labeled with a 19 F-based MRI cell-labeling agent in a manner safe for autologous re-injection. Greater than 99% of PBMC labeled with the 19 F cell-labeling agent without affecting functionality or affecting viability. The 19 F-labeled PBMC were detected in vivo in a mouse model at the injection site and in a draining lymph node. A clinical cellular MR protocol was optimized for the detection of PBMC injected both at the surface of a porcine shank and at a depth of 1.2 cm, equivalent to depth of a human lymph node, using a dual 1 H/ 19 F dual switchable surface radio frequency coil. This study demonstrates it is feasible to label and track 19 F-labeled PBMC using clinical MRI protocols. Thus, 19 F cellular MRI represents a non-invasive imaging technique suitable to assess the effectiveness of cell-based cancer vaccines.

Infrared dim moving target tracking via sparsity-based discriminative classifier and convolutional network

NASA Astrophysics Data System (ADS)

Qian, Kun; Zhou, Huixin; Wang, Bingjian; Song, Shangzhen; Zhao, Dong

2017-11-01

Infrared dim and small target tracking is a great challenging task. The main challenge for target tracking is to account for appearance change of an object, which submerges in the cluttered background. An efficient appearance model that exploits both the global template and local representation over infrared image sequences is constructed for dim moving target tracking. A Sparsity-based Discriminative Classifier (SDC) and a Convolutional Network-based Generative Model (CNGM) are combined with a prior model. In the SDC model, a sparse representation-based algorithm is adopted to calculate the confidence value that assigns more weights to target templates than negative background templates. In the CNGM model, simple cell feature maps are obtained by calculating the convolution between target templates and fixed filters, which are extracted from the target region at the first frame. These maps measure similarities between each filter and local intensity patterns across the target template, therefore encoding its local structural information. Then, all the maps form a representation, preserving the inner geometric layout of a candidate template. Furthermore, the fixed target template set is processed via an efficient prior model. The same operation is applied to candidate templates in the CNGM model. The online update scheme not only accounts for appearance variations but also alleviates the migration problem. At last, collaborative confidence values of particles are utilized to generate particles' importance weights. Experiments on various infrared sequences have validated the tracking capability of the presented algorithm. Experimental results show that this algorithm runs in real-time and provides a higher accuracy than state of the art algorithms.

Multi-Complementary Model for Long-Term Tracking

PubMed Central

Zhang, Deng; Zhang, Junchang; Xia, Chenyang

2018-01-01

In recent years, video target tracking algorithms have been widely used. However, many tracking algorithms do not achieve satisfactory performance, especially when dealing with problems such as object occlusions, background clutters, motion blur, low illumination color images, and sudden illumination changes in real scenes. In this paper, we incorporate an object model based on contour information into a Staple tracker that combines the correlation filter model and color model to greatly improve the tracking robustness. Since each model is responsible for tracking specific features, the three complementary models combine for more robust tracking. In addition, we propose an efficient object detection model with contour and color histogram features, which has good detection performance and better detection efficiency compared to the traditional target detection algorithm. Finally, we optimize the traditional scale calculation, which greatly improves the tracking execution speed. We evaluate our tracker on the Object Tracking Benchmarks 2013 (OTB-13) and Object Tracking Benchmarks 2015 (OTB-15) benchmark datasets. With the OTB-13 benchmark datasets, our algorithm is improved by 4.8%, 9.6%, and 10.9% on the success plots of OPE, TRE and SRE, respectively, in contrast to another classic LCT (Long-term Correlation Tracking) algorithm. On the OTB-15 benchmark datasets, when compared with the LCT algorithm, our algorithm achieves 10.4%, 12.5%, and 16.1% improvement on the success plots of OPE, TRE, and SRE, respectively. At the same time, it needs to be emphasized that, due to the high computational efficiency of the color model and the object detection model using efficient data structures, and the speed advantage of the correlation filters, our tracking algorithm could still achieve good tracking speed. PMID:29425170

Analysis of hydraulic steering system of tracked all-terrain vehicles' articulated mechanism

NASA Astrophysics Data System (ADS)

Meng, Zhongliang; Zang, Hao

2018-04-01

As for the researches on the dynamic characteristics of tracked all-terrain vehicles' articulated mechanism, the hydraulic feature of their steering system needs researching more, apart from the study on mechanical models. According to the maximum pressure required by the steering system of tracked all-terrain vehicle and the principle of the steering system, this paper conducts an analysis of the hydraulic steering system of the articulated mechanism. Based on the structure principle of the steering gear, a simulation model of the tracked all-terrain vehicle turning left is built. When building the simulation model of the steering gear, it makes a simulation analysis, taking the tracked all-terrain vehicle turning left as an example.

Monte Carlo simulation of prompt γ-ray emission in proton therapy using a specific track length estimator

NASA Astrophysics Data System (ADS)

El Kanawati, W.; Létang, J. M.; Dauvergne, D.; Pinto, M.; Sarrut, D.; Testa, É.; Freud, N.

2015-10-01

A Monte Carlo (MC) variance reduction technique is developed for prompt-γ emitters calculations in proton therapy. Prompt-γ emitted through nuclear fragmentation reactions and exiting the patient during proton therapy could play an important role to help monitoring the treatment. However, the estimation of the number and the energy of emitted prompt-γ per primary proton with MC simulations is a slow process. In order to estimate the local distribution of prompt-γ emission in a volume of interest for a given proton beam of the treatment plan, a MC variance reduction technique based on a specific track length estimator (TLE) has been developed. First an elemental database of prompt-γ emission spectra is established in the clinical energy range of incident protons for all elements in the composition of human tissues. This database of the prompt-γ spectra is built offline with high statistics. Regarding the implementation of the prompt-γ TLE MC tally, each proton deposits along its track the expectation of the prompt-γ spectra from the database according to the proton kinetic energy and the local material composition. A detailed statistical study shows that the relative efficiency mainly depends on the geometrical distribution of the track length. Benchmarking of the proposed prompt-γ TLE MC technique with respect to an analogous MC technique is carried out. A large relative efficiency gain is reported, ca. 105.

A motion-compensated image filter for low-dose fluoroscopy in a real-time tumor-tracking radiotherapy system

PubMed Central

Miyamoto, Naoki; Ishikawa, Masayori; Sutherland, Kenneth; Suzuki, Ryusuke; Matsuura, Taeko; Toramatsu, Chie; Takao, Seishin; Nihongi, Hideaki; Shimizu, Shinichi; Umegaki, Kikuo; Shirato, Hiroki

2015-01-01

In the real-time tumor-tracking radiotherapy system, a surrogate fiducial marker inserted in or near the tumor is detected by fluoroscopy to realize respiratory-gated radiotherapy. The imaging dose caused by fluoroscopy should be minimized. In this work, an image processing technique is proposed for tracing a moving marker in low-dose imaging. The proposed tracking technique is a combination of a motion-compensated recursive filter and template pattern matching. The proposed image filter can reduce motion artifacts resulting from the recursive process based on the determination of the region of interest for the next frame according to the current marker position in the fluoroscopic images. The effectiveness of the proposed technique and the expected clinical benefit were examined by phantom experimental studies with actual tumor trajectories generated from clinical patient data. It was demonstrated that the marker motion could be traced in low-dose imaging by applying the proposed algorithm with acceptable registration error and high pattern recognition score in all trajectories, although some trajectories were not able to be tracked with the conventional spatial filters or without image filters. The positional accuracy is expected to be kept within ±2 mm. The total computation time required to determine the marker position is a few milliseconds. The proposed image processing technique is applicable for imaging dose reduction. PMID:25129556

Robust lane detection and tracking using multiple visual cues under stochastic lane shape conditions

NASA Astrophysics Data System (ADS)

Huang, Zhi; Fan, Baozheng; Song, Xiaolin

2018-03-01

As one of the essential components of environment perception techniques for an intelligent vehicle, lane detection is confronted with challenges including robustness against the complicated disturbance and illumination, also adaptability to stochastic lane shapes. To overcome these issues, we proposed a robust lane detection method named classification-generation-growth-based (CGG) operator to the detected lines, whereby the linear lane markings are identified by synergizing multiple visual cues with the a priori knowledge and spatial-temporal information. According to the quality of linear lane fitting, the linear and linear-parabolic models are dynamically switched to describe the actual lane. The Kalman filter with adaptive noise covariance and the region of interests (ROI) tracking are applied to improve the robustness and efficiency. Experiments were conducted with images covering various challenging scenarios. The experimental results evaluate the effectiveness of the presented method for complicated disturbances, illumination, and stochastic lane shapes.

Status of the geopotential. [earth gravity measurement

NASA Technical Reports Server (NTRS)

Lerch, F. J.

1983-01-01

Satellite laser ranging, satellite altimetry, and improved measurements of surface gravitational anomalies have broadened the data base on intermediate and short wavelength regions of the earth gravity field. The global data set served to develop new geopotential models with a resolution in spherical harmonics out to degree 180. The resolution was made possible using Seasat altimetry data containing 56,761 values of 1 x 1 deg gravity anomalies. Satellite-to-satellite tracking techniques involving the Geos-3 and Apollo spacecraft data for the sea surface temperature have yielded accurate intermediate wavelength gravity variations which correlate well with residual depth anomalies. Oceanic gravity anomalies have been computed directly from satellite altimetry or through statistical estimation using oceanic geoid heights. The data sets for gravimetric geoids have been compared with altimetric surfaces to identify areas which were of interest for geophysical investigation. Future data sets could become available from a proposed satellite-to-satellite Doppler tracking system (Gravsat) launched by NASA.

Simulation of radiation damping in rings, using stepwise ray-tracing methods

DOE PAGES

Meot, F.

2015-06-26

The ray-tracing code Zgoubi computes particle trajectories in arbitrary magnetic and/or electric field maps or analytical field models. It includes a built-in fitting procedure, spin tracking many Monte Carlo processes. The accuracy of the integration method makes it an efficient tool for multi-turn tracking in periodic machines. Energy loss by synchrotron radiation, based on Monte Carlo techniques, had been introduced in Zgoubi in the early 2000s for studies regarding the linear collider beam delivery system. However, only recently has this Monte Carlo tool been used for systematic beam dynamics and spin diffusion studies in rings, including eRHIC electron-ion collider projectmore » at the Brookhaven National Laboratory. Some beam dynamics aspects of this recent use of Zgoubi capabilities, including considerations of accuracy as well as further benchmarking in the presence of synchrotron radiation in rings, are reported here.« less

Comparison of FRF measurements and mode shapes determined using optically image based, laser, and accelerometer measurements

NASA Astrophysics Data System (ADS)

Warren, Christopher; Niezrecki, Christopher; Avitabile, Peter; Pingle, Pawan

2011-08-01

Today, accelerometers and laser Doppler vibrometers are widely accepted as valid measurement tools for structural dynamic measurements. However, limitations of these transducers prevent the accurate measurement of some phenomena. For example, accelerometers typically measure motion at a limited number of discrete points and can mass load a structure. Scanning laser vibrometers have a very wide frequency range and can measure many points without mass-loading, but are sensitive to large displacements and can have lengthy acquisition times due to sequential measurements. Image-based stereo-photogrammetry techniques provide additional measurement capabilities that compliment the current array of measurement systems by providing an alternative that favors high-displacement and low-frequency vibrations typically difficult to measure with accelerometers and laser vibrometers. Within this paper, digital image correlation, three-dimensional (3D) point-tracking, 3D laser vibrometry, and accelerometer measurements are all used to measure the dynamics of a structure to compare each of the techniques. Each approach has its benefits and drawbacks, so comparative measurements are made using these approaches to show some of the strengths and weaknesses of each technique. Additionally, the displacements determined using 3D point-tracking are used to calculate frequency response functions, from which mode shapes are extracted. The image-based frequency response functions (FRFs) are compared to those obtained by collocated accelerometers. Extracted mode shapes are then compared to those of a previously validated finite element model (FEM) of the test structure and are shown to have excellent agreement between the FEM and the conventional measurement approaches when compared using the Modal Assurance Criterion (MAC) and Pseudo-Orthogonality Check (POC).

Control-based continuation: Bifurcation and stability analysis for physical experiments

NASA Astrophysics Data System (ADS)

Barton, David A. W.

2017-02-01

Control-based continuation is technique for tracking the solutions and bifurcations of nonlinear experiments. The idea is to apply the method of numerical continuation to a feedback-controlled physical experiment such that the control becomes non-invasive. Since in an experiment it is not (generally) possible to set the state of the system directly, the control target becomes a proxy for the state. Control-based continuation enables the systematic investigation of the bifurcation structure of a physical system, much like if it was numerical model. However, stability information (and hence bifurcation detection and classification) is not readily available due to the presence of stabilising feedback control. This paper uses a periodic auto-regressive model with exogenous inputs (ARX) to approximate the time-varying linearisation of the experiment around a particular periodic orbit, thus providing the missing stability information. This method is demonstrated using a physical nonlinear tuned mass damper.

Effects of measurement unobservability on neural extended Kalman filter tracking

NASA Astrophysics Data System (ADS)

Stubberud, Stephen C.; Kramer, Kathleen A.

2009-05-01

An important component of tracking fusion systems is the ability to fuse various sensors into a coherent picture of the scene. When multiple sensor systems are being used in an operational setting, the types of data vary. A significant but often overlooked concern of multiple sensors is the incorporation of measurements that are unobservable. An unobservable measurement is one that may provide information about the state, but cannot recreate a full target state. A line of bearing measurement, for example, cannot provide complete position information. Often, such measurements come from passive sensors such as a passive sonar array or an electronic surveillance measure (ESM) system. Unobservable measurements will, over time, result in the measurement uncertainty to grow without bound. While some tracking implementations have triggers to protect against the detrimental effects, many maneuver tracking algorithms avoid discussing this implementation issue. One maneuver tracking technique is the neural extended Kalman filter (NEKF). The NEKF is an adaptive estimation algorithm that estimates the target track as it trains a neural network on line to reduce the error between the a priori target motion model and the actual target dynamics. The weights of neural network are trained in a similar method to the state estimation/parameter estimation Kalman filter techniques. The NEKF has been shown to improve target tracking accuracy through maneuvers and has been use to predict target behavior using the new model that consists of the a priori model and the neural network. The key to the on-line adaptation of the NEKF is the fact that the neural network is trained using the same residuals as the Kalman filter for the tracker. The neural network weights are treated as augmented states to the target track. Through the state-coupling function, the weights are coupled to the target states. Thus, if the measurements cause the states of the target track to be unobservable, then the weights of the neural network have unobservable modes as well. In recent analysis, the NEKF was shown to have a significantly larger growth in the eigenvalues of the error covariance matrix than the standard EKF tracker when the measurements were purely bearings-only. This caused detrimental effects to the ability of the NEKF to model the target dynamics. In this work, the analysis is expanded to determine the detrimental effects of bearings-only measurements of various uncertainties on the performance of the NEKF when these unobservable measurements are interlaced with completely observable measurements. This analysis provides the ability to put implementation limitations on the NEKF when bearings-only sensors are present.

Vehicle Surveillance with a Generic, Adaptive, 3D Vehicle Model.

PubMed

Leotta, Matthew J; Mundy, Joseph L

2011-07-01

In automated surveillance, one is often interested in tracking road vehicles, measuring their shape in 3D world space, and determining vehicle classification. To address these tasks simultaneously, an effective approach is the constrained alignment of a prior model of 3D vehicle shape to images. Previous 3D vehicle models are either generic but overly simple or rigid and overly complex. Rigid models represent exactly one vehicle design, so a large collection is needed. A single generic model can deform to a wide variety of shapes, but those shapes have been far too primitive. This paper uses a generic 3D vehicle model that deforms to match a wide variety of passenger vehicles. It is adjustable in complexity between the two extremes. The model is aligned to images by predicting and matching image intensity edges. Novel algorithms are presented for fitting models to multiple still images and simultaneous tracking while estimating shape in video. Experiments compare the proposed model to simple generic models in accuracy and reliability of 3D shape recovery from images and tracking in video. Standard techniques for classification are also used to compare the models. The proposed model outperforms the existing simple models at each task.

Optimal Output Trajectory Redesign for Invertible Systems

NASA Technical Reports Server (NTRS)

Devasia, S.

1996-01-01

Given a desired output trajectory, inversion-based techniques find input-state trajectories required to exactly track the output. These inversion-based techniques have been successfully applied to the endpoint tracking control of multijoint flexible manipulators and to aircraft control. The specified output trajectory uniquely determines the required input and state trajectories that are found through inversion. These input-state trajectories exactly track the desired output; however, they might not meet acceptable performance requirements. For example, during slewing maneuvers of flexible structures, the structural deformations, which depend on the required state trajectories, may be unacceptably large. Further, the required inputs might cause actuator saturation during an exact tracking maneuver, for example, in the flight control of conventional takeoff and landing aircraft. In such situations, a compromise is desired between the tracking requirement and other goals such as reduction of internal vibrations and prevention of actuator saturation; the desired output trajectory needs to redesigned. Here, we pose the trajectory redesign problem as an optimization of a general quadratic cost function and solve it in the context of linear systems. The solution is obtained as an off-line prefilter of the desired output trajectory. An advantage of our technique is that the prefilter is independent of the particular trajectory. The prefilter can therefore be precomputed, which is a major advantage over other optimization approaches. Previous works have addressed the issue of preshaping inputs to minimize residual and in-maneuver vibrations for flexible structures; Since the command preshaping is computed off-line. Further minimization of optimal quadratic cost functions has also been previously use to preshape command inputs for disturbance rejection. All of these approaches are applicable when the inputs to the system are known a priori. Typically, outputs (not inputs) are specified in tracking problems, and hence the input trajectories have to be computed. The inputs to the system are however, difficult to determine for non-minimum phase systems like flexible structures. One approach to solve this problem is to (1) choose a tracking controller (the desired output trajectory is now an input to the closed-loop system and (2) redesign this input to the closed-loop system. Thus we effectively perform output redesign. These redesigns are however, dependent on the choice of the tracking controllers. Thus the controller optimization and trajectory redesign problems become coupled; this coupled optimization is still an open problem. In contrast, we decouple the trajectory redesign problem from the choice of feedback-based tracking controller. It is noted that our approach remains valid when a particular tracking controller is chosen. In addition, the formulation of our problem not only allows for the minimization of residual vibration as in available techniques but also allows for the optimal reduction fo vibrations during the maneuver, e.g., the altitude control of flexible spacecraft. We begin by formulating the optimal output trajectory redesign problem and then solve it in the context of general linear systems. This theory is then applied to an example flexible structure, and simulation results are provided.

A deep (learning) dive into visual search behaviour of breast radiologists

NASA Astrophysics Data System (ADS)

Mall, Suneeta; Brennan, Patrick C.; Mello-Thoms, Claudia

2018-03-01

Visual search, the process of detecting and identifying objects using the eye movements (saccades) and the foveal vision, has been studied for identification of root causes of errors in the interpretation of mammography. The aim of this study is to model visual search behaviour of radiologists and their interpretation of mammograms using deep machine learning approaches. Our model is based on a deep convolutional neural network, a biologically-inspired multilayer perceptron that simulates the visual cortex, and is reinforced with transfer learning techniques. Eye tracking data obtained from 8 radiologists (of varying experience levels in reading mammograms) reviewing 120 two-view digital mammography cases (59 cancers) have been used to train the model, which was pre-trained with the ImageNet dataset for transfer learning. Areas of the mammogram that received direct (foveally fixated), indirect (peripherally fixated) or no (never fixated) visual attention were extracted from radiologists' visual search maps (obtained by a head mounted eye tracking device). These areas, along with the radiologists' assessment (including confidence of the assessment) of suspected malignancy were used to model: 1) Radiologists' decision; 2) Radiologists' confidence on such decision; and 3) The attentional level (i.e. foveal, peripheral or none) obtained by an area of the mammogram. Our results indicate high accuracy and low misclassification in modelling such behaviours.

Movement and collision of Lagrangian particles in hydro-turbine intakes: a case study

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

Romero-Gomez, Pedro; Richmond, Marshall C.

Studies of the stress/survival of migratory fish during downstream passage through operating hydro-turbines are normally conducted to determine the fish-friendliness of units. One field approach consisting of recording extreme hydraulics with autonomous sensors is largely sensitive to the conditions of sensor release and the initial trajectories at the turbine intake. This study applies a modelling strategy based on flow simulations using computational fluid dynamics and Lagrangian particle tracking to represent the travel of live fish and autonomous sensor devices through hydro-turbine intakes. For the flow field calculation, the simulations were conducted with both a time-averaging turbulence model and an eddy-resolvingmore » technique. For the particle tracking calculation, different modelling assumptions for turbulence forcing, mass formulation, buoyancy, and release condition were tested. The modelling assumptions are evaluated with respect to data sets collected using a laboratory physical model and an autonomous sensor device deployed at Ice Harbor Dam (Snake River, State of Washington, U.S.A.) at the same discharge and release point as in the present computer simulations. We found an acceptable agreement between the simulated results and observed data and discuss relevant features of Lagrangian particle movement that are critical in turbine design and in the experimental design of field studies.« less

Memory-Based Multiagent Coevolution Modeling for Robust Moving Object Tracking

PubMed Central

Wang, Yanjiang; Qi, Yujuan; Li, Yongping

2013-01-01

The three-stage human brain memory model is incorporated into a multiagent coevolutionary process for finding the best match of the appearance of an object, and a memory-based multiagent coevolution algorithm for robust tracking the moving objects is presented in this paper. Each agent can remember, retrieve, or forget the appearance of the object through its own memory system by its own experience. A number of such memory-based agents are randomly distributed nearby the located object region and then mapped onto a 2D lattice-like environment for predicting the new location of the object by their coevolutionary behaviors, such as competition, recombination, and migration. Experimental results show that the proposed method can deal with large appearance changes and heavy occlusions when tracking a moving object. It can locate the correct object after the appearance changed or the occlusion recovered and outperforms the traditional particle filter-based tracking methods. PMID:23843739

Memory-based multiagent coevolution modeling for robust moving object tracking.

PubMed

Wang, Yanjiang; Qi, Yujuan; Li, Yongping

2013-01-01

The three-stage human brain memory model is incorporated into a multiagent coevolutionary process for finding the best match of the appearance of an object, and a memory-based multiagent coevolution algorithm for robust tracking the moving objects is presented in this paper. Each agent can remember, retrieve, or forget the appearance of the object through its own memory system by its own experience. A number of such memory-based agents are randomly distributed nearby the located object region and then mapped onto a 2D lattice-like environment for predicting the new location of the object by their coevolutionary behaviors, such as competition, recombination, and migration. Experimental results show that the proposed method can deal with large appearance changes and heavy occlusions when tracking a moving object. It can locate the correct object after the appearance changed or the occlusion recovered and outperforms the traditional particle filter-based tracking methods.

Motion-base simulator results of advanced supersonic transport handling qualities with active controls

NASA Technical Reports Server (NTRS)

Feather, J. B.; Joshi, D. S.

1981-01-01

Handling qualities of the unaugmented advanced supersonic transport (AST) are deficient in the low-speed, landing approach regime. Consequently, improvement in handling with active control augmentation systems has been achieved using implicit model-following techniques. Extensive fixed-based simulator evaluations were used to validate these systems prior to tests with full motion and visual capabilities on a six-axis motion-base simulator (MBS). These tests compared the handling qualities of the unaugmented AST with several augmented configurations to ascertain the effectiveness of these systems. Cooper-Harper ratings, tracking errors, and control activity data from the MBS tests have been analyzed statistically. The results show the fully augmented AST handling qualities have been improved to an acceptable level.

Countermeasure effectiveness against an intelligent imaging infrared anti-ship missile

NASA Astrophysics Data System (ADS)

Gray, Greer J.; Aouf, Nabil; Richardson, Mark; Butters, Brian; Walmsley, Roy

2013-02-01

Ship self defense against heat-seeking anti-ship missiles is of great concern to modern naval forces. One way of protecting ships against these threats is to use infrared (IR) offboard countermeasures. These decoys need precise placement to maximize their effectiveness, and simulation is an invaluable tool used in determining optimum deployment strategies. To perform useful simulations, high-fidelity models of missiles are required. We describe the development of an imaging IR anti-ship missile model for use in countermeasure effectiveness simulations. The missile model's tracking algorithm is based on a target recognition system that uses a neural network to discriminate between ships and decoys. The neural network is trained on shape- and intensity-based features extracted from simulated imagery. The missile model is then used within ship-decoy-missile engagement simulations, to determine how susceptible it is to the well-known walk-off seduction countermeasure technique. Finally, ship survivability is improved by adjusting the decoy model to increase its effectiveness against the tracker.

Poly (dopamine) coated superparamagnetic iron oxide nanocluster for noninvasive labeling, tracking, and targeted delivery of adipose tissue-derived stem cells.

PubMed

Liao, Naishun; Wu, Ming; Pan, Fan; Lin, Jiumao; Li, Zuanfang; Zhang, Da; Wang, Yingchao; Zheng, Youshi; Peng, Jun; Liu, Xiaolong; Liu, Jingfeng

2016-01-05

Tracking and monitoring of cells in vivo after transplantation can provide crucial information for stem cell therapy. Magnetic resonance imaging (MRI) combined with contrast agents is believed to be an effective and non-invasive technique for cell tracking in living bodies. However, commercial superparamagnetic iron oxide nanoparticles (SPIONs) applied to label cells suffer from shortages such as potential toxicity, low labeling efficiency, and low contrast enhancing. Herein, the adipose tissue-derived stem cells (ADSCs) were efficiently labeled with SPIONs coated with poly (dopamine) (SPIONs cluster@PDA), without affecting their viability, proliferation, apoptosis, surface marker expression, as well as their self-renew ability and multi-differentiation potential. The labeled cells transplanted into the mice through tail intravenous injection exhibited a negative enhancement of the MRI signal in the damaged liver-induced by carbon tetrachloride, and subsequently these homed ADSCs with SPIONs cluster@PDA labeling exhibited excellent repair effects to the damaged liver. Moreover, the enhanced target-homing to tissue of interest and repair effects of SPIONs cluster@PDA-labeled ADSCs could be achieved by use of external magnetic field in the excisional skin wound mice model. Therefore, we provide a facile, safe, noninvasive and sensitive method for external magnetic field targeted delivery and MRI based tracking of transplanted cells in vivo.

Poly (dopamine) coated superparamagnetic iron oxide nanocluster for noninvasive labeling, tracking, and targeted delivery of adipose tissue-derived stem cells

NASA Astrophysics Data System (ADS)

Liao, Naishun; Wu, Ming; Pan, Fan; Lin, Jiumao; Li, Zuanfang; Zhang, Da; Wang, Yingchao; Zheng, Youshi; Peng, Jun; Liu, Xiaolong; Liu, Jingfeng

2016-01-01

Tracking and monitoring of cells in vivo after transplantation can provide crucial information for stem cell therapy. Magnetic resonance imaging (MRI) combined with contrast agents is believed to be an effective and non-invasive technique for cell tracking in living bodies. However, commercial superparamagnetic iron oxide nanoparticles (SPIONs) applied to label cells suffer from shortages such as potential toxicity, low labeling efficiency, and low contrast enhancing. Herein, the adipose tissue-derived stem cells (ADSCs) were efficiently labeled with SPIONs coated with poly (dopamine) (SPIONs cluster@PDA), without affecting their viability, proliferation, apoptosis, surface marker expression, as well as their self-renew ability and multi-differentiation potential. The labeled cells transplanted into the mice through tail intravenous injection exhibited a negative enhancement of the MRI signal in the damaged liver-induced by carbon tetrachloride, and subsequently these homed ADSCs with SPIONs cluster@PDA labeling exhibited excellent repair effects to the damaged liver. Moreover, the enhanced target-homing to tissue of interest and repair effects of SPIONs cluster@PDA-labeled ADSCs could be achieved by use of external magnetic field in the excisional skin wound mice model. Therefore, we provide a facile, safe, noninvasive and sensitive method for external magnetic field targeted delivery and MRI based tracking of transplanted cells in vivo.

Automatic Tracking Of Remote Sensing Precipitation Data Using Genetic Algorithm Image Registration Based Automatic Morphing: September 1999 Storm Floyd Case Study

NASA Astrophysics Data System (ADS)

Chiu, L.; Vongsaard, J.; El-Ghazawi, T.; Weinman, J.; Yang, R.; Kafatos, M.

U Due to the poor temporal sampling by satellites, data gaps exist in satellite derived time series of precipitation. This poses a challenge for assimilating rain- fall data into forecast models. To yield a continuous time series, the classic image processing technique of digital image morphing has been used. However, the digital morphing technique was applied manually and that is time consuming. In order to avoid human intervention in the process, an automatic procedure for image morphing is needed for real-time operations. For this purpose, Genetic Algorithm Based Image Registration Automatic Morphing (GRAM) model was developed and tested in this paper. Specifically, automatic morphing technique was integrated with Genetic Algo- rithm and Feature Based Image Metamorphosis technique to fill in data gaps between satellite coverage. The technique was tested using NOWRAD data which are gener- ated from the network of NEXRAD radars. Time series of NOWRAD data from storm Floyd that occurred at the US eastern region on September 16, 1999 for 00:00, 01:00, 02:00,03:00, and 04:00am were used. The GRAM technique was applied to data col- lected at 00:00 and 04:00am. These images were also manually morphed. Images at 01:00, 02:00 and 03:00am were interpolated from the GRAM and manual morphing and compared with the original NOWRAD rainrates. The results show that the GRAM technique outperforms manual morphing. The correlation coefficients between the im- ages generated using manual morphing are 0.905, 0.900, and 0.905 for the images at 01:00, 02:00,and 03:00 am, while the corresponding correlation coefficients are 0.946, 0.911, and 0.913, respectively, based on the GRAM technique. Index terms ­ Remote Sensing, Image Registration, Hydrology, Genetic Algorithm, Morphing, NEXRAD

Modelling wildland fire propagation by tracking random fronts

NASA Astrophysics Data System (ADS)

Pagnini, G.; Mentrelli, A.

2013-11-01

Wildland fire propagation is studied in literature by two alternative approaches, namely the reaction-diffusion equation and the level-set method. These two approaches are considered alternative each other because the solution of the reaction-diffusion equation is generally a continuous smooth function that has an exponential decay and an infinite support, while the level-set method, which is a front tracking technique, generates a sharp function with a finite support. However, these two approaches can indeed be considered complementary and reconciled. Turbulent hot-air transport and fire spotting are phenomena with a random character that are extremely important in wildland fire propagation. As a consequence the fire front gets a random character, too. Hence a tracking method for random fronts is needed. In particular, the level-set contourn is here randomized accordingly to the probability density function of the interface particle displacement. Actually, when the level-set method is developed for tracking a front interface with a random motion, the resulting averaged process emerges to be governed by an evolution equation of the reaction-diffusion type. In this reconciled approach, the rate of spread of the fire keeps the same key and characterizing role proper to the level-set approach. The resulting model emerges to be suitable to simulate effects due to turbulent convection as fire flank and backing fire, the faster fire spread because of the actions by hot air pre-heating and by ember landing, and also the fire overcoming a firebreak zone that is a case not resolved by models based on the level-set method. Moreover, from the proposed formulation it follows a correction for the rate of spread formula due to the mean jump-length of firebrands in the downwind direction for the leeward sector of the fireline contour.

A Bayesian Framework for Human Body Pose Tracking from Depth Image Sequences

PubMed Central

Zhu, Youding; Fujimura, Kikuo

2010-01-01

This paper addresses the problem of accurate and robust tracking of 3D human body pose from depth image sequences. Recovering the large number of degrees of freedom in human body movements from a depth image sequence is challenging due to the need to resolve the depth ambiguity caused by self-occlusions and the difficulty to recover from tracking failure. Human body poses could be estimated through model fitting using dense correspondences between depth data and an articulated human model (local optimization method). Although it usually achieves a high accuracy due to dense correspondences, it may fail to recover from tracking failure. Alternately, human pose may be reconstructed by detecting and tracking human body anatomical landmarks (key-points) based on low-level depth image analysis. While this method (key-point based method) is robust and recovers from tracking failure, its pose estimation accuracy depends solely on image-based localization accuracy of key-points. To address these limitations, we present a flexible Bayesian framework for integrating pose estimation results obtained by methods based on key-points and local optimization. Experimental results are shown and performance comparison is presented to demonstrate the effectiveness of the proposed approach. PMID:22399933

Trajectory tracking and backfitting techniques against theater ballistic missiles

NASA Astrophysics Data System (ADS)

Hutchins, Robert G.; Britt, Patrick T.

1999-10-01

Since the SCUD launches in the Gulf War, theater ballistic missile (TBM) systems have become a growing concern for the US military. Detection, fast track initiation, backfitting for launch point determination, and tracking and engagement during boost phase or shortly after booster cutoff are goals that grow in importance with the proliferation of weapons of mass destruction. This paper focuses on track initiation and backfitting techniques, as well as extending some earlier results on tracking a TBM during boost phase cutoff. Results indicate that Kalman techniques are superior to third order polynomial extrapolations in estimating the launch point, and that some knowledge of missile parameters, especially thrust, is extremely helpful in track initiation.

Optimized swimmer tracking system based on a novel multi-related-targets approach

NASA Astrophysics Data System (ADS)

Benarab, D.; Napoléon, T.; Alfalou, A.; Verney, A.; Hellard, P.

2017-02-01

Robust tracking is a crucial step in automatic swimmer evaluation from video sequences. We designed a robust swimmer tracking system using a new multi-related-targets approach. The main idea is to consider the swimmer as a bloc of connected subtargets that advance at the same speed. If one of the subtargets is partially or totally occluded, it can be localized by knowing the position of the others. In this paper, we first introduce the two-dimensional direct linear transformation technique that we used to calibrate the videos. Then, we present the classical tracking approach based on dynamic fusion. Next, we highlight the main contribution of our work, which is the multi-related-targets tracking approach. This approach, the classical head-only approach and the ground truth are then compared, through testing on a database of high-level swimmers in training, national and international competitions (French National Championships, Limoges 2015, and World Championships, Kazan 2015). Tracking percentage and the accuracy of the instantaneous speed are evaluated and the findings show that our new appraoach is significantly more accurate than the classical approach.

Video-Based Eye Tracking in Sex Research: A Systematic Literature Review.

PubMed

Wenzlaff, Frederike; Briken, Peer; Dekker, Arne

2015-12-21

Although eye tracking has been used for decades, it has gained popularity in the area of sex research only recently. The aim of this article is to examine the potential merits of eye tracking for this field. We present a systematic review of the current use of video-based eye-tracking technology in this area, evaluate the findings, and identify future research opportunities. A total of 34 relevant studies published between 2006 and 2014 were identified for inclusion by means of online databases and other methods. We grouped them into three main areas of research: body perception and attractiveness, forensic research, and sexual orientation. Despite the methodological and theoretical differences across the studies, eye tracking has been shown to be a promising tool for sex research. The article suggests there is much potential for further studies to employ this technique because it is noninvasive and yet still allows for the assessment of both conscious and unconscious perceptional processes. Furthermore, eye tracking can be implemented in investigations of various theoretical backgrounds, ranging from biology to the social sciences.

An Expert System And Simulation Approach For Sensor Management & Control In A Distributed Surveillance Network

NASA Astrophysics Data System (ADS)

Leon, Barbara D.; Heller, Paul R.

1987-05-01

A surveillance network is a group of multiplatform sensors cooperating to improve network performance. Network control is distributed as a measure to decrease vulnerability to enemy threat. The network may contain diverse sensor types such as radar, ESM (Electronic Support Measures), IRST (Infrared search and track) and E-0 (Electro-Optical). Each platform may contain a single sensor or suite of sensors. In a surveillance network it is desirable to control sensors to make the overall system more effective. This problem has come to be known as sensor management and control (SM&C). Two major facets of network performance are surveillance and survivability. In a netted environment, surveillance can be enhanced if information from all sensors is combined and sensor operating conditions are controlled to provide a synergistic effect. In contrast, when survivability is the main concern for the network, the best operating status for all sensors would be passive or off. Of course, improving survivability tends to degrade surveillance. Hence, the objective of SM&C is to optimize surveillance and survivability of the network. Too voluminous data of various formats and the quick response time are two characteristics of this problem which make it an ideal application for Artificial Intelligence. A solution to the SM&C problem, presented as a computer simulation, will be presented in this paper. The simulation is a hybrid production written in LISP and FORTRAN. It combines the latest conventional computer programming methods with Artificial Intelligence techniques to produce a flexible state-of-the-art tool to evaluate network performance. The event-driven simulation contains environment models coupled with an expert system. These environment models include sensor (track-while-scan and agile beam) and target models, local tracking, and system tracking. These models are used to generate the environment for the sensor management and control expert system. The expert system, driven by a forward chaining inference engine, makes decisions based on the global database. The global database contains current track and sensor information supplied by the simulation. At present, the rule base emphasizes the surveillance features with rules grouped into three main categories: maintenance and enhancing track on prioritized targets; filling coverage holes and countering jamming; and evaluating sensor status. The paper will describe the architecture used for the expert system and the reasons for selecting the chosen methods. The SM&C simulation produces a graphical representation of sensors and their associated tracks such that the benefits of the sensor management and control expert system are evident. Jammer locations are also part of the display. The paper will describe results from several scenarios that best illustrate the sensor management and control concepts.

Landsat-8 Operational Land Imager On-Orbit Radiometric Calibration

NASA Technical Reports Server (NTRS)

Markham, Brian L.; Barsi, Julia A.

2017-01-01

The Operational Land Imager (OLI), the VIS/NIR/SWIR sensor on the Landsat-8 has been successfully acquiring Earth Imagery for more than four years. The OLI incorporates two on-board radiometric calibration systems, one diffuser based and one lamp based, each with multiple sources. For each system one source is treated as primary and used frequently and the other source(s) are used less frequently to assist in tracking any degradation in the primary sources. In addition, via a spacecraft maneuver, the OLI instrument views the moon once a lunar cycle (approx. 29 days). The integrated lunar irradiances from these acquisitions are compared to the output of a lunar irradiance model. The results from all these techniques, combined with cross calibrations with other sensors and ground based vicarious measurements are used to monitor the OLI's stability and correct for any changes observed. To date, the various techniques have other detected significant changes in the shortest wavelength OLI band centered at 443 nm and these are currently being adjusted in the operational processing.

Application of RFID in the area of agricultural products quality traceability and tracking and the anti-collision algorithm

NASA Astrophysics Data System (ADS)

Wang, Zu-liang; Zhang, Ting; Xie, Shi-yang

2017-01-01

In order to improve the agricultural tracing efficiency and reduce tracking and monitoring cost, agricultural products quality tracking and tracing based on Radio-Frequency Identification(RFID) technology is studied, then tracing and tracking model is set up. Three-layer structure model is established to realize the high quality of agricultural products traceability and tracking. To solve the collision problems between multiple RFID tags and improve the identification efficiency a new reservation slot allocation mechanism is proposed. And then we analyze and optimize the parameter by numerical simulation method.