VizieR Online Data Catalog: The USNO-B1.0 Catalog (Monet+ 2003)

NASA Astrophysics Data System (ADS)

Monet, D. G.; Levine, S. E.; Casian, B.; et al.

2002-11-01

The USNO-B1.0 is a catalog that presents positions, proper motions, magnitudes in various optical passbands, and star/galaxy estimators for 1,045,913,669 objects derived from 3,648,832,040 separate observations. The data were taken from scans of 7,435 Schmidt plates taken from various sky surveys during the last 50 years. The catalog is expected to be complete down to V=21; the estimated accuracies are 0.2arcsec for the positions at J2000, 0.3mag in up to 5 colors, and 85% accuracy for distinguishing stars from non-stellar objects. (1 data file).

Piloting Systems Reset Path Integration Systems during Position Estimation

ERIC Educational Resources Information Center

Zhang, Lei; Mou, Weimin

2017-01-01

During locomotion, individuals can determine their positions with either idiothetic cues from movement (path integration systems) or visual landmarks (piloting systems). This project investigated how these 2 systems interact in determining humans' positions. In 2 experiments, participants studied the locations of 5 target objects and 1 single…

Detector Position Estimation for PET Scanners.

PubMed

Pierce, Larry; Miyaoka, Robert; Lewellen, Tom; Alessio, Adam; Kinahan, Paul

2012-06-11

Physical positioning of scintillation crystal detector blocks in Positron Emission Tomography (PET) scanners is not always exact. We test a proof of concept methodology for the determination of the six degrees of freedom for detector block positioning errors by utilizing a rotating point source over stepped axial intervals. To test our method, we created computer simulations of seven Micro Crystal Element Scanner (MiCES) PET systems with randomized positioning errors. The computer simulations show that our positioning algorithm can estimate the positions of the block detectors to an average of one-seventh of the crystal pitch tangentially, and one-third of the crystal pitch axially. Virtual acquisitions of a point source grid and a distributed phantom show that our algorithm improves both the quantitative and qualitative accuracy of the reconstructed objects. We believe this estimation algorithm is a practical and accurate method for determining the spatial positions of scintillation detector blocks.

Bayesian integration of position and orientation cues in perception of biological and non-biological forms.

PubMed

Thurman, Steven M; Lu, Hongjing

2014-01-01

Visual form analysis is fundamental to shape perception and likely plays a central role in perception of more complex dynamic shapes, such as moving objects or biological motion. Two primary form-based cues serve to represent the overall shape of an object: the spatial position and the orientation of locations along the boundary of the object. However, it is unclear how the visual system integrates these two sources of information in dynamic form analysis, and in particular how the brain resolves ambiguities due to sensory uncertainty and/or cue conflict. In the current study, we created animations of sparsely-sampled dynamic objects (human walkers or rotating squares) comprised of oriented Gabor patches in which orientation could either coincide or conflict with information provided by position cues. When the cues were incongruent, we found a characteristic trade-off between position and orientation information whereby position cues increasingly dominated perception as the relative uncertainty of orientation increased and vice versa. Furthermore, we found no evidence for differences in the visual processing of biological and non-biological objects, casting doubt on the claim that biological motion may be specialized in the human brain, at least in specific terms of form analysis. To explain these behavioral results quantitatively, we adopt a probabilistic template-matching model that uses Bayesian inference within local modules to estimate object shape separately from either spatial position or orientation signals. The outputs of the two modules are integrated with weights that reflect individual estimates of subjective cue reliability, and integrated over time to produce a decision about the perceived dynamics of the input data. Results of this model provided a close fit to the behavioral data, suggesting a mechanism in the human visual system that approximates rational Bayesian inference to integrate position and orientation signals in dynamic form analysis.

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

NASA Technical Reports Server (NTRS)

Talukder, Ashit; Matthies, Larry

2004-01-01

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include realtime, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify & other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

NASA Technical Reports Server (NTRS)

Talukder, Ashit; Matthies, Larry

2004-01-01

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

Real-time Detection of Moving Objects from Moving Vehicles Using Dense Stereo and Optical Flow

NASA Technical Reports Server (NTRS)

Talukder, Ashit; Matthies, Larry

2004-01-01

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time. dense stereo system to include realtime. dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop. computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

Method to improve accuracy of positioning object by eLoran system with applying standard Kalman filter

NASA Astrophysics Data System (ADS)

Grunin, A. P.; Kalinov, G. A.; Bolokhovtsev, A. V.; Sai, S. V.

2018-05-01

This article reports on a novel method to improve the accuracy of positioning an object by a low frequency hyperbolic radio navigation system like an eLoran. This method is based on the application of the standard Kalman filter. Investigations of an affection of the filter parameters and the type of the movement on accuracy of the vehicle position estimation are carried out. Evaluation of the method accuracy was investigated by separating data from the semi-empirical movement model to different types of movements.

A Tactical Database for the Low Cost Combat Direction System

DTIC Science & Technology

1990-12-01

another object. Track is a representation of some environmental phenomena converted into accurate estimates of geographical position with respect to...by the method CALCULATE RELATIVE POSITION. In order to obtain a better similarity of mehods , the methods OWNSHIP DISTANCE TO PIM, ESTIMATED TIME OF...this mechanism entails the risk that the user will lose all of the work that was done if conflicts are detected and the transaction cannot be committed

A method and implementation for incorporating heuristic knowledge into a state estimator through the use of a fuzzy model

NASA Astrophysics Data System (ADS)

Swanson, Steven Roy

The objective of the dissertation is to improve state estimation performance, as compared to a Kalman filter, when non-constant, or changing, biases exist in the measurement data. The state estimation performance increase will come from the use of a fuzzy model to determine the position and velocity gains of a state estimator. A method is proposed for incorporating heuristic knowledge into a state estimator through the use of a fuzzy model. This method consists of using a fuzzy model to determine the gains of the state estimator, converting the heuristic knowledge into the fuzzy model, and then optimizing the fuzzy model with a genetic algorithm. This method is applied to the problem of state estimation of a cascaded global positioning system (GPS)/inertial reference unit (IRU) navigation system. The GPS position data contains two major sources for position bias. The first bias is due to satellite errors and the second is due to the time delay or lag from when the GPS position is calculated until it is used in the state estimator. When a change in the bias of the measurement data occurs, a state estimator will converge on the new measurement data solution. This will introduce errors into a Kalman filter's estimated state velocities, which in turn will cause a position overshoot as it converges. By using a fuzzy model to determine the gains of a state estimator, the velocity errors and their associated deficiencies can be reduced.

How soft is that pillow? The perceptual localization of the hand and the haptic assessment of contact rigidity

PubMed Central

Pressman, Assaf; Karniel, Amir; Mussa-Ivaldi, Ferdinando A.

2011-01-01

A new haptic illusion is described, in which the location of the mobile object affects the perception of its rigidity. There is theoretical and experimental support to the notion that limb position sense results from the brain combining ongoing sensory information with expectations arising from prior experience. How does this probabilistic state information affect one’s tactile perception of the environment mechanics? In a simple estimation process human subjects were asked to report the relative rigidity of two simulated virtual objects. One of the objects remained fixed in space and had various coefficients of stiffness. The other virtual object had constant stiffness but moved with respect to the subjects. Earlier work suggested that the perception of an object’s rigidity is consistent with a process of regression between the contact force and the perceived amount of penetration inside the object’s boundary. The amount of penetration perceived by the subject was affected by varying the position of the object. This, in turn, had a predictable effect on the perceived rigidity of the contact. Subjects’ reports on the relative rigidity of the object are best accounted for by a probabilistic model in which the perceived boundary of the object is estimated based on its current location and on its past observations. Therefore, the perception of contact rigidity is accounted for by a stochastic process of state estimation underlying proprioceptive localization of the hand. PMID:21525300

Aerial vehicles collision avoidance using monocular vision

NASA Astrophysics Data System (ADS)

Balashov, Oleg; Muraviev, Vadim; Strotov, Valery

2016-10-01

In this paper image-based collision avoidance algorithm that provides detection of nearby aircraft and distance estimation is presented. The approach requires a vision system with a single moving camera and additional information about carrier's speed and orientation from onboard sensors. The main idea is to create a multi-step approach based on a preliminary detection, regions of interest (ROI) selection, contour segmentation, object matching and localization. The proposed algorithm is able to detect small targets but unlike many other approaches is designed to work with large-scale objects as well. To localize aerial vehicle position the system of equations relating object coordinates in space and observed image is solved. The system solution gives the current position and speed of the detected object in space. Using this information distance and time to collision can be estimated. Experimental research on real video sequences and modeled data is performed. Video database contained different types of aerial vehicles: aircrafts, helicopters, and UAVs. The presented algorithm is able to detect aerial vehicles from several kilometers under regular daylight conditions.

Polarization-based index of refraction and reflection angle estimation for remote sensing applications.

PubMed

Thilak, Vimal; Voelz, David G; Creusere, Charles D

2007-10-20

A passive-polarization-based imaging system records the polarization state of light reflected by objects that are illuminated with an unpolarized and generally uncontrolled source. Such systems can be useful in many remote sensing applications including target detection, object segmentation, and material classification. We present a method to jointly estimate the complex index of refraction and the reflection angle (reflected zenith angle) of a target from multiple measurements collected by a passive polarimeter. An expression for the degree of polarization is derived from the microfacet polarimetric bidirectional reflectance model for the case of scattering in the plane of incidence. Using this expression, we develop a nonlinear least-squares estimation algorithm for extracting an apparent index of refraction and the reflection angle from a set of polarization measurements collected from multiple source positions. Computer simulation results show that the estimation accuracy generally improves with an increasing number of source position measurements. Laboratory results indicate that the proposed method is effective for recovering the reflection angle and that the estimated index of refraction provides a feature vector that is robust to the reflection angle.

Polarization-based index of refraction and reflection angle estimation for remote sensing applications

NASA Astrophysics Data System (ADS)

Thilak, Vimal; Voelz, David G.; Creusere, Charles D.

2007-10-01

A passive-polarization-based imaging system records the polarization state of light reflected by objects that are illuminated with an unpolarized and generally uncontrolled source. Such systems can be useful in many remote sensing applications including target detection, object segmentation, and material classification. We present a method to jointly estimate the complex index of refraction and the reflection angle (reflected zenith angle) of a target from multiple measurements collected by a passive polarimeter. An expression for the degree of polarization is derived from the microfacet polarimetric bidirectional reflectance model for the case of scattering in the plane of incidence. Using this expression, we develop a nonlinear least-squares estimation algorithm for extracting an apparent index of refraction and the reflection angle from a set of polarization measurements collected from multiple source positions. Computer simulation results show that the estimation accuracy generally improves with an increasing number of source position measurements. Laboratory results indicate that the proposed method is effective for recovering the reflection angle and that the estimated index of refraction provides a feature vector that is robust to the reflection angle.

Unsupervised markerless 3-DOF motion tracking in real time using a single low-budget camera.

PubMed

Quesada, Luis; León, Alejandro J

2012-10-01

Motion tracking is a critical task in many computer vision applications. Existing motion tracking techniques require either a great amount of knowledge on the target object or specific hardware. These requirements discourage the wide spread of commercial applications based on motion tracking. In this paper, we present a novel three degrees of freedom motion tracking system that needs no knowledge on the target object and that only requires a single low-budget camera that can be found installed in most computers and smartphones. Our system estimates, in real time, the three-dimensional position of a nonmodeled unmarked object that may be nonrigid, nonconvex, partially occluded, self-occluded, or motion blurred, given that it is opaque, evenly colored, enough contrasting with the background in each frame, and that it does not rotate. Our system is also able to determine the most relevant object to track in the screen. Our proposal does not impose additional constraints, therefore it allows a market-wide implementation of applications that require the estimation of the three position degrees of freedom of an object.

Tracking Object Existence From an Autonomous Patrol Vehicle

NASA Technical Reports Server (NTRS)

Wolf, Michael; Scharenbroich, Lucas

2011-01-01

An autonomous vehicle patrols a large region, during which an algorithm receives measurements of detected potential objects within its sensor range. The goal of the algorithm is to track all objects in the region over time. This problem differs from traditional multi-target tracking scenarios because the region of interest is much larger than the sensor range and relies on the movement of the sensor through this region for coverage. The goal is to know whether anything has changed between visits to the same location. In particular, two kinds of alert conditions must be detected: (1) a previously detected object has disappeared and (2) a new object has appeared in a location already checked. For the time an object is within sensor range, the object can be assumed to remain stationary, changing position only between visits. The problem is difficult because the upstream object detection processing is likely to make many errors, resulting in heavy clutter (false positives) and missed detections (false negatives), and because only noisy, bearings-only measurements are available. This work has three main goals: (1) Associate incoming measurements with known objects or mark them as new objects or false positives, as appropriate. For this, a multiple hypothesis tracker was adapted to this scenario. (2) Localize the objects using multiple bearings-only measurements to provide estimates of global position (e.g., latitude and longitude). A nonlinear Kalman filter extension provides these 2D position estimates using the 1D measurements. (3) Calculate the probability that a suspected object truly exists (in the estimated position), and determine whether alert conditions have been triggered (for new objects or disappeared objects). The concept of a probability of existence was created, and a new Bayesian method for updating this probability at each time step was developed. A probabilistic multiple hypothesis approach is chosen because of its superiority in handling the uncertainty arising from errors in sensors and upstream processes. However, traditional target tracking methods typically assume a stationary detection volume of interest, whereas in this case, one must make adjustments for being able to see only a small portion of the region of interest and understand when an alert situation has occurred. To track object existence inside and outside the vehicle's sensor range, a probability of existence was defined for each hypothesized object, and this value was updated at every time step in a Bayesian manner based on expected characteristics of the sensor and object and whether that object has been detected in the most recent time step. Then, this value feeds into a sequential probability ratio test (SPRT) to determine the status of the object (suspected, confirmed, or deleted). Alerts are sent upon selected status transitions. Additionally, in order to track objects that move in and out of sensor range and update the probability of existence appropriately a variable probability detection has been defined and the hypothesis probability equations have been re-derived to accommodate this change. Unsupervised object tracking is a pervasive issue in automated perception systems. This work could apply to any mobile platform (ground vehicle, sea vessel, air vehicle, or orbiter) that intermittently revisits regions of interest and needs to determine whether anything interesting has changed.

Sequential Bayesian Filters for Estimating Time Series of Wrapped and Unwrapped Angles with Hyperparameter Estimation

NASA Astrophysics Data System (ADS)

Umehara, Hiroaki; Okada, Masato; Naruse, Yasushi

2018-03-01

The estimation of angular time series data is a widespread issue relating to various situations involving rotational motion and moving objects. There are two kinds of problem settings: the estimation of wrapped angles, which are principal values in a circular coordinate system (e.g., the direction of an object), and the estimation of unwrapped angles in an unbounded coordinate system such as for the positioning and tracking of moving objects measured by the signal-wave phase. Wrapped angles have been estimated in previous studies by sequential Bayesian filtering; however, the hyperparameters that are to be solved and that control the properties of the estimation model were given a priori. The present study establishes a procedure of hyperparameter estimation from the observation data of angles only, using the framework of Bayesian inference completely as the maximum likelihood estimation. Moreover, the filter model is modified to estimate the unwrapped angles. It is proved that without noise our model reduces to the existing algorithm of Itoh's unwrapping transform. It is numerically confirmed that our model is an extension of unwrapping estimation from Itoh's unwrapping transform to the case with noise.

Closed-loop model identification of cooperative manipulators holding deformable objects

NASA Astrophysics Data System (ADS)

Alkathiri, A. A.; Akmeliawati, R.; Azlan, N. Z.

2017-11-01

This paper presents system identification to obtain the closed-loop models of a couple of cooperative manipulators in a system, which function to hold deformable objects. The system works using the master-slave principle. In other words, one of the manipulators is position-controlled through encoder feedback, while a force sensor gives feedback to the other force-controlled manipulator. Using the closed-loop input and output data, the closed-loop models, which are useful for model-based control design, are estimated. The criteria for model validation are a 95% fit between the measured and simulated output of the estimated models and residual analysis. The results show that for both position and force control respectively, the fits are 95.73% and 95.88%.

JASMINE project Instrument design and centroiding experiment

NASA Astrophysics Data System (ADS)

Yano, Taihei; Gouda, Naoteru; Kobayashi, Yukiyasu; Yamada, Yoshiyuki

JASMINE will study the fundamental structure and evolution of the Milky Way Galaxy. To accomplish these objectives, JASMINE will measure trigonometric parallaxes, positions and proper motions of about 10 million stars with a precision of 10 μarcsec at z = 14 mag. In this paper the instrument design (optics, detectors, etc.) of JASMINE is presented. We also show a CCD centroiding experiment for estimating positions of star images. The experimental result shows that the accuracy of estimated distances has a variance of less than 0.01 pixel.

Estimating Foreign-Object-Debris Density from Photogrammetry Data

NASA Technical Reports Server (NTRS)

Long, Jason; Metzger, Philip; Lane, John

2013-01-01

Within the first few seconds after launch of STS-124, debris traveling vertically near the vehicle was captured on two 16-mm film cameras surrounding the launch pad. One particular piece of debris caught the attention of engineers investigating the release of the flame trench fire bricks. The question to be answered was if the debris was a fire brick, and if it represented the first bricks that were ejected from the flame trench wall, or was the object one of the pieces of debris normally ejected from the vehicle during launch. If it was typical launch debris, such as SRB throat plug foam, why was it traveling vertically and parallel to the vehicle during launch, instead of following its normal trajectory, flying horizontally toward the north perimeter fence? By utilizing the Runge-Kutta integration method for velocity and the Verlet integration method for position, a method that suppresses trajectory computational instabilities due to noisy position data was obtained. This combination of integration methods provides a means to extract the best estimate of drag force and drag coefficient under the non-ideal conditions of limited position data. This integration strategy leads immediately to the best possible estimate of object density, within the constraints of unknown particle shape. These types of calculations do not exist in readily available off-the-shelf simulation software, especially where photogrammetry data is needed as an input.

Local sensory control of a dexterous end effector

NASA Technical Reports Server (NTRS)

Pinto, Victor H.; Everett, Louis J.; Driels, Morris

1990-01-01

A numerical scheme was developed to solve the inverse kinematics for a user-defined manipulator. The scheme was based on a nonlinear least-squares technique which determines the joint variables by minimizing the difference between the target end effector pose and the actual end effector pose. The scheme was adapted to a dexterous hand in which the joints are either prismatic or revolute and the fingers are considered open kinematic chains. Feasible solutions were obtained using a three-fingered dexterous hand. An algorithm to estimate the position and orientation of a pre-grasped object was also developed. The algorithm was based on triangulation using an ideal sensor and a spherical object model. By choosing the object to be a sphere, only the position of the object frame was important. Based on these simplifications, a minimum of three sensors are needed to find the position of a sphere. A two dimensional example to determine the position of a circle coordinate frame using a two-fingered dexterous hand was presented.

Perceptual distortion of intrapersonal and near-personal space sensed by proprioception.

PubMed

Naito, Eiichi

2002-04-01

It is known that the illusory displacement of a vibrated limb can be transferred to a nonvibrated contacted limb. The purpose of this study was to quantify and compare the transferred illusory displacements occurring in the intrapersonal and near-personal space. In two tasks, 8 male and 8 female blindfolded subjects estimated (1) the height of the left elbow and (2) the height of an external object located at the same height as the left elbow, by the proprioception of the right arm which was Subject to illusory displacement. If the internal representation of the left elbow in one's body schema could provide precise information of its static position independently of the proprioception of the right arm, the perceived displacement of the right arm might be smaller when influenced by proprioceptive information from the static left arm, than when in contrast instead with an object which is not a body part. There was no difference in the estimation of illusory displacement between male and female subjects and between right and left arms. No significant difference was observed between transferred displacements of the left elbow and the object. This means that the perception of limb position sensed by the proprioception of another limb can be distorted as easily as the perception of location of an external object. This suggests that the internal representation of static limb position is not enough to provide the correct information of current limb position in the absence of vision.

A combined vision-inertial fusion approach for 6-DoF object pose estimation

NASA Astrophysics Data System (ADS)

Li, Juan; Bernardos, Ana M.; Tarrío, Paula; Casar, José R.

2015-02-01

The estimation of the 3D position and orientation of moving objects (`pose' estimation) is a critical process for many applications in robotics, computer vision or mobile services. Although major research efforts have been carried out to design accurate, fast and robust indoor pose estimation systems, it remains as an open challenge to provide a low-cost, easy to deploy and reliable solution. Addressing this issue, this paper describes a hybrid approach for 6 degrees of freedom (6-DoF) pose estimation that fuses acceleration data and stereo vision to overcome the respective weaknesses of single technology approaches. The system relies on COTS technologies (standard webcams, accelerometers) and printable colored markers. It uses a set of infrastructure cameras, located to have the object to be tracked visible most of the operation time; the target object has to include an embedded accelerometer and be tagged with a fiducial marker. This simple marker has been designed for easy detection and segmentation and it may be adapted to different service scenarios (in shape and colors). Experimental results show that the proposed system provides high accuracy, while satisfactorily dealing with the real-time constraints.

Segmentation and tracking in echocardiographic sequences: active contours guided by optical flow estimates

NASA Technical Reports Server (NTRS)

Mikic, I.; Krucinski, S.; Thomas, J. D.

1998-01-01

This paper presents a method for segmentation and tracking of cardiac structures in ultrasound image sequences. The developed algorithm is based on the active contour framework. This approach requires initial placement of the contour close to the desired position in the image, usually an object outline. Best contour shape and position are then calculated, assuming that at this configuration a global energy function, associated with a contour, attains its minimum. Active contours can be used for tracking by selecting a solution from a previous frame as an initial position in a present frame. Such an approach, however, fails for large displacements of the object of interest. This paper presents a technique that incorporates the information on pixel velocities (optical flow) into the estimate of initial contour to enable tracking of fast-moving objects. The algorithm was tested on several ultrasound image sequences, each covering one complete cardiac cycle. The contour successfully tracked boundaries of mitral valve leaflets, aortic root and endocardial borders of the left ventricle. The algorithm-generated outlines were compared against manual tracings by expert physicians. The automated method resulted in contours that were within the boundaries of intraobserver variability.

Learning to Estimate Dynamical State with Probabilistic Population Codes.

PubMed

Makin, Joseph G; Dichter, Benjamin K; Sabes, Philip N

2015-11-01

Tracking moving objects, including one's own body, is a fundamental ability of higher organisms, playing a central role in many perceptual and motor tasks. While it is unknown how the brain learns to follow and predict the dynamics of objects, it is known that this process of state estimation can be learned purely from the statistics of noisy observations. When the dynamics are simply linear with additive Gaussian noise, the optimal solution is the well known Kalman filter (KF), the parameters of which can be learned via latent-variable density estimation (the EM algorithm). The brain does not, however, directly manipulate matrices and vectors, but instead appears to represent probability distributions with the firing rates of population of neurons, "probabilistic population codes." We show that a recurrent neural network-a modified form of an exponential family harmonium (EFH)-that takes a linear probabilistic population code as input can learn, without supervision, to estimate the state of a linear dynamical system. After observing a series of population responses (spike counts) to the position of a moving object, the network learns to represent the velocity of the object and forms nearly optimal predictions about the position at the next time-step. This result builds on our previous work showing that a similar network can learn to perform multisensory integration and coordinate transformations for static stimuli. The receptive fields of the trained network also make qualitative predictions about the developing and learning brain: tuning gradually emerges for higher-order dynamical states not explicitly present in the inputs, appearing as delayed tuning for the lower-order states.

Learning to Estimate Dynamical State with Probabilistic Population Codes

PubMed Central

Sabes, Philip N.

2015-01-01

Tracking moving objects, including one’s own body, is a fundamental ability of higher organisms, playing a central role in many perceptual and motor tasks. While it is unknown how the brain learns to follow and predict the dynamics of objects, it is known that this process of state estimation can be learned purely from the statistics of noisy observations. When the dynamics are simply linear with additive Gaussian noise, the optimal solution is the well known Kalman filter (KF), the parameters of which can be learned via latent-variable density estimation (the EM algorithm). The brain does not, however, directly manipulate matrices and vectors, but instead appears to represent probability distributions with the firing rates of population of neurons, “probabilistic population codes.” We show that a recurrent neural network—a modified form of an exponential family harmonium (EFH)—that takes a linear probabilistic population code as input can learn, without supervision, to estimate the state of a linear dynamical system. After observing a series of population responses (spike counts) to the position of a moving object, the network learns to represent the velocity of the object and forms nearly optimal predictions about the position at the next time-step. This result builds on our previous work showing that a similar network can learn to perform multisensory integration and coordinate transformations for static stimuli. The receptive fields of the trained network also make qualitative predictions about the developing and learning brain: tuning gradually emerges for higher-order dynamical states not explicitly present in the inputs, appearing as delayed tuning for the lower-order states. PMID:26540152

Position and Orientation Tracking in a Ubiquitous Monitoring System for Parkinson Disease Patients With Freezing of Gait Symptom

PubMed Central

Català, Andreu; Rodríguez Martín, Daniel; van der Aa, Nico; Chen, Wei; Rauterberg, Matthias

2013-01-01

Background Freezing of gait (FoG) is one of the most disturbing and least understood symptoms in Parkinson disease (PD). Although the majority of existing assistive systems assume accurate detections of FoG episodes, the detection itself is still an open problem. The specificity of FoG is its dependency on the context of a patient, such as the current location or activity. Knowing the patient's context might improve FoG detection. One of the main technical challenges that needs to be solved in order to start using contextual information for FoG detection is accurate estimation of the patient's position and orientation toward key elements of his or her indoor environment. Objective The objectives of this paper are to (1) present the concept of the monitoring system, based on wearable and ambient sensors, which is designed to detect FoG using the spatial context of the user, (2) establish a set of requirements for the application of position and orientation tracking in FoG detection, (3) evaluate the accuracy of the position estimation for the tracking system, and (4) evaluate two different methods for human orientation estimation. Methods We developed a prototype system to localize humans and track their orientation, as an important prerequisite for a context-based FoG monitoring system. To setup the system for experiments with real PD patients, the accuracy of the position and orientation tracking was assessed under laboratory conditions in 12 participants. To collect the data, the participants were asked to wear a smartphone, with and without known orientation around the waist, while walking over a predefined path in the marked area captured by two Kinect cameras with non-overlapping fields of view. Results We used the root mean square error (RMSE) as the main performance measure. The vision based position tracking algorithm achieved RMSE = 0.16 m in position estimation for upright standing people. The experimental results for the proposed human orientation estimation methods demonstrated the adaptivity and robustness to changes in the smartphone attachment position, when the fusion of both vision and inertial information was used. Conclusions The system achieves satisfactory accuracy on indoor position tracking for the use in the FoG detection application with spatial context. The combination of inertial and vision information has the potential for correct patient heading estimation even when the inertial wearable sensor device is put into an a priori unknown position. PMID:25098265

Validity of questionnaire self‐reports on computer, mouse and keyboard usage during a four‐week period

PubMed Central

Mikkelsen, Sigurd; Vilstrup, Imogen; Lassen, Christina Funch; Kryger, Ann Isabel; Thomsen, Jane Frølund; Andersen, Johan Hviid

2007-01-01

Objective To examine the validity and potential biases in self‐reports of computer, mouse and keyboard usage times, compared with objective recordings. Methods A study population of 1211 people was asked in a questionnaire to estimate the average time they had worked with computer, mouse and keyboard during the past four working weeks. During the same period, a software program recorded these activities objectively. The study was part of a one‐year follow‐up study from 2000–1 of musculoskeletal outcomes among Danish computer workers. Results Self‐reports on computer, mouse and keyboard usage times were positively associated with objectively measured activity, but the validity was low. Self‐reports explained only between a quarter and a third of the variance of objectively measured activity, and were even lower for one measure (keyboard time). Self‐reports overestimated usage times. Overestimation was large at low levels and declined with increasing levels of objectively measured activity. Mouse usage time proportion was an exception with a near 1:1 relation. Variability in objectively measured activity, arm pain, gender and age influenced self‐reports in a systematic way, but the effects were modest and sometimes in different directions. Conclusion Self‐reported durations of computer activities are positively associated with objective measures but they are quite inaccurate. Studies using self‐reports to establish relations between computer work times and musculoskeletal pain could be biased and lead to falsely increased or decreased risk estimates. PMID:17387136

Progressive 3D shape abstraction via hierarchical CSG tree

NASA Astrophysics Data System (ADS)

Chen, Xingyou; Tang, Jin; Li, Chenglong

2017-06-01

A constructive solid geometry(CSG) tree model is proposed to progressively abstract 3D geometric shape of general object from 2D image. Unlike conventional ones, our method applies to general object without the need for massive CAD models, and represents the object shapes in a coarse-to-fine manner that allows users to view temporal shape representations at any time. It stands in a transitional position between 2D image feature and CAD model, benefits from state-of-the-art object detection approaches and better initializes CAD model for finer fitting, estimates 3D shape and pose parameters of object at different levels according to visual perception objective, in a coarse-to-fine manner. Two main contributions are the application of CSG building up procedure into visual perception, and the ability of extending object estimation result into a more flexible and expressive model than 2D/3D primitive shapes. Experimental results demonstrate the feasibility and effectiveness of the proposed approach.

A pilot study on objective quantification and anatomical modelling of in vivo head and neck positions commonly applied in training and competition of sport horses.

PubMed

Elgersma, A E; Wijnberg, I D; Sleutjens, J; van der Kolk, J H; van Weeren, P R; Back, W

2010-11-01

Head and neck positions (HNP) in sport horses are under debate in the equine community, as they could interfere with equine welfare. HNPs have not been quantified objectively and no information is available on their head and neck loading. To quantify in vivo HNPs in sport horses and develop o a model to estimate loading on the cervical vertebrae in these positions. Videos were taken of 7 Warmbloods at walk on a straight line in 5 positions, representing all HNPs during Warmblood training and competition. Markers were glued at 5 anatomical landmarks. Two-dimensional angles and distances were determined from video frames for the 5 HNPs and statistically compared (P < 0.05). A new simulation model was developed to estimate nuchal ligament cervical loading at these HNPs. The mean angles were significantly different between the 5 HNPs for the line between C1 and T6 with the horizontal and for the line connecting the facial crest (CF) and C1 with the vertical, while the vertical distance from CF to the lateral styloid process of the radius (PS) was significantly different between all 5 positions (P < 0.05). The estimated nuchal ligament loading appeared to be largest at the origin of C2 for all HNPs, except for the 'hyperextended' HNP5; the 'hyperflexed' HNP4 showed the largest loading values on the nuchal ligament origins at all locations. HNPs can be accurately quantified in the sagittal plane from angles and distances based on standard anatomical landmarks and home-video captured images. Nuchal ligament loading showed the largest estimated values at its origin on C2 in hyperflexion (HNP4). Modelling opens further perspectives to eventually estimate loading for individual horses and thus ergonomically optimise their HNP, which may improve the welfare of the sport horse during training and competition. © 2010 EVJ Ltd.

Position Information Encoded by Population Activity in Hierarchical Visual Areas

PubMed Central

Majima, Kei; Horikawa, Tomoyasu

2017-01-01

Abstract Neurons in high-level visual areas respond to more complex visual features with broader receptive fields (RFs) compared to those in low-level visual areas. Thus, high-level visual areas are generally considered to carry less information regarding the position of seen objects in the visual field. However, larger RFs may not imply loss of position information at the population level. Here, we evaluated how accurately the position of a seen object could be predicted (decoded) from activity patterns in each of six representative visual areas with different RF sizes [V1–V4, lateral occipital complex (LOC), and fusiform face area (FFA)]. We collected functional magnetic resonance imaging (fMRI) responses while human subjects viewed a ball randomly moving in a two-dimensional field. To estimate population RF sizes of individual fMRI voxels, RF models were fitted for individual voxels in each brain area. The voxels in higher visual areas showed larger estimated RFs than those in lower visual areas. Then, the ball’s position in a separate session was predicted by maximum likelihood estimation using the RF models of individual voxels. We also tested a model-free multivoxel regression (support vector regression, SVR) to predict the position. We found that regardless of the difference in RF size, all visual areas showed similar prediction accuracies, especially on the horizontal dimension. Higher areas showed slightly lower accuracies on the vertical dimension, which appears to be attributed to the narrower spatial distributions of the RF centers. The results suggest that much position information is preserved in population activity through the hierarchical visual pathway regardless of RF sizes and is potentially available in later processing for recognition and behavior. PMID:28451634

Estimation of sample size and testing power (Part 3).

PubMed

Hu, Liang-ping; Bao, Xiao-lei; Guan, Xue; Zhou, Shi-guo

2011-12-01

This article introduces the definition and sample size estimation of three special tests (namely, non-inferiority test, equivalence test and superiority test) for qualitative data with the design of one factor with two levels having a binary response variable. Non-inferiority test refers to the research design of which the objective is to verify that the efficacy of the experimental drug is not clinically inferior to that of the positive control drug. Equivalence test refers to the research design of which the objective is to verify that the experimental drug and the control drug have clinically equivalent efficacy. Superiority test refers to the research design of which the objective is to verify that the efficacy of the experimental drug is clinically superior to that of the control drug. By specific examples, this article introduces formulas of sample size estimation for the three special tests, and their SAS realization in detail.

Human observers are biased in judging the angular approach of a projectile.

PubMed

Welchman, Andrew E; Tuck, Val L; Harris, Julie M

2004-01-01

How do we decide whether an object approaching us will hit us? The optic array provides information sufficient for us to determine the approaching trajectory of a projectile. However, when using binocular information, observers report that trajectories near the mid-sagittal plane are wider than they actually are. Here we extend this work to consider stimuli containing additional depth cues. We measure observers' estimates of trajectory direction first for computer rendered, stereoscopically presented, rich-cue objects, and then for real objects moving in the world. We find that, under both rich cue conditions and with real moving objects, observers show positive bias, overestimating the angle of approach when movement is near the mid-sagittal plane. The findings question whether the visual system, using both binocular and monocular cues to depth, can make explicit estimates of the 3-D location and movement of objects in depth.

Determining the Positions of Seismically Active Faults in Platform Regions Based on the Integrated Profile Observations

NASA Astrophysics Data System (ADS)

Levshenko, V. T.; Grigoryan, A. G.

2018-03-01

By the examples of the Roslavl'skii, Grafskii, and Platava-Varvarinskii faults, the possibility is demonstrated of mapping the geological objects by the measurement algorithm that includes successively measuring the spectra of microseisms at the points of the measurement network by movable instruments and statistical accumulation of the ratios of the power spectra of the amplitudes. Based on this technique, the positions of these seismically active faults are determined by the integrated profile observations of the parameters of microseismic and radon fields. The refined positions of the faults can be used in estimating the seismic impacts on the critical objects in the vicinity of these faults.

Robust feedback zoom tracking for digital video surveillance.

PubMed

Zou, Tengyue; Tang, Xiaoqi; Song, Bao; Wang, Jin; Chen, Jihong

2012-01-01

Zoom tracking is an important function in video surveillance, particularly in traffic management and security monitoring. It involves keeping an object of interest in focus during the zoom operation. Zoom tracking is typically achieved by moving the zoom and focus motors in lenses following the so-called "trace curve", which shows the in-focus motor positions versus the zoom motor positions for a specific object distance. The main task of a zoom tracking approach is to accurately estimate the trace curve for the specified object. Because a proportional integral derivative (PID) controller has historically been considered to be the best controller in the absence of knowledge of the underlying process and its high-quality performance in motor control, in this paper, we propose a novel feedback zoom tracking (FZT) approach based on the geometric trace curve estimation and PID feedback controller. The performance of this approach is compared with existing zoom tracking methods in digital video surveillance. The real-time implementation results obtained on an actual digital video platform indicate that the developed FZT approach not only solves the traditional one-to-many mapping problem without pre-training but also improves the robustness for tracking moving or switching objects which is the key challenge in video surveillance.

Estimating tuberculosis incidence from primary survey data: a mathematical modeling approach

PubMed Central

Chadha, V. K.; Laxminarayan, R.; Arinaminpathy, N.

2017-01-01

SUMMARY BACKGROUND: There is an urgent need for improved estimations of the burden of tuberculosis (TB). OBJECTIVE: To develop a new quantitative method based on mathematical modelling, and to demonstrate its application to TB in India. DESIGN: We developed a simple model of TB transmission dynamics to estimate the annual incidence of TB disease from the annual risk of tuberculous infection and prevalence of smear-positive TB. We first compared model estimates for annual infections per smear-positive TB case using previous empirical estimates from China, Korea and the Philippines. We then applied the model to estimate TB incidence in India, stratified by urban and rural settings. RESULTS: Study model estimates show agreement with previous empirical estimates. Applied to India, the model suggests an annual incidence of smear-positive TB of 89.8 per 100 000 population (95%CI 56.8–156.3). Results show differences in urban and rural TB: while an urban TB case infects more individuals per year, a rural TB case remains infectious for appreciably longer, suggesting the need for interventions tailored to these different settings. CONCLUSIONS: Simple models of TB transmission, in conjunction with necessary data, can offer approaches to burden estimation that complement those currently being used. PMID:28284250

A comparison of physiological and anthropometric characteristics among playing positions in junior rugby league players

PubMed Central

Gabbett, T

2005-01-01

Objectives: To compare the physiological and anthropometric characteristics of specific playing positions and positional playing groups in junior rugby league players. Methods: Two hundred and forty junior rugby league players underwent measurements of standard anthropometry (body mass, height, sum of four skinfolds), muscular power (vertical jump), speed (10, 20, and 40 m sprint), agility (L run), and estimated maximal aerobic power (multi-stage fitness test) during the competitive phase of the season, after players had obtained a degree of match fitness. Results: Props were significantly (p<0.05) taller, heavier, and had greater skinfold thickness than all other positions. The halfback and centre positions were faster than props over 40 m. Halfbacks had significantly (p<0.05) greater estimated maximal aerobic power than props. When data were analysed according to positional similarities, it was found that the props positional group had lower 20 and 40 m speed, agility, and estimated maximal aerobic power than the hookers and halves and outside backs positional groups. Differences in the physiological and anthropometric characteristics of other individual playing positions and positional playing groups were uncommon. Conclusions: The results of this study demonstrate that few physiological and anthropometric differences exist among individual playing positions in junior rugby league players, although props are taller, heavier, have greater skinfold thickness, lower 20 and 40 m speed, agility, and estimated maximal aerobic power than other positional playing groups. These findings provide normative data and realistic performance standards for junior rugby league players competing in specific individual positions and positional playing groups. PMID:16118309

Position Estimation and Local Mapping Using Omnidirectional Images and Global Appearance Descriptors

PubMed Central

Berenguer, Yerai; Payá, Luis; Ballesta, Mónica; Reinoso, Oscar

2015-01-01

This work presents some methods to create local maps and to estimate the position of a mobile robot, using the global appearance of omnidirectional images. We use a robot that carries an omnidirectional vision system on it. Every omnidirectional image acquired by the robot is described only with one global appearance descriptor, based on the Radon transform. In the work presented in this paper, two different possibilities have been considered. In the first one, we assume the existence of a map previously built composed of omnidirectional images that have been captured from previously-known positions. The purpose in this case consists of estimating the nearest position of the map to the current position of the robot, making use of the visual information acquired by the robot from its current (unknown) position. In the second one, we assume that we have a model of the environment composed of omnidirectional images, but with no information about the location of where the images were acquired. The purpose in this case consists of building a local map and estimating the position of the robot within this map. Both methods are tested with different databases (including virtual and real images) taking into consideration the changes of the position of different objects in the environment, different lighting conditions and occlusions. The results show the effectiveness and the robustness of both methods. PMID:26501289

Position estimation and driving of an autonomous vehicle by monocular vision

NASA Astrophysics Data System (ADS)

Hanan, Jay C.; Kayathi, Pavan; Hughlett, Casey L.

2007-04-01

Automatic adaptive tracking in real-time for target recognition provided autonomous control of a scale model electric truck. The two-wheel drive truck was modified as an autonomous rover test-bed for vision based guidance and navigation. Methods were implemented to monitor tracking error and ensure a safe, accurate arrival at the intended science target. Some methods are situation independent relying only on the confidence error of the target recognition algorithm. Other methods take advantage of the scenario of combined motion and tracking to filter out anomalies. In either case, only a single calibrated camera was needed for position estimation. Results from real-time autonomous driving tests on the JPL simulated Mars yard are presented. Recognition error was often situation dependent. For the rover case, the background was in motion and may be characterized to provide visual cues on rover travel such as rate, pitch, roll, and distance to objects of interest or hazards. Objects in the scene may be used as landmarks, or waypoints, for such estimations. As objects are approached, their scale increases and their orientation may change. In addition, particularly on rough terrain, these orientation and scale changes may be unpredictable. Feature extraction combined with the neural network algorithm was successful in providing visual odometry in the simulated Mars environment.

Model-based sphere localization (MBSL) in x-ray projections

NASA Astrophysics Data System (ADS)

Sawall, Stefan; Maier, Joscha; Leinweber, Carsten; Funck, Carsten; Kuntz, Jan; Kachelrieß, Marc

2017-08-01

The detection of spherical markers in x-ray projections is an important task in a variety of applications, e.g. geometric calibration and detector distortion correction. Therein, the projection of the sphere center on the detector is of particular interest as the used spherical beads are no ideal point-like objects. Only few methods have been proposed to estimate this respective position on the detector with sufficient accuracy and surrogate positions, e.g. the center of gravity, are used, impairing the results of subsequent algorithms. We propose to estimate the projection of the sphere center on the detector using a simulation-based method matching an artificial projection to the actual measurement. The proposed algorithm intrinsically corrects for all polychromatic effects included in the measurement and absent in the simulation by a polynomial which is estimated simultaneously. Furthermore, neither the acquisition geometry nor any object properties besides the fact that the object is of spherical shape need to be known to find the center of the bead. It is shown by simulations that the algorithm estimates the center projection with an error of less than 1% of the detector pixel size in case of realistic noise levels and that the method is robust to the sphere material, sphere size, and acquisition parameters. A comparison to three reference methods using simulations and measurements indicates that the proposed method is an order of magnitude more accurate compared to these algorithms. The proposed method is an accurate algorithm to estimate the center of spherical markers in CT projections in the presence of polychromatic effects and noise.

Real-time moving objects detection and tracking from airborne infrared camera

NASA Astrophysics Data System (ADS)

Zingoni, Andrea; Diani, Marco; Corsini, Giovanni

2017-10-01

Detecting and tracking moving objects in real-time from an airborne infrared (IR) camera offers interesting possibilities in video surveillance, remote sensing and computer vision applications, such as monitoring large areas simultaneously, quickly changing the point of view on the scene and pursuing objects of interest. To fully exploit such a potential, versatile solutions are needed, but, in the literature, the majority of them works only under specific conditions about the considered scenario, the characteristics of the moving objects or the aircraft movements. In order to overcome these limitations, we propose a novel approach to the problem, based on the use of a cheap inertial navigation system (INS), mounted on the aircraft. To exploit jointly the information contained in the acquired video sequence and the data provided by the INS, a specific detection and tracking algorithm has been developed. It consists of three main stages performed iteratively on each acquired frame. The detection stage, in which a coarse detection map is computed, using a local statistic both fast to calculate and robust to noise and self-deletion of the targeted objects. The registration stage, in which the position of the detected objects is coherently reported on a common reference frame, by exploiting the INS data. The tracking stage, in which the steady objects are rejected, the moving objects are tracked, and an estimation of their future position is computed, to be used in the subsequent iteration. The algorithm has been tested on a large dataset of simulated IR video sequences, recreating different environments and different movements of the aircraft. Promising results have been obtained, both in terms of detection and false alarm rate, and in terms of accuracy in the estimation of position and velocity of the objects. In addition, for each frame, the detection and tracking map has been generated by the algorithm, before the acquisition of the subsequent frame, proving its capability to work in real-time.

The Impact of Escape Alternative Position Change in Multiple-Choice Test on the Psychometric Properties of a Test and Its Items Parameters

ERIC Educational Resources Information Center

Hamadneh, Iyad Mohammed

2015-01-01

This study aimed at investigating the impact changing of escape alternative position in multiple-choice test on the psychometric properties of a test and it's items parameters (difficulty, discrimination & guessing), and estimation of examinee ability. To achieve the study objectives, a 4-alternative multiple choice type achievement test…

Design and development of electrical impedance tomography system with 32 electrodes and microcontroller

NASA Astrophysics Data System (ADS)

Ansory, Achmad; Prajitno, Prawito; Wijaya, Sastra Kusuma

2018-02-01

Electrical Impedance Tomography (EIT) is an imaging method that is able to estimate electrical impedance distribution inside an object. This EIT system is developed by using 32 electrodes and microcontroller based module. From a pair of electrodes, sinusoidal current of 3 mA is injected and the voltage differences between other pairs of electrodes are measured. Voltage measurement data are then sent to MATLAB and EIDORS software; the data are used to reconstruct two dimensions image. The system can detect and determine the position of a phantom in the tank. The object's position is accurately reconstructed and determined with the average shifting of 0.69 cm but object's area cannot be accurately reconstructed. The object's image is more accurately reconstructed when the object is located near to electrodes, has a larger size, and when the current injected to the system has a frequency of 100 kHz or 200kHz.

The Solar Neighborhood. XXV. Discovery of New Proper Motion Stars with 0.40 sec/yr mu or = 0.18 sec/yr Between Declinations -47 deg and 00 deg

DTIC Science & Technology

2011-07-01

that the object was indeed a proper motion object. For real ob- jects, Two Micron All Sky Survey ( 2MASS ) positions, epochs, and JHKs photometry were...and vice versa, and to ensure the correct 2MASS data were collected. The blinking process led to the discovery of many common proper motion (CPM...Proper motion or position angle suspect. f No 2MASS data available, so no distance estimate. g Coordinates not J2000.0 due to lack of proper motion or

Validity of questionnaire self-reports on computer, mouse and keyboard usage during a four-week period.

PubMed

Mikkelsen, Sigurd; Vilstrup, Imogen; Lassen, Christina Funch; Kryger, Ann Isabel; Thomsen, Jane Frølund; Andersen, Johan Hviid

2007-08-01

To examine the validity and potential biases in self-reports of computer, mouse and keyboard usage times, compared with objective recordings. A study population of 1211 people was asked in a questionnaire to estimate the average time they had worked with computer, mouse and keyboard during the past four working weeks. During the same period, a software program recorded these activities objectively. The study was part of a one-year follow-up study from 2000-1 of musculoskeletal outcomes among Danish computer workers. Self-reports on computer, mouse and keyboard usage times were positively associated with objectively measured activity, but the validity was low. Self-reports explained only between a quarter and a third of the variance of objectively measured activity, and were even lower for one measure (keyboard time). Self-reports overestimated usage times. Overestimation was large at low levels and declined with increasing levels of objectively measured activity. Mouse usage time proportion was an exception with a near 1:1 relation. Variability in objectively measured activity, arm pain, gender and age influenced self-reports in a systematic way, but the effects were modest and sometimes in different directions. Self-reported durations of computer activities are positively associated with objective measures but they are quite inaccurate. Studies using self-reports to establish relations between computer work times and musculoskeletal pain could be biased and lead to falsely increased or decreased risk estimates.

Robust position estimation of a mobile vehicle

NASA Astrophysics Data System (ADS)

Conan, Vania; Boulanger, Pierre; Elgazzar, Shadia

1994-11-01

The ability to estimate the position of a mobile vehicle is a key task for navigation over large distances in complex indoor environments such as nuclear power plants. Schematics of the plants are available, but they are incomplete, as real settings contain many objects, such as pipes, cables or furniture, that mask part of the model. The position estimation method described in this paper matches 3-D data with a simple schematic of a plant. It is basically independent of odometry information and viewpoint, robust to noisy data and spurious points and largely insensitive to occlusions. The method is based on a hypothesis/verification paradigm and its complexity is polynomial; it runs in (Omicron) (m4n4), where m represents the number of model patches and n the number of scene patches. Heuristics are presented to speed up the algorithm. Results on real 3-D data show good behavior even when the scene is very occluded.

Detailed 3D representations for object recognition and modeling.

PubMed

Zia, M Zeeshan; Stark, Michael; Schiele, Bernt; Schindler, Konrad

2013-11-01

Geometric 3D reasoning at the level of objects has received renewed attention recently in the context of visual scene understanding. The level of geometric detail, however, is typically limited to qualitative representations or coarse boxes. This is linked to the fact that today's object class detectors are tuned toward robust 2D matching rather than accurate 3D geometry, encouraged by bounding-box-based benchmarks such as Pascal VOC. In this paper, we revisit ideas from the early days of computer vision, namely, detailed, 3D geometric object class representations for recognition. These representations can recover geometrically far more accurate object hypotheses than just bounding boxes, including continuous estimates of object pose and 3D wireframes with relative 3D positions of object parts. In combination with robust techniques for shape description and inference, we outperform state-of-the-art results in monocular 3D pose estimation. In a series of experiments, we analyze our approach in detail and demonstrate novel applications enabled by such an object class representation, such as fine-grained categorization of cars and bicycles, according to their 3D geometry, and ultrawide baseline matching.

Single-lens stereovision system using a prism: position estimation of a multi-ocular prism.

PubMed

Cui, Xiaoyu; Lim, Kah Bin; Zhao, Yue; Kee, Wei Loon

2014-05-01

In this paper, a position estimation method using a prism-based single-lens stereovision system is proposed. A multifaced prism was considered as a single optical system composed of few refractive planes. A transformation matrix which relates the coordinates of an object point to its coordinates on the image plane through the refraction of the prism was derived based on geometrical optics. A mathematical model which is able to denote the position of an arbitrary faces prism with only seven parameters is introduced. This model further extends the application of the single-lens stereovision system using a prism to other areas. Experimentation results are presented to prove the effectiveness and robustness of our proposed model.

Stimulation of PPC Affects the Mapping between Motion and Force Signals for Stiffness Perception But Not Motion Control

PubMed Central

Mawase, Firas; Karniel, Amir; Donchin, Opher; Rothwell, John; Nisky, Ilana; Davare, Marco

2016-01-01

How motion and sensory inputs are combined to assess an object's stiffness is still unknown. Here, we provide evidence for the existence of a stiffness estimator in the human posterior parietal cortex (PPC). We showed previously that delaying force feedback with respect to motion when interacting with an object caused participants to underestimate its stiffness. We found that applying theta-burst transcranial magnetic stimulation (TMS) over the PPC, but not the dorsal premotor cortex, enhances this effect without affecting movement control. We explain this enhancement as an additional lag in force signals. This is the first causal evidence that the PPC is not only involved in motion control, but also has an important role in perception that is disassociated from action. We provide a computational model suggesting that the PPC integrates position and force signals for perception of stiffness and that TMS alters the synchronization between the two signals causing lasting consequences on perceptual behavior. SIGNIFICANCE STATEMENT When selecting an object such as a ripe fruit or sofa, we need to assess the object's stiffness. Because we lack dedicated stiffness sensors, we rely on an as yet unknown mechanism that generates stiffness percepts by combining position and force signals. Here, we found that the posterior parietal cortex (PPC) contributes to combining position and force signals for stiffness estimation. This finding challenges the classical view about the role of the PPC in regulating position signals only for motion control because we highlight a key role of the PPC in perception that is disassociated from action. Altogether this sheds light on brain mechanisms underlying the interaction between action and perception and may help in the development of better teleoperation systems and rehabilitation of patients with sensory impairments. PMID:27733607

Stimulation of PPC Affects the Mapping between Motion and Force Signals for Stiffness Perception But Not Motion Control.

PubMed

Leib, Raz; Mawase, Firas; Karniel, Amir; Donchin, Opher; Rothwell, John; Nisky, Ilana; Davare, Marco

2016-10-12

How motion and sensory inputs are combined to assess an object's stiffness is still unknown. Here, we provide evidence for the existence of a stiffness estimator in the human posterior parietal cortex (PPC). We showed previously that delaying force feedback with respect to motion when interacting with an object caused participants to underestimate its stiffness. We found that applying theta-burst transcranial magnetic stimulation (TMS) over the PPC, but not the dorsal premotor cortex, enhances this effect without affecting movement control. We explain this enhancement as an additional lag in force signals. This is the first causal evidence that the PPC is not only involved in motion control, but also has an important role in perception that is disassociated from action. We provide a computational model suggesting that the PPC integrates position and force signals for perception of stiffness and that TMS alters the synchronization between the two signals causing lasting consequences on perceptual behavior. When selecting an object such as a ripe fruit or sofa, we need to assess the object's stiffness. Because we lack dedicated stiffness sensors, we rely on an as yet unknown mechanism that generates stiffness percepts by combining position and force signals. Here, we found that the posterior parietal cortex (PPC) contributes to combining position and force signals for stiffness estimation. This finding challenges the classical view about the role of the PPC in regulating position signals only for motion control because we highlight a key role of the PPC in perception that is disassociated from action. Altogether this sheds light on brain mechanisms underlying the interaction between action and perception and may help in the development of better teleoperation systems and rehabilitation of patients with sensory impairments. Copyright © 2016 Leib et al.

Precise Absolute Astrometry from the VLBA Imaging and Polarimetry Survey at 5 GHz

NASA Technical Reports Server (NTRS)

Petrov, L.; Taylor, G. B.

2011-01-01

We present accurate positions for 857 sources derived from the astrometric analysis of 16 eleven-hour experiments from the Very Long Baseline Array imaging and polarimetry survey at 5 GHz (VIPS). Among the observed sources, positions of 430 objects were not previously determined at milliarcsecond-level accuracy. For 95% of the sources the uncertainty of their positions ranges from 0.3 to 0.9 mas, with a median value of 0.5 mas. This estimate of accuracy is substantiated by the comparison of positions of 386 sources that were previously observed in astrometric programs simultaneously at 2.3/8.6 GHz. Surprisingly, the ionosphere contribution to group delay was adequately modeled with the use of the total electron content maps derived from GPS observations and only marginally affected estimates of source coordinates.

Control of a Clonal Outbreak of Multidrug-Resistant Acinetobacter baumannii in a Hospital of the Basque Country after the Introduction of Environmental Cleaning Led by the Systematic Sampling from Environmental Objects.

PubMed

Delgado Naranjo, Jesús; Villate Navarro, José Ignacio; Sota Busselo, Mercedes; Martínez Ruíz, Alberto; Hernández Hernández, José María; Torres Garmendia, María Pilar; Urcelay López, María Isabel

2013-01-01

Background. Between July 2009 and September 2010, an outbreak of multidrug-resistant (MDR) Acinetobacter baumannii was detected in one critical care unit of a tertiary hospital in the Basque Country, involving 49 infected and 16 colonized patients. The aim was to evaluate the impact of environmental cleaning and systematic sampling from environmental objects on the risk of infection by MDR A. baumannii. Methods. After systematic sampling from environmental objects and molecular typing of all new MDR A. baumannii strains from patients and environmental isolates, we analyzed the correlation (Pearson's r) between new infected cases and positive environmental samples. The risk ratio (RR) of infection was estimated with Poisson regression. Results. The risk increased significantly with the number of positive samples in common areas (RR = 1.40; 95%CI = 0.99-1.94) and positive samples in boxes (RR = 1.19; 95%CI = 1.01-1.40). The number of cases also positively correlated with positive samples in boxes (r = 0.50; P < 0.05) and common areas (r = 0.29; P = 0.18). Conclusion. Once conventional measures have failed, environmental cleaning, guided by systematic sampling from environmental objects, provided the objective risk reduction of new cases and enabled the full control of the outbreak.

Do reference surfaces influence exocentric pointing?

PubMed

Doumen, M J A; Kappers, A M L; Koenderink, J J

2008-06-01

All elements of the visual field are known to influence the perception of the egocentric distances of objects. Not only the ground surface of a scene, but also the surface at the back or other objects in the scene can affect an observer's egocentric distance estimation of an object. We tested whether this is also true for exocentric direction estimations. We used an exocentric pointing task to test whether the presence of poster-boards in the visual scene would influence the perception of the exocentric direction between two test-objects. In this task the observer has to direct a pointer, with a remote control, to a target. We placed the poster-boards at various positions in the visual field to test whether these boards would affect the settings of the observer. We found that they only affected the settings when they directly served as a reference for orienting the pointer to the target.

Local surface curvature analysis based on reflection estimation

NASA Astrophysics Data System (ADS)

Lu, Qinglin; Laligant, Olivier; Fauvet, Eric; Zakharova, Anastasia

2015-07-01

In this paper, we propose a novel reflection based method to estimate the local orientation of a specular surface. For a calibrated scene with a fixed light band, the band is reflected by the surface to the image plane of a camera. Then the local geometry between the surface and reflected band is estimated. Firstly, in order to find the relationship relying the object position, the object surface orientation and the band reflection, we study the fundamental theory of the geometry between a specular mirror surface and a band source. Then we extend our approach to the spherical surface with arbitrary curvature. Experiments are conducted with mirror surface and spherical surface. Results show that our method is able to obtain the local surface orientation merely by measuring the displacement and the form of the reflection.

Estimation of velocities via optical flow

NASA Astrophysics Data System (ADS)

Popov, A.; Miller, A.; Miller, B.; Stepanyan, K.

2017-02-01

This article presents an approach to the optical flow (OF) usage as a general navigation means providing the information about the linear and angular vehicle's velocities. The term of "OF" came from opto-electronic devices where it corresponds to a video sequence of images related to the camera motion either over static surfaces or set of objects. Even if the positions of these objects are unknown in advance, one can estimate the camera motion provided just by video sequence itself and some metric information, such as distance between the objects or the range to the surface. This approach is applicable to any passive observation system which is able to produce a sequence of images, such as radio locator or sonar. Here the UAV application of the OF is considered since it is historically

Estimation of shoreline position and change using airborne topographic lidar data

USGS Publications Warehouse

Stockdon, H.F.; Sallenger, A.H.; List, J.H.; Holman, R.A.

2002-01-01

A method has been developed for estimating shoreline position from airborne scanning laser data. This technique allows rapid estimation of objective, GPS-based shoreline positions over hundreds of kilometers of coast, essential for the assessment of large-scale coastal behavior. Shoreline position, defined as the cross-shore position of a vertical shoreline datum, is found by fitting a function to cross-shore profiles of laser altimetry data located in a vertical range around the datum and then evaluating the function at the specified datum. Error bars on horizontal position are directly calculated as the 95% confidence interval on the mean value based on the Student's t distribution of the errors of the regression. The technique was tested using lidar data collected with NASA's Airborne Topographic Mapper (ATM) in September 1997 on the Outer Banks of North Carolina. Estimated lidar-based shoreline position was compared to shoreline position as measured by a ground-based GPS vehicle survey system. The two methods agreed closely with a root mean square difference of 2.9 m. The mean 95% confidence interval for shoreline position was ?? 1.4 m. The technique has been applied to a study of shoreline change on Assateague Island, Maryland/Virginia, where three ATM data sets were used to assess the statistics of large-scale shoreline change caused by a major 'northeaster' winter storm. The accuracy of both the lidar system and the technique described provides measures of shoreline position and change that are ideal for studying storm-scale variability over large spatial scales.

Accuracy of Estimating Solar Radiation Pressure for GEO Debris with Tumbling Effect

NASA Astrophysics Data System (ADS)

Chao, Chia-Chun George

2009-03-01

The accuracy of estimating solar radiation pressure for GEO debris is examined and demonstrated, via numerical simulations, by fitting a batch (months) of simulated position vectors. These simulated position vectors are generated from a "truth orbit" with added white noise using high-precision numerical integration tools. After the long-arc fit of the simulated observations (position vectors), one can accurately and reliably determine how close the estimated value of solar radiation pressure is to the truth. Results of this study show that the inherent accuracy in estimating the solar radiation pressure coefficient can be as good as 1% if a long-arc fit span up to 180 days is used and the satellite is not tumbling. The corresponding position prediction accuracy can be as good as, in maximum error, 1 km along in-track, 0.3 km along radial and 0.1 km along cross-track up to 30 days. Similar accuracies can be expected when the object is tumbling as long as the rate of attitude change is different from the orbit rate. Results of this study reveal an important phenomenon that the solar radiation pressure significantly affects the orbit motion when the spin rate is equal to the orbit rate.

Trajectory-adaptive route choice models : specification, choice set generation, and estimation.

DOT National Transportation Integrated Search

2013-03-01

The objective of the research is to investigate adaptive route choice behavior using individuallevel route choice data from GPS (Global Positioning System) observations in a real-life : network, where a traveler could revise the route choice based up...

Robust Feedback Zoom Tracking for Digital Video Surveillance

PubMed Central

Zou, Tengyue; Tang, Xiaoqi; Song, Bao; Wang, Jin; Chen, Jihong

2012-01-01

Zoom tracking is an important function in video surveillance, particularly in traffic management and security monitoring. It involves keeping an object of interest in focus during the zoom operation. Zoom tracking is typically achieved by moving the zoom and focus motors in lenses following the so-called “trace curve”, which shows the in-focus motor positions versus the zoom motor positions for a specific object distance. The main task of a zoom tracking approach is to accurately estimate the trace curve for the specified object. Because a proportional integral derivative (PID) controller has historically been considered to be the best controller in the absence of knowledge of the underlying process and its high-quality performance in motor control, in this paper, we propose a novel feedback zoom tracking (FZT) approach based on the geometric trace curve estimation and PID feedback controller. The performance of this approach is compared with existing zoom tracking methods in digital video surveillance. The real-time implementation results obtained on an actual digital video platform indicate that the developed FZT approach not only solves the traditional one-to-many mapping problem without pre-training but also improves the robustness for tracking moving or switching objects which is the key challenge in video surveillance. PMID:22969388

Detection and 3d Modelling of Vehicles from Terrestrial Stereo Image Pairs

NASA Astrophysics Data System (ADS)

Coenen, M.; Rottensteiner, F.; Heipke, C.

2017-05-01

The detection and pose estimation of vehicles plays an important role for automated and autonomous moving objects e.g. in autonomous driving environments. We tackle that problem on the basis of street level stereo images, obtained from a moving vehicle. Processing every stereo pair individually, our approach is divided into two subsequent steps: the vehicle detection and the modelling step. For the detection, we make use of the 3D stereo information and incorporate geometric assumptions on vehicle inherent properties in a firstly applied generic 3D object detection. By combining our generic detection approach with a state of the art vehicle detector, we are able to achieve satisfying detection results with values for completeness and correctness up to more than 86%. By fitting an object specific vehicle model into the vehicle detections, we are able to reconstruct the vehicles in 3D and to derive pose estimations as well as shape parameters for each vehicle. To deal with the intra-class variability of vehicles, we make use of a deformable 3D active shape model learned from 3D CAD vehicle data in our model fitting approach. While we achieve encouraging values up to 67.2% for correct position estimations, we are facing larger problems concerning the orientation estimation. The evaluation is done by using the object detection and orientation estimation benchmark of the KITTI dataset (Geiger et al., 2012).

Tele-Autonomous control involving contact. Final Report Thesis; [object localization

NASA Technical Reports Server (NTRS)

Shao, Lejun; Volz, Richard A.; Conway, Lynn; Walker, Michael W.

1990-01-01

Object localization and its application in tele-autonomous systems are studied. Two object localization algorithms are presented together with the methods of extracting several important types of object features. The first algorithm is based on line-segment to line-segment matching. Line range sensors are used to extract line-segment features from an object. The extracted features are matched to corresponding model features to compute the location of the object. The inputs of the second algorithm are not limited only to the line features. Featured points (point to point matching) and featured unit direction vectors (vector to vector matching) can also be used as the inputs of the algorithm, and there is no upper limit on the number of the features inputed. The algorithm will allow the use of redundant features to find a better solution. The algorithm uses dual number quaternions to represent the position and orientation of an object and uses the least squares optimization method to find an optimal solution for the object's location. The advantage of using this representation is that the method solves for the location estimation by minimizing a single cost function associated with the sum of the orientation and position errors and thus has a better performance on the estimation, both in accuracy and speed, than that of other similar algorithms. The difficulties when the operator is controlling a remote robot to perform manipulation tasks are also discussed. The main problems facing the operator are time delays on the signal transmission and the uncertainties of the remote environment. How object localization techniques can be used together with other techniques such as predictor display and time desynchronization to help to overcome these difficulties are then discussed.

Detection and Tracking of Moving Objects with Real-Time Onboard Vision System

NASA Astrophysics Data System (ADS)

Erokhin, D. Y.; Feldman, A. B.; Korepanov, S. E.

2017-05-01

Detection of moving objects in video sequence received from moving video sensor is a one of the most important problem in computer vision. The main purpose of this work is developing set of algorithms, which can detect and track moving objects in real time computer vision system. This set includes three main parts: the algorithm for estimation and compensation of geometric transformations of images, an algorithm for detection of moving objects, an algorithm to tracking of the detected objects and prediction their position. The results can be claimed to create onboard vision systems of aircraft, including those relating to small and unmanned aircraft.

Learning to select useful landmarks.

PubMed

Greiner, R; Isukapalli, R

1996-01-01

To navigate effectively, an autonomous agent must be able to quickly and accurately determine its current location. Given an initial estimate of its position (perhaps based on dead-reckoning) and an image taken of a known environment, our agent first attempts to locate a set of landmarks (real-world objects at known locations), then uses their angular separation to obtain an improved estimate of its current position. Unfortunately, some landmarks may not be visible, or worse, may be confused with other landmarks, resulting in both time wasted in searching for the undetected landmarks, and in further errors in the agent's estimate of its position. To address these problems, we propose a method that uses previous experiences to learn a selection function that, given the set of landmarks that might be visible, returns the subset that can be used to reliably provide an accurate registration of the agent's position. We use statistical techniques to prove that the learned selection function is, with high probability, effectively at a local optimum in the space of such functions. This paper also presents empirical evidence, using real-world data, that demonstrate the effectiveness of our approach.

Walk Score™ As a Global Estimate of Neighborhood Walkability

PubMed Central

Carr, Lucas J.; Dunsiger, Shira I.; Marcus, Bess H.

2010-01-01

Background Walk Score™ has recently been demonstrated as a valid and reliable tool for estimating access to nearby facilities, a critical component of the physical activity environment. It has not yet been determined whether Walk Score relates to other critical components of the physical activity environment including street connectivity, access to public transit, residential density and/or crime. Purpose The aim of this study is to explore the relationship between Walk Score and objective/subjective measures of the physical activity environment. Methods Walk Scores were calculated for residential addresses of 296 participants of two RCTs (2006–2009). Street connectivity, residential density, access to public transit provisions and crime were objectively measured (GIS) and cross-referenced with Walk Scores and participant's perceptions of the environment (e.g., perceived crime, access to physical activity facilities, perceived neighborhood walkability). Pairwise Pearson correlations were calculated in March 2010 to compare Walk Score to subjective/objective measures of neighborhood walkability. Results Significant positive correlations were identified between Walk Score and several objective (e.g., street connectivity, residential density and access to public transit provisions) and subjective (e.g., summed score of the physical activity environment) measures of the physical activity environment. However, positive correlations were also observed between Walk Score and crime. Conclusions Collectively, these findings support Walk Score as a free, easy to use and quick proxy of neighborhood density and access to nearby amenities. However, positive associations between Walk Score and reported crime highlight a limitation of Walk Score and warrant caution of its use. PMID:20965384

Automatic Reacquisition of Satellite Positions by Detecting Their Expected Streaks in Astronomical Images

NASA Astrophysics Data System (ADS)

Levesque, M.

Artificial satellites, and particularly space junk, drift continuously from their known orbits. In the surveillance-of-space context, they must be observed frequently to ensure that the corresponding orbital parameter database entries are up-to-date. Autonomous ground-based optical systems are periodically tasked to observe these objects, calculate the difference between their predicted and real positions and update object orbital parameters. The real satellite positions are provided by the detection of the satellite streaks in the astronomical images specifically acquired for this purpose. This paper presents the image processing techniques used to detect and extract the satellite positions. The methodology includes several processing steps including: image background estimation and removal, star detection and removal, an iterative matched filter for streak detection, and finally false alarm rejection algorithms. This detection methodology is able to detect very faint objects. Simulated data were used to evaluate the methodology's performance and determine the sensitivity limits where the algorithm can perform detection without false alarm, which is essential to avoid corruption of the orbital parameter database.

Systems and Methods for Locating a Target in a GPS-Denied Environment

NASA Technical Reports Server (NTRS)

Mackay, John D. (Inventor); Murdock, Ronald G. (Inventor); Cummins, Douglas A. (Inventor)

2017-01-01

A system for locating an object in a GPS-denied environment includes first and second stationary nodes of a network and an object out of synchronization with a common time base of the network. The system includes one or more processors that are configured to estimate distances between the first stationary node and the object and a distance between the second stationary node and the object by comparing time-stamps of messages relayed between the object and the nodes. A position of the object can then be trilaterated using a location of each of the first and second stationary nodes and the measured distances between the object and each of the first and second stationary nodes.

State-Estimation Algorithm Based on Computer Vision

NASA Technical Reports Server (NTRS)

Bayard, David; Brugarolas, Paul

2007-01-01

An algorithm and software to implement the algorithm are being developed as means to estimate the state (that is, the position and velocity) of an autonomous vehicle, relative to a visible nearby target object, to provide guidance for maneuvering the vehicle. In the original intended application, the autonomous vehicle would be a spacecraft and the nearby object would be a small astronomical body (typically, a comet or asteroid) to be explored by the spacecraft. The algorithm could also be used on Earth in analogous applications -- for example, for guiding underwater robots near such objects of interest as sunken ships, mineral deposits, or submerged mines. It is assumed that the robot would be equipped with a vision system that would include one or more electronic cameras, image-digitizing circuitry, and an imagedata- processing computer that would generate feature-recognition data products.

A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera

PubMed Central

Chao, Chun-Tang; Chung, Ming-Hsuan; Chiou, Juing-Shian; Wang, Chi-Jo

2016-01-01

In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots. PMID:27023556

A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera.

PubMed

Chao, Chun-Tang; Chung, Ming-Hsuan; Chiou, Juing-Shian; Wang, Chi-Jo

2016-03-25

In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots.

Optical and Acoustic Sensor-Based 3D Ball Motion Estimation for Ball Sport Simulators †.

PubMed

Seo, Sang-Woo; Kim, Myunggyu; Kim, Yejin

2018-04-25

Estimation of the motion of ball-shaped objects is essential for the operation of ball sport simulators. In this paper, we propose an estimation system for 3D ball motion, including speed and angle of projection, by using acoustic vector and infrared (IR) scanning sensors. Our system is comprised of three steps to estimate a ball motion: sound-based ball firing detection, sound source localization, and IR scanning for motion analysis. First, an impulsive sound classification based on the mel-frequency cepstrum and feed-forward neural network is introduced to detect the ball launch sound. An impulsive sound source localization using a 2D microelectromechanical system (MEMS) microphones and delay-and-sum beamforming is presented to estimate the firing position. The time and position of a ball in 3D space is determined from a high-speed infrared scanning method. Our experimental results demonstrate that the estimation of ball motion based on sound allows a wider activity area than similar camera-based methods. Thus, it can be practically applied to various simulations in sports such as soccer and baseball.

MUSIC algorithm DoA estimation for cooperative node location in mobile ad hoc networks

NASA Astrophysics Data System (ADS)

Warty, Chirag; Yu, Richard Wai; ElMahgoub, Khaled; Spinsante, Susanna

In recent years the technological development has encouraged several applications based on distributed communications network without any fixed infrastructure. The problem of providing a collaborative early warning system for multiple mobile nodes against a fast moving object. The solution is provided subject to system level constraints: motion of nodes, antenna sensitivity and Doppler effect at 2.4 GHz and 5.8 GHz. This approach consists of three stages. The first phase consists of detecting the incoming object using a highly directive two element antenna at 5.0 GHz band. The second phase consists of broadcasting the warning message using a low directivity broad antenna beam using 2× 2 antenna array which then in third phase will be detected by receiving nodes by using direction of arrival (DOA) estimation technique. The DOA estimation technique is used to estimate the range and bearing of the incoming nodes. The position of fast arriving object can be estimated using the MUSIC algorithm for warning beam DOA estimation. This paper is mainly intended to demonstrate the feasibility of early detection and warning system using a collaborative node to node communication links. The simulation is performed to show the behavior of detecting and broadcasting antennas as well as performance of the detection algorithm. The idea can be further expanded to implement commercial grade detection and warning system

Homography-based visual servo regulation of mobile robots.

PubMed

Fang, Yongchun; Dixon, Warren E; Dawson, Darren M; Chawda, Prakash

2005-10-01

A monocular camera-based vision system attached to a mobile robot (i.e., the camera-in-hand configuration) is considered in this paper. By comparing corresponding target points of an object from two different camera images, geometric relationships are exploited to derive a transformation that relates the actual position and orientation of the mobile robot to a reference position and orientation. This transformation is used to synthesize a rotation and translation error system from the current position and orientation to the fixed reference position and orientation. Lyapunov-based techniques are used to construct an adaptive estimate to compensate for a constant, unmeasurable depth parameter, and to prove asymptotic regulation of the mobile robot. The contribution of this paper is that Lyapunov techniques are exploited to craft an adaptive controller that enables mobile robot position and orientation regulation despite the lack of an object model and the lack of depth information. Experimental results are provided to illustrate the performance of the controller.

On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach.

PubMed

Baigzadehnoe, Barmak; Rahmani, Zahra; Khosravi, Alireza; Rezaie, Behrooz

2017-09-01

In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed. Subsequently by defining the appropriate change of coordinates and using the backstepping design strategy, an adaptive fuzzy backstepping position tracking control scheme is proposed for multi-robot manipulator systems. By utilizing the properties of internal forces, extra terms are also added to the control signals to consider the force tracking problem. Moreover, it is shown that the proposed adaptive fuzzy backstepping position/force control approach ensures all the signals of the closed loop system uniformly ultimately bounded and tracking errors of both positions and forces can converge to small desired values by proper selection of the design parameters. Finally, the theoretic achievements are tested on the two three-link planar robot manipulators cooperatively handling a common object to illustrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

The associations between objectively-determined and self-reported urban form characteristics and neighborhood-based walking in adults.

PubMed

Jack, Elizabeth; McCormack, Gavin R

2014-06-04

Self-reported and objectively-determined neighborhood built characteristics are associated with physical activity, yet little is known about their combined influence on walking. This study: 1) compared self-reported measures of the neighborhood built environment between objectively-determined low, medium, and high walkable neighborhoods; 2) estimated the relative associations between self-reported and objectively-determined neighborhood characteristics and walking and; 3) examined the extent to which the objectively-determined built environment moderates the association between self-reported measures of the neighborhood built environment and walking. A random cross-section of 1875 Canadian adults completed a telephone-interview and postal questionnaire capturing neighborhood walkability, neighborhood-based walking, socio-demographic characteristics, walking attitudes, and residential self-selection. Walkability of each respondent's neighborhood was objectively-determined (low [LW], medium [MW], and high walkable [HW]). Covariate-adjusted regression models estimated the associations between weekly participation and duration in transportation and recreational walking and self-reported and objectively-determined walkability. Compared with objectively-determined LW neighborhoods, respondents in HW neighborhoods positively perceived access to services, street connectivity, pedestrian infrastructure, and utilitarian and recreation destination mix, but negatively perceived motor vehicle traffic and crime related safety. Compared with residents of objectively-determined LW neighborhoods, residents of HW neighborhoods were more likely (p < .05) to participate in (odds ratio [OR] = 3.06), and spend more time, per week (193 min/wk) transportation walking. Perceived access to services, street connectivity, motor vehicle safety, and mix of recreational destinations were also significantly associated with transportation walking. With regard to interactions, HW x utilitarian destination mix was positively associated with participation, HW x physical barriers and MW x pedestrian infrastructure were positively associated with minutes, and HW x safety from crime was negatively associated with minutes, of transportation walking. Neither neighborhood type nor its interactions with perceived measures of walkability were associated with recreational walking, although perceived aesthetics was associated with participation (OR = 1.18, p < .05). Objectively-determined and self-reported built characteristics are associated with neighborhood-based transportation walking. The objectively-determined built environment might moderate associations between perceptions of walkability and neighborhood-based transportation walking. Interventions that target perceptions in addition to modifications to the neighborhood built environment could result in increases in physical activity among adults.

The Association Between Self-Rated Fitness and Cardiorespiratory Fitness in Adults.

PubMed

Jensen, Karina Gregersen; Rosthøj, Susanne; Linneberg, Allan; Aadahl, Mette

2018-06-01

To assess criterion validity of a single item question on self-rated physical fitness against objectively measured cardiorespiratory fitness. From the Health2008 study 749 men and women between 30 and 60 years of age rated their fitness as excellent, very good, good, fair or poor. Cardiorespiratory fitness was estimated with the watt-max test. Agreement between self-rated and objectively measured physical fitness was assessed by Cohen's weighted kappa coefficient. Correlation was determined by Goodman & Kruskal's gamma correlation coefficient. All analyses were stratified according to gender. Data from 323 men and 426 women were analysed. There was a slight agreement between self-rated and objectively measured fitness in men (weighted kappa: 0.18, [95%CI: 0.13;0.23]) and a fair agreement in women (weighted kappa: 0.27, [95%CI: 0.22;0.32]). In both genders, self-rated fitness was positively correlated with objectively measured fitness (moderate correlation; gamma correlation coefficient for men: 0.63 [95%CI: 0.54;0.72] and women: 0.67 [95%CI: 0.59;0.75]). There was a slight to fair agreement and moderate, positive correlations between self-rated physical fitness and watt-max estimated cardiorespiratory fitness. Hence, a single-item question on physical fitness may be a cost-effective method of assessing fitness in large population studies, but is not valid for individual assessments. © Georg Thieme Verlag KG Stuttgart · New York.

Application of positive-real functions in hyperstable discrete model-reference adaptive system design.

NASA Technical Reports Server (NTRS)

Karmarkar, J. S.

1972-01-01

Proposal of an algorithmic procedure, based on mathematical programming methods, to design compensators for hyperstable discrete model-reference adaptive systems (MRAS). The objective of the compensator is to render the MRAS insensitive to initial parameter estimates within a maximized hypercube in the model parameter space.

Model-based registration of multi-rigid-body for augmented reality

NASA Astrophysics Data System (ADS)

Ikeda, Sei; Hori, Hajime; Imura, Masataka; Manabe, Yoshitsugu; Chihara, Kunihiro

2009-02-01

Geometric registration between a virtual object and the real space is the most basic problem in augmented reality. Model-based tracking methods allow us to estimate three-dimensional (3-D) position and orientation of a real object by using a textured 3-D model instead of visual marker. However, it is difficult to apply existing model-based tracking methods to the objects that have movable parts such as a display of a mobile phone, because these methods suppose a single, rigid-body model. In this research, we propose a novel model-based registration method for multi rigid-body objects. For each frame, the 3-D models of each rigid part of the object are first rendered according to estimated motion and transformation from the previous frame. Second, control points are determined by detecting the edges of the rendered image and sampling pixels on these edges. Motion and transformation are then simultaneously calculated from distances between the edges and the control points. The validity of the proposed method is demonstrated through experiments using synthetic videos.

Robust multiperson tracking from a mobile platform.

PubMed

Ess, Andreas; Leibe, Bastian; Schindler, Konrad; van Gool, Luc

2009-10-01

In this paper, we address the problem of multiperson tracking in busy pedestrian zones using a stereo rig mounted on a mobile platform. The complexity of the problem calls for an integrated solution that extracts as much visual information as possible and combines it through cognitive feedback cycles. We propose such an approach, which jointly estimates camera position, stereo depth, object detection, and tracking. The interplay between those components is represented by a graphical model. Since the model has to incorporate object-object interactions and temporal links to past frames, direct inference is intractable. We, therefore, propose a two-stage procedure: for each frame, we first solve a simplified version of the model (disregarding interactions and temporal continuity) to estimate the scene geometry and an overcomplete set of object detections. Conditioned on these results, we then address object interactions, tracking, and prediction in a second step. The approach is experimentally evaluated on several long and difficult video sequences from busy inner-city locations. Our results show that the proposed integration makes it possible to deliver robust tracking performance in scenes of realistic complexity.

Experimental Effects and Individual Differences in Linear Mixed Models: Estimating the Relationship between Spatial, Object, and Attraction Effects in Visual Attention

PubMed Central

Kliegl, Reinhold; Wei, Ping; Dambacher, Michael; Yan, Ming; Zhou, Xiaolin

2011-01-01

Linear mixed models (LMMs) provide a still underused methodological perspective on combining experimental and individual-differences research. Here we illustrate this approach with two-rectangle cueing in visual attention (Egly et al., 1994). We replicated previous experimental cue-validity effects relating to a spatial shift of attention within an object (spatial effect), to attention switch between objects (object effect), and to the attraction of attention toward the display centroid (attraction effect), also taking into account the design-inherent imbalance of valid and other trials. We simultaneously estimated variance/covariance components of subject-related random effects for these spatial, object, and attraction effects in addition to their mean reaction times (RTs). The spatial effect showed a strong positive correlation with mean RT and a strong negative correlation with the attraction effect. The analysis of individual differences suggests that slow subjects engage attention more strongly at the cued location than fast subjects. We compare this joint LMM analysis of experimental effects and associated subject-related variances and correlations with two frequently used alternative statistical procedures. PMID:21833292

Direct determination of geometric alignment parameters for cone-beam scanners

PubMed Central

Mennessier, C; Clackdoyle, R; Noo, F

2009-01-01

This paper describes a comprehensive method for determining the geometric alignment parameters for cone-beam scanners (often called calibrating the scanners or performing geometric calibration). The method is applicable to x-ray scanners using area detectors, or to SPECT systems using pinholes or cone-beam converging collimators. Images of an alignment test object (calibration phantom) fixed in the field of view of the scanner are processed to determine the nine geometric parameters for each view. The parameter values are found directly using formulae applied to the projected positions of the test object marker points onto the detector. Each view is treated independently, and no restrictions are made on the position of the cone vertex, or on the position or orientation of the detector. The proposed test object consists of 14 small point-like objects arranged with four points on each of three orthogonal lines, and two points on a diagonal line. This test object is shown to provide unique solutions for all possible scanner geometries, even when partial measurement information is lost by points superimposing in the calibration scan. For the many situations where the cone vertex stays reasonably close to a central plane (for circular, planar, or near-planar trajectories), a simpler version of the test object is appropriate. The simpler object consists of six points, two per orthogonal line, but with some restrictions on the positioning of the test object. This paper focuses on the principles and mathematical justifications for the method. Numerical simulations of the calibration process and reconstructions using estimated parameters are also presented to validate the method and to provide evidence of the robustness of the technique. PMID:19242049

Echolocation of insects using intermittent frequency-modulated sounds.

PubMed

Matsuo, Ikuo; Takanashi, Takuma

2015-09-01

Using echolocation influenced by Doppler shift, bats can capture flying insects in real three-dimensional space. On the basis of this principle, a model that estimates object locations using frequency modulated (FM) sound was proposed. However, no investigation was conducted to verify whether the model can localize flying insects from their echoes. This study applied the model to estimate the range and direction of flying insects by extracting temporal changes from the time-frequency pattern and interaural range difference, respectively. The results obtained confirm that a living insect's position can be estimated using this model with echoes measured while emitting intermittent FM sounds.

Characterizing Responses of Translation Invariant Neurons to Natural Stimuli: Maximally Informative Invariant Dimensions

PubMed Central

Eickenberg, Michael; Rowekamp, Ryan J.; Kouh, Minjoon; Sharpee, Tatyana O.

2012-01-01

Our visual system is capable of recognizing complex objects even when their appearances change drastically under various viewing conditions. Especially in the higher cortical areas, the sensory neurons reflect such functional capacity in their selectivity for complex visual features and invariance to certain object transformations, such as image translation. Due to the strong nonlinearities necessary to achieve both the selectivity and invariance, characterizing and predicting the response patterns of these neurons represents a formidable computational challenge. A related problem is that such neurons are poorly driven by randomized inputs, such as white noise, and respond strongly only to stimuli with complex high-order correlations, such as natural stimuli. Here we describe a novel two-step optimization technique that can characterize both the shape selectivity and the range and coarseness of position invariance from neural responses to natural stimuli. One step in the optimization involves finding the template as the maximally informative dimension given the estimated spatial location where the response could have been triggered within each image. The estimates of the locations that triggered the response are subsequently updated in the next step. Under the assumption of a monotonic relationship between the firing rate and stimulus projections on the template at a given position, the most likely location is the one that has the largest projection on the estimate of the template. The algorithm shows quick convergence during optimization, and the estimation results are reliable even in the regime of small signal-to-noise ratios. When we apply the algorithm to responses of complex cells in the primary visual cortex (V1) to natural movies, we find that responses of the majority of cells were significantly better described by translation invariant models based on one template compared with position-specific models with several relevant features. PMID:22734487

A positional misalignment correction method for Fourier ptychographic microscopy based on simulated annealing

NASA Astrophysics Data System (ADS)

Sun, Jiasong; Zhang, Yuzhen; Chen, Qian; Zuo, Chao

2017-02-01

Fourier ptychographic microscopy (FPM) is a newly developed super-resolution technique, which employs angularly varying illuminations and a phase retrieval algorithm to surpass the diffraction limit of a low numerical aperture (NA) objective lens. In current FPM imaging platforms, accurate knowledge of LED matrix's position is critical to achieve good recovery quality. Furthermore, considering such a wide field-of-view (FOV) in FPM, different regions in the FOV have different sensitivity of LED positional misalignment. In this work, we introduce an iterative method to correct position errors based on the simulated annealing (SA) algorithm. To improve the efficiency of this correcting process, large number of iterations for several images with low illumination NAs are firstly implemented to estimate the initial values of the global positional misalignment model through non-linear regression. Simulation and experimental results are presented to evaluate the performance of the proposed method and it is demonstrated that this method can both improve the quality of the recovered object image and relax the LED elements' position accuracy requirement while aligning the FPM imaging platforms.

System and method for object localization

NASA Technical Reports Server (NTRS)

Kelly, Alonzo J. (Inventor); Zhong, Yu (Inventor)

2005-01-01

A computer-assisted method for localizing a rack, including sensing an image of the rack, detecting line segments in the sensed image, recognizing a candidate arrangement of line segments in the sensed image indicative of a predetermined feature of the rack, generating a matrix of correspondence between the candidate arrangement of line segments and an expected position and orientation of the predetermined feature of the rack, and estimating a position and orientation of the rack based on the matrix of correspondence.

Perceptual attraction in tool use: evidence for a reliability-based weighting mechanism.

PubMed

Debats, Nienke B; Ernst, Marc O; Heuer, Herbert

2017-04-01

Humans are well able to operate tools whereby their hand movement is linked, via a kinematic transformation, to a spatially distant object moving in a separate plane of motion. An everyday example is controlling a cursor on a computer monitor. Despite these separate reference frames, the perceived positions of the hand and the object were found to be biased toward each other. We propose that this perceptual attraction is based on the principles by which the brain integrates redundant sensory information of single objects or events, known as optimal multisensory integration. That is, 1 ) sensory information about the hand and the tool are weighted according to their relative reliability (i.e., inverse variances), and 2 ) the unisensory reliabilities sum up in the integrated estimate. We assessed whether perceptual attraction is consistent with optimal multisensory integration model predictions. We used a cursor-control tool-use task in which we manipulated the relative reliability of the unisensory hand and cursor position estimates. The perceptual biases shifted according to these relative reliabilities, with an additional bias due to contextual factors that were present in experiment 1 but not in experiment 2 The biased position judgments' variances were, however, systematically larger than the predicted optimal variances. Our findings suggest that the perceptual attraction in tool use results from a reliability-based weighting mechanism similar to optimal multisensory integration, but that certain boundary conditions for optimality might not be satisfied. NEW & NOTEWORTHY Kinematic tool use is associated with a perceptual attraction between the spatially separated hand and the effective part of the tool. We provide a formal account for this phenomenon, thereby showing that the process behind it is similar to optimal integration of sensory information relating to single objects. Copyright © 2017 the American Physiological Society.

VizieR Online Data Catalog: PMA Catalogue (Akhmetov+, 2017)

NASA Astrophysics Data System (ADS)

Akhmetov, V. S.; Fedorov, P. N.; Velichko, A. B.; Shulga, V. M.

2017-06-01

The idea for creating the catalogue is very simple. The PMA catalogue has been derived from a combination of two catalogues, namely 2MASS and Gaia DR1. The difference of epochs of observations for these catalogues is approximately 15 yr. The positions of objects in the Gaia DR1 catalogue are referred to the reference frame, which is consistent with ICRF to better than 0.1 mas for the J2015.0 epoch. The positions of objects in 2MASS are referred to HCRF, which, as was shown in Kovalevsky et al. (1997A&A...323..620K), is aligned with the ICRF to within ±0.6 mas at the epoch 1991.25 and is non-rotating with respect to distant extragalactic objects to within ±0.25mas/yr. By comparing the positions of the common objects contained in the catalogues, it is possible to determine their proper motions within their common range of stellar magnitudes by dividing differences of positions over the time interval between their observations. Formally, proper motions derived in such a way are given in the ICRF system, because the positions of both Gaia DR1 stars and those of 2MASS objects (through Hipparcos/Tycho-2 stars) are given in the ICRF and cover the whole sphere without gaps. We designate them further in this paper as relative, with the aim of discriminating them from absolute ones, which refer to the reference frame defined by the positions of about 1.6 million galaxies from Gaia DR1. There is no possibility of obtaining estimates of individual errors of proper motions of stars for the PMA Catalogue from the intrinsic convergence, because the direct errors for positions are not indicated in 2MASS. Therefore we use some indirect methods to obtain the estimates of uncertainties for proper motions. After elimination of the systematic errors, the root-mean-squared deviation of the coordinate differences of extended sources is about 200mas, and the mean number of galaxies inside each pixel is about 1300, so we expect the error of the absolute calibration to be 0.35mas/yr. We compared the proper motions of common objects from PMA and from the TGAS and UCAC4 catalogues. Knowing the mean-square errors of (PMA-TGAS) and (PMA-UCAC4) proper motion differences in each pixel, the appropriate errors in PMA vary from 2 to 10mas/yr, depending on magnitude, which are consistent with the errors calculated above. In case of any problems or questions, please contact by e-mail V.S. Akhmetov (akhmetovvs(at)gmail.com or akhmetov(at)astron.kharkov.ua). (1 data file).

Vision System Measures Motions of Robot and External Objects

NASA Technical Reports Server (NTRS)

Talukder, Ashit; Matthies, Larry

2008-01-01

A prototype of an advanced robotic vision system both (1) measures its own motion with respect to a stationary background and (2) detects other moving objects and estimates their motions, all by use of visual cues. Like some prior robotic and other optoelectronic vision systems, this system is based partly on concepts of optical flow and visual odometry. Whereas prior optoelectronic visual-odometry systems have been limited to frame rates of no more than 1 Hz, a visual-odometry subsystem that is part of this system operates at a frame rate of 60 to 200 Hz, given optical-flow estimates. The overall system operates at an effective frame rate of 12 Hz. Moreover, unlike prior machine-vision systems for detecting motions of external objects, this system need not remain stationary: it can detect such motions while it is moving (even vibrating). The system includes a stereoscopic pair of cameras mounted on a moving robot. The outputs of the cameras are digitized, then processed to extract positions and velocities. The initial image-data-processing functions of this system are the same as those of some prior systems: Stereoscopy is used to compute three-dimensional (3D) positions for all pixels in the camera images. For each pixel of each image, optical flow between successive image frames is used to compute the two-dimensional (2D) apparent relative translational motion of the point transverse to the line of sight of the camera. The challenge in designing this system was to provide for utilization of the 3D information from stereoscopy in conjunction with the 2D information from optical flow to distinguish between motion of the camera pair and motions of external objects, compute the motion of the camera pair in all six degrees of translational and rotational freedom, and robustly estimate the motions of external objects, all in real time. To meet this challenge, the system is designed to perform the following image-data-processing functions: The visual-odometry subsystem (the subsystem that estimates the motion of the camera pair relative to the stationary background) utilizes the 3D information from stereoscopy and the 2D information from optical flow. It computes the relationship between the 3D and 2D motions and uses a least-mean-squares technique to estimate motion parameters. The least-mean-squares technique is suitable for real-time implementation when the number of external-moving-object pixels is smaller than the number of stationary-background pixels.

Genetic parameters for sensory traits in longissimus muscle and their associations with tenderness, marbling score, and intramuscular fat in Angus cattle.

PubMed

Mateescu, R G; Garrick, D J; Garmyn, A J; VanOverbeke, D L; Mafi, G G; Reecy, J M

2015-01-01

The objective of this study was to estimate heritabilities for sensory traits and genetic correlations among sensory traits and with marbling score (MS), Warner-Bratzler shear force (WBSF), and intramuscular fat content (IMFC). Samples of LM from 2,285 Angus cattle were obtained and fabricated into steaks for laboratory analysis and 1,720 steaks were analyzed by a trained sensory panel. Restricted maximum likelihood procedures were used to obtain estimates of variance and covariance components under a multitrait animal model. Estimates of heritability for MS, IMFC, WBSF, tenderness, juiciness, and connective tissue traits were 0.67, 0.38, 0.19, 0.18, 0.06, and 0.25, respectively. The genetic correlations of MS with tenderness, juiciness, and connective tissue were estimated to be 0.57 ± 0.14, 1.00 ± 0.17, and 0.49 ± 0.13, all positive and strong. Estimated genetic correlations of IMFC with tenderness, juiciness, and connective tissue were 0.56 ± 0.16, 1.00 ± 0.21, and 0.50 ± 0.15, respectively. The genetic correlations of WBSF with tenderness, juiciness, and connective tissue were all favorable and estimated to be -0.99 ± 0.08, -0.33 ± 0.30 and -0.99 ± 0.07, respectively. Strong and positive genetic correlations were estimated between tenderness and juiciness (0.54 ± 0.28) and between connective tissue and juiciness (0.58 ± 0.26). In general, genetic correlations were large and favorable, which indicated that strong relationships exist and similar gene and gene networks may control MS, IMFC, and juiciness or WBSF, panel tenderness, and connective tissue. The results from this study confirm that MS currently used in selection breeding programs has positive genetic correlations with tenderness and juiciness and, therefore, is an effective indicator trait for the improvement of tenderness and juiciness in beef. This study also indicated that a more objective measure, particularly WBSF, a trait not easy to improve through phenotypic selection, is an excellent candidate trait for genomic selection aimed at improving eating satisfaction.

Line-Constrained Camera Location Estimation in Multi-Image Stereomatching.

PubMed

Donné, Simon; Goossens, Bart; Philips, Wilfried

2017-08-23

Stereomatching is an effective way of acquiring dense depth information from a scene when active measurements are not possible. So-called lightfield methods take a snapshot from many camera locations along a defined trajectory (usually uniformly linear or on a regular grid-we will assume a linear trajectory) and use this information to compute accurate depth estimates. However, they require the locations for each of the snapshots to be known: the disparity of an object between images is related to both the distance of the camera to the object and the distance between the camera positions for both images. Existing solutions use sparse feature matching for camera location estimation. In this paper, we propose a novel method that uses dense correspondences to do the same, leveraging an existing depth estimation framework to also yield the camera locations along the line. We illustrate the effectiveness of the proposed technique for camera location estimation both visually for the rectification of epipolar plane images and quantitatively with its effect on the resulting depth estimation. Our proposed approach yields a valid alternative for sparse techniques, while still being executed in a reasonable time on a graphics card due to its highly parallelizable nature.

SPHERES Vertigo

NASA Image and Video Library

2014-07-25

ISS040-E-079083 (25 July 2014) --- In the International Space Station?s Kibo laboratory, NASA astronaut Steve Swanson, Expedition 40 commander, enters data in a computer in preparation for a session with a trio of soccer-ball-sized robots known as the Synchronized Position Hold, Engage, Reorient, Experimental Satellites, or SPHERES. The free-flying robots were equipped with stereoscopic goggles called the Visual Estimation and Relative Tracking for Inspection of Generic Objects, or VERTIGO, to enable the SPHERES to perform relative navigation based on a 3D model of a target object.

SPHERES-Vertigo experiment

NASA Image and Video Library

2014-07-25

ISS040-E-080130 (25 July 2014) --- In the International Space Station?s Kibo laboratory, European Space Agency astronaut Alexander Gerst, Expedition 40 flight engineer, conducts a session with a trio of soccer-ball-sized robots known as the Synchronized Position Hold, Engage, Reorient, Experimental Satellites, or SPHERES. The free-flying robots were equipped with stereoscopic goggles called the Visual Estimation and Relative Tracking for Inspection of Generic Objects, or VERTIGO, to enable the SPHERES to perform relative navigation based on a 3D model of a target object.

Accelerating rates of cognitive decline and imaging markers associated with β-amyloid pathology

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

Insel, Philip S.; Mattsson, Niklas; Mackin, R. Scott

Objective: Our objective is to estimate points along the spectrum of β-amyloid pathology at which rates of change of several measures of neuronal injury and cognitive decline begin to accelerate. Methods: In 460 patients with mild cognitive impairment (MCI), we estimated the points at which rates of florbetapir PET, fluorodeoxyglucose (FDG) PET, MRI, and cognitive and functional decline begin to accelerate with respect to baseline CSF Aβ 42. Points of initial acceleration in rates of decline were estimated using mixed-effects regression. Results: Rates of neuronal injury and cognitive and even functional decline accelerate substantially before the conventional threshold for amyloidmore » positivity, with rates of florbetapir PET and FDG PET accelerating early. Temporal lobe atrophy rates also accelerate prior to the threshold, but not before the acceleration of cognitive and functional decline. Conclusions: A considerable proportion of patients with MCI would not meet inclusion criteria for a trial using the current threshold for amyloid positivity, even though on average, they are experiencing cognitive/functional decline associated with prethreshold levels of CSF Aβ 42. Lastly, future trials in early Alzheimer disease might consider revising the criteria regarding β-amyloid thresholds to include the range of amyloid associated with the first signs of accelerating rates of decline.« less

Accelerating rates of cognitive decline and imaging markers associated with β-amyloid pathology

DOE PAGES

Insel, Philip S.; Mattsson, Niklas; Mackin, R. Scott; ...

2016-04-15

Objective: Our objective is to estimate points along the spectrum of β-amyloid pathology at which rates of change of several measures of neuronal injury and cognitive decline begin to accelerate. Methods: In 460 patients with mild cognitive impairment (MCI), we estimated the points at which rates of florbetapir PET, fluorodeoxyglucose (FDG) PET, MRI, and cognitive and functional decline begin to accelerate with respect to baseline CSF Aβ 42. Points of initial acceleration in rates of decline were estimated using mixed-effects regression. Results: Rates of neuronal injury and cognitive and even functional decline accelerate substantially before the conventional threshold for amyloidmore » positivity, with rates of florbetapir PET and FDG PET accelerating early. Temporal lobe atrophy rates also accelerate prior to the threshold, but not before the acceleration of cognitive and functional decline. Conclusions: A considerable proportion of patients with MCI would not meet inclusion criteria for a trial using the current threshold for amyloid positivity, even though on average, they are experiencing cognitive/functional decline associated with prethreshold levels of CSF Aβ 42. Lastly, future trials in early Alzheimer disease might consider revising the criteria regarding β-amyloid thresholds to include the range of amyloid associated with the first signs of accelerating rates of decline.« less

Bayes filter modification for drivability map estimation with observations from stereo vision

NASA Astrophysics Data System (ADS)

Panchenko, Aleksei; Prun, Viktor; Turchenkov, Dmitri

2017-02-01

Reconstruction of a drivability map for a moving vehicle is a well-known research topic in applied robotics. Here creating such a map for an autonomous truck on a generally planar surface containing separate obstacles is considered. The source of measurements for the truck is a calibrated pair of cameras. The stereo system detects and reconstructs several types of objects, such as road borders, other vehicles, pedestrians and general tall objects or highly saturated objects (e.g. road cone). For creating a robust mapping module we use a modification of Bayes filtering, which introduces some novel techniques for occupancy map update step. Specifically, our modified version becomes applicable to the presence of false positive measurement errors, stereo shading and obstacle occlusion. We implemented the technique and achieved real-time 15 FPS computations on an industrial shake proof PC. Our real world experiments show the positive effect of the filtering step.

Smart-Phone Based Magnetic Levitation for Measuring Densities

PubMed Central

Knowlton, Stephanie; Yu, Chu Hsiang; Jain, Nupur

2015-01-01

Magnetic levitation, which uses a magnetic field to suspend objects in a fluid, is a powerful and versatile technology. We develop a compact magnetic levitation platform compatible with a smart-phone to separate micro-objects and estimate the density of the sample based on its levitation height. A 3D printed attachment is mechanically installed over the existing camera unit of a smart-phone. Micro-objects, which may be either spherical or irregular in shape, are suspended in a paramagnetic medium and loaded in a microcapillary tube which is then inserted between two permanent magnets. The micro-objects are levitated and confined in the microcapillary at an equilibrium height dependent on their volumetric mass densities (causing a buoyancy force toward the edge of the microcapillary) and magnetic susceptibilities (causing a magnetic force toward the center of the microcapillary) relative to the suspending medium. The smart-phone camera captures magnified images of the levitating micro-objects through an additional lens positioned between the sample and the camera lens cover. A custom-developed Android application then analyzes these images to determine the levitation height and estimate the density. Using this platform, we were able to separate microspheres with varying densities and calibrate their levitation heights to known densities to develop a technique for precise and accurate density estimation. We have also characterized the magnetic field, the optical imaging capabilities, and the thermal state over time of this platform. PMID:26308615

Smart-Phone Based Magnetic Levitation for Measuring Densities.

PubMed

Knowlton, Stephanie; Yu, Chu Hsiang; Jain, Nupur; Ghiran, Ionita Calin; Tasoglu, Savas

2015-01-01

Magnetic levitation, which uses a magnetic field to suspend objects in a fluid, is a powerful and versatile technology. We develop a compact magnetic levitation platform compatible with a smart-phone to separate micro-objects and estimate the density of the sample based on its levitation height. A 3D printed attachment is mechanically installed over the existing camera unit of a smart-phone. Micro-objects, which may be either spherical or irregular in shape, are suspended in a paramagnetic medium and loaded in a microcapillary tube which is then inserted between two permanent magnets. The micro-objects are levitated and confined in the microcapillary at an equilibrium height dependent on their volumetric mass densities (causing a buoyancy force toward the edge of the microcapillary) and magnetic susceptibilities (causing a magnetic force toward the center of the microcapillary) relative to the suspending medium. The smart-phone camera captures magnified images of the levitating micro-objects through an additional lens positioned between the sample and the camera lens cover. A custom-developed Android application then analyzes these images to determine the levitation height and estimate the density. Using this platform, we were able to separate microspheres with varying densities and calibrate their levitation heights to known densities to develop a technique for precise and accurate density estimation. We have also characterized the magnetic field, the optical imaging capabilities, and the thermal state over time of this platform.

Machine Vision for Relative Spacecraft Navigation During Approach to Docking

NASA Technical Reports Server (NTRS)

Chien, Chiun-Hong; Baker, Kenneth

2011-01-01

This paper describes a machine vision system for relative spacecraft navigation during the terminal phase of approach to docking that: 1) matches high contrast image features of the target vehicle, as seen by a camera that is bore-sighted to the docking adapter on the chase vehicle, to the corresponding features in a 3d model of the docking adapter on the target vehicle and 2) is robust to on-orbit lighting. An implementation is provided for the case of the Space Shuttle Orbiter docking to the International Space Station (ISS) with quantitative test results using a full scale, medium fidelity mock-up of the ISS docking adapter mounted on a 6-DOF motion platform at the NASA Marshall Spaceflight Center Flight Robotics Laboratory and qualitative test results using recorded video from the Orbiter Docking System Camera (ODSC) during multiple orbiter to ISS docking missions. The Natural Feature Image Registration (NFIR) system consists of two modules: 1) Tracking which tracks the target object from image to image and estimates the position and orientation (pose) of the docking camera relative to the target object and 2) Acquisition which recognizes the target object if it is in the docking camera Field-of-View and provides an approximate pose that is used to initialize tracking. Detected image edges are matched to the 3d model edges whose predicted location, based on the pose estimate and its first time derivative from the previous frame, is closest to the detected edge1 . Mismatches are eliminated using a rigid motion constraint. The remaining 2d image to 3d model matches are used to make a least squares estimate of the change in relative pose from the previous image to the current image. The changes in position and in attitude are used as data for two Kalman filters whose outputs are smoothed estimate of position and velocity plus attitude and attitude rate that are then used to predict the location of the 3d model features in the next image.

Method for matching customer and manufacturer positions for metal product parameters standardization

NASA Astrophysics Data System (ADS)

Polyakova, Marina; Rubin, Gennadij; Danilova, Yulija

2018-04-01

Decision making is the main stage of regulation the relations between customer and manufacturer during the design the demands of norms in standards. It is necessary to match the positions of the negotiating sides in order to gain the consensus. In order to take into consideration the differences of customer and manufacturer estimation of the object under standardization process it is obvious to use special methods of analysis. It is proposed to establish relationships between product properties and its functions using functional-target analysis. The special feature of this type of functional analysis is the consideration of the research object functions and properties. It is shown on the example of hexagonal head crew the possibility to establish links between its functions and properties. Such approach allows obtaining a quantitative assessment of the closeness the positions of customer and manufacturer at decision making during the standard norms establishment.

Stereo vision tracking of multiple objects in complex indoor environments.

PubMed

Marrón-Romera, Marta; García, Juan C; Sotelo, Miguel A; Pizarro, Daniel; Mazo, Manuel; Cañas, José M; Losada, Cristina; Marcos, Alvaro

2010-01-01

This paper presents a novel system capable of solving the problem of tracking multiple targets in a crowded, complex and dynamic indoor environment, like those typical of mobile robot applications. The proposed solution is based on a stereo vision set in the acquisition step and a probabilistic algorithm in the obstacles position estimation process. The system obtains 3D position and speed information related to each object in the robot's environment; then it achieves a classification between building elements (ceiling, walls, columns and so on) and the rest of items in robot surroundings. All objects in robot surroundings, both dynamic and static, are considered to be obstacles but the structure of the environment itself. A combination of a Bayesian algorithm and a deterministic clustering process is used in order to obtain a multimodal representation of speed and position of detected obstacles. Performance of the final system has been tested against state of the art proposals; test results validate the authors' proposal. The designed algorithms and procedures provide a solution to those applications where similar multimodal data structures are found.

Emotional reasoning and parent-based reasoning in non-clinical children, and their prospective relationships with anxiety symptoms.

PubMed

Morren, Mattijn; Muris, Peter; Kindt, Merel; Schouten, Erik; van den Hout, Marcel

2008-12-01

Emotional and parent-based reasoning refer to the tendency to rely on personal or parental anxiety response information rather than on objective danger information when estimating the dangerousness of a situation. This study investigated the prospective relationships of emotional and parent-based reasoning with anxiety symptoms in a sample of non-clinical children aged 8-14 years (n = 122). Children completed the anxiety subscales of the Revised Children's Anxiety and Depression Scale (Muris et al. Clin Psychol Psychother 9:430-442, 2002) and provided danger ratings of scenarios that systematically combined objective danger and objective safety information with anxiety-response and positive-response information. These measurements were repeated 10 months later (range 8-11 months). Emotional and parent-based reasoning effects emerged on both occasions. In addition, both effects were modestly stable, but only in case of objective safety. Evidence was found that initial anxiety levels were positively related to emotional reasoning 10 months later. In addition, initial levels of emotional reasoning were positively related to anxiety at a later time, but only when age was taken into account. That is, this relationship changed with increasing age from positive to negative. No significant prospective relationships emerged between anxiety and parent-based reasoning. As yet the clinical implications of these findings are limited, although preliminary evidence indicates that interpretation bias can be modified to decrease anxiety.

Exploiting passive polarimetric imagery for remote sensing applications

NASA Astrophysics Data System (ADS)

Vimal Thilak Krishna, Thilakam

Polarization is a property of light or electromagnetic radiation that conveys information about the orientation of the transverse electric and magnetic fields. The polarization of reflected light complements other electromagnetic radiation attributes such as intensity, frequency, or spectral characteristics. A passive polarization based imaging system records the polarization state of light reflected by objects that are illuminated with an unpolarized and generally uncontrolled source. The polarization due to surface reflections from such objects contains information about the targets that can be exploited in remote sensing applications such as target detection, target classification, object recognition and shape extraction/recognition. In recent years, there has been renewed interest in the use of passive polarization information in remote sensing applications. The goal of our research is to design image processing algorithms for remote sensing applications by utilizing physics-based models that describe the polarization imparted by optical scattering from an object. In this dissertation, we present a method to estimate the complex index of refraction and reflection angle from multiple polarization measurements. This method employs a polarimetric bidirectional reflectance distribution function (pBRDF) that accounts for polarization due to specular scattering. The parameters of interest are derived by utilizing a nonlinear least squares estimation algorithm, and computer simulation results show that the estimation accuracy generally improves with an increasing number of source position measurements. Furthermore, laboratory results indicate that the proposed method is effective for recovering the reflection angle and that the estimated index of refraction provides a feature vector that is robust to the reflection angle. We also study the use of extracted index of refraction as a feature vector in designing two important image processing applications, namely image segmentation and material classification so that the resulting systems are largely invariant to illumination source location. This is in contrast to most passive polarization-based image processing algorithms proposed in the literature that employ quantities such as Stokes vectors and the degree of polarization and which are not robust to changes in illumination conditions. The estimated index of refraction, on the other hand, is invariant to illumination conditions and hence can be used as an input to image processing algorithms. The proposed estimation framework also is extended to the case where the position of the observer (camera) moves between measurements while that of the source remains fixed. Finally, we explore briefly the topic of parameter estimation for a generalized model that accounts for both specular and volumetric scattering. A combination of simulation and experimental results are provided to evaluate the effectiveness of the above methods.

Landmark-aided localization for air vehicles using learned object detectors

NASA Astrophysics Data System (ADS)

DeAngelo, Mark Patrick

This research presents two methods to localize an aircraft without GPS using fixed landmarks observed from an optical sensor. Onboard absolute localization is useful for vehicle navigation free from an external network. The objective is to achieve practical navigation performance using available autopilot hardware and a downward pointing camera. The first method uses computer vision cascade object detectors, which are trained to detect predetermined, distinct landmarks prior to a flight. The first method also concurrently explores aircraft localization using roads between landmark updates. During a flight, the aircraft navigates with attitude, heading, airspeed, and altitude measurements and obtains measurement updates when landmarks are detected. The sensor measurements and landmark coordinates extracted from the aircraft's camera images are combined into an unscented Kalman filter to obtain an estimate of the aircraft's position and wind velocities. The second method uses computer vision object detectors to detect abundant generic landmarks referred as buildings, fields, trees, and road intersections from aerial perspectives. Various landmark attributes and spatial relationships to other landmarks are used to help associate observed landmarks with reference landmarks. The computer vision algorithms automatically extract reference landmarks from maps, which are processed offline before a flight. During a flight, the aircraft navigates with attitude, heading, airspeed, and altitude measurements and obtains measurement corrections by processing aerial photos with similar generic landmark detection techniques. The method also combines sensor measurements and landmark coordinates into an unscented Kalman filter to obtain an estimate of the aircraft's position and wind velocities.

Estimating Real-Time Zenith Tropospheric Delay over Africa Using IGS-RTS Products

NASA Astrophysics Data System (ADS)

Abdelazeem, M.

2017-12-01

Zenith Tropospheric Delay (ZTD) is a crucial parameter for atmospheric modeling, severe weather monitoring and forecasting applications. Currently, the international global navigation satellite system (GNSS) real-time service (IGS-RTS) products are used extensively in real-time atmospheric modeling applications. The objective of this study is to develop a real time zenith tropospheric delay estimation model over Africa using the IGS-RTS products. The real-time ZTDs are estimated based on the real-time precise point positioning (PPP) solution. GNSS observations from a number of reference stations are processed over a period of 7 days. Then, the estimated real-time ZTDs are compared with the IGS tropospheric products counterparts. The findings indicate that the estimated real-time ZTDs have millimeter level accuracy in comparison with the IGS counterparts.

Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors.

PubMed

Spiers, Adam J; Liarokapis, Minas V; Calli, Berk; Dollar, Aaron M

2016-01-01

Classical robotic approaches to tactile object identification often involve rigid mechanical grippers, dense sensor arrays, and exploratory procedures (EPs). Though EPs are a natural method for humans to acquire object information, evidence also exists for meaningful tactile property inference from brief, non-exploratory motions (a 'haptic glance'). In this work, we implement tactile object identification and feature extraction techniques on data acquired during a single, unplanned grasp with a simple, underactuated robot hand equipped with inexpensive barometric pressure sensors. Our methodology utilizes two cooperating schemes based on an advanced machine learning technique (random forests) and parametric methods that estimate object properties. The available data is limited to actuator positions (one per two link finger) and force sensors values (eight per finger). The schemes are able to work both independently and collaboratively, depending on the task scenario. When collaborating, the results of each method contribute to the other, improving the overall result in a synergistic fashion. Unlike prior work, the proposed approach does not require object exploration, re-grasping, grasp-release, or force modulation and works for arbitrary object start positions and orientations. Due to these factors, the technique may be integrated into practical robotic grasping scenarios without adding time or manipulation overheads.

On the physical nature of globular cluster candidates in the Milky Way bulge

NASA Astrophysics Data System (ADS)

Piatti, Andrés E.

2018-06-01

We present results from 2MASS JKs photometry on the physical reality of recently reported globular cluster (GC) candidates in the Milky Way (MW) bulge. We relied our analysis on photometric membership probabilities that allowed us to distinguish real stellar aggregates from the composite field star population. When building colour-magnitude diagrams and stellar density maps for stars at different membership probability levels, the genuine GC candidate populations are clearly highlighted. We then used the tip of the red giant branch (RGB) as distance estimator, resulting in heliocentric distances that place many of the objects in regions near the MW bulge, where no GC had been previously recognized. Some few GC candidates resulted to be MW halo/disc objects. Metallicities estimated from the standard RGB method are in agreement with the values expected according to the position of the GC candidates in the Galaxy. Finally, we derived, for the first time, their structural parameters. We found that the studied objects have core, half-light, and tidal radii in the ranges spanned by the population of known MW GCs. Their internal dynamical evolutionary stages will be described properly when their masses are estimated.

Subitizing Reflects Visuo-Spatial Object Individuation Capacity

ERIC Educational Resources Information Center

Piazza, Manuela; Fumarola, Antonia; Chinello, Alessandro; Melcher, David

2011-01-01

Subitizing is the immediate apprehension of the exact number of items in small sets. Despite more than a 100 years of research around this phenomenon, its nature and origin are still unknown. One view posits that it reflects a number estimation process common for small and large sets, which precision decreases as the number of items increases,…

Vision-based augmented reality system

NASA Astrophysics Data System (ADS)

Chen, Jing; Wang, Yongtian; Shi, Qi; Yan, Dayuan

2003-04-01

The most promising aspect of augmented reality lies in its ability to integrate the virtual world of the computer with the real world of the user. Namely, users can interact with the real world subjects and objects directly. This paper presents an experimental augmented reality system with a video see-through head-mounted device to display visual objects, as if they were lying on the table together with real objects. In order to overlay virtual objects on the real world at the right position and orientation, the accurate calibration and registration are most important. A vision-based method is used to estimate CCD external parameters by tracking 4 known points with different colors. It achieves sufficient accuracy for non-critical applications such as gaming, annotation and so on.

Force/torque and tactile sensors for sensor-based manipulator control

NASA Technical Reports Server (NTRS)

Vanbrussel, H.; Belieen, H.; Bao, Chao-Ying

1989-01-01

The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described.

SPHERES Vertigo

NASA Image and Video Library

2014-07-25

ISS040-E-079355 (25 July 2014) --- In the International Space Station?s Kibo laboratory, NASA astronaut Steve Swanson (foreground), Expedition 40 commander; and European Space Agency astronaut Alexander Gerst, flight engineer, conduct a session with a trio of soccer-ball-sized robots known as the Synchronized Position Hold, Engage, Reorient, Experimental Satellites, or SPHERES. The free-flying robots were equipped with stereoscopic goggles called the Visual Estimation and Relative Tracking for Inspection of Generic Objects, or VERTIGO, to enable the SPHERES to perform relative navigation based on a 3D model of a target object.

SPHERES Vertigo

NASA Image and Video Library

2014-07-25

ISS040-E-079129 (25 July 2014) --- In the International Space Station?s Kibo laboratory, NASA astronaut Steve Swanson (left), Expedition 40 commander; and European Space Agency astronaut Alexander Gerst, flight engineer, conduct a session with a trio of soccer-ball-sized robots known as the Synchronized Position Hold, Engage, Reorient, Experimental Satellites, or SPHERES. The free-flying robots were equipped with stereoscopic goggles called the Visual Estimation and Relative Tracking for Inspection of Generic Objects, or VERTIGO, to enable the SPHERES to perform relative navigation based on a 3D model of a target object.

SPHERES Vertigo

NASA Image and Video Library

2014-07-25

ISS040-E-079910 (25 July 2014) --- In the International Space Station?s Kibo laboratory, NASA astronaut Steve Swanson (left), Expedition 40 commander; and European Space Agency astronaut Alexander Gerst, flight engineer, conduct a session with a trio of soccer-ball-sized robots known as the Synchronized Position Hold, Engage, Reorient, Experimental Satellites, or SPHERES. The free-flying robots were equipped with stereoscopic goggles called the Visual Estimation and Relative Tracking for Inspection of Generic Objects, or VERTIGO, to enable the SPHERES to perform relative navigation based on a 3D model of a target object.

SPHERES Vertigo

NASA Image and Video Library

2014-07-25

ISS040-E-079332 (25 July 2014) --- In the International Space Station?s Kibo laboratory, NASA astronaut Steve Swanson (foreground), Expedition 40 commander; and European Space Agency astronaut Alexander Gerst, flight engineer, conduct a session with a trio of soccer-ball-sized robots known as the Synchronized Position Hold, Engage, Reorient, Experimental Satellites, or SPHERES. The free-flying robots were equipped with stereoscopic goggles called the Visual Estimation and Relative Tracking for Inspection of Generic Objects, or VERTIGO, to enable the SPHERES to perform relative navigation based on a 3D model of a target object.

Effect of time discretization of the imaging process on the accuracy of trajectory estimation in fluorescence microscopy

PubMed Central

Wong, Yau; Chao, Jerry; Lin, Zhiping; Ober, Raimund J.

2014-01-01

In fluorescence microscopy, high-speed imaging is often necessary for the proper visualization and analysis of fast subcellular dynamics. Here, we examine how the speed of image acquisition affects the accuracy with which parameters such as the starting position and speed of a microscopic non-stationary fluorescent object can be estimated from the resulting image sequence. Specifically, we use a Fisher information-based performance bound to investigate the detector-dependent effect of frame rate on the accuracy of parameter estimation. We demonstrate that when a charge-coupled device detector is used, the estimation accuracy deteriorates as the frame rate increases beyond a point where the detector’s readout noise begins to overwhelm the low number of photons detected in each frame. In contrast, we show that when an electron-multiplying charge-coupled device (EMCCD) detector is used, the estimation accuracy improves with increasing frame rate. In fact, at high frame rates where the low number of photons detected in each frame renders the fluorescent object difficult to detect visually, imaging with an EMCCD detector represents a natural implementation of the Ultrahigh Accuracy Imaging Modality, and enables estimation with an accuracy approaching that which is attainable only when a hypothetical noiseless detector is used. PMID:25321248

Treatment patterns, clinical outcomes and health care costs associated with HER2-positive breast cancer with central nervous system metastases: a French multicentre observational study.

PubMed

Baffert, Sandrine; Cottu, Paul; Kirova, Youlia M; Mercier, Florence; Simondi, Cécile; Bachelot, Thomas; Le Rhun, Emilie; Levy, Christelle; Gutierrez, Maya; Madranges, Nicolas; Moldovan, Cristian; Coudert, Bruno; Spaëth, Dominique; Serin, Daniel; Cotté, François-Emery; Benjamin, Laure; Maillard, Cathie; Laulhere-Vigneau, Sabine; Durand-Zaleski, Isabelle

2013-10-31

The population of patients with human epidermal growth factor receptor 2 (HER2)-positive breast cancer (BC) who develop central nervous system (CNS) metastases is growing. Treatment strategies in this population are highly diverse. The objective of the study was to assess health care costs for the management of HER2 positive BC with CNS metastases. This multicentre, retrospective, observational study was conducted on HER2-positive BC patients diagnosed with CNS metastases between 2006 and 2008. Data were extracted from patient medical records to estimate health care resource use. A partitioned estimator was used to adjust censoring costs by use of the Kaplan-Meier survival estimate. 218 patients were included and costs were estimated for 200 patients. The median time to detection of CNS metastases was 37.6 months. The first metastatic event involved the CNS in 39 patients, and this was the unique first metastatic site in 31 of these patients. Two years following diagnosis of CNS metastases, 70.3% of patients had died. The mean per capita cost of HER2-positive BC with CNS metastases in the first year following diagnosis was €35,735 [95% CI: 31,716-39,898]. The proportion of costs attributed to expensive drugs and those arising from hospitalisation were in the same range. A range of individualised disease management strategies are used in HER2-positive BC patients with CNS metastases and the treatments used in the first months following diagnosis are expensive. The understanding of cost drivers may help optimise healthcare expenditure and inform the development of appropriate prevention policies.

A Context-Aware Method for Authentically Simulating Outdoors Shadows for Mobile Augmented Reality.

PubMed

Barreira, Joao; Bessa, Maximino; Barbosa, Luis; Magalhaes, Luis

2018-03-01

Visual coherence between virtual and real objects is a major issue in creating convincing augmented reality (AR) applications. To achieve this seamless integration, actual light conditions must be determined in real time to ensure that virtual objects are correctly illuminated and cast consistent shadows. In this paper, we propose a novel method to estimate daylight illumination and use this information in outdoor AR applications to render virtual objects with coherent shadows. The illumination parameters are acquired in real time from context-aware live sensor data. The method works under unprepared natural conditions. We also present a novel and rapid implementation of a state-of-the-art skylight model, from which the illumination parameters are derived. The Sun's position is calculated based on the user location and time of day, with the relative rotational differences estimated from a gyroscope, compass and accelerometer. The results illustrated that our method can generate visually credible AR scenes with consistent shadows rendered from recovered illumination.

[Effect of social desirability on dietary intake estimated from a food questionnaire].

PubMed

Barros, Renata; Moreira, Pedro; Oliveira, Bruno

2005-01-01

Self-report of dietary intake could be biased by social thus affecting risk estimates in epidemiological studies. The objective of study was to assess the effect of social desirability on dietary intake from a food frequency questionnaire (FFQ). A convenience sample of 483 Portuguese university students was recruited. Subjects were invited to complete a two-part self-administered questionnaire: the first part included the Marlowe-Crowne Social Desirability Scale (M-CSDS), a physical activity questionnaire and self-reported height and weight; the second part, included a semi-quantitative FFQ validated for Portuguese adults, that should be returned after fulfillment. All subjects completed the first part of the questionnaire and 40.4% returned the FFQ fairly completed. In multiple regression analysis, after adjustment for energy and confounders, social desirability produced a significant positive effect in the estimates of dietary fibre, vitamin C, vitamin E, magnesium and potassium, in both genders. In multiple regression, after adjustment for energy and confounders, social desirability had a significant positive effect in the estimates of vegetable consumption, for both genders, and a negative effect in white bread and beer, for women. Social desirability affected nutritional and food intake estimated from a food frequency questionnaire.

Stereovision-based pose and inertia estimation of unknown and uncooperative space objects

NASA Astrophysics Data System (ADS)

Pesce, Vincenzo; Lavagna, Michèle; Bevilacqua, Riccardo

2017-01-01

Autonomous close proximity operations are an arduous and attractive problem in space mission design. In particular, the estimation of pose, motion and inertia properties of an uncooperative object is a challenging task because of the lack of available a priori information. This paper develops a novel method to estimate the relative position, velocity, angular velocity, attitude and the ratios of the components of the inertia matrix of an uncooperative space object using only stereo-vision measurements. The classical Extended Kalman Filter (EKF) and an Iterated Extended Kalman Filter (IEKF) are used and compared for the estimation procedure. In addition, in order to compute the inertia properties, the ratios of the inertia components are added to the state and a pseudo-measurement equation is considered in the observation model. The relative simplicity of the proposed algorithm could be suitable for an online implementation for real applications. The developed algorithm is validated by numerical simulations in MATLAB using different initial conditions and uncertainty levels. The goal of the simulations is to verify the accuracy and robustness of the proposed estimation algorithm. The obtained results show satisfactory convergence of estimation errors for all the considered quantities. The obtained results, in several simulations, shows some improvements with respect to similar works, which deal with the same problem, present in literature. In addition, a video processing procedure is presented to reconstruct the geometrical properties of a body using cameras. This inertia reconstruction algorithm has been experimentally validated at the ADAMUS (ADvanced Autonomous MUltiple Spacecraft) Lab at the University of Florida. In the future, this different method could be integrated to the inertia ratios estimator to have a complete tool for mass properties recognition.

Life expectancy in HIV-positive persons in Switzerland: matched comparison with general population

PubMed Central

Gueler, Aysel; Moser, André; Calmy, Alexandra; Günthard, Huldrych F.; Bernasconi, Enos; Furrer, Hansjakob; Fux, Christoph A.; Battegay, Manuel; Cavassini, Matthias; Vernazza, Pietro; Zwahlen, Marcel; Egger, Matthias

2017-01-01

Objectives: To estimate life expectancy over 25 years in HIV-positive people and to compare their life expectancy with recent estimates for the general population, by education. Methods: Patients aged 20 years or older enrolled in the Swiss HIV Cohort Study 1988–2013 were eligible. Patients alive in 2001 were matched to up to 100 Swiss residents, by sex, year of birth, and education. Life expectancy at age 20 was estimated for monotherapy (1988–1991), dual therapy (1992–1995), early combination antiretroviral therapy (cART, 1996–1998), later cART (1999–2005) and recent cART (2006–2013) eras. Parametric survival regression was used to model life expectancy. Results: In all, 16 532 HIV-positive patients and 927 583 residents were included. Life expectancy at age 20 of HIV-positive individuals increased from 11.8 years [95% confidence interval (CI) 11.2–12.5] in the monotherapy era to 54.9 years (95% CI 51.2–59.6) in the most recent cART era. Differences in life expectancy across educational levels emerged with cART. In the most recent cART period, life expectancy at age 20 years was 52.7 years (95% CI 46.4–60.1) with compulsory education, compared to 60.0 years (95% CI 53.4–67.8) with higher education. Estimates for the general population were 61.5 and 65.6 years, respectively. Male sex, smoking, injection drug use, and low CD4+ cell counts at enrolment were also independently associated with mortality. Conclusion: In Switzerland, educational inequalities in life expectancy were larger among HIV-infected persons than in the general population. Highly educated HIV-positive people have an estimated life expectancy similar to Swiss residents with compulsory education. Earlier start of cART and effective smoking-cessation programs could improve HIV-positive life expectancy further and reduce inequalities. PMID:27831953

Proceedings of the Meeting of the Coordinating Group on Modern Control Theory (4th) Held at Rochester, Michigan on 27-28 October 1982. Part 1

DTIC Science & Technology

1982-10-01

and time-to-go (T60) are provided from the Estimation Algorithm. The gimbal angle commands used in the first two phases are applied to the gimbal...lighting techniques are also used to simplify image understanding or to extract additional information about position, range, or shape of objects in the...motion or firing dis- turbances. Since useful muzzle position and rate information is difficult to obtain, conventional feedback techniques 447 cannot

Estimation of the centre of mass for the study of postural control in Idiopathic Scoliosis patients: a comparison of two techniques

PubMed Central

Coillard, Christine; Rivard, Charles-H.; Prince, François

2008-01-01

The objective of the present study is to quantify the position of the Centre of Mass (COM) during quiet standing using a force plate and compare this technique to the quantification of the COM with an anthropometric model. The postural control of 18 healthy adolescents and 22 IS patients was evaluated using an Optotrak 3D kinematic system, and two AMTI force plates during quiet standing. The position of anatomical landmarks tracked by the Optotrak system served to estimate the position of the COM of both groups using an anthropometric model (COManth). The force plate served to estimate the position of the COM through double integration of the horizontal ground reaction forces (COMgl). The mean position and root mean square (RMS) amplitude of COMgl, in reference to the base of support (BOS) and the first sacral prominence (S1) were quantified in the Anterior–Posterior (A/P) and Medial–Lateral (M/L) directions. There was a significant difference between the control subjects and IS patients for the displacement of the COMgl in reference to the BOS in both the A/P and M/L directions. There was no difference between groups for the mean position of the COMgl, however, 63% of the IS and 43% of the controls had a lateral position of the COMgl in reference to S1 of greater than 5 mm. There was a significant difference between groups in the A/P and M/L directions for the amplitude of error between the COMgl and COManth techniques. PMID:18183428

Estimating the center of mass of a free-floating body in microgravity.

PubMed

Lejeune, L; Casellato, C; Pattyn, N; Neyt, X; Migeotte, P-F

2013-01-01

This paper addresses the issue of estimating the position of the center of mass (CoM) of a free-floating object of unknown mass distribution in microgravity using a stereoscopic imaging system. The method presented here is applied to an object of known mass distribution for validation purposes. In the context of a study of 3-dimensional ballistocardiography in microgravity, and the elaboration of a physical model of the cardiovascular adaptation to weightlessness, the hypothesis that the fluid shift towards the head of astronauts induces a significant shift of their CoM needs to be tested. The experiments were conducted during the 57th parabolic flight campaign of the European Space Agency (ESA). At the beginning of the microgravity phase, the object was given an initial translational and rotational velocity. A 3D point cloud corresponding to the object was then generated, to which a motion-based method inspired by rigid body physics was applied. Through simulations, the effects of the centroid-to-CoM distance and the number of frames of the sequence are investigated. In experimental conditions, considering the important residual accelerations of the airplane during the microgravity phases, CoM estimation errors (16 to 76 mm) were consistent with simulations. Overall, our results suggest that the method has a good potential for its later generalization to a free-floating human body in a weightless environment.

System and Method for Modeling the Flow Performance Features of an Object

NASA Technical Reports Server (NTRS)

Jorgensen, Charles (Inventor); Ross, James (Inventor)

1997-01-01

The method and apparatus includes a neural network for generating a model of an object in a wind tunnel from performance data on the object. The network is trained from test input signals (e.g., leading edge flap position, trailing edge flap position, angle of attack, and other geometric configurations, and power settings) and test output signals (e.g., lift, drag, pitching moment, or other performance features). In one embodiment, the neural network training method employs a modified Levenberg-Marquardt optimization technique. The model can be generated 'real time' as wind tunnel testing proceeds. Once trained, the model is used to estimate performance features associated with the aircraft given geometric configuration and/or power setting input. The invention can also be applied in other similar static flow modeling applications in aerodynamics, hydrodynamics, fluid dynamics, and other such disciplines. For example, the static testing of cars, sails, and foils, propellers, keels, rudders, turbines, fins, and the like, in a wind tunnel, water trough, or other flowing medium.

CCD centroiding experiment for JASMINE and ILOM

NASA Astrophysics Data System (ADS)

Yano, Taihei; Araki, Hiroshi; Gouda, Naoteru; Kobayashi, Yukiyasu; Tsujimoto, Takuji; Nakajima, Tadashi; Kawano, Nobuyuki; Tazawa, Seiichi; Yamada, Yoshiyuki; Hanada, Hideo; Asari, Kazuyoshi; Tsuruta, Seiitsu

2006-06-01

JASMINE and ILOM are space missions which are in progress at the National Astronomical Observatory of Japan. These two projects need a common astrometric technique to obtain precise positions of star images on solid state detectors to accomplish the objectives. We have carried out measurements of centroid of artificial star images on a CCD to investigate the accuracy of the positions of the stars, using an algorithm for estimating them from photon weighted means of the stars. We find that the accuracy of the star positions reaches 1/300 pixel for one measurement. We also measure positions of stars, using an algorithm for correcting the distorted optical image. Finally, we find that the accuracy of the measurement for the positions of the stars from the strongly distorted image is under 1/150 pixel for one measurement.

Toward a Model Based-Bayesian Theory for Estimating and Recognizing Parameterized 3-D Objects Using Two or More Images Taken from Different Positions

DTIC Science & Technology

1989-10-01

Aires, and Philips Laboratory at Briarcliff, NY. B. Cernuschi-Frias is with Facultad de Ingenieria , Universidad de Buenos Aires, Buenos Aires... Ingenieria , Universidad de Buenos Aires, and from IBM (Thomas J. Watson Research Center). David B. Cooper (S’53-M’64) received the B.Sc. and Sc.M

Navigation Concepts for the James Webb Space Telescope

NASA Technical Reports Server (NTRS)

Long, Anne; Leung, Dominic; Kelbel, David; Beckman, Mark; Grambling, Cheryl

2003-01-01

This paper evaluates the performance that can be achieved using candidate ground and onboard navigation approaches for operation of the James Webb Space Telescope, which will be in an orbit about the Sun-Earth L2 libration point. The ground navigation approach processes standard range and Doppler measurements from the Deep Space Network The onboard navigation approach processes celestial object measurements and/or ground-to- spacecraft Doppler measurements to autonomously estimate the spacecraft s position and velocity and Doppler reference frequency. Particular attention is given to assessing the absolute position and velocity accuracy that can be achieved in the presence of the frequent spacecraft reorientations and momentum unloads planned for this mission. The ground navigation approach provides stable navigation solutions using a tracking schedule of one 30-minute contact per day. The onboard navigation approach that uses only optical quality celestial object measurements provides stable autonomous navigation solutions. This study indicates that unmodeled changes in the solar radiation pressure cross-sectional area and modeled momentum unload velocity changes are the major error sources. These errors can be mitigated by modeling these changes, by estimating corrections to compensate for the changes, or by including acceleration measurements.

Stable image acquisition for mobile image processing applications

NASA Astrophysics Data System (ADS)

Henning, Kai-Fabian; Fritze, Alexander; Gillich, Eugen; Mönks, Uwe; Lohweg, Volker

2015-02-01

Today, mobile devices (smartphones, tablets, etc.) are widespread and of high importance for their users. Their performance as well as versatility increases over time. This leads to the opportunity to use such devices for more specific tasks like image processing in an industrial context. For the analysis of images requirements like image quality (blur, illumination, etc.) as well as a defined relative position of the object to be inspected are crucial. Since mobile devices are handheld and used in constantly changing environments the challenge is to fulfill these requirements. We present an approach to overcome the obstacles and stabilize the image capturing process such that image analysis becomes significantly improved on mobile devices. Therefore, image processing methods are combined with sensor fusion concepts. The approach consists of three main parts. First, pose estimation methods are used to guide a user moving the device to a defined position. Second, the sensors data and the pose information are combined for relative motion estimation. Finally, the image capturing process is automated. It is triggered depending on the alignment of the device and the object as well as the image quality that can be achieved under consideration of motion and environmental effects.

Estimating False Positive Contamination in Crater Annotations from Citizen Science Data

NASA Astrophysics Data System (ADS)

Tar, P. D.; Bugiolacchi, R.; Thacker, N. A.; Gilmour, J. D.

2017-01-01

Web-based citizen science often involves the classification of image features by large numbers of minimally trained volunteers, such as the identification of lunar impact craters under the Moon Zoo project. Whilst such approaches facilitate the analysis of large image data sets, the inexperience of users and ambiguity in image content can lead to contamination from false positive identifications. We give an approach, using Linear Poisson Models and image template matching, that can quantify levels of false positive contamination in citizen science Moon Zoo crater annotations. Linear Poisson Models are a form of machine learning which supports predictive error modelling and goodness-of-fits, unlike most alternative machine learning methods. The proposed supervised learning system can reduce the variability in crater counts whilst providing predictive error assessments of estimated quantities of remaining true verses false annotations. In an area of research influenced by human subjectivity, the proposed method provides a level of objectivity through the utilisation of image evidence, guided by candidate crater identifications.

Costs of subcutaneous and intravenous administration of trastuzumab for patients with HER2-positive breast cancer.

PubMed

Olsen, Jens; Jensen, Kenneth Forsstrøm; Olesen, Daniel Sloth; Knoop, Ann

2018-05-01

Trastuzumab is available in an intravenous (iv.) and a subcutaneous (sc.) formulation. The objective of this study was to estimate the costs of administration of iv. and sc. trastuzumab treatment. Via interviews, we identified all the activities associated with iv. and sc. administration. The outcome was time estimates. To estimate the administration costs, the time estimates were valued by average gross wages.  The iv. administration takes longer time as infusion time is longer (25 or 85 min). The iv. administration is associated with higher cost for 17 cycles; €971 (€1858 vs €887). sc. administration is associated with lower administration costs. Switching patients from iv. to sc. would make it possible to treat more patients without increasing the personnel resources.

Informing Investment to Reduce Inequalities: A Modelling Approach

PubMed Central

McAuley, Andrew; Denny, Cheryl; Taulbut, Martin; Mitchell, Rory; Fischbacher, Colin; Graham, Barbara; Grant, Ian; O’Hagan, Paul; McAllister, David; McCartney, Gerry

2016-01-01

Background Reducing health inequalities is an important policy objective but there is limited quantitative information about the impact of specific interventions. Objectives To provide estimates of the impact of a range of interventions on health and health inequalities. Materials and Methods Literature reviews were conducted to identify the best evidence linking interventions to mortality and hospital admissions. We examined interventions across the determinants of health: a ‘living wage’; changes to benefits, taxation and employment; active travel; tobacco taxation; smoking cessation, alcohol brief interventions, and weight management services. A model was developed to estimate mortality and years of life lost (YLL) in intervention and comparison populations over a 20-year time period following interventions delivered only in the first year. We estimated changes in inequalities using the relative index of inequality (RII). Results Introduction of a ‘living wage’ generated the largest beneficial health impact, with modest reductions in health inequalities. Benefits increases had modest positive impacts on health and health inequalities. Income tax increases had negative impacts on population health but reduced inequalities, while council tax increases worsened both health and health inequalities. Active travel increases had minimally positive effects on population health but widened health inequalities. Increases in employment reduced inequalities only when targeted to the most deprived groups. Tobacco taxation had modestly positive impacts on health but little impact on health inequalities. Alcohol brief interventions had modestly positive impacts on health and health inequalities only when strongly socially targeted, while smoking cessation and weight-reduction programmes had minimal impacts on health and health inequalities even when socially targeted. Conclusions Interventions have markedly different effects on mortality, hospitalisations and inequalities. The most effective (and likely cost-effective) interventions for reducing inequalities were regulatory and tax options. Interventions focused on individual agency were much less likely to impact on inequalities, even when targeted at the most deprived communities. PMID:27486857

Point cloud modeling using the homogeneous transformation for non-cooperative pose estimation

NASA Astrophysics Data System (ADS)

Lim, Tae W.

2015-06-01

A modeling process to simulate point cloud range data that a lidar (light detection and ranging) sensor produces is presented in this paper in order to support the development of non-cooperative pose (relative attitude and position) estimation approaches which will help improve proximity operation capabilities between two adjacent vehicles. The algorithms in the modeling process were based on the homogeneous transformation, which has been employed extensively in robotics and computer graphics, as well as in recently developed pose estimation algorithms. Using a flash lidar in a laboratory testing environment, point cloud data of a test article was simulated and compared against the measured point cloud data. The simulated and measured data sets match closely, validating the modeling process. The modeling capability enables close examination of the characteristics of point cloud images of an object as it undergoes various translational and rotational motions. Relevant characteristics that will be crucial in non-cooperative pose estimation were identified such as shift, shadowing, perspective projection, jagged edges, and differential point cloud density. These characteristics will have to be considered in developing effective non-cooperative pose estimation algorithms. The modeling capability will allow extensive non-cooperative pose estimation performance simulations prior to field testing, saving development cost and providing performance metrics of the pose estimation concepts and algorithms under evaluation. The modeling process also provides "truth" pose of the test objects with respect to the sensor frame so that the pose estimation error can be quantified.

Position and orientation tracking in a ubiquitous monitoring system for Parkinson disease patients with freezing of gait symptom.

PubMed

Takač, Boris; Català, Andreu; Rodríguez Martín, Daniel; van der Aa, Nico; Chen, Wei; Rauterberg, Matthias

2013-07-15

Freezing of gait (FoG) is one of the most disturbing and least understood symptoms in Parkinson disease (PD). Although the majority of existing assistive systems assume accurate detections of FoG episodes, the detection itself is still an open problem. The specificity of FoG is its dependency on the context of a patient, such as the current location or activity. Knowing the patient's context might improve FoG detection. One of the main technical challenges that needs to be solved in order to start using contextual information for FoG detection is accurate estimation of the patient's position and orientation toward key elements of his or her indoor environment. The objectives of this paper are to (1) present the concept of the monitoring system, based on wearable and ambient sensors, which is designed to detect FoG using the spatial context of the user, (2) establish a set of requirements for the application of position and orientation tracking in FoG detection, (3) evaluate the accuracy of the position estimation for the tracking system, and (4) evaluate two different methods for human orientation estimation. We developed a prototype system to localize humans and track their orientation, as an important prerequisite for a context-based FoG monitoring system. To setup the system for experiments with real PD patients, the accuracy of the position and orientation tracking was assessed under laboratory conditions in 12 participants. To collect the data, the participants were asked to wear a smartphone, with and without known orientation around the waist, while walking over a predefined path in the marked area captured by two Kinect cameras with non-overlapping fields of view. We used the root mean square error (RMSE) as the main performance measure. The vision based position tracking algorithm achieved RMSE = 0.16 m in position estimation for upright standing people. The experimental results for the proposed human orientation estimation methods demonstrated the adaptivity and robustness to changes in the smartphone attachment position, when the fusion of both vision and inertial information was used. The system achieves satisfactory accuracy on indoor position tracking for the use in the FoG detection application with spatial context. The combination of inertial and vision information has the potential for correct patient heading estimation even when the inertial wearable sensor device is put into an a priori unknown position.

An efficient sequential approach to tracking multiple objects through crowds for real-time intelligent CCTV systems.

PubMed

Li, Liyuan; Huang, Weimin; Gu, Irene Yu-Hua; Luo, Ruijiang; Tian, Qi

2008-10-01

Efficiency and robustness are the two most important issues for multiobject tracking algorithms in real-time intelligent video surveillance systems. We propose a novel 2.5-D approach to real-time multiobject tracking in crowds, which is formulated as a maximum a posteriori estimation problem and is approximated through an assignment step and a location step. Observing that the occluding object is usually less affected by the occluded objects, sequential solutions for the assignment and the location are derived. A novel dominant color histogram (DCH) is proposed as an efficient object model. The DCH can be regarded as a generalized color histogram, where dominant colors are selected based on a given distance measure. Comparing with conventional color histograms, the DCH only requires a few color components (31 on average). Furthermore, our theoretical analysis and evaluation on real data have shown that DCHs are robust to illumination changes. Using the DCH, efficient implementations of sequential solutions for the assignment and location steps are proposed. The assignment step includes the estimation of the depth order for the objects in a dispersing group, one-by-one assignment, and feature exclusion from the group representation. The location step includes the depth-order estimation for the objects in a new group, the two-phase mean-shift location, and the exclusion of tracked objects from the new position in the group. Multiobject tracking results and evaluation from public data sets are presented. Experiments on image sequences captured from crowded public environments have shown good tracking results, where about 90% of the objects have been successfully tracked with the correct identification numbers by the proposed method. Our results and evaluation have indicated that the method is efficient and robust for tracking multiple objects (>or= 3) in complex occlusion for real-world surveillance scenarios.

Neural substrates of perceptual integration during bistable object perception

PubMed Central

Flevaris, Anastasia V.; Martínez, Antigona; Hillyard, Steven A.

2013-01-01

The way we perceive an object depends both on feedforward, bottom-up processing of its physical stimulus properties and on top-down factors such as attention, context, expectation, and task relevance. Here we compared neural activity elicited by varying perceptions of the same physical image—a bistable moving image in which perception spontaneously alternates between dissociated fragments and a single, unified object. A time-frequency analysis of EEG changes associated with the perceptual switch from object to fragment and vice versa revealed a greater decrease in alpha (8–12 Hz) accompanying the switch to object percept than to fragment percept. Recordings of event-related potentials elicited by irrelevant probes superimposed on the moving image revealed an enhanced positivity between 184 and 212 ms when the probes were contained within the boundaries of the perceived unitary object. The topography of the positivity (P2) in this latency range elicited by probes during object perception was distinct from the topography elicited by probes during fragment perception, suggesting that the neural processing of probes differed as a function of perceptual state. Two source localization algorithms estimated the neural generator of this object-related difference to lie in the lateral occipital cortex, a region long associated with object perception. These data suggest that perceived objects attract attention, incorporate visual elements occurring within their boundaries into unified object representations, and enhance the visual processing of elements occurring within their boundaries. Importantly, the perceived object in this case emerged as a function of the fluctuating perceptual state of the viewer. PMID:24246467

Magnetic levitation in the analysis of foods and water.

PubMed

Mirica, Katherine A; Phillips, Scott T; Mace, Charles R; Whitesides, George M

2010-06-09

This paper describes a method and a sensor that use magnetic levitation (MagLev) to characterize samples of food and water on the basis of measurements of density. The sensor comprises two permanent NdFeB magnets positioned on top of each other in a configuration with like poles facing and a container filled with a solution of paramagnetic ions. Measurements of density are obtained by suspending a diamagnetic object in the container filled with the paramagnetic fluid, placing the container between the magnets, and measuring the vertical position of the suspended object. MagLev was used to estimate the salinity of water, to compare a variety of vegetable oils on the basis of the ratio of polyunsaturated fat to monounsaturated fat, to compare the contents of fat in milk, cheese, and peanut butter, and to determine the density of grains.

US women's attitudes to false positive mammography results and detection of ductal carcinoma in situ: cross sectional survey

PubMed Central

Schwartz, Lisa M; Woloshin, Steven; Sox, Harold C; Fischhoff, Baruch; Welch, H Gilbert

2000-01-01

Objective To determine women's attitudes to and knowledge of both false positive mammography results and the detection of ductal carcinoma in situ after screening mammography. Design Cross sectional survey. Setting United States. Participants 479 women aged 18-97 years who did not report a history of breast cancer. Main outcome measures Attitudes to and knowledge of false positive results and the detection of ductal carcinoma in situ after screening mammography. Results Women were aware that false positive results do occur. Their median estimate of the false positive rate for 10 years of annual screening was 20% (25th percentile estimate, 10%; 75th percentile estimate, 45%). The women were highly tolerant of false positives: 63% thought that 500 or more false positives per life saved was reasonable and 37% would tolerate 10 000 or more. Women who had had a false positive result (n=76) expressed the same high tolerance: 39% would tolerate 10 000 or more false positives. 62% of women did not want to take false positive results into account when deciding about screening. Only 8% of women thought that mammography could harm a woman without breast cancer, and 94% doubted the possibility of non-progressive breast cancers. Few had heard about ductal carcinoma in situ, a cancer that may not progress, but when informed, 60% of women wanted to take into account the possibility of it being detected when deciding about screening. Conclusions Women are aware of false positives and seem to view them as an acceptable consequence of screening mammography. In contrast, most women are unaware that screening can detect cancers that may never progress but feel that such information would be relevant. Education should perhaps focus less on false positives and more on the less familiar outcome of detection of ductal carcinoma in situ. PMID:10856064

Performance of Creatinine and Cystatin C GFR Estimating Equations in an HIV-positive population on Antiretrovirals

PubMed Central

INKER, Lesley A; WYATT, Christina; CREAMER, Rebecca; HELLINGER, James; HOTTA, Matthew; LEPPO, Maia; LEVEY, Andrew S; OKPARAVERO, Aghogho; GRAHAM, Hiba; SAVAGE, Karen; SCHMID, Christopher H; TIGHIOUART, Hocine; WALLACH, Fran; KRISHNASAMI, Zipporah

2013-01-01

Objective To evaluate the performance of CKD-EPI creatinine, cystatin C and creatinine-cystatin C estimating equations in HIV-positive patients. Methods We evaluated the performance of the MDRD Study and CKD-EPI creatinine 2009, CKD-EPI cystatin C 2012 and CKD-EPI creatinine-cystatin C 2012 glomerular filtration rate (GFR) estimating equations compared to GFR measured using plasma clearance of iohexol in 200 HIV-positive patients on stable antiretroviral therapy. Creatinine and cystatin C assays were standardized to certified reference materials. Results Of the 200 participants, median (IQR) CD4 count was 536 (421) and 61% had an undetectable HIV-viral load. Mean (SD) measured GFR (mGFR) was 87 (26) ml/min/1.73m2. All CKD-EPI equations performed better than the MDRD Study equation. All three CKD-EPI equations had similar bias and precision. The cystatin C equation was not more accurate than the creatinine equation. The creatinine-cystatin C equation was significantly more accurate than the cystatin C equation and there was a trend toward greater accuracy than the creatinine equation. Accuracy was equal or better in most subgroups with the combined equation compared to either alone. Conclusions The CKD-EPI cystatin C equation does not appear to be more accurate than the CKD-EPI creatinine equation in patients who are HIV-positive, supporting the use of the CKD-EPI creatinine equation for routine clinical care for use in North American populations with HIV. The use of both filtration markers together as a confirmatory test for decreased estimated GFR based on creatinine in individuals who are HIV-positive requires further study. PMID:22842844

Tuberculin Skin Tests versus Interferon-Gamma Release Assays in Tuberculosis Screening among Immigrant Visa Applicants.

PubMed

Chuke, Stella O; Yen, Nguyen Thi Ngoc; Laserson, Kayla F; Phuoc, Nguyen Huu; Trinh, Nguyen An; Nhung, Duong Thi Cam; Mai, Vo Thi Chi; Qui, An Dang; Hai, Hoang Hoa; Loan, Le Thien Huong; Jones, Warren G; Whitworth, William C; Shah, J Jina; Painter, John A; Mazurek, Gerald H; Maloney, Susan A

2014-01-01

Objective. Use of tuberculin skin tests (TSTs) and interferon gamma release assays (IGRAs) as part of tuberculosis (TB) screening among immigrants from high TB-burden countries has not been fully evaluated. Methods. Prevalence of Mycobacterium tuberculosis infection (MTBI) based on TST, or the QuantiFERON-TB Gold test (QFT-G), was determined among immigrant applicants in Vietnam bound for the United States (US); factors associated with test results and discordance were assessed; predictive values of TST and QFT-G for identifying chest radiographs (CXRs) consistent with TB were calculated. Results. Of 1,246 immigrant visa applicants studied, 57.9% were TST positive, 28.3% were QFT-G positive, and test agreement was 59.4%. Increasing age was associated with positive TST results, positive QFT-G results, TST-positive but QFT-G-negative discordance, and abnormal CXRs consistent with TB. Positive predictive values of TST and QFT-G for an abnormal CXR were 25.9% and 25.6%, respectively. Conclusion. The estimated prevalence of MTBI among US-bound visa applicants in Vietnam based on TST was twice that based on QFT-G, and 14 times higher than a TST-based estimate of MTBI prevalence reported for the general US population in 2000. QFT-G was not better than TST at predicting abnormal CXRs consistent with TB.

2MASS J11151597+1937266: A Young, Dusty, Isolated, Planetary-mass Object with a Potential Wide Stellar Companion

NASA Astrophysics Data System (ADS)

Theissen, Christopher A.; Burgasser, Adam J.; Bardalez Gagliuffi, Daniella C.; Hardegree-Ullman, Kevin K.; Gagné, Jonathan; Schmidt, Sarah J.; West, Andrew A.

2018-01-01

We present 2MASS J11151597+1937266, a recently identified low-surface-gravity L dwarf, classified as an L2γ based on Sloan Digital Sky Survey optical spectroscopy. We confirm this spectral type with near-infrared spectroscopy, which provides further evidence that 2MASS J11151597+1937266 is a low-surface-gravity L dwarf. This object also shows significant excess mid-infrared flux, indicative of circumstellar material; and its strong Hα emission (EWHα = 560 ± 82 Å) is an indicator of enhanced magnetic activity or weak accretion. Comparison of its spectral energy distribution to model photospheres yields an effective temperature of {1724}-38+184 {{K}}. We also provide a revised distance estimate of 37 ± 6 pc using a spectral type–luminosity relationship for low-surface-gravity objects. The three-dimensional galactic velocities and positions of 2MASS J11151597+1937266 do not match any known young association or moving group. Assuming a probable age in the range of 5–45 Myr, the model-dependent estimated mass of this object is between 7 and 21 M Jup, making it a potentially isolated planetary-mass object. We also identify a candidate co-moving, young stellar companion, 2MASS J11131089+2110086.

Optimization-based scatter estimation using primary modulation for computed tomography

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

Chen, Yi; Ma, Jingchen; Zhao, Jun, E-mail: junzhao

Purpose: Scatter reduces the image quality in computed tomography (CT), but scatter correction remains a challenge. A previously proposed primary modulation method simultaneously obtains the primary and scatter in a single scan. However, separating the scatter and primary in primary modulation is challenging because it is an underdetermined problem. In this study, an optimization-based scatter estimation (OSE) algorithm is proposed to estimate and correct scatter. Methods: In the concept of primary modulation, the primary is modulated, but the scatter remains smooth by inserting a modulator between the x-ray source and the object. In the proposed algorithm, an objective function ismore » designed for separating the scatter and primary. Prior knowledge is incorporated in the optimization-based framework to improve the accuracy of the estimation: (1) the primary is always positive; (2) the primary is locally smooth and the scatter is smooth; (3) the location of penumbra can be determined; and (4) the scatter-contaminated data provide knowledge about which part is smooth. Results: The simulation study shows that the edge-preserving weighting in OSE improves the estimation accuracy near the object boundary. Simulation study also demonstrates that OSE outperforms the two existing primary modulation algorithms for most regions of interest in terms of the CT number accuracy and noise. The proposed method was tested on a clinical cone beam CT, demonstrating that OSE corrects the scatter even when the modulator is not accurately registered. Conclusions: The proposed OSE algorithm improves the robustness and accuracy in scatter estimation and correction. This method is promising for scatter correction of various kinds of x-ray imaging modalities, such as x-ray radiography, cone beam CT, and the fourth-generation CT.« less

Modelling of the X,Y,Z positioning errors and uncertainty evaluation for the LNE’s mAFM using the Monte Carlo method

NASA Astrophysics Data System (ADS)

Ceria, Paul; Ducourtieux, Sebastien; Boukellal, Younes; Allard, Alexandre; Fischer, Nicolas; Feltin, Nicolas

2017-03-01

In order to evaluate the uncertainty budget of the LNE’s mAFM, a reference instrument dedicated to the calibration of nanoscale dimensional standards, a numerical model has been developed to evaluate the measurement uncertainty of the metrology loop involved in the XYZ positioning of the tip relative to the sample. The objective of this model is to overcome difficulties experienced when trying to evaluate some uncertainty components which cannot be experimentally determined and more specifically, the one linked to the geometry of the metrology loop. The model is based on object-oriented programming and developed under Matlab. It integrates one hundred parameters that allow the control of the geometry of the metrology loop without using analytical formulae. The created objects, mainly the reference and the mobile prism and their mirrors, the interferometers and their laser beams, can be moved and deformed freely to take into account several error sources. The Monte Carlo method is then used to determine the positioning uncertainty of the instrument by randomly drawing the parameters according to their associated tolerances and their probability density functions (PDFs). The whole process follows Supplement 2 to ‘The Guide to the Expression of the Uncertainty in Measurement’ (GUM). Some advanced statistical tools like Morris design and Sobol indices are also used to provide a sensitivity analysis by identifying the most influential parameters and quantifying their contribution to the XYZ positioning uncertainty. The approach validated in the paper shows that the actual positioning uncertainty is about 6 nm. As the final objective is to reach 1 nm, we engage in a discussion to estimate the most effective way to reduce the uncertainty.

Gaze inspired subtitle position evaluation for MOOCs videos

NASA Astrophysics Data System (ADS)

Chen, Hongli; Yan, Mengzhen; Liu, Sijiang; Jiang, Bo

2017-06-01

Online educational resources, such as MOOCs, is becoming increasingly popular, especially in higher education field. One most important media type for MOOCs is course video. Besides traditional bottom-position subtitle accompany to the videos, in recent years, researchers try to develop more advanced algorithms to generate speaker-following style subtitles. However, the effectiveness of such subtitle is still unclear. In this paper, we investigate the relationship between subtitle position and the learning effect after watching the video on tablet devices. Inspired with image based human eye tracking technique, this work combines the objective gaze estimation statistics with subjective user study to achieve a convincing conclusion - speaker-following subtitles are more suitable for online educational videos.

Measuring the bias, precision, accuracy, and validity of self-reported height and weight in assessing overweight and obesity status among adolescents using a surveillance system.

PubMed

Pérez, Adriana; Gabriel, Kelley; Nehme, Eileen K; Mandell, Dorothy J; Hoelscher, Deanna M

2015-07-27

Evidence regarding bias, precision, and accuracy in adolescent self-reported height and weight across demographic subpopulations is lacking. The bias, precision, and accuracy of adolescent self-reported height and weight across subpopulations were examined using a large, diverse and representative sample of adolescents. A second objective was to develop correction equations for self-reported height and weight to provide more accurate estimates of body mass index (BMI) and weight status. A total of 24,221 students from 8th and 11th grade in Texas participated in the School Physical Activity and Nutrition (SPAN) surveillance system in years 2000-2002 and 2004-2005. To assess bias, the differences between the self-reported and objective measures, for height and weight were estimated. To assess precision and accuracy, the Lin's concordance correlation coefficient was used. BMI was estimated for self-reported and objective measures. The prevalence of students' weight status was estimated using self-reported and objective measures; absolute (bias) and relative error (relative bias) were assessed subsequently. Correction equations for sex and race/ethnicity subpopulations were developed to estimate objective measures of height, weight and BMI from self-reported measures using weighted linear regression. Sensitivity, specificity and positive predictive values of weight status classification using self-reported measures and correction equations are assessed by sex and grade. Students in 8th- and 11th-grade overestimated their height from 0.68cm (White girls) to 2.02 cm (African-American boys), and underestimated their weight from 0.4 kg (Hispanic girls) to 0.98 kg (African-American girls). The differences in self-reported versus objectively-measured height and weight resulted in underestimation of BMI ranging from -0.23 kg/m2 (White boys) to -0.7 kg/m2 (African-American girls). The sensitivity of self-reported measures to classify weight status as obese was 70.8% and 81.9% for 8th- and 11th-graders, respectively. These estimates increased when using the correction equations to 77.4% and 84.4% for 8th- and 11th-graders, respectively. When direct measurement is not practical, self-reported measurements provide a reliable proxy measure across grade, sex and race/ethnicity subpopulations of adolescents. Correction equations increase the sensitivity of self-report measures to identify prevalence of overall overweight/obesity status.

On the rate of convergence of the alternating projection method in finite dimensional spaces

NASA Astrophysics Data System (ADS)

Galántai, A.

2005-10-01

Using the results of Smith, Solmon, and Wagner [K. Smith, D. Solomon, S. Wagner, Practical and mathematical aspects of the problem of reconstructing objects from radiographs, Bull. Amer. Math. Soc. 83 (1977) 1227-1270] and Nelson and Neumann [S. Nelson, M. Neumann, Generalizations of the projection method with application to SOR theory for Hermitian positive semidefinite linear systems, Numer. Math. 51 (1987) 123-141] we derive new estimates for the speed of the alternating projection method and its relaxed version in . These estimates can be computed in at most O(m3) arithmetic operations unlike the estimates in papers mentioned above that require spectral information. The new and old estimates are equivalent in many practical cases. In cases when the new estimates are weaker, the numerical testing indicates that they approximate the original bounds in papers mentioned above quite well.

Marginal space learning for efficient detection of 2D/3D anatomical structures in medical images.

PubMed

Zheng, Yefeng; Georgescu, Bogdan; Comaniciu, Dorin

2009-01-01

Recently, marginal space learning (MSL) was proposed as a generic approach for automatic detection of 3D anatomical structures in many medical imaging modalities [1]. To accurately localize a 3D object, we need to estimate nine pose parameters (three for position, three for orientation, and three for anisotropic scaling). Instead of exhaustively searching the original nine-dimensional pose parameter space, only low-dimensional marginal spaces are searched in MSL to improve the detection speed. In this paper, we apply MSL to 2D object detection and perform a thorough comparison between MSL and the alternative full space learning (FSL) approach. Experiments on left ventricle detection in 2D MRI images show MSL outperforms FSL in both speed and accuracy. In addition, we propose two novel techniques, constrained MSL and nonrigid MSL, to further improve the efficiency and accuracy. In many real applications, a strong correlation may exist among pose parameters in the same marginal spaces. For example, a large object may have large scaling values along all directions. Constrained MSL exploits this correlation for further speed-up. The original MSL only estimates the rigid transformation of an object in the image, therefore cannot accurately localize a nonrigid object under a large deformation. The proposed nonrigid MSL directly estimates the nonrigid deformation parameters to improve the localization accuracy. The comparison experiments on liver detection in 226 abdominal CT volumes demonstrate the effectiveness of the proposed methods. Our system takes less than a second to accurately detect the liver in a volume.

An Innovative Technique to Assess Spontaneous Baroreflex Sensitivity with Short Data Segments: Multiple Trigonometric Regressive Spectral Analysis.

PubMed

Li, Kai; Rüdiger, Heinz; Haase, Rocco; Ziemssen, Tjalf

2018-01-01

Objective: As the multiple trigonometric regressive spectral (MTRS) analysis is extraordinary in its ability to analyze short local data segments down to 12 s, we wanted to evaluate the impact of the data segment settings by applying the technique of MTRS analysis for baroreflex sensitivity (BRS) estimation using a standardized data pool. Methods: Spectral and baroreflex analyses were performed on the EuroBaVar dataset (42 recordings, including lying and standing positions). For this analysis, the technique of MTRS was used. We used different global and local data segment lengths, and chose the global data segments from different positions. Three global data segments of 1 and 2 min and three local data segments of 12, 20, and 30 s were used in MTRS analysis for BRS. Results: All the BRS-values calculated on the three global data segments were highly correlated, both in the supine and standing positions; the different global data segments provided similar BRS estimations. When using different local data segments, all the BRS-values were also highly correlated. However, in the supine position, using short local data segments of 12 s overestimated BRS compared with those using 20 and 30 s. In the standing position, the BRS estimations using different local data segments were comparable. There was no proportional bias for the comparisons between different BRS estimations. Conclusion: We demonstrate that BRS estimation by the MTRS technique is stable when using different global data segments, and MTRS is extraordinary in its ability to evaluate BRS in even short local data segments (20 and 30 s). Because of the non-stationary character of most biosignals, the MTRS technique would be preferable for BRS analysis especially in conditions when only short stationary data segments are available or when dynamic changes of BRS should be monitored.

Poverty and Gender Perspective in Productive Projects for Rural Women in Mexico: Impact Evaluation of a Pilot Project

ERIC Educational Resources Information Center

Urquieta-Salomon, Jose E.; Tepichin-Valle, Ana Maria; Tellez-Rojo, Martha Maria

2009-01-01

The objective of this study is to evaluate the impact of a pilot study that promoted productive and capacity-building activities among deprived rural women of Mexico. The evaluation design is observational; 1,278 women are interviewed, and the comparison group is estimated by propensity score matching. The results show a positive impact on the…

Neurophysiological Estimates of Human Performance Capabilities in Aerospace Systems

DTIC Science & Technology

1975-01-27

effects on the visual system (in lateral geniculate bodies and optic cortex) depending on the frequency of auditory stimulation. 27 SECTION VI...of spa- tial positions. Correct responses were rewarded with food. EEG activity was recorded in the hippocampus, hypothalamus and lateral geniculate ...movement or an object movement reduce transmission of visual information through the lateral geniculate nucleus. This may be a mechanism for saccadic

Estimation of the centre of mass for the study of postural control in Idiopathic Scoliosis patients: a comparison of two techniques.

PubMed

Zabjek, Karl F; Coillard, Christine; Rivard, Charles-H; Prince, François

2008-03-01

The objective of the present study is to quantify the position of the Centre of Mass (COM) during quiet standing using a force plate and compare this technique to the quantification of the COM with an anthropometric model. The postural control of 18 healthy adolescents and 22 IS patients was evaluated using an Optotrak 3D kinematic system, and two AMTI force plates during quiet standing. The position of anatomical landmarks tracked by the Optotrak system served to estimate the position of the COM of both groups using an anthropometric model (COM(anth)). The force plate served to estimate the position of the COM through double integration of the horizontal ground reaction forces (COM(gl)). The mean position and root mean square (RMS) amplitude of COM(gl, )in reference to the base of support (BOS) and the first sacral prominence (S1) were quantified in the Anterior-Posterior (A/P) and Medial-Lateral (M/L) directions. There was a significant difference between the control subjects and IS patients for the displacement of the COM(gl) in reference to the BOS in both the A/P and M/L directions. There was no difference between groups for the mean position of the COM(gl), however, 63% of the IS and 43% of the controls had a lateral position of the COM(gl )in reference to S1 of greater than 5 mm. There was a significant difference between groups in the A/P and M/L directions for the amplitude of error between the COM(gl) and COM(anth) techniques.

Flight evaluation of differential GPS aided inertial navigation systems

NASA Technical Reports Server (NTRS)

Mcnally, B. David; Paielli, Russell A.; Bach, Ralph E., Jr.; Warner, David N., Jr.

1992-01-01

Algorithms are described for integration of Differential Global Positioning System (DGPS) data with Inertial Navigation System (INS) data to provide an integrated DGPS/INS navigation system. The objective is to establish the benefits that can be achieved through various levels of integration of DGPS with INS for precision navigation. An eight state Kalman filter integration was implemented in real-time on a twin turbo-prop transport aircraft to evaluate system performance during terminal approach and landing operations. A fully integrated DGPS/INS system is also presented which models accelerometer and rate-gyro measurement errors plus position, velocity, and attitude errors. The fully integrated system was implemented off-line using range-domain (seventeen-state) and position domain (fifteen-state) Kalman filters. Both filter integration approaches were evaluated using data collected during the flight test. Flight-test data consisted of measurements from a 5 channel Precision Code GPS receiver, a strap-down Inertial Navigation Unit (INU), and GPS satellite differential range corrections from a ground reference station. The aircraft was laser tracked to determine its true position. Results indicate that there is no significant improvement in positioning accuracy with the higher levels of DGPS/INS integration. All three systems provided high-frequency (e.g., 20 Hz) estimates of position and velocity. The fully integrated system provided estimates of inertial sensor errors which may be used to improve INS navigation accuracy should GPS become unavailable, and improved estimates of acceleration, attitude, and body rates which can be used for guidance and control. Precision Code DGPS/INS positioning accuracy (root-mean-square) was 1.0 m cross-track and 3.0 m vertical. (This AGARDograph was sponsored by the Guidance and Control Panel.)

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

PubMed Central

Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

2017-01-01

Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments. PMID:28216555

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems.

PubMed

Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

2017-02-14

Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

Do children perceive postural constraints when estimating reach or action planning?

PubMed

Gabbard, Carl; Cordova, Alberto; Lee, Sunghan

2009-03-01

Estimation of whether an object is reachable from a specific body position constitutes an important aspect in effective motor planning. Researchers who estimate reachability by way of motor imagery with adults consistently report the tendency to overestimate, with some evidence of a postural effect (postural stability hypothesis). This idea suggests that perceived reaching limits depend on an individual's perceived postural constraints. Based on previous work with adults, the authors expected a significant postural effect with the Reach 2 condition, as evidenced by reduced overestimation. Furthermore, the authors hypothesized that the postural effect would be greater in younger children. They then tested these propositions among children aged 7, 9, and 11 years by asking them to estimate reach while seated (Reach 1) and in the more demanding posture of standing on 1 foot and leaning forward (Reach 2). Results indicated no age or condition difference, therefore providing no support for a postural effect. When the authors compared these data to a published report of adults, a developmental difference emerged. That is, adults recognize the perceived postural constraint of the standing position resulting in under- rather than overestimation, as displayed in the seated condition. Although preliminary, these observations suggest that estimates of reach (action planning) continue to be refined between late childhood and young adulthood.

Learning User Preferences for Sets of Objects

NASA Technical Reports Server (NTRS)

desJardins, Marie; Eaton, Eric; Wagstaff, Kiri L.

2006-01-01

Most work on preference learning has focused on pairwise preferences or rankings over individual items. In this paper, we present a method for learning preferences over sets of items. Our learning method takes as input a collection of positive examples--that is, one or more sets that have been identified by a user as desirable. Kernel density estimation is used to estimate the value function for individual items, and the desired set diversity is estimated from the average set diversity observed in the collection. Since this is a new learning problem, we introduce a new evaluation methodology and evaluate the learning method on two data collections: synthetic blocks-world data and a new real-world music data collection that we have gathered.

Diagnosis of intrauterine growth restriction: comparison of ultrasound parameters.

PubMed

Ott, William J

2002-04-01

The objective of this study is an attempt to evaluate the best ultrasonic method of diagnosing intrauterine growth restriction (IUGR); a retrospective study of patients with singleton pregnancies who had been scanned at the author's institution within 2 weeks of their delivery was undertaken. Estimated fetal weight, abdominal circumference, head circumference/abdominal circumference ratio, abdominal circumference/femur length ratio, and umbilical artery S/D ratio were compared for accuracy in prediction IUGR in the neonate using both univariant and multivariant statistical analysis. Five hundred one (501) patients were analyzed. One hundred fourteen (114) neonates were classified as IUGR (22.8%). Doppler evaluation of the umbilical artery showed the best sensitivity while both abdominal circumference alone and estimated fetal weight showed similar specificity, positive and negative predictive value, and lowest false-positive and -negative results. Logistic regression analysis confirmed the univariant results and showed that, when used in combination, abdominal circumference and Doppler, or estimated fetal weight and Doppler resulted in the best predictive values. Either estimated fetal weight or abdominal circumference (alone) are accurate predictors of IUGR. Combined with Doppler studies of the umbilical artery either method will provide accurate evaluation of suspected IUGR.

Data-Driven Haptic Modeling and Rendering of Viscoelastic and Frictional Responses of Deformable Objects.

PubMed

Yim, Sunghoon; Jeon, Seokhee; Choi, Seungmoon

2016-01-01

In this paper, we present an extended data-driven haptic rendering method capable of reproducing force responses during pushing and sliding interaction on a large surface area. The main part of the approach is a novel input variable set for the training of an interpolation model, which incorporates the position of a proxy - an imaginary contact point on the undeformed surface. This allows us to estimate friction in both sliding and sticking states in a unified framework. Estimating the proxy position is done in real-time based on simulation using a sliding yield surface - a surface defining a border between the sliding and sticking regions in the external force space. During modeling, the sliding yield surface is first identified via an automated palpation procedure. Then, through manual palpation on a target surface, input data and resultant force data are acquired. The data are used to build a radial basis interpolation model. During rendering, this input-output mapping interpolation model is used to estimate force responses in real-time in accordance with the interaction input. Physical performance evaluation demonstrates that our approach achieves reasonably high estimation accuracy. A user study also shows plausible perceptual realism under diverse and extensive exploration.

Accuracy of height estimation and tidal volume setting using anthropometric formulas in an ICU Caucasian population.

PubMed

L'her, Erwan; Martin-Babau, Jérôme; Lellouche, François

2016-12-01

Knowledge of patients' height is essential for daily practice in the intensive care unit. However, actual height measurements are unavailable on a daily routine in the ICU and measured height in the supine position and/or visual estimates may lack consistency. Clinicians do need simple and rapid methods to estimate the patients' height, especially in short height and/or obese patients. The objectives of the study were to evaluate several anthropometric formulas for height estimation on healthy volunteers and to test whether several of these estimates will help tidal volume setting in ICU patients. This was a prospective, observational study in a medical intensive care unit of a university hospital. During the first phase of the study, eight limb measurements were performed on 60 healthy volunteers and 18 height estimation formulas were tested. During the second phase, four height estimates were performed on 60 consecutive ICU patients under mechanical ventilation. In the 60 healthy volunteers, actual height was well correlated with the gold standard, measured height in the erect position. Correlation was low between actual and calculated height, using the hand's length and width, the index, or the foot equations. The Chumlea method and its simplified version, performed in the supine position, provided adequate estimates. In the 60 ICU patients, calculated height using the simplified Chumlea method was well correlated with measured height (r = 0.78; ∂ < 1 %). Ulna and tibia estimates also provided valuable estimates. All these height estimates allowed calculating IBW or PBW that were significantly different from the patients' actual weight on admission. In most cases, tidal volume set according to these estimates was lower than what would have been set using the actual weight. When actual height is unavailable in ICU patients undergoing mechanical ventilation, alternative anthropometric methods to obtain patient's height based on lower leg and on forearm measurements could be useful to facilitate the application of protective mechanical ventilation in a Caucasian ICU population. The simplified Chumlea method is easy to achieve in a bed-ridden patient and provides accurate height estimates, with a low bias.

Cooperative multisensor system for real-time face detection and tracking in uncontrolled conditions

NASA Astrophysics Data System (ADS)

Marchesotti, Luca; Piva, Stefano; Turolla, Andrea; Minetti, Deborah; Regazzoni, Carlo S.

2005-03-01

The presented work describes an innovative architecture for multi-sensor distributed video surveillance applications. The aim of the system is to track moving objects in outdoor environments with a cooperative strategy exploiting two video cameras. The system also exhibits the capacity of focusing its attention on the faces of detected pedestrians collecting snapshot frames of face images, by segmenting and tracking them over time at different resolution. The system is designed to employ two video cameras in a cooperative client/server structure: the first camera monitors the entire area of interest and detects the moving objects using change detection techniques. The detected objects are tracked over time and their position is indicated on a map representing the monitored area. The objects" coordinates are sent to the server sensor in order to point its zooming optics towards the moving object. The second camera tracks the objects at high resolution. As well as the client camera, this sensor is calibrated and the position of the object detected on the image plane reference system is translated in its coordinates referred to the same area map. In the map common reference system, data fusion techniques are applied to achieve a more precise and robust estimation of the objects" track and to perform face detection and tracking. The work novelties and strength reside in the cooperative multi-sensor approach, in the high resolution long distance tracking and in the automatic collection of biometric data such as a person face clip for recognition purposes.

Modeling guidance and recognition in categorical search: bridging human and computer object detection.

PubMed

Zelinsky, Gregory J; Peng, Yifan; Berg, Alexander C; Samaras, Dimitris

2013-10-08

Search is commonly described as a repeating cycle of guidance to target-like objects, followed by the recognition of these objects as targets or distractors. Are these indeed separate processes using different visual features? We addressed this question by comparing observer behavior to that of support vector machine (SVM) models trained on guidance and recognition tasks. Observers searched for a categorically defined teddy bear target in four-object arrays. Target-absent trials consisted of random category distractors rated in their visual similarity to teddy bears. Guidance, quantified as first-fixated objects during search, was strongest for targets, followed by target-similar, medium-similarity, and target-dissimilar distractors. False positive errors to first-fixated distractors also decreased with increasing dissimilarity to the target category. To model guidance, nine teddy bear detectors, using features ranging in biological plausibility, were trained on unblurred bears then tested on blurred versions of the same objects appearing in each search display. Guidance estimates were based on target probabilities obtained from these detectors. To model recognition, nine bear/nonbear classifiers, trained and tested on unblurred objects, were used to classify the object that would be fixated first (based on the detector estimates) as a teddy bear or a distractor. Patterns of categorical guidance and recognition accuracy were modeled almost perfectly by an HMAX model in combination with a color histogram feature. We conclude that guidance and recognition in the context of search are not separate processes mediated by different features, and that what the literature knows as guidance is really recognition performed on blurred objects viewed in the visual periphery.

Modeling guidance and recognition in categorical search: Bridging human and computer object detection

PubMed Central

Zelinsky, Gregory J.; Peng, Yifan; Berg, Alexander C.; Samaras, Dimitris

2013-01-01

Search is commonly described as a repeating cycle of guidance to target-like objects, followed by the recognition of these objects as targets or distractors. Are these indeed separate processes using different visual features? We addressed this question by comparing observer behavior to that of support vector machine (SVM) models trained on guidance and recognition tasks. Observers searched for a categorically defined teddy bear target in four-object arrays. Target-absent trials consisted of random category distractors rated in their visual similarity to teddy bears. Guidance, quantified as first-fixated objects during search, was strongest for targets, followed by target-similar, medium-similarity, and target-dissimilar distractors. False positive errors to first-fixated distractors also decreased with increasing dissimilarity to the target category. To model guidance, nine teddy bear detectors, using features ranging in biological plausibility, were trained on unblurred bears then tested on blurred versions of the same objects appearing in each search display. Guidance estimates were based on target probabilities obtained from these detectors. To model recognition, nine bear/nonbear classifiers, trained and tested on unblurred objects, were used to classify the object that would be fixated first (based on the detector estimates) as a teddy bear or a distractor. Patterns of categorical guidance and recognition accuracy were modeled almost perfectly by an HMAX model in combination with a color histogram feature. We conclude that guidance and recognition in the context of search are not separate processes mediated by different features, and that what the literature knows as guidance is really recognition performed on blurred objects viewed in the visual periphery. PMID:24105460

Influence of scanning parameters on the estimation accuracy of control points of B-spline surfaces

NASA Astrophysics Data System (ADS)

Aichinger, Julia; Schwieger, Volker

2018-04-01

This contribution deals with the influence of scanning parameters like scanning distance, incidence angle, surface quality and sampling width on the average estimated standard deviations of the position of control points from B-spline surfaces which are used to model surfaces from terrestrial laser scanning data. The influence of the scanning parameters is analyzed by the Monte Carlo based variance analysis. The samples were generated for non-correlated and correlated data, leading to the samples generated by Latin hypercube and replicated Latin hypercube sampling algorithms. Finally, the investigations show that the most influential scanning parameter is the distance from the laser scanner to the object. The angle of incidence shows a significant effect for distances of 50 m and longer, while the surface quality contributes only negligible effects. The sampling width has no influence. Optimal scanning parameters can be found in the smallest possible object distance at an angle of incidence close to 0° in the highest surface quality. The consideration of correlations improves the estimation accuracy and underlines the importance of complete stochastic models for TLS measurements.

A method of 3D object recognition and localization in a cloud of points

NASA Astrophysics Data System (ADS)

Bielicki, Jerzy; Sitnik, Robert

2013-12-01

The proposed method given in this article is prepared for analysis of data in the form of cloud of points directly from 3D measurements. It is designed for use in the end-user applications that can directly be integrated with 3D scanning software. The method utilizes locally calculated feature vectors (FVs) in point cloud data. Recognition is based on comparison of the analyzed scene with reference object library. A global descriptor in the form of a set of spatially distributed FVs is created for each reference model. During the detection process, correlation of subsets of reference FVs with FVs calculated in the scene is computed. Features utilized in the algorithm are based on parameters, which qualitatively estimate mean and Gaussian curvatures. Replacement of differentiation with averaging in the curvatures estimation makes the algorithm more resistant to discontinuities and poor quality of the input data. Utilization of the FV subsets allows to detect partially occluded and cluttered objects in the scene, while additional spatial information maintains false positive rate at a reasonably low level.

Interactive rendering of acquired materials on dynamic geometry using frequency analysis.

PubMed

Bagher, Mahdi Mohammad; Soler, Cyril; Subr, Kartic; Belcour, Laurent; Holzschuch, Nicolas

2013-05-01

Shading acquired materials with high-frequency illumination is computationally expensive. Estimating the shading integral requires multiple samples of the incident illumination. The number of samples required may vary across the image, and the image itself may have high- and low-frequency variations, depending on a combination of several factors. Adaptively distributing computational budget across the pixels for shading is a challenging problem. In this paper, we depict complex materials such as acquired reflectances, interactively, without any precomputation based on geometry. In each frame, we first estimate the frequencies in the local light field arriving at each pixel, as well as the variance of the shading integrand. Our frequency analysis accounts for combinations of a variety of factors: the reflectance of the object projecting to the pixel, the nature of the illumination, the local geometry and the camera position relative to the geometry and lighting. We then exploit this frequency information (bandwidth and variance) to adaptively sample for reconstruction and integration. For example, fewer pixels per unit area are shaded for pixels projecting onto diffuse objects, and fewer samples are used for integrating illumination incident on specular objects.

Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control

PubMed Central

Feliu-Batlle, Vicente; Feliu-Talegon, Daniel; Castillo-Berrio, Claudia Fernanda

2017-01-01

Some insects or mammals use antennae or whiskers to detect by the sense of touch obstacles or recognize objects in environments in which other senses like vision cannot work. Artificial flexible antennae can be used in robotics to mimic this sense of touch in these recognition tasks. We have designed and built a two-degree of freedom (2DOF) flexible antenna sensor device to perform robot navigation tasks. This device is composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that detects the contact of the beam with an object. It is found that the efficiency of such a device strongly depends on the speed and accuracy achieved by the antenna positioning system. These issues are severely impaired by the vibrations that appear in the antenna during its movement. However, these antennae are usually moved without taking care of these undesired vibrations. This article proposes a new closed-loop control schema that cancels vibrations and improves the free movements of the antenna. Moreover, algorithms to estimate the 3D beam position and the instant and point of contact with an object are proposed. Experiments are reported that illustrate the efficiency of these proposed algorithms and the improvements achieved in object detection tasks using a control system that cancels beam vibrations. PMID:28406449

Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control.

PubMed

Feliu-Batlle, Vicente; Feliu-Talegon, Daniel; Castillo-Berrio, Claudia Fernanda

2017-04-13

Some insects or mammals use antennae or whiskers to detect by the sense of touch obstacles or recognize objects in environments in which other senses like vision cannot work. Artificial flexible antennae can be used in robotics to mimic this sense of touch in these recognition tasks. We have designed and built a two-degree of freedom (2DOF) flexible antenna sensor device to perform robot navigation tasks. This device is composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that detects the contact of the beam with an object. It is found that the efficiency of such a device strongly depends on the speed and accuracy achieved by the antenna positioning system. These issues are severely impaired by the vibrations that appear in the antenna during its movement. However, these antennae are usually moved without taking care of these undesired vibrations. This article proposes a new closed-loop control schema that cancels vibrations and improves the free movements of the antenna. Moreover, algorithms to estimate the 3D beam position and the instant and point of contact with an object are proposed. Experiments are reported that illustrate the efficiency of these proposed algorithms and the improvements achieved in object detection tasks using a control system that cancels beam vibrations.

Pose Estimation of a Mobile Robot Based on Fusion of IMU Data and Vision Data Using an Extended Kalman Filter.

PubMed

Alatise, Mary B; Hancke, Gerhard P

2017-09-21

Using a single sensor to determine the pose estimation of a device cannot give accurate results. This paper presents a fusion of an inertial sensor of six degrees of freedom (6-DoF) which comprises the 3-axis of an accelerometer and the 3-axis of a gyroscope, and a vision to determine a low-cost and accurate position for an autonomous mobile robot. For vision, a monocular vision-based object detection algorithm speeded-up robust feature (SURF) and random sample consensus (RANSAC) algorithms were integrated and used to recognize a sample object in several images taken. As against the conventional method that depend on point-tracking, RANSAC uses an iterative method to estimate the parameters of a mathematical model from a set of captured data which contains outliers. With SURF and RANSAC, improved accuracy is certain; this is because of their ability to find interest points (features) under different viewing conditions using a Hessain matrix. This approach is proposed because of its simple implementation, low cost, and improved accuracy. With an extended Kalman filter (EKF), data from inertial sensors and a camera were fused to estimate the position and orientation of the mobile robot. All these sensors were mounted on the mobile robot to obtain an accurate localization. An indoor experiment was carried out to validate and evaluate the performance. Experimental results show that the proposed method is fast in computation, reliable and robust, and can be considered for practical applications. The performance of the experiments was verified by the ground truth data and root mean square errors (RMSEs).

Pose Estimation of a Mobile Robot Based on Fusion of IMU Data and Vision Data Using an Extended Kalman Filter

PubMed Central

Hancke, Gerhard P.

2017-01-01

Using a single sensor to determine the pose estimation of a device cannot give accurate results. This paper presents a fusion of an inertial sensor of six degrees of freedom (6-DoF) which comprises the 3-axis of an accelerometer and the 3-axis of a gyroscope, and a vision to determine a low-cost and accurate position for an autonomous mobile robot. For vision, a monocular vision-based object detection algorithm speeded-up robust feature (SURF) and random sample consensus (RANSAC) algorithms were integrated and used to recognize a sample object in several images taken. As against the conventional method that depend on point-tracking, RANSAC uses an iterative method to estimate the parameters of a mathematical model from a set of captured data which contains outliers. With SURF and RANSAC, improved accuracy is certain; this is because of their ability to find interest points (features) under different viewing conditions using a Hessain matrix. This approach is proposed because of its simple implementation, low cost, and improved accuracy. With an extended Kalman filter (EKF), data from inertial sensors and a camera were fused to estimate the position and orientation of the mobile robot. All these sensors were mounted on the mobile robot to obtain an accurate localization. An indoor experiment was carried out to validate and evaluate the performance. Experimental results show that the proposed method is fast in computation, reliable and robust, and can be considered for practical applications. The performance of the experiments was verified by the ground truth data and root mean square errors (RMSEs). PMID:28934102

Mining the Kilo-Degree Survey for solar system objects

NASA Astrophysics Data System (ADS)

Mahlke, M.; Bouy, H.; Altieri, B.; Verdoes Kleijn, G.; Carry, B.; Bertin, E.; de Jong, J. T. A.; Kuijken, K.; McFarland, J.; Valentijn, E.

2018-02-01

Context. The search for minor bodies in the solar system promises insights into its formation history. Wide imaging surveys offer the opportunity to serendipitously discover and identify these traces of planetary formation and evolution. Aim. We aim to present a method to acquire position, photometry, and proper motion measurements of solar system objects (SSOs) in surveys using dithered image sequences. The application of this method on the Kilo-Degree Survey (KiDS) is demonstrated. Methods: Optical images of 346 deg2 fields of the sky are searched in up to four filters using the AstrOmatic software suite to reduce the pixel to catalog data. The SSOs within the acquired sources are selected based on a set of criteria depending on their number of observation, motion, and size. The Virtual Observatory SkyBoT tool is used to identify known objects. Results: We observed 20 221 SSO candidates, with an estimated false-positive content of less than 0.05%. Of these SSO candidates, 53.4% are identified by SkyBoT. KiDS can detect previously unknown SSOs because of its depth and coverage at high ecliptic latitude, including parts of the Southern Hemisphere. Thus we expect the large fraction of the 46.6% of unidentified objects to be truly new SSOs. Conclusions: Our method is applicable to a variety of dithered surveys such as DES, LSST, and Euclid. It offers a quick and easy-to-implement search for SSOs. SkyBoT can then be used to estimate the completeness of the recovered sample. The tables of raw data are only available at the CDS via anonymous ftp to http://cdsarc.u-strasbg.fr (http://130.79.128.5) or via http://cdsarc.u-strasbg.fr/viz-bin/qcat?J/A+A/610/A21

Accuracy and Landmark Error Calculation Using Cone-Beam Computed Tomography–Generated Cephalograms

PubMed Central

Grauer, Dan; Cevidanes, Lucia S. H.; Styner, Martin A.; Heulfe, Inam; Harmon, Eric T.; Zhu, Hongtu; Proffit, William R.

2010-01-01

Objective To evaluate systematic differences in landmark position between cone-beam computed tomography (CBCT)–generated cephalograms and conventional digital cephalograms and to estimate how much variability should be taken into account when both modalities are used within the same longitudinal study. Materials and Methods Landmarks on homologous cone-beam computed tomographic–generated cephalograms and conventional digital cephalograms of 46 patients were digitized, registered, and compared via the Hotelling T2 test. Results There were no systematic differences between modalities in the position of most landmarks. Three landmarks showed statistically significant differences but did not reach clinical significance. A method for error calculation while combining both modalities in the same individual is presented. Conclusion In a longitudinal follow-up for assessment of treatment outcomes and growth of one individual, the error due to the combination of the two modalities might be larger than previously estimated. PMID:19905853

Factors associated with obstructive sleep apnea among commercial motor vehicle drivers.

PubMed

Xie, Wen; Chakrabarty, Sangita; Levine, Robert; Johnson, Roy; Talmage, James B

2011-02-01

Identify factors associated with obstructive sleep apnea (OSA) risk during commercial driver medical examinations. A case-control study was conducted at an occupational health clinic by reviewing the commercial driver medical examinations medical records performed from January 2007 to December 2008. The magnitude of association with OSA was estimated with logistic regression. Among 1890 commercial motor vehicle drivers, 51 were confirmed positive for OSA by polysomnography after initial screening by Joint Task Force guidelines, yielding estimated positive predictive values of 78.5% for the screening criteria. Multivariable logistic regression showed that body mass index ≥ 30 (odds ratio: 26.86), hypertension (odds ratio: 2.57), and diabetes (odds ratio: 2.03) were independently associated with OSA. Medical examiners' use of objectively measurable risk factors, such as obesity, history of hypertension, and/or diabetes, rather than symptoms, may be more effective in identifying undiagnosed OSA in commercial drivers during the commercial driver medical examinations.

Perceptual Calibration for Immersive Display Environments

PubMed Central

Ponto, Kevin; Gleicher, Michael; Radwin, Robert G.; Shin, Hyun Joon

2013-01-01

The perception of objects, depth, and distance has been repeatedly shown to be divergent between virtual and physical environments. We hypothesize that many of these discrepancies stem from incorrect geometric viewing parameters, specifically that physical measurements of eye position are insufficiently precise to provide proper viewing parameters. In this paper, we introduce a perceptual calibration procedure derived from geometric models. While most research has used geometric models to predict perceptual errors, we instead use these models inversely to determine perceptually correct viewing parameters. We study the advantages of these new psychophysically determined viewing parameters compared to the commonly used measured viewing parameters in an experiment with 20 subjects. The perceptually calibrated viewing parameters for the subjects generally produced new virtual eye positions that were wider and deeper than standard practices would estimate. Our study shows that perceptually calibrated viewing parameters can significantly improve depth acuity, distance estimation, and the perception of shape. PMID:23428454

Physical activity measurement in older adults: relationships with mental health.

PubMed

Parker, Sarah J; Strath, Scott J; Swartz, Ann M

2008-10-01

This study examined the relationship between physical activity (PA) and mental health among older adults as measured by objective and subjective PA-assessment instruments. Pedometers (PED), accelerometers (ACC), and the Physical Activity Scale for the Elderly (PASE) were administered to measure 1 week of PA among 84 adults age 55-87 (mean = 71) years. General mental health was measured using the Positive and Negative Affect Scale (PANAS) and the Satisfaction With Life Scale (SWL). Linear regressions revealed that PA estimated by PED significantly predicted 18.1%, 8.3%, and 12.3% of variance in SWL and positive and negative affect, respectively, whereas PA estimated by the PASE did not predict any mental health variables. Results from ACC data were mixed. Hotelling-William tests between correlation coefficients revealed that the relationship between PED and SWL was significantly stronger than the relationship between PASE and SWL. Relationships between PA and mental health might depend on the PA measure used.

Heritability estimates for Mycobacterium avium subspecies paratuberculosis status of German Holstein cows tested by fecal culture.

PubMed

Küpper, J; Brandt, H; Donat, K; Erhardt, G

2012-05-01

The objective of this study was to estimate genetic manifestation of Mycobacterium avium ssp. paratuberculosis (MAP) infection in German Holstein cows. Incorporated into this study were 11,285 German Holstein herd book cows classified as MAP-positive and MAP-negative animals using fecal culture results and originating from 15 farms in Thuringia, Germany involved in a paratuberculosis voluntary control program from 2008 to 2009. The frequency of MAP-positive animals per farm ranged from 2.7 to 67.6%. The fixed effects of farm and lactation number had a highly significant effect on MAP status. An increase in the frequency of positive animals from the first to the third lactation could be observed. Threshold animal and sire models with sire relationship were used as statistical models to estimate genetic parameters. Heritability estimates of fecal culture varied from 0.157 to 0.228. To analyze the effect of prevalence on genetic parameter estimates, the total data set was divided into 2 subsets of data into farms with prevalence rates below 10% and those above 10%. The data set with prevalence above 10% show higher heritability estimates in both models compared with the data set with prevalence below 10%. For all data sets, the sire model shows higher heritabilities than the equivalent animal model. This study demonstrates that genetic variation exists in dairy cattle for paratuberculosis infection susceptibility and furthermore, leads to the conclusion that MAP detection by fecal culture shows a higher genetic background than ELISA test results. In conclusion, fecal culture seems to be a better trait to control the disease, as well as an appropriate feature for further genomic analyses to detect MAP-associated chromosome regions. Copyright © 2012 American Dairy Science Association. Published by Elsevier Inc. All rights reserved.

Image-size differences worsen stereopsis independent of eye position

PubMed Central

Vlaskamp, Björn N. S.; Filippini, Heather R.; Banks, Martin S.

2010-01-01

With the eyes in forward gaze, stereo performance worsens when one eye’s image is larger than the other’s. Near, eccentric objects naturally create retinal images of different sizes. Does this mean that stereopsis exhibits deficits for such stimuli? Or does the visual system compensate for the predictable image-size differences? To answer this, we measured discrimination of a disparity-defined shape for different relative image sizes. We did so for different gaze directions, some compatible with the image-size difference and some not. Magnifications of 10–15% caused a clear worsening of stereo performance. The worsening was determined only by relative image size and not by eye position. This shows that no neural compensation for image-size differences accompanies eye-position changes, at least prior to disparity estimation. We also found that a local cross-correlation model for disparity estimation performs like humans in the same task, suggesting that the decrease in stereo performance due to image-size differences is a byproduct of the disparity-estimation method. Finally, we looked for compensation in an observer who has constantly different image sizes due to differing eye lengths. She performed best when the presented images were roughly the same size, indicating that she has compensated for the persistent image-size difference. PMID:19271927

Effect of Mycobacterium paratuberculosis infection on production, reproduction, and health traits in US Holsteins.

PubMed

Gonda, M G; Chang, Y M; Shook, G E; Collins, M T; Kirkpatrick, B W

2007-07-16

Our objective was to estimate the effect of Mycobacterium paratuberculosis infection on milk, fat, and protein yield deviations, pregnancy rate, lactation somatic cell score, and projected total months in milk (productive life). A serum ELISA and fecal culture for M. paratuberculosis were performed on 4375 Holsteins in 232 DHIA herds throughout the US. Primarily first through third lactation cows (99% of total) were assayed for infection. Trait information (except productive life) was obtained for the lactation concurrent with disease tests. Productive life was total months in milk through a cow's life, which was projected if a cow was still milking. For most analyses, case definition for M. paratuberculosis infection was defined as either an ELISA S/P ratio>or=0.25 or a positive fecal culture for M. paratuberculosis or both. To determine if diagnostic test affected estimates, case definition was redefined to include only cows with ELISA S/P ratios>or=0.25 or only fecal culture-positive cows. Linear models were used to estimate effect of M. paratuberculosis infection on traits. M. paratuberculosis-infected cows (7.89% of cows) produced 303.9 kg less milk/lactation, 11.46 kg less fat/lactation, and 9.49 kg less protein/lactation (P

Calibration of Magnetometers with GNSS Receivers and Magnetometer-Aided GNSS Ambiguity Fixing

PubMed Central

Henkel, Patrick

2017-01-01

Magnetometers provide compass information, and are widely used for navigation, orientation and alignment of objects. As magnetometers are affected by sensor biases and eventually by systematic distortions of the Earth magnetic field, a calibration is needed. In this paper, a method for calibration of magnetometers with three Global Navigation Satellite System (GNSS) receivers is presented. We perform a least-squares estimation of the magnetic flux and sensor biases using GNSS-based attitude information. The attitude is obtained from the relative positions between the GNSS receivers in the North-East-Down coordinate frame and prior knowledge of these relative positions in the platform’s coordinate frame. The relative positions and integer ambiguities of the periodic carrier phase measurements are determined with an integer least-squares estimation using an integer decorrelation and sequential tree search. Prior knowledge on the relative positions is used to increase the success rate of ambiguity fixing. We have validated the proposed method with low-cost magnetometers and GNSS receivers on a vehicle in a test drive. The calibration enabled a consistent heading determination with an accuracy of five degrees. This precise magnetometer-based attitude information allows an instantaneous GNSS integer ambiguity fixing. PMID:28594369

Calibration of Magnetometers with GNSS Receivers and Magnetometer-Aided GNSS Ambiguity Fixing.

PubMed

Henkel, Patrick

2017-06-08

Magnetometers provide compass information, and are widely used for navigation, orientation and alignment of objects. As magnetometers are affected by sensor biases and eventually by systematic distortions of the Earth magnetic field, a calibration is needed. In this paper, a method for calibration of magnetometers with three Global Navigation Satellite System (GNSS) receivers is presented. We perform a least-squares estimation of the magnetic flux and sensor biases using GNSS-based attitude information. The attitude is obtained from the relative positions between the GNSS receivers in the North-East-Down coordinate frame and prior knowledge of these relative positions in the platform's coordinate frame. The relative positions and integer ambiguities of the periodic carrier phase measurements are determined with an integer least-squares estimation using an integer decorrelation and sequential tree search. Prior knowledge on the relative positions is used to increase the success rate of ambiguity fixing. We have validated the proposed method with low-cost magnetometers and GNSS receivers on a vehicle in a test drive. The calibration enabled a consistent heading determination with an accuracy of five degrees. This precise magnetometer-based attitude information allows an instantaneous GNSS integer ambiguity fixing.

Effect of a brief intervention for alcohol and illicit drug use on trauma recidivism in a cohort of trauma patients

PubMed Central

Fernández-Mondéjar, Enrique; Vilar-López, Raquel; Navas, Juan F.; Portillo-Santamaría, Mónica; Rico-Martín, Sergio; Lardelli-Claret, Pablo

2017-01-01

Objective Estimate the effectiveness of brief interventions in reducing trauma recidivism in hospitalized trauma patients who screened positive for alcohol and/or illicit drug use. Methods Dynamic cohort study based on registry data from 1818 patients included in a screening and brief intervention program for alcohol and illicit drug use for hospitalized trauma patients. Three subcohorts emerged from the data analysis: patients who screened negative, those who screened positive and were offered brief intervention, and those who screened positive and were not offered brief intervention. Follow-up lasted from 10 to 52 months. Trauma-free survival, adjusted hazard rate ratios (aHRR) and adjusted incidence rate ratios (aIRR) were calculated, and complier average causal effect (CACE) analysis was used. Results We found a higher cumulative risk of trauma recidivism in the subcohort who screened positive. In this subcohort, an aHRR of 0.63 (95% CI: 0.41–0.95) was obtained for the group offered brief intervention compared to the group not offered intervention. CACE analysis yielded an estimated 52% reduction in trauma recidivism associated with the brief intervention. Conclusion The brief intervention offered during hospitalization in trauma patients positive for alcohol and/or illicit drug use can halve the incidence of trauma recidivism. PMID:28813444

State Medical Marijuana Laws and the Prevalence of Opioids Detected Among Fatally Injured Drivers

PubMed Central

Santaella-Tenorio, Julian; Mauro, Christine; Wrobel, Julia; Cerdà, Magdalena; Keyes, Katherine M.; Hasin, Deborah; Martins, Silvia S.; Li, Guohua

2016-01-01

Objectives. To assess the association between medical marijuana laws (MMLs) and the odds of a positive opioid test, an indicator for prior use. Methods. We analyzed 1999–2013 Fatality Analysis Reporting System (FARS) data from 18 states that tested for alcohol and other drugs in at least 80% of drivers who died within 1 hour of crashing (n = 68 394). Within-state and between-state comparisons assessed opioid positivity among drivers crashing in states with an operational MML (i.e., allowances for home cultivation or active dispensaries) versus drivers crashing in states before a future MML was operational. Results. State-specific estimates indicated a reduction in opioid positivity for most states after implementation of an operational MML, although none of these estimates were significant. When we combined states, we observed no significant overall association (odds ratio [OR] = 0.79; 95% confidence interval [CI] = 0.61, 1.03). However, age-stratified analyses indicated a significant reduction in opioid positivity for drivers aged 21 to 40 years (OR = 0.50; 95% CI = 0.37, 0.67; interaction P < .001). Conclusions. Operational MMLs are associated with reductions in opioid positivity among 21- to 40-year-old fatally injured drivers and may reduce opioid use and overdose. PMID:27631755

Study of moving object detecting and tracking algorithm for video surveillance system

NASA Astrophysics Data System (ADS)

Wang, Tao; Zhang, Rongfu

2010-10-01

This paper describes a specific process of moving target detecting and tracking in the video surveillance.Obtain high-quality background is the key to achieving differential target detecting in the video surveillance.The paper is based on a block segmentation method to build clear background,and using the method of background difference to detecing moving target,after a series of treatment we can be extracted the more comprehensive object from original image,then using the smallest bounding rectangle to locate the object.In the video surveillance system, the delay of camera and other reasons lead to tracking lag,the model of Kalman filter based on template matching was proposed,using deduced and estimated capacity of Kalman,the center of smallest bounding rectangle for predictive value,predicted the position in the next moment may appare,followed by template matching in the region as the center of this position,by calculate the cross-correlation similarity of current image and reference image,can determine the best matching center.As narrowed the scope of searching,thereby reduced the searching time,so there be achieve fast-tracking.

An anti-disturbing real time pose estimation method and system

NASA Astrophysics Data System (ADS)

Zhou, Jian; Zhang, Xiao-hu

2011-08-01

Pose estimation relating two-dimensional (2D) images to three-dimensional (3D) rigid object need some known features to track. In practice, there are many algorithms which perform this task in high accuracy, but all of these algorithms suffer from features lost. This paper investigated the pose estimation when numbers of known features or even all of them were invisible. Firstly, known features were tracked to calculate pose in the current and the next image. Secondly, some unknown but good features to track were automatically detected in the current and the next image. Thirdly, those unknown features which were on the rigid and could match each other in the two images were retained. Because of the motion characteristic of the rigid object, the 3D information of those unknown features on the rigid could be solved by the rigid object's pose at the two moment and their 2D information in the two images except only two case: the first one was that both camera and object have no relative motion and camera parameter such as focus length, principle point, and etc. have no change at the two moment; the second one was that there was no shared scene or no matched feature in the two image. Finally, because those unknown features at the first time were known now, pose estimation could go on in the followed images in spite of the missing of known features in the beginning by repeating the process mentioned above. The robustness of pose estimation by different features detection algorithms such as Kanade-Lucas-Tomasi (KLT) feature, Scale Invariant Feature Transform (SIFT) and Speed Up Robust Feature (SURF) were compared and the compact of the different relative motion between camera and the rigid object were discussed in this paper. Graphic Processing Unit (GPU) parallel computing was also used to extract and to match hundreds of features for real time pose estimation which was hard to work on Central Processing Unit (CPU). Compared with other pose estimation methods, this new method can estimate pose between camera and object when part even all known features are lost, and has a quick response time benefit from GPU parallel computing. The method present here can be used widely in vision-guide techniques to strengthen its intelligence and generalization, which can also play an important role in autonomous navigation and positioning, robots fields at unknown environment. The results of simulation and experiments demonstrate that proposed method could suppress noise effectively, extracted features robustly, and achieve the real time need. Theory analysis and experiment shows the method is reasonable and efficient.

Robust and efficient vision system for group of cooperating mobile robots with application to soccer robots.

PubMed

Klancar, Gregor; Kristan, Matej; Kovacic, Stanislav; Orqueda, Omar

2004-07-01

In this paper a global vision scheme for estimation of positions and orientations of mobile robots is presented. It is applied to robot soccer application which is a fast dynamic game and therefore needs an efficient and robust vision system implemented. General applicability of the vision system can be found in other robot applications such as mobile transport robots in production, warehouses, attendant robots, fast vision tracking of targets of interest and entertainment robotics. Basic operation of the vision system is divided into two steps. In the first, the incoming image is scanned and pixels are classified into a finite number of classes. At the same time, a segmentation algorithm is used to find corresponding regions belonging to one of the classes. In the second step, all the regions are examined. Selection of the ones that are a part of the observed object is made by means of simple logic procedures. The novelty is focused on optimization of the processing time needed to finish the estimation of possible object positions. Better results of the vision system are achieved by implementing camera calibration and shading correction algorithm. The former corrects camera lens distortion, while the latter increases robustness to irregular illumination conditions.

Autonomous Space Object Catalogue Construction and Upkeep Using Sensor Control Theory

NASA Astrophysics Data System (ADS)

Moretti, N.; Rutten, M.; Bessell, T.; Morreale, B.

The capability to track objects in space is critical to safeguard domestic and international space assets. Infrequent measurement opportunities, complex dynamics and partial observability of orbital state makes the tracking of resident space objects nontrivial. It is not uncommon for human operators to intervene with space tracking systems, particularly in scheduling sensors. This paper details the development of a system that maintains a catalogue of geostationary objects through dynamically tasking sensors in real time by managing the uncertainty of object states. As the number of objects in space grows the potential for collision grows exponentially. Being able to provide accurate assessment to operators regarding costly collision avoidance manoeuvres is paramount; the accuracy of which is highly dependent on how object states are estimated. The system represents object state and uncertainty using particles and utilises a particle filter for state estimation. Particle filters capture the model and measurement uncertainty accurately, allowing for a more comprehensive representation of the state’s probability density function. Additionally, the number of objects in space is growing disproportionally to the number of sensors used to track them. Maintaining precise positions for all objects places large loads on sensors, limiting the time available to search for new objects or track high priority objects. Rather than precisely track all objects our system manages the uncertainty in orbital state for each object independently. The uncertainty is allowed to grow and sensor data is only requested when the uncertainty must be reduced. For example when object uncertainties overlap leading to data association issues or if the uncertainty grows to beyond a field of view. These control laws are formulated into a cost function, which is optimised in real time to task sensors. By controlling an optical telescope the system has been able to construct and maintain a catalogue of approximately 100 geostationary objects.

CORRELATED AND ZONAL ERRORS OF GLOBAL ASTROMETRIC MISSIONS: A SPHERICAL HARMONIC SOLUTION

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

Makarov, V. V.; Dorland, B. N.; Gaume, R. A.

We propose a computer-efficient and accurate method of estimating spatially correlated errors in astrometric positions, parallaxes, and proper motions obtained by space- and ground-based astrometry missions. In our method, the simulated observational equations are set up and solved for the coefficients of scalar and vector spherical harmonics representing the output errors rather than for individual objects in the output catalog. Both accidental and systematic correlated errors of astrometric parameters can be accurately estimated. The method is demonstrated on the example of the JMAPS mission, but can be used for other projects in space astrometry, such as SIM or JASMINE.

Estimation of the state of solar activity type stars by virtual observations of CrAVO

NASA Astrophysics Data System (ADS)

Dolgov, A. A.; Shlyapnikov, A. A.

2012-05-01

The results of precosseing of negatives with direct images of the sky from CrAO glass library are presented in this work, which became a part of on-line archive of the Crimean Astronomical Virtual Observatory (CrAVO). Based on the obtained data, the parameters of dwarf stars have been estimated, included in the catalog "Stars with solar-type activity" (GTSh10). The following matters are considered: searching methodology of negatives with positions of studied stars and with calculated limited magnitude; image viewing and reduction with the facilities of the International Virtual Observatory; the preliminary results of the photometry of studied objects.

Correlated and Zonal Errors of Global Astrometric Missions: A Spherical Harmonic Solution

NASA Astrophysics Data System (ADS)

Makarov, V. V.; Dorland, B. N.; Gaume, R. A.; Hennessy, G. S.; Berghea, C. T.; Dudik, R. P.; Schmitt, H. R.

2012-07-01

We propose a computer-efficient and accurate method of estimating spatially correlated errors in astrometric positions, parallaxes, and proper motions obtained by space- and ground-based astrometry missions. In our method, the simulated observational equations are set up and solved for the coefficients of scalar and vector spherical harmonics representing the output errors rather than for individual objects in the output catalog. Both accidental and systematic correlated errors of astrometric parameters can be accurately estimated. The method is demonstrated on the example of the JMAPS mission, but can be used for other projects in space astrometry, such as SIM or JASMINE.

Experimental and calculative estimation of femtosecond laser induced-impulsive force in culture medium solution with motion analysis of polymer micro-beads

NASA Astrophysics Data System (ADS)

Yamakawa, Takeshi; Maruyama, Akihiro; Uedan, Hirohisa; Iino, Takanori; Hosokawa, Yoichiroh

2015-03-01

A new methodology to estimate the dynamics of femtosecond laser-induced impulsive force generated into water under microscope was developed. In this method, the position shift of the bead in water before and after the femtosecond laser irradiation was investigated experimentally and compared with motion equation assuming stress wave propagation with expansion and collapse the cavitation bubble. In the process of the comparison, parameters of force and time of the stress wave were determined. From these results, dynamics of propagations of shock and stress waves, cavitation bubble generation, and these actions to micro-objects were speculated.

Positive Neighborhood Norms Buffer Ethnic Diversity Effects on Neighborhood Dissatisfaction, Perceived Neighborhood Disadvantage, and Moving Intentions.

PubMed

Van Assche, Jasper; Asbrock, Frank; Roets, Arne; Kauff, Mathias

2018-05-01

Positive neighborhood norms, such as strong local networks, are critical to people's satisfaction with, perceived disadvantage of, and intentions to stay in their neighborhood. At the same time, local ethnic diversity is said to be detrimental for these community outcomes. Integrating both frameworks, we tested whether the negative consequences of diversity occur even when perceived social norms are positive. Study 1 ( N = 1,760 German adults) showed that perceptions of positive neighborhood norms buffered against the effects of perceived diversity on moving intentions via neighborhood satisfaction and perceived neighborhood disadvantage. Study 2 ( N = 993 Dutch adults) replicated and extended this moderated mediation model using other characteristics of diversity (i.e., objective and estimated minority proportions). Multilevel analyses again revealed consistent buffering effects of positive neighborhood norms. Our findings are discussed in light of the ongoing public and political debate concerning diversity and social and communal life.

A New Blondin System for Surveying and Photogrammetry

PubMed Central

Cuesta, Federico; Lopez-Rodriguez, Francisco M.; Esteban, Antonio

2013-01-01

The main objective of the system presented in this paper is to provide surveyors and engineers with a new photogrammetry device that can be easily integrated with surveying total stations and a global navigation satellite system (GNSS) infrastructure at a construction site, taking advantage of their accuracy and overcoming limitations of aerial vehicles with respect to weight, autonomy and skilled operator requirements in aerial photogrammetry. The system moves between two mounting points, in a blondin ropeway configuration, at the construction site, taking pictures and recording the data of the position and the orientation along the cable path. A cascaded extended Kalman filter is used to integrate measurements from the on-board inertial measurement unit (IMU), a GPS and a GNSS. Experimental results taken in a construction site show the system performance, including the validation of the position estimation, with a robotic surveying total station, or the creation of a digital surface model (DSM), using the emergent structure from motion (SfM) techniques and open software. The georeferencing of the DSM is performed based on estimated camera position or using ground control points (GCPs).

Physical and perceptual estimation of differences between loudspeakers

NASA Astrophysics Data System (ADS)

Lavandier, Mathieu; Herzog, Philippe; Meunier, Sabine

2006-12-01

Differentiating the restitution of timbre by several loudspeakers may result from standard measurements, or from listening tests. This work proposes a protocol keeping a close relationship between the objective and perceptual evaluations: the stimuli are musical excerpts, and the measuring environment is a standard listening room. The protocol involves recordings made at a listener position, and objective dissimilarities are computed using an auditory model simulating masking effects. The resulting data correlate very well with listening tests using the same recordings, and show similar dependencies on the major parameters identified from the dissimilarity matrices. To cite this article: M. Lavandier et al., C. R. Mecanique 334 (2006).

Analysis of the influence of handset phone position on RF exposure of brain tissue.

PubMed

Ghanmi, Amal; Varsier, Nadège; Hadjem, Abdelhamid; Conil, Emmanuelle; Picon, Odile; Wiart, Joe

2014-12-01

Exposure to mobile phone radio frequency (RF) electromagnetic fields depends on many different parameters. For epidemiological studies investigating the risk of brain cancer linked to RF exposure from mobile phones, it is of great interest to characterize brain tissue exposure and to know which parameters this exposure is sensitive to. One such parameter is the position of the phone during communication. In this article, we analyze the influence of the phone position on the brain exposure by comparing the specific absorption rate (SAR) induced in the head by two different mobile phone models operating in Global System for Mobile Communications (GSM) frequency bands. To achieve this objective, 80 different phone positions were chosen using an experiment based on the Latin hypercube sampling (LHS) to select a representative set of positions. The averaged SAR over 10 g (SAR10 g) in the head, the averaged SAR over 1 g (SAR1 g ) in the brain, and the averaged SAR in different anatomical brain structures were estimated at 900 and 1800 MHz for the 80 positions. The results illustrate that SAR distributions inside the brain area are sensitive to the position of the mobile phone relative to the head. The results also show that for 5-10% of the studied positions the SAR10 g in the head and the SAR1 g in the brain can be 20% higher than the SAR estimated for the standard cheek position and that the Specific Anthropomorphic Mannequin (SAM) model is conservative for 95% of all the studied positions. © 2014 Wiley Periodicals, Inc.

Tuberculin Skin Tests versus Interferon-Gamma Release Assays in Tuberculosis Screening among Immigrant Visa Applicants

PubMed Central

Chuke, Stella O.; Yen, Nguyen Thi Ngoc; Laserson, Kayla F.; Phuoc, Nguyen Huu; Trinh, Nguyen An; Nhung, Duong Thi Cam; Mai, Vo Thi Chi; Qui, An Dang; Hai, Hoang Hoa; Loan, Le Thien Huong; Jones, Warren G.; Whitworth, William C.; Shah, J. Jina; Painter, John A.; Mazurek, Gerald H.; Maloney, Susan A.

2014-01-01

Objective. Use of tuberculin skin tests (TSTs) and interferon gamma release assays (IGRAs) as part of tuberculosis (TB) screening among immigrants from high TB-burden countries has not been fully evaluated. Methods. Prevalence of Mycobacterium tuberculosis infection (MTBI) based on TST, or the QuantiFERON-TB Gold test (QFT-G), was determined among immigrant applicants in Vietnam bound for the United States (US); factors associated with test results and discordance were assessed; predictive values of TST and QFT-G for identifying chest radiographs (CXRs) consistent with TB were calculated. Results. Of 1,246 immigrant visa applicants studied, 57.9% were TST positive, 28.3% were QFT-G positive, and test agreement was 59.4%. Increasing age was associated with positive TST results, positive QFT-G results, TST-positive but QFT-G-negative discordance, and abnormal CXRs consistent with TB. Positive predictive values of TST and QFT-G for an abnormal CXR were 25.9% and 25.6%, respectively. Conclusion. The estimated prevalence of MTBI among US-bound visa applicants in Vietnam based on TST was twice that based on QFT-G, and 14 times higher than a TST-based estimate of MTBI prevalence reported for the general US population in 2000. QFT-G was not better than TST at predicting abnormal CXRs consistent with TB. PMID:24738031

VizieR Online Data Catalog: A Finding List of Faint UV-Bright Stars (Lanning+, 1998)

NASA Astrophysics Data System (ADS)

Lanning, H. H.

1997-02-01

The Sandage two-color photographic survey was originally made in support of the UHURU x-ray satellite in order to identify those optical counterparts of the detected x-ray sources found in the galactic plane. During inspection of the plates, however, many UV-bright objects fainter than 10th magnitude were seen in the general field. A larger image in the U filter suggested the possibility of a bluer object as in the case of low-luminosity stars, white dwarfs, novae, CVs, normal early B stars, etc. As these are interesting in themselves, it was decided to publish a catalog for the use of other observers. This multi-color photographic technique has been described, for example, by Haro and Herbig (1955). The survey was concentrated on objects with m(B)~10 or fainter. It employed the Palomar 48-in (Oschin) Schmidt telescope and was centered on the galactic plane with overlapping regions covering the galactic latitudes +- 9 degrees, and extending throughout most of the northern plane (l = 0 deg - 227 deg). Plates were taken by J. Kristian, A.R. Sandage, R.J. Brucato, and Lanning, primarily. The data presented here were found following a careful examination of the plates but it should not be assumed these data represent a complete survey of the fields examined. The categories were roughly calibrated against photoelectric (U-B) measures, but a full scale calibration program, including magnitude effects, etc. was not done. The numerical (U-B) limits of the tables should not therefore be taken precisely. The blue magnitude of the sources in the finding list has been estimated using these photoelectric values as a guide but should be considered accurate to only +- 0.5 mag. due to the difficulty of adjusting to the various plate characteristics. Positions were measured from images retrieved from the Space Telescope Science Institute collection of Guide Star digital plate scans. The accuracy of positions from the Guide Star Catalog images has been estimated to be on the order of 0.2-0.8 arcsec (Russell et al. 1990) Information provided by Bidelman (private communication) resulted in the discovery that 15 positions for objects listed in Paper II were in error. Investigation indicated that an incorrect header was associated with the scan of the Guide Star plate originally archived onto optical disk. The incorrect astrometric solution, based on the use of an incorrect origin point, was subsequently applied in the positional determination when centroiding the object. The average offset for positions in right ascension is 14.17 seconds of time, with no detectable trend in the numbers. The offsets in declination range from +6.56 arcseconds through zero to -6.85 arcseconds as one progresses from west to east across the plate. This is consistent with a rotation being introduced into the bad plate solution. Objects with incorrect positions included Lanning 96, 97, 98, 99, 100, 102, 104, 108, 111, 113, 114, 115, 116, 119, and 122. uv.dat contains the corrected coordinates. (2 data files).

3D localization of electrophysiology catheters from a single x-ray cone-beam projection

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

Robert, Normand, E-mail: normand.robert@sri.utoronto.ca; Polack, George G.; Sethi, Benu

2015-10-15

Purpose: X-ray images allow the visualization of percutaneous devices such as catheters in real time but inherently lack depth information. The provision of 3D localization of these devices from cone beam x-ray projections would be advantageous for interventions such as electrophysiology (EP), whereby the operator needs to return a device to the same anatomical locations during the procedure. A method to achieve real-time 3D single view localization (SVL) of an object of known geometry from a single x-ray image is presented. SVL exploits the change in the magnification of an object as its distance from the x-ray source is varied.more » The x-ray projection of an object of interest is compared to a synthetic x-ray projection of a model of said object as its pose is varied. Methods: SVL was tested with a 3 mm spherical marker and an electrophysiology catheter. The effect of x-ray acquisition parameters on SVL was investigated. An independent reference localization method was developed to compare results when imaging a catheter translated via a computer controlled three-axes stage. SVL was also performed on clinical fluoroscopy image sequences. A commercial navigation system was used in some clinical image sequences for comparison. Results: SVL estimates exhibited little change as x-ray acquisition parameters were varied. The reproducibility of catheter position estimates in phantoms denoted by the standard deviations, (σ{sub x}, σ{sub y}, σ{sub z}) = (0.099 mm,  0.093 mm,  2.2 mm), where x and y are parallel to the detector plane and z is the distance from the x-ray source. Position estimates (x, y, z) exhibited a 4% systematic error (underestimation) when compared to the reference method. The authors demonstrated that EP catheters can be tracked in clinical fluoroscopic images. Conclusions: It has been shown that EP catheters can be localized in real time in phantoms and clinical images at fluoroscopic exposure rates. Further work is required to characterize performance in clinical images as well as the sensitivity to clinical image quality.« less

High-Order Model and Dynamic Filtering for Frame Rate Up-Conversion.

PubMed

Bao, Wenbo; Zhang, Xiaoyun; Chen, Li; Ding, Lianghui; Gao, Zhiyong

2018-08-01

This paper proposes a novel frame rate up-conversion method through high-order model and dynamic filtering (HOMDF) for video pixels. Unlike the constant brightness and linear motion assumptions in traditional methods, the intensity and position of the video pixels are both modeled with high-order polynomials in terms of time. Then, the key problem of our method is to estimate the polynomial coefficients that represent the pixel's intensity variation, velocity, and acceleration. We propose to solve it with two energy objectives: one minimizes the auto-regressive prediction error of intensity variation by its past samples, and the other minimizes video frame's reconstruction error along the motion trajectory. To efficiently address the optimization problem for these coefficients, we propose the dynamic filtering solution inspired by video's temporal coherence. The optimal estimation of these coefficients is reformulated into a dynamic fusion of the prior estimate from pixel's temporal predecessor and the maximum likelihood estimate from current new observation. Finally, frame rate up-conversion is implemented using motion-compensated interpolation by pixel-wise intensity variation and motion trajectory. Benefited from the advanced model and dynamic filtering, the interpolated frame has much better visual quality. Extensive experiments on the natural and synthesized videos demonstrate the superiority of HOMDF over the state-of-the-art methods in both subjective and objective comparisons.

Localizing intracavitary brachytherapy applicators from cone-beam CT x-ray projections via a novel iterative forward projection matching algorithm.

PubMed

Pokhrel, Damodar; Murphy, Martin J; Todor, Dorin A; Weiss, Elisabeth; Williamson, Jeffrey F

2011-02-01

To present a novel method for reconstructing the 3D pose (position and orientation) of radio-opaque applicators of known but arbitrary shape from a small set of 2D x-ray projections in support of intraoperative brachytherapy planning. The generalized iterative forward projection matching (gIFPM) algorithm finds the six degree-of-freedom pose of an arbitrary rigid object by minimizing the sum-of-squared-intensity differences (SSQD) between the computed and experimentally acquired autosegmented projection of the objects. Starting with an initial estimate of the object's pose, gIFPM iteratively refines the pose parameters (3D position and three Euler angles) until the SSQD converges. The object, here specialized to a Fletcher-Weeks intracavitary brachytherapy (ICB) applicator, is represented by a fine mesh of discrete points derived from complex combinatorial geometric models of the actual applicators. Three pairs of computed and measured projection images with known imaging geometry are used. Projection images of an intrauterine tandem and colpostats were acquired from an ACUITY cone-beam CT digital simulator. An image postprocessing step was performed to create blurred binary applicators only images. To quantify gIFPM accuracy, the reconstructed 3D pose of the applicator model was forward projected and overlaid with the measured images and empirically calculated the nearest-neighbor applicator positional difference for each image pair. In the numerical simulations, the tandem and colpostats positions (x,y,z) and orientations (alpha, beta, gamma) were estimated with accuracies of 0.6 mm and 2 degrees, respectively. For experimentally acquired images of actual applicators, the residual 2D registration error was less than 1.8 mm for each image pair, corresponding to about 1 mm positioning accuracy at isocenter, with a total computation time of less than 1.5 min on a 1 GHz processor. This work describes a novel, accurate, fast, and completely automatic method to localize radio-opaque applicators of arbitrary shape from measured 2D x-ray projections. The results demonstrate approximately 1 mm accuracy while compared against the measured applicator projections. No lateral film is needed. By localizing the applicator internal structure as well as radioactive sources, the effect of intra-applicator and interapplicator attenuation can be included in the resultant dose calculations. Further validation tests using clinically acquired tandem and colpostats images will be performed for the accurate and robust applicator/sources localization in ICB patients.

Localizing intracavitary brachytherapy applicators from cone-beam CT x-ray projections via a novel iterative forward projection matching algorithm

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

Pokhrel, Damodar; Murphy, Martin J.; Todor, Dorin A.

2011-02-15

Purpose: To present a novel method for reconstructing the 3D pose (position and orientation) of radio-opaque applicators of known but arbitrary shape from a small set of 2D x-ray projections in support of intraoperative brachytherapy planning. Methods: The generalized iterative forward projection matching (gIFPM) algorithm finds the six degree-of-freedom pose of an arbitrary rigid object by minimizing the sum-of-squared-intensity differences (SSQD) between the computed and experimentally acquired autosegmented projection of the objects. Starting with an initial estimate of the object's pose, gIFPM iteratively refines the pose parameters (3D position and three Euler angles) until the SSQD converges. The object, heremore » specialized to a Fletcher-Weeks intracavitary brachytherapy (ICB) applicator, is represented by a fine mesh of discrete points derived from complex combinatorial geometric models of the actual applicators. Three pairs of computed and measured projection images with known imaging geometry are used. Projection images of an intrauterine tandem and colpostats were acquired from an ACUITY cone-beam CT digital simulator. An image postprocessing step was performed to create blurred binary applicators only images. To quantify gIFPM accuracy, the reconstructed 3D pose of the applicator model was forward projected and overlaid with the measured images and empirically calculated the nearest-neighbor applicator positional difference for each image pair. Results: In the numerical simulations, the tandem and colpostats positions (x,y,z) and orientations ({alpha},{beta},{gamma}) were estimated with accuracies of 0.6 mm and 2 deg., respectively. For experimentally acquired images of actual applicators, the residual 2D registration error was less than 1.8 mm for each image pair, corresponding to about 1 mm positioning accuracy at isocenter, with a total computation time of less than 1.5 min on a 1 GHz processor. Conclusions: This work describes a novel, accurate, fast, and completely automatic method to localize radio-opaque applicators of arbitrary shape from measured 2D x-ray projections. The results demonstrate {approx}1 mm accuracy while compared against the measured applicator projections. No lateral film is needed. By localizing the applicator internal structure as well as radioactive sources, the effect of intra-applicator and interapplicator attenuation can be included in the resultant dose calculations. Further validation tests using clinically acquired tandem and colpostats images will be performed for the accurate and robust applicator/sources localization in ICB patients.« less

Stochastic Frontier Approach and Data Envelopment Analysis to Total Factor Productivity and Efficiency Measurement of Bangladeshi Rice

PubMed Central

Hossain, Md. Kamrul; Kamil, Anton Abdulbasah; Baten, Md. Azizul; Mustafa, Adli

2012-01-01

The objective of this paper is to apply the Translog Stochastic Frontier production model (SFA) and Data Envelopment Analysis (DEA) to estimate efficiencies over time and the Total Factor Productivity (TFP) growth rate for Bangladeshi rice crops (Aus, Aman and Boro) throughout the most recent data available comprising the period 1989–2008. Results indicate that technical efficiency was observed as higher for Boro among the three types of rice, but the overall technical efficiency of rice production was found around 50%. Although positive changes exist in TFP for the sample analyzed, the average growth rate of TFP for rice production was estimated at almost the same levels for both Translog SFA with half normal distribution and DEA. Estimated TFP from SFA is forecasted with ARIMA (2, 0, 0) model. ARIMA (1, 0, 0) model is used to forecast TFP of Aman from DEA estimation. PMID:23077500

Networked localization of sniper shots using acoustics

NASA Astrophysics Data System (ADS)

Hengy, S.; Hamery, P.; De Mezzo, S.; Duffner, P.

2011-06-01

The presence of snipers in modern conflicts leads to high insecurity for the soldiers. In order to improve the soldier's protection against this threat, the French German Research Institute of Saint-Louis (ISL) initiated studies in the domain of acoustic localization of shots. Mobile antennas mounted on the soldier's helmet were initially used for real-time detection, classification and localization of sniper shots. It showed good performances in land scenarios, but also in urban scenarios if the array was in the shot corridor, meaning that the microphones first detect the direct wave and then the reflections of the Mach and muzzle waves. As soon as the acoustic arrays were not near to the shot corridor (only reflections are detected) this solution lost its efficiency and erroneous estimated position were given. In order to estimate the position of the shooter in every kind of urban scenario, ISL started studying time reversal techniques. Knowing the position of every reflective object in the environment (buildings, walls, ...) it should be possible to estimate the position of the shooter. First, a synthetic propagation algorithm has been developed and validated for real scale applications. It has then been validated for small scale models, allowing us to test our time reversal based algorithms in our laboratory. In this paper we discuss all the challenges that are induced by the application of sniper detection using time reversal techniques. We will discuss all the hard points that can be encountered and try to find some solutions in order to optimize the use of this technique.

The 3-year disease management effect: understanding the positive return on investment.

PubMed

Nyman, John A; Jeffery, Molly Moore; Abraham, Jean M; Jutkowitz, Eric; Dowd, Bryan E

2013-11-01

Conventional wisdom suggests that health promotion programs yield a positive return on investment (ROI) in year 3. In the case of the University of Minnesota's program, a positive ROI was achieved in the third year, but it was due entirely to the effectiveness of the disease management (DM) program. The objective of this study is to investigate why. Differences-in-differences regression equations were estimated to determine the effect of DM participation on spending (overall and service specific), hospitalizations, and avoidable hospitalizations. Disease management participation reduced expenditures overall, and especially in the third year for employees, and reduced hospitalizations and avoidable hospitalizations. The positive ROI at Minnesota was due to increased effectiveness of DM in the third year (mostly due to fewer hospitalizations) but also to the simple durability of the average DM effect.

Simplified computer-aided detection scheme of microcalcification clusters in digital breast tomosynthesis images.

PubMed

Ji-Wook Jeong; Seung-Hoon Chae; Eun Young Chae; Hak Hee Kim; Young Wook Choi; Sooyeul Lee

2016-08-01

A computer-aided detection (CADe) algorithm for clustered microcalcifications (MCs) in reconstructed digital breast tomosynthesis (DBT) images is suggested. The MC-like objects were enhanced by a Hessian-based 3D calcification response function, and a signal-to-noise ratio (SNR) enhanced image was also generated to screen the MC clustering seed objects. A connected component segmentation method was used to detect the cluster seed objects, which were considered as potential clustering centers of MCs. Bounding cubes for the accepted clustering seed candidate were generated and the overlapping cubes were combined and examined. After the MC clustering and false-positive (FP) reduction step, the average number of FPs was estimated to be 0.87 per DBT volume with a sensitivity of 90.5%.

Adult education and the quality of life

NASA Astrophysics Data System (ADS)

Tuijnman, Albert

1990-09-01

The purpose of this study is to investigate the complementary role of adult education in influencing people's objective and subjective quality of life. The analytical strategy used to achieve this end is to estimate parameters in a path model which includes both objective indicators such as occupational status and earned income, and subjective indicators such as job satisfaction and perceived personal wellbeing. The investigation builds on Swedish data and employs the LISREL method in the fitting of the model to the data. The results indicate that adult education positively influences objective indicators of the quality of life. Even though adult education is found to relate to measures of perceived personal wellbeing, the hypothesis that it also influences the way men assess their life situation and evaluate their subjective quality of life cannot be confirmed.

Maternal docosahexaenoic acid intake levels during pregnancy and infant performance on a novel object search task at 22 months.

PubMed

Rees, Alison; Sirois, Sylvain; Wearden, Alison

2014-01-01

This study investigated maternal prenatal docosahexaenoic acid (DHA) intake and infant cognitive development at 22 months. Estimates for second- and third-trimester maternal DHA intake levels were obtained using a comprehensive Food Frequency Questionnaire. Infants (n = 67) were assessed at 22 months on a novel object search task. Mothers' DHA intake levels were divided into high or low groups, with analyses revealing a significant positive effect of third-trimester DHA on object search task performance. The third trimester appears to be a critical time for ensuring adequate maternal DHA levels to facilitate optimum cognitive development in late infancy. © 2014 The Authors. Child Development published by Wiley Periodicals, Inc. on behalf of Society for Research in Child Development.

Comparison of the EPIC Physical Activity Questionnaire with Combined Heart Rate and Movement Sensing in a Nationally Representative Sample of Older British Adults

PubMed Central

España-Romero, Vanesa; Golubic, Rajna; Martin, Kathryn R.; Hardy, Rebecca; Ekelund, Ulf; Kuh, Diana; Wareham, Nicholas J.; Cooper, Rachel; Brage, Soren

2014-01-01

Objectives To compare physical activity (PA) subcomponents from EPIC Physical Activity Questionnaire (EPAQ2) and combined heart rate and movement sensing in older adults. Methods Participants aged 60–64y from the MRC National Survey of Health and Development in Great Britain completed EPAQ2, which assesses self-report PA in 4 domains (leisure time, occupation, transportation and domestic life) during the past year and wore a combined sensor for 5 consecutive days. Estimates of PA energy expenditure (PAEE), sedentary behaviour, light (LPA) and moderate-to-vigorous PA (MVPA) were obtained from EPAQ2 and combined sensing and compared. Complete data were available in 1689 participants (52% women). Results EPAQ2 estimates of PAEE and MVPA were higher than objective estimates and sedentary time and LPA estimates were lower [bias (95% limits of agreement) in men and women were 32.3 (−61.5 to 122.6) and 29.0 (−39.2 to 94.6) kJ/kg/day for PAEE; −4.6 (−10.6 to 1.3) and −6.0 (−10.9 to −1.0) h/day for sedentary time; −171.8 (−454.5 to 110.8) and −60.4 (−367.5 to 246.6) min/day for LPA; 91.1 (−159.5 to 341.8) and 55.4 (−117.2 to 228.0) min/day for MVPA]. There were significant positive correlations between all self-reported and objectively assessed PA subcomponents (rho  = 0.12 to 0.36); the strongest were observed for MVPA (rho = 0.30 men; rho = 0.36 women) and PAEE (rho = 0.26 men; rho = 0.25 women). Conclusion EPAQ2 produces higher estimates of PAEE and MVPA and lower estimates of sedentary and LPA than objective assessment. However, both methodologies rank individuals similarly, suggesting that EPAQ2 may be used in etiological studies in this population. PMID:24516543

Search for Cross-Correlations of Ultrahigh-Energy Cosmic Rays with BL Lacertae Objects

NASA Astrophysics Data System (ADS)

Abbasi, R. U.; Abu-Zayyad, T.; Amann, J. F.; Archbold, G.; Belov, K.; Belz, J. W.; BenZvi, S.; Bergman, D. R.; Blake, S. A.; Boyer, J. H.; Burt, G. W.; Cao, Z.; Connolly, B. M.; Deng, W.; Fedorova, Y.; Findlay, J.; Finley, C. B.; Hanlon, W. F.; Hoffman, C. M.; Holzscheiter, M. H.; Hughes, G. A.; Hüntemeyer, P.; Jui, C. C. H.; Kim, K.; Kirn, M. A.; Knapp, B. C.; Loh, E. C.; Maestas, M. M.; Manago, N.; Mannel, E. J.; Marek, L. J.; Martens, K.; Matthews, J. A. J.; Matthews, J. N.; O'Neill, A.; Painter, C. A.; Perera, L.; Reil, K.; Riehle, R.; Roberts, M. D.; Rodriguez, D.; Sasaki, M.; Schnetzer, S. R.; Seman, M.; Sinnis, G.; Smith, J. D.; Snow, R.; Sokolsky, P.; Springer, R. W.; Stokes, B. T.; Thomas, J. R.; Thomas, S. B.; Thomson, G. B.; Tupa, D.; Westerhoff, S.; Wiencke, L. R.; Zech, A.; HIRES Collaboration

2006-01-01

Data taken in stereo mode by the High Resolution Fly's Eye (HiRes) air fluorescence experiment are analyzed to search for correlations between the arrival directions of ultrahigh-energy cosmic rays with the positions of BL Lacertae objects. Several previous claims of significant correlations between BL Lac objects and cosmic rays observed by other experiments are tested. These claims are not supported by the HiRes data. However, we verify a recent analysis of correlations between HiRes events and a subset of confirmed BL Lac objects from the 10th Veron Catalog, and we study this correlation in detail. Due to the a posteriori nature of the search, the significance level cannot be reliably estimated and the correlation must be tested independently before any claim can be made. We identify the precise hypotheses that will be tested with statistically independent data.

SU-F-I-80: Correction for Bias in a Channelized Hotelling Model Observer Caused by Temporally Variable Non-Stationary Noise

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

Favazza, C; Fetterly, K

2016-06-15

Purpose: Application of a channelized Hotelling model observer (CHO) over a wide range of x-ray angiography detector target dose (DTD) levels demonstrated substantial bias for conditions yielding low detectability indices (d’), including low DTD and small test objects. The purpose of this work was to develop theory and methods to correct this bias. Methods: A hypothesis was developed wherein the measured detectability index (d’b) for a known test object is positively biased by temporally variable non-stationary noise in the images. Hotelling’s T2 test statistic provided the foundation for a mathematical theory which accounts for independent contributions to the measured d’bmore » value from both the test object (d’o) and non-stationary noise (d’ns). Experimental methods were developed to directly estimate d’o by determining d’ns and subtracting it from d’b, in accordance with the theory. Specifically, d’ns was determined from two sets of images from which the traditional test object was withheld. This method was applied to angiography images with DTD levels in the range 0 to 240 nGy and for disk-shaped iodine-based contrast targets with diameters 0.5 to 4.0 mm. Results: Bias in d’ was evidenced by d’b values which exceeded values expected from a quantum limited imaging system and decreasing object size and DTD. d’ns increased with decreasing DTD, reaching a maximum of 2.6 for DTD = 0. Bias-corrected d’o estimates demonstrated sub-quantum limited performance of the x-ray angiography for low DTD. Findings demonstrated that the source of non-stationary noise was detector electronic readout noise. Conclusion: Theory and methods to estimate and correct bias in CHO measurements from temporally variable non-stationary noise were presented. The temporal non-stationary noise was shown to be due to electronic readout noise. This method facilitates accurate estimates of d’ values over a large range of object size and detector target dose.« less

A Discovery of a Candidate Companion to a Transiting System KOI-94: A Direct Imaging Study for a Possibility of a False Positive

NASA Technical Reports Server (NTRS)

Takahashi, Yasuhiro; Narita, Norio; Hirano, Teruyuki; Kuzuhara, Masayuki; Tamura, Motohide; Kudo, Tomoyuki; Kusakabe, Nobuhiko; Hashimoto, Jun; Sato, Bun'ei; Abe, Lyu;

Observer Bias: An Interaction of Temperament Traits with Biases in the Semantic Perception of Lexical Material

PubMed Central

Trofimova, Ira

2014-01-01

The lexical approach is a method in differential psychology that uses people's estimations of verbal descriptors of human behavior in order to derive the structure of human individuality. The validity of the assumptions of this method about the objectivity of people's estimations is rarely questioned. Meanwhile the social nature of language and the presence of emotionality biases in cognition are well-recognized in psychology. A question remains, however, as to whether such an emotionality-capacities bias is strong enough to affect semantic perception of verbal material. For the lexical approach to be valid as a method of scientific investigations, such biases should not exist in semantic perception of the verbal material that is used by this approach. This article reports on two studies investigating differences between groups contrasted by 12 temperament traits (i.e. by energetic and other capacities, as well as emotionality) in the semantic perception of very general verbal material. Both studies contrasted the groups by a variety of capacities: endurance, lability and emotionality separately in physical, social-verbal and mental aspects of activities. Hypotheses of “background emotionality” and a “projection through capacities” were supported. Non-evaluative criteria for categorization (related to complexity, organization, stability and probability of occurrence of objects) followed the polarity of evaluative criteria, and did not show independence from this polarity. Participants with stronger physical or social endurance gave significantly more positive ratings to a variety of concepts, and participants with faster physical tempo gave more positive ratings to timing-related concepts. The results suggest that people's estimations of lexical material related to human behavior have emotionality, language- and dynamical capacities-related biases and therefore are unreliable. This questions the validity of the lexical approach as a method for the objective study of stable individual differences. PMID:24475048

Comparative assessment of techniques for initial pose estimation using monocular vision

NASA Astrophysics Data System (ADS)

Sharma, Sumant; D`Amico, Simone

2016-06-01

This work addresses the comparative assessment of initial pose estimation techniques for monocular navigation to enable formation-flying and on-orbit servicing missions. Monocular navigation relies on finding an initial pose, i.e., a coarse estimate of the attitude and position of the space resident object with respect to the camera, based on a minimum number of features from a three dimensional computer model and a single two dimensional image. The initial pose is estimated without the use of fiducial markers, without any range measurements or any apriori relative motion information. Prior work has been done to compare different pose estimators for terrestrial applications, but there is a lack of functional and performance characterization of such algorithms in the context of missions involving rendezvous operations in the space environment. Use of state-of-the-art pose estimation algorithms designed for terrestrial applications is challenging in space due to factors such as limited on-board processing power, low carrier to noise ratio, and high image contrasts. This paper focuses on performance characterization of three initial pose estimation algorithms in the context of such missions and suggests improvements.

Predictive encoding of moving target trajectory by neurons in the parabigeminal nucleus

PubMed Central

Ma, Rui; Cui, He; Lee, Sang-Hun; Anastasio, Thomas J.

2013-01-01

Intercepting momentarily invisible moving objects requires internally generated estimations of target trajectory. We demonstrate here that the parabigeminal nucleus (PBN) encodes such estimations, combining sensory representations of target location, extrapolated positions of briefly obscured targets, and eye position information. Cui and Malpeli (Cui H, Malpeli JG. J Neurophysiol 89: 3128–3142, 2003) reported that PBN activity for continuously visible tracked targets is determined by retinotopic target position. Here we show that when cats tracked moving, blinking targets the relationship between activity and target position was similar for ON and OFF phases (400 ms for each phase). The dynamic range of activity evoked by virtual targets was 94% of that of real targets for the first 200 ms after target offset and 64% for the next 200 ms. Activity peaked at about the same best target position for both real and virtual targets. PBN encoding of target position takes into account changes in eye position resulting from saccades, even without visual feedback. Since PBN response fields are retinotopically organized, our results suggest that activity foci associated with real and virtual targets at a given target position lie in the same physical location in the PBN, i.e., a retinotopic as well as a rate encoding of virtual-target position. We also confirm that PBN activity is specific to the intended target of a saccade and is predictive of which target will be chosen if two are offered. A Bayesian predictor-corrector model is presented that conceptually explains the differences in the dynamic ranges of PBN neuronal activity evoked during tracking of real and virtual targets. PMID:23365185

LOW FALSE POSITIVE RATE OF KEPLER CANDIDATES ESTIMATED FROM A COMBINATION OF SPITZER AND FOLLOW-UP OBSERVATIONS

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

Désert, Jean-Michel; Brown, Timothy M.; Charbonneau, David

NASA’s Kepler mission has provided several thousand transiting planet candidates during the 4 yr of its nominal mission, yet only a small subset of these candidates have been confirmed as true planets. Therefore, the most fundamental question about these candidates is the fraction of bona fide planets. Estimating the rate of false positives of the overall Kepler sample is necessary to derive the planet occurrence rate. We present the results from two large observational campaigns that were conducted with the Spitzer Space Telescope during the the Kepler mission. These observations are dedicated to estimating the false positive rate (FPR) amongmore » the Kepler candidates. We select a sub-sample of 51 candidates, spanning wide ranges in stellar, orbital, and planetary parameter space, and we observe their transits with Spitzer at 4.5 μm. We use these observations to measures the candidate’s transit depths and infrared magnitudes. An authentic planet produces an achromatic transit depth (neglecting the modest effect of limb darkening). Conversely a bandpass-dependent depth alerts us to the potential presence of a blending star that could be the source of the observed eclipse: a false positive scenario. For most of the candidates (85%), the transit depths measured with Kepler are consistent with the transit depths measured with Spitzer as expected for planetary objects, while we find that the most discrepant measurements are due to the presence of unresolved stars that dilute the photometry. The Spitzer constraints on their own yield FPRs between 5% and depending on the Kepler Objects of Interest. By considering the population of the Kepler field stars, and by combining follow-up observations (imaging) when available, we find that the overall FPR of our sample is low. The measured upper limit on the FPR of our sample is 8.8% at a confidence level of 3σ. This observational result, which uses the achromatic property of planetary transit signals that is not investigated by the Kepler observations, provides an independent indication that Kepler’s FPR is low.« less

Three-Dimensional Computer-Aided Detection of Microcalcification Clusters in Digital Breast Tomosynthesis.

PubMed

Jeong, Ji-Wook; Chae, Seung-Hoon; Chae, Eun Young; Kim, Hak Hee; Choi, Young-Wook; Lee, Sooyeul

2016-01-01

We propose computer-aided detection (CADe) algorithm for microcalcification (MC) clusters in reconstructed digital breast tomosynthesis (DBT) images. The algorithm consists of prescreening, MC detection, clustering, and false-positive (FP) reduction steps. The DBT images containing the MC-like objects were enhanced by a multiscale Hessian-based three-dimensional (3D) objectness response function and a connected-component segmentation method was applied to extract the cluster seed objects as potential clustering centers of MCs. Secondly, a signal-to-noise ratio (SNR) enhanced image was also generated to detect the individual MC candidates and prescreen the MC-like objects. Each cluster seed candidate was prescreened by counting neighboring individual MC candidates nearby the cluster seed object according to several microcalcification clustering criteria. As a second step, we introduced bounding boxes for the accepted seed candidate, clustered all the overlapping cubes, and examined. After the FP reduction step, the average number of FPs per case was estimated to be 2.47 per DBT volume with a sensitivity of 83.3%.

An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation.

PubMed

Leonardis, Daniele; Barsotti, Michele; Loconsole, Claudio; Solazzi, Massimiliano; Troncossi, Marco; Mazzotti, Claudio; Castelli, Vincenzo Parenti; Procopio, Caterina; Lamola, Giuseppe; Chisari, Carmelo; Bergamasco, Massimo; Frisoli, Antonio

2015-01-01

This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed hand exoskeleton was designed with two distinctive features: (a) kinematics with intrinsic adaptability to patient's hand size, and (b) free-palm and free-fingertip design, preserving the residual sensory perceptual capability of touch during assistance in grasping of real objects. In the envisaged bilateral training strategy, the patient's non paretic hand acted as guidance for the paretic hand in grasping tasks. Grasping force exerted by the non paretic hand was estimated in real-time from EMG signals, and then replicated as robotic assistance for the paretic hand by means of the hand-exoskeleton. Estimation of the grasping force through EMG allowed to perform rehabilitation exercises with any, non sensorized, graspable objects. This paper presents the system design, development, and experimental evaluation. Experiments were performed within a group of six healthy subjects and two chronic stroke patients, executing robotic-assisted grasping tasks. Results related to performance in estimation and modulation of the robotic assistance, and to the outcomes of the pilot rehabilitation sessions with stroke patients, positively support validity of the proposed approach for application in stroke rehabilitation.

Estimated number of infants detected and missed by critical congenital heart defect screening.

PubMed

Ailes, Elizabeth C; Gilboa, Suzanne M; Honein, Margaret A; Oster, Matthew E

2015-06-01

In 2011, the US Secretary of Health and Human Services recommended universal screening of newborns for critical congenital heart defects (CCHDs), yet few estimates of the number of infants with CCHDs likely to be detected through universal screening exist. Our objective was to estimate the number of infants with nonsyndromic CCHDs in the United States likely to be detected (true positives) and missed (false negatives) through universal newborn CCHD screening. We developed a simulation model based on estimates of birth prevalence, prenatal diagnosis, late detection, and sensitivity of newborn CCHD screening through pulse oximetry to estimate the number of true-positive and false-negative nonsyndromic cases of the 7 primary and 5 secondary CCHD screening targets identified through screening. We estimated that 875 (95% uncertainty interval [UI]: 705-1060) US infants with nonsyndromic CCHDs, including 470 (95% UI: 360-585) infants with primary CCHD screening targets, will be detected annually through newborn CCHD screening. An additional 880 (UI: 700-1080) false-negative screenings, including 280 (95% UI: 195-385) among primary screening targets, are expected. We estimated that similar numbers of CCHDs would be detected under scenarios comparing "lower" (∼19%) and "higher" (∼41%) than current prenatal detection prevalences. A substantial number of nonsyndromic CCHD cases are likely to be detected through universal CCHD screening; however, an equal number of false-negative screenings, primarily among secondary targets of screening, are likely to occur. Future efforts should document the true impact of CCHD screening in practice. Copyright © 2015 by the American Academy of Pediatrics.

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

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

DOE PAGES

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

2018-03-28

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

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

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

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

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

Comparison of the EPIC Physical Activity Questionnaire with combined heart rate and movement sensing in a nationally representative sample of older British adults.

PubMed

España-Romero, Vanesa; Golubic, Rajna; Martin, Kathryn R; Hardy, Rebecca; Ekelund, Ulf; Kuh, Diana; Wareham, Nicholas J; Cooper, Rachel; Brage, Soren

2014-01-01

To compare physical activity (PA) subcomponents from EPIC Physical Activity Questionnaire (EPAQ2) and combined heart rate and movement sensing in older adults. Participants aged 60-64y from the MRC National Survey of Health and Development in Great Britain completed EPAQ2, which assesses self-report PA in 4 domains (leisure time, occupation, transportation and domestic life) during the past year and wore a combined sensor for 5 consecutive days. Estimates of PA energy expenditure (PAEE), sedentary behaviour, light (LPA) and moderate-to-vigorous PA (MVPA) were obtained from EPAQ2 and combined sensing and compared. Complete data were available in 1689 participants (52% women). EPAQ2 estimates of PAEE and MVPA were higher than objective estimates and sedentary time and LPA estimates were lower [bias (95% limits of agreement) in men and women were 32.3 (-61.5 to 122.6) and 29.0 (-39.2 to 94.6) kJ/kg/day for PAEE; -4.6 (-10.6 to 1.3) and -6.0 (-10.9 to -1.0) h/day for sedentary time; -171.8 (-454.5 to 110.8) and -60.4 (-367.5 to 246.6) min/day for LPA; 91.1 (-159.5 to 341.8) and 55.4 (-117.2 to 228.0) min/day for MVPA]. There were significant positive correlations between all self-reported and objectively assessed PA subcomponents (rho= 0.12 to 0.36); the strongest were observed for MVPA (rho = 0.30 men; rho = 0.36 women) and PAEE (rho = 0.26 men; rho = 0.25 women). EPAQ2 produces higher estimates of PAEE and MVPA and lower estimates of sedentary and LPA than objective assessment. However, both methodologies rank individuals similarly, suggesting that EPAQ2 may be used in etiological studies in this population.

[Public spending on health and population health in Algeria: an econometric analysis].

PubMed

Messaili, Moussa; Kaïd Tlilane, Nouara

2017-07-10

Objective: The objective of this study was to estimate the impact of public spending on health, among other determinants of health, on the health of the population in Algeria, using life expectancy (men and women) and infant mortality rates as indicators of health status. Methods: We conducted a longitudinal study over the period from 1974 to 2010 using the ARDL (Autoregressive Distributed Lags) approach to co-integration to estimate the short-term and long-term relationship. Results: Public spending on health has a positive, but not statistically significant impact, in the long and short term, on life expectancy (men and women). However, public spending significantly reduces the infant mortality rate. The long-term impact of the number of hospital beds is significant for the life expectancy of men, but not for women and infant mortality, but is significant for all indicators in the short-term relationship. The most important variables in improving the health of the population are real GDP per capita and fertility rate.

Economic burden of chemotherapy-induced febrile neutropenia in patients with lymphoma: a systematic review.

PubMed

Wang, Xiao Jun; Lopez, Shaun Eric; Chan, Alexandre

2015-05-01

The primary objective of this review was to identify the cost components that were most frequently associated with the economic burden of febrile neutropenia (FN) among patients with lymphoma. The secondary objective was to identify any parameter associated with higher FN cost. Ten cost of illness (COI) studies were identified. General characteristics on study design, country, perspective, and patient population were extracted and systematically reported. It was observed that majority (70%) of the studies employed the perspective of healthcare provider. 20% of the studies considered long-term costs. Estimated costs were adjusted to 2013 US dollars and ranged from US$5819 to US$34,756. The cost components that were most frequently associated with economic burden were ward and medication costs. Inpatient management, male gender, discharged dead, and comorbidity were positively associated with higher FN costs. Future COI studies on FN should focus on the accurate estimation on ward and medication costs. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

Intervals for posttest probabilities: a comparison of 5 methods.

PubMed

Mossman, D; Berger, J O

2001-01-01

Several medical articles discuss methods of constructing confidence intervals for single proportions and the likelihood ratio, but scant attention has been given to the systematic study of intervals for the posterior odds, or the positive predictive value, of a test. The authors describe 5 methods of constructing confidence intervals for posttest probabilities when estimates of sensitivity, specificity, and the pretest probability of a disorder are derived from empirical data. They then evaluate each method to determine how well the intervals' coverage properties correspond to their nominal value. When the estimates of pretest probabilities, sensitivity, and specificity are derived from more than 80 subjects and are not close to 0 or 1, all methods generate intervals with appropriate coverage properties. When these conditions are not met, however, the best-performing method is an objective Bayesian approach implemented by a simple simulation using a spreadsheet. Physicians and investigators can generate accurate confidence intervals for posttest probabilities in small-sample situations using the objective Bayesian approach.

An operational search and rescue model for the Norwegian Sea and the North Sea

NASA Astrophysics Data System (ADS)

Breivik, Øyvind; Allen, Arthur A.

A new operational, ensemble-based search and rescue model for the Norwegian Sea and the North Sea is presented. The stochastic trajectory model computes the net motion of a range of search and rescue objects. A new, robust formulation for the relation between the wind and the motion of the drifting object (termed the leeway of the object) is employed. Empirically derived coefficients for 63 categories of search objects compiled by the US Coast Guard are ingested to estimate the leeway of the drifting objects. A Monte Carlo technique is employed to generate an ensemble that accounts for the uncertainties in forcing fields (wind and current), leeway drift properties, and the initial position of the search object. The ensemble yields an estimate of the time-evolving probability density function of the location of the search object, and its envelope defines the search area. Forcing fields from the operational oceanic and atmospheric forecast system of The Norwegian Meteorological Institute are used as input to the trajectory model. This allows for the first time high-resolution wind and current fields to be used to forecast search areas up to 60 h into the future. A limited set of field exercises show good agreement between model trajectories, search areas, and observed trajectories for life rafts and other search objects. Comparison with older methods shows that search areas expand much more slowly using the new ensemble method with high resolution forcing fields and the new leeway formulation. It is found that going to higher-order stochastic trajectory models will not significantly improve the forecast skill and the rate of expansion of search areas.

Objects of consciousness

PubMed Central

Hoffman, Donald D.; Prakash, Chetan

2014-01-01

Current models of visual perception typically assume that human vision estimates true properties of physical objects, properties that exist even if unperceived. However, recent studies of perceptual evolution, using evolutionary games and genetic algorithms, reveal that natural selection often drives true perceptions to extinction when they compete with perceptions tuned to fitness rather than truth: Perception guides adaptive behavior; it does not estimate a preexisting physical truth. Moreover, shifting from evolutionary biology to quantum physics, there is reason to disbelieve in preexisting physical truths: Certain interpretations of quantum theory deny that dynamical properties of physical objects have definite values when unobserved. In some of these interpretations the observer is fundamental, and wave functions are compendia of subjective probabilities, not preexisting elements of physical reality. These two considerations, from evolutionary biology and quantum physics, suggest that current models of object perception require fundamental reformulation. Here we begin such a reformulation, starting with a formal model of consciousness that we call a “conscious agent.” We develop the dynamics of interacting conscious agents, and study how the perception of objects and space-time can emerge from such dynamics. We show that one particular object, the quantum free particle, has a wave function that is identical in form to the harmonic functions that characterize the asymptotic dynamics of conscious agents; particles are vibrations not of strings but of interacting conscious agents. This allows us to reinterpret physical properties such as position, momentum, and energy as properties of interacting conscious agents, rather than as preexisting physical truths. We sketch how this approach might extend to the perception of relativistic quantum objects, and to classical objects of macroscopic scale. PMID:24987382

Philanthropy and hospital financing.

PubMed Central

Smith, D G; Clement, J P; Wheeler, J R

1995-01-01

OBJECTIVE. This study explores the relationships among donations to not-for-profit hospitals, the returns provided by these hospitals, and fund-raising efforts. It tests a model of hospital behavior and addresses an earlier debate regarding the supply price of donations. DATA SOURCES. The main data source is the California Office of Statewide Health Planning data tapes of hospital financial disclosure reports for fiscal years 1980/1981 through 1986/1987. Complete data were available for 160 hospitals. STUDY DESIGN. Three structural equations (donations, returns, and fund-raising) are estimated as a system using a fixed-effects, pooled cross-section, time-series least squares regression. PRINCIPAL FINDINGS. Estimation results reveal the expected positive relation between donations and returns. The reverse relation between returns and donations is insignificant. The estimated effect of fund-raising on donations is insignificantly different from zero, and the effect of donations on fund-raising is negative. Fund-raising and returns are negatively associated with one another. CONCLUSION. The empirical results presented here suggest a positive donations-returns relations and are consistent with a positive supply price for donations. Hospitals appear to view a trade-off between providing returns and soliciting donations, but donors do not respond equally to these two activities. Attempts to increase free cash flow through expansion of community returns or fund-raising activity, at least in the short run, are not likely to be highly successful financing strategies for many hospitals. PMID:8537223

Localization of Ferromagnetic Target with Three Magnetic Sensors in the Movement Considering Angular Rotation

PubMed Central

Gao, Xiang; Yan, Shenggang; Li, Bin

2017-01-01

Magnetic detection techniques have been widely used in many fields, such as virtual reality, surgical robotics systems, and so on. A large number of methods have been developed to obtain the position of a ferromagnetic target. However, the angular rotation of the target relative to the sensor is rarely studied. In this paper, a new method for localization of moving object to determine both the position and rotation angle with three magnetic sensors is proposed. Trajectory localization estimation of three magnetic sensors, which are collinear and noncollinear, were obtained by the simulations, and experimental results demonstrated that the position and rotation angle of ferromagnetic target having roll, pitch or yaw in its movement could be calculated accurately and effectively with three noncollinear vector sensors. PMID:28892006

Preschool children's vision screening in New Zealand: a retrospective evaluation of referral accuracy

PubMed Central

Langeslag-Smith, Miriam A; Vandal, Alain C; Briane, Vincent; Thompson, Benjamin; Anstice, Nicola S

2015-01-01

Objectives To assess the accuracy of preschool vision screening in a large, ethnically diverse, urban population in South Auckland, New Zealand. Design Retrospective longitudinal study. Methods B4 School Check vision screening records (n=5572) were compared with hospital eye department data for children referred from screening due to impaired acuity in one or both eyes who attended a referral appointment (n=556). False positive screens were identified by comparing screening data from the eyes that failed screening with hospital data. Estimation of false negative screening rates relied on data from eyes that passed screening. Data were analysed using logistic regression modelling accounting for the high correlation between results for the two eyes of each child. Primary outcome measure Positive predictive value of the preschool vision screening programme. Results Screening produced high numbers of false positive referrals, resulting in poor positive predictive value (PPV=31%, 95% CI 26% to 38%). High estimated negative predictive value (NPV=92%, 95% CI 88% to 95%) suggested most children with a vision disorder were identified at screening. Relaxing the referral criteria for acuity from worse than 6/9 to worse than 6/12 improved PPV without adversely affecting NPV. Conclusions The B4 School Check generated numerous false positive referrals and consequently had a low PPV. There is scope for reducing costs by altering the visual acuity criterion for referral. PMID:26614622

Estimating antiretroviral treatment coverage rates and viral suppression rates for homosexual men in Australia

PubMed Central

De La Mata, Nicole L.; Mao, Limin; De Wit, John; Smith, Don; Holt, Martin; Prestage, Garrett; Wilson, David P.; Petoumenos, Kathy

2016-01-01

Gay and other men who have sex with men (GMSM) are disproportionally affected by the HIV epidemic in Australia. The study objective is to combine a clinical-based cohort with a community-based surveillance system to present a broader representation of the GMSM community to determine estimates of proportions receiving antiretroviral therapy (ART) and/or with an undetectable viral load. Between 2010 and 2012, small increases were shown in ART uptake (to 70.2%) and proportions with undetectable viral load (to 62.4%). The study findings highlight the potential for significantly increasing ART uptake among HIV-positive GMSM to reduce the HIV epidemic in Australia. PMID:26166247

A search for T Tauri stars and related objects: Archival photometry of candidate variables in V733 Cep field

NASA Astrophysics Data System (ADS)

Jurdana-Šepić, R.; Poljančić Beljan, I.

Searching for T Tauri stars or related early type variables we carried out a BVRI photometric measurements of five candidates with positions within the field of the pre-main sequence object V733 Cephei (Persson's star) located in the dark cloud L1216 near to Cepheus OB3 Association: VES 946, VES 950, NSV 14333, NSV 25966 and V385 Cep. Their magnitudes are determined on the plates from Asiago Observatory historical photographic archive exposed 1971 - 1978. We provide finding charts for program stars and comparison sequence stars, magnitude estimations, magnitude mean values and BVR_cI_c light curves of program stars.

Economic Analysis of the Return-on-Investment of a Worksite Wellness Program for a Large Multistate Retail Grocery Organization.

PubMed

Light, Emily M W; Kline, Allison S; Drosky, Megan A; Chapman, Larry S

2015-08-01

The objective of this study is to measure the return on investment (ROI) of the Price Chopper/Golub Corporation employee population who participate in wellness programs available to them. Medical claims data, risk level, and presence of comorbidities such as diabetes and heart disease were compared in a matched retrospective cohort of participants and nonparticipants, with 2008, 2009, and 2010 serving as measurement years. Program costs and estimated savings were used to calculate an ROI of $4.33 for every dollar invested in wellness programs. Reductions in medical costs were observed at several risk and participation levels, with an average savings of $133 per participant and a 3-year savings estimate of $285,706. The positive ROI and savings estimate indicate that wellness interventions added economic value to Price Chopper/Golub Corporation.

Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments

PubMed Central

Kohoutek, Tobias K.; Mautz, Rainer; Wegner, Jan D.

2013-01-01

We present a novel approach for autonomous location estimation and navigation in indoor environments using range images and prior scene knowledge from a GIS database (CityGML). What makes this task challenging is the arbitrary relative spatial relation between GIS and Time-of-Flight (ToF) range camera further complicated by a markerless configuration. We propose to estimate the camera's pose solely based on matching of GIS objects and their detected location in image sequences. We develop a coarse-to-fine matching strategy that is able to match point clouds without any initial parameters. Experiments with a state-of-the-art ToF point cloud show that our proposed method delivers an absolute camera position with decimeter accuracy, which is sufficient for many real-world applications (e.g., collision avoidance). PMID:23435055

Impact of HPV Status on the Prognostic Potential of the AJCC Staging System for Larynx Cancer.

PubMed

Davidson, Stacey M; Ko, Huasing C; Harari, Paul M; Wieland, Aaron M; Chen, Shuai; Baschnagel, Andrew M; Kimple, Randall J; Witek, And Matthew E

2018-04-01

Objective We evaluated the ability of the American Joint Committee on Cancer (AJCC) seventh edition staging system to prognosticate the overall survival of patients with human papillomavirus (HPV)-positive laryngeal squamous cell carcinoma. Study Design Retrospective analysis. Setting National Cancer Database. Subjects and Methods Patients diagnosed with laryngeal squamous cell carcinoma who were treated with curative intent were identified in the National Cancer Database. Multivariate analysis was utilized to determine factors correlated with overall survival in the HPV-negative and HPV-positive cohorts. Unadjusted and propensity score-weighted Kaplan-Meier estimation was used to determine overall survival of HPV-negative and HPV-positive patients across AJCC stage groupings. Results We identified 3238 patients with laryngeal squamous cell carcinoma, of which 2812 were HPV negative and 426 were HPV positive. Overall survival adjusted for age, sex, and comorbidity status confirmed significant differences among all consecutive stage groupings (I vs II, P < .001; II vs III, P < .05; III vs IVA, P < .001; IVA vs IVB, P < .05) in the HPV-negative cohort, whereas only stages IVAs and IVB ( P < .01) exhibited a significant difference in overall survival for HPV-positive patients. Conclusion The current AJCC staging system does not accurately distinguish risk of mortality for patients with HPV-positive disease. These data support the consideration of HPV status in estimating prognosis as well as clinical trial design and clinical decision making for patients with laryngeal squamous cell carcinoma.

Long-term selection strategies for complex traits using high-density genetic markers.

PubMed

Kemper, K E; Bowman, P J; Pryce, J E; Hayes, B J; Goddard, M E

2012-08-01

Selection of animals for breeding ranked on estimated breeding value maximizes genetic gain in the next generation but does not necessarily maximize long-term response. An alternative method, as practiced by plant breeders, is to build a desired genotype by selection on specific loci. Maximal long-term response in animal breeding requires selection on estimated breeding values with constraints on coancestry. In this paper, we compared long-term genetic response using either a genotype building or a genomic estimated breeding value (GEBV) strategy for the Australian Selection Index (ASI), a measure of profit. First, we used real marker effects from the Australian Dairy Herd Improvement Scheme to estimate breeding values for chromosome segments (approximately 25 cM long) for 2,650 Holstein bulls. Second, we selected 16 animals to be founders for a simulated breeding program where, between them, founders contain the best possible combination of 2 segments from 2 animals at each position in the genome. Third, we mated founder animals and their descendants over 30 generations with 2 breeding objectives: (1) to create a population with the "ideal genotype," where the best 2 segments from the founders segregate at each position, or (2) obtain the highest possible response in ASI with coancestry lower than that achieved under breeding objective 1. Results show that genotype building achieved the ideal genotype for breeding objective 1 and obtained a large gain in ASI over the current population (+A$864.99). However, selection on overall GEBV had greater short-term response and almost as much long-term gain (+A$820.42). When coancestry was lowered under breeding objective 2, selection on overall GEBV achieved a higher response in ASI than the genotype building strategy. Selection on overall GEBV seems more flexible in its selection decisions and was therefore better able to precisely control coancestry while maximizing ASI. We conclude that selection on overall GEBV while minimizing average coancestry is the more practical strategy for dairy cattle where selection is for highly polygenic traits, the reproductive rate is relatively low, and there is low tolerance of coancestry. The outcome may be different for traits controlled by few loci of relatively large effects or for different species. In contrast to other simulations, our results indicate that response to selection on overall GEBV may continue for several generations. This is because long-term genetic change in complex traits requires favorable changes to allele frequencies for many loci located throughout the genome. Copyright © 2012 American Dairy Science Association. Published by Elsevier Inc. All rights reserved.

Velocity and Structure Estimation of a Moving Object Using a Moving Monocular Camera

DTIC Science & Technology

2006-01-01

map the Euclidean position of static landmarks or visual features in the environment . Recent applications of this technique include aerial...From Motion in a Piecewise Planar Environment ,” International Journal of Pattern Recognition and Artificial Intelligence, Vol. 2, No. 3, pp. 485-508...1988. [9] J. M. Ferryman, S. J. Maybank , and A. D. Worrall, “Visual Surveil- lance for Moving Vehicles,” Intl. Journal of Computer Vision, Vol. 37, No

An Improved Method of Pose Estimation for Lighthouse Base Station Extension.

PubMed

Yang, Yi; Weng, Dongdong; Li, Dong; Xun, Hang

2017-10-22

In 2015, HTC and Valve launched a virtual reality headset empowered with Lighthouse, the cutting-edge space positioning technology. Although Lighthouse is superior in terms of accuracy, latency and refresh rate, its algorithms do not support base station expansion, and is flawed concerning occlusion in moving targets, that is, it is unable to calculate their poses with a small set of sensors, resulting in the loss of optical tracking data. In view of these problems, this paper proposes an improved pose estimation algorithm for cases where occlusion is involved. Our algorithm calculates the pose of a given object with a unified dataset comprising of inputs from sensors recognized by all base stations, as long as three or more sensors detect a signal in total, no matter from which base station. To verify our algorithm, HTC official base stations and autonomous developed receivers are used for prototyping. The experiment result shows that our pose calculation algorithm can achieve precise positioning when a few sensors detect the signal.

An Improved Method of Pose Estimation for Lighthouse Base Station Extension

PubMed Central

Yang, Yi; Weng, Dongdong; Li, Dong; Xun, Hang

2017-01-01

In 2015, HTC and Valve launched a virtual reality headset empowered with Lighthouse, the cutting-edge space positioning technology. Although Lighthouse is superior in terms of accuracy, latency and refresh rate, its algorithms do not support base station expansion, and is flawed concerning occlusion in moving targets, that is, it is unable to calculate their poses with a small set of sensors, resulting in the loss of optical tracking data. In view of these problems, this paper proposes an improved pose estimation algorithm for cases where occlusion is involved. Our algorithm calculates the pose of a given object with a unified dataset comprising of inputs from sensors recognized by all base stations, as long as three or more sensors detect a signal in total, no matter from which base station. To verify our algorithm, HTC official base stations and autonomous developed receivers are used for prototyping. The experiment result shows that our pose calculation algorithm can achieve precise positioning when a few sensors detect the signal. PMID:29065509

Estimation of scattering object characteristics for image reconstruction using a nonzero background.

PubMed

Jin, Jing; Astheimer, Jeffrey; Waag, Robert

2010-06-01

Two methods are described to estimate the boundary of a 2-D penetrable object and the average sound speed in the object. One method is for circular objects centered in the coordinate system of the scattering observation. This method uses an orthogonal function expansion for the scattering. The other method is for noncircular, essentially convex objects. This method uses cross correlation to obtain time differences that determine a family of parabolas whose envelope is the boundary of the object. A curve-fitting method and a phase-based method are described to estimate and correct the offset of an uncentered radial or elliptical object. A method based on the extinction theorem is described to estimate absorption in the object. The methods are applied to calculated scattering from a circular object with an offset and to measured scattering from an offset noncircular object. The results show that the estimated boundaries, sound speeds, and absorption slopes agree very well with independently measured or true values when the assumptions of the methods are reasonably satisfied.

Accelerometer-based wireless body area network to estimate intensity of therapy in post-acute rehabilitation

PubMed Central

Choquette, Stéphane; Hamel, Mathieu; Boissy, Patrick

2008-01-01

Background It has been suggested that there is a dose-response relationship between the amount of therapy and functional recovery in post-acute rehabilitation care. To this day, only the total time of therapy has been investigated as a potential determinant of this dose-response relationship because of methodological and measurement challenges. The primary objective of this study was to compare time and motion measures during real life physical therapy with estimates of active time (i.e. the time during which a patient is active physically) obtained with a wireless body area network (WBAN) of 3D accelerometer modules positioned at the hip, wrist and ankle. The secondary objective was to assess the differences in estimates of active time when using a single accelerometer module positioned at the hip. Methods Five patients (77.4 ± 5.2 y) with 4 different admission diagnoses (stroke, lower limb fracture, amputation and immobilization syndrome) were recruited in a post-acute rehabilitation center and observed during their physical therapy sessions throughout their stay. Active time was recorded by a trained observer using a continuous time and motion analysis program running on a Tablet-PC. Two WBAN configurations were used: 1) three accelerometer modules located at the hip, wrist and ankle (M3) and 2) one accelerometer located at the hip (M1). Acceleration signals from the WBANs were synchronized with the observations. Estimates of active time were computed based on the temporal density of the acceleration signals. Results A total of 62 physical therapy sessions were observed. Strong associations were found between WBANs estimates of active time and time and motion measures of active time. For the combined sessions, the intraclass correlation coefficient (ICC) was 0.93 (P ≤ 0.001) for M3 and 0.79 (P ≤ 0.001) for M1. The mean percentage of differences between observation measures and estimates from the WBAN of active time was -8.7% ± 2.0% using data from M3 and -16.4% ± 10.4% using data from M1. Conclusion WBANs estimates of active time compare favorably with results from observation-based time and motion measures. While the investigation on the association between active time and outcomes of rehabilitation needs to be studied in a larger scale study, the use of an accelerometer-based WBAN to measure active time is a promising approach that offers a better overall precision than methods relying on work sampling. Depending on the accuracy needed, the use of a single accelerometer module positioned on the hip may still be an interesting alternative to using multiple modules. PMID:18764954

Particle detection, number estimation, and feature measurement in gene transfer studies: optical fractionator stereology integrated with digital image processing and analysis.

PubMed

King, Michael A; Scotty, Nicole; Klein, Ronald L; Meyer, Edwin M

2002-10-01

Assessing the efficacy of in vivo gene transfer often requires a quantitative determination of the number, size, shape, or histological visualization characteristics of biological objects. The optical fractionator has become a choice stereological method for estimating the number of objects, such as neurons, in a structure, such as a brain subregion. Digital image processing and analytic methods can increase detection sensitivity and quantify structural and/or spectral features located in histological specimens. We describe a hardware and software system that we have developed for conducting the optical fractionator process. A microscope equipped with a video camera and motorized stage and focus controls is interfaced with a desktop computer. The computer contains a combination live video/computer graphics adapter with a video frame grabber and controls the stage, focus, and video via a commercial imaging software package. Specialized macro programs have been constructed with this software to execute command sequences requisite to the optical fractionator method: defining regions of interest, positioning specimens in a systematic uniform random manner, and stepping through known volumes of tissue for interactive object identification (optical dissectors). The system affords the flexibility to work with count regions that exceed the microscope image field size at low magnifications and to adjust the parameters of the fractionator sampling to best match the demands of particular specimens and object types. Digital image processing can be used to facilitate object detection and identification, and objects that meet criteria for counting can be analyzed for a variety of morphometric and optical properties. Copyright 2002 Elsevier Science (USA)

Smart mobile robot system for rubbish collection

NASA Astrophysics Data System (ADS)

Ali, Mohammed A. H.; Sien Siang, Tan

2018-03-01

This paper records the research and procedures of developing a smart mobility robot with detection system to collect rubbish. The objective of this paper is to design a mobile robot that can detect and recognize medium-size rubbish such as drinking cans. Besides that, the objective is also to design a mobile robot with the ability to estimate the position of rubbish from the robot. In addition, the mobile robot is also able to approach the rubbish based on position of rubbish. This paper explained about the types of image processing, detection and recognition methods and image filters. This project implements RGB subtraction method as the prior system. Other than that, algorithm for distance measurement based on image plane is implemented in this project. This project is limited to use computer webcam as the sensor. Secondly, the robot is only able to approach the nearest rubbish in the same views of camera vision and any rubbish that contain RGB colour components on its body.

The double-edged sword of grandiose narcissism: implications for successful and unsuccessful leadership among U.S. Presidents.

PubMed

Watts, Ashley L; Lilienfeld, Scott O; Smith, Sarah Francis; Miller, Joshua D; Campbell, W Keith; Waldman, Irwin D; Rubenzer, Steven J; Faschingbauer, Thomas J

2013-12-01

Recent research and theorizing suggest that narcissism may predict both positive and negative leadership behaviors. We tested this hypothesis with data on the 42 U.S. presidents up to and including George W. Bush, using (a) expert-derived narcissism estimates, (b) independent historical surveys of presidential performance, and (c) largely or entirely objective indicators of presidential performance. Grandiose, but not vulnerable, narcissism was associated with superior overall greatness in an aggregate poll; it was also positively associated with public persuasiveness, crisis management, agenda setting, and allied behaviors, and with several objective indicators of performance, such as winning the popular vote and initiating legislation. Nevertheless, grandiose narcissism was also associated with several negative outcomes, including congressional impeachment resolutions and unethical behaviors. We found that presidents exhibit elevated levels of grandiose narcissism compared with the general population, and that presidents' grandiose narcissism has been rising over time. Our findings suggest that grandiose narcissism may be a double-edged sword in the leadership domain.

The cost and management of different types of clinical mastitis in dairy cows estimated by dynamic programming.

PubMed

Cha, E; Bar, D; Hertl, J A; Tauer, L W; Bennett, G; González, R N; Schukken, Y H; Welcome, F L; Gröhn, Y T

2011-09-01

The objective of this study was to estimate the cost of 3 different types of clinical mastitis (CM) (caused by gram-positive bacteria, gram-negative bacteria, and other organisms) at the individual cow level and thereby identify the economically optimal management decision for each type of mastitis. We made modifications to an existing dynamic optimization and simulation model, studying the effects of various factors (incidence of CM, milk loss, pregnancy rate, and treatment cost) on the cost of different types of CM. The average costs per case (US$) of gram-positive, gram-negative, and other CM were $133.73, $211.03, and $95.31, respectively. This model provided a more informed decision-making process in CM management for optimal economic profitability and determined that 93.1% of gram-positive CM cases, 93.1% of gram-negative CM cases, and 94.6% of other CM cases should be treated. The main contributor to the total cost per case was treatment cost for gram-positive CM (51.5% of the total cost per case), milk loss for gram-negative CM (72.4%), and treatment cost for other CM (49.2%). The model affords versatility as it allows for parameters such as production costs, economic values, and disease frequencies to be altered. Therefore, cost estimates are the direct outcome of the farm-specific parameters entered into the model. Thus, this model can provide farmers economically optimal guidelines specific to their individual cows suffering from different types of CM. Copyright © 2011 American Dairy Science Association. Published by Elsevier Inc. All rights reserved.

Real-time classification of vehicles by type within infrared imagery

NASA Astrophysics Data System (ADS)

Kundegorski, Mikolaj E.; Akçay, Samet; Payen de La Garanderie, Grégoire; Breckon, Toby P.

2016-10-01

Real-time classification of vehicles into sub-category types poses a significant challenge within infra-red imagery due to the high levels of intra-class variation in thermal vehicle signatures caused by aspects of design, current operating duration and ambient thermal conditions. Despite these challenges, infra-red sensing offers significant generalized target object detection advantages in terms of all-weather operation and invariance to visual camouflage techniques. This work investigates the accuracy of a number of real-time object classification approaches for this task within the wider context of an existing initial object detection and tracking framework. Specifically we evaluate the use of traditional feature-driven bag of visual words and histogram of oriented gradient classification approaches against modern convolutional neural network architectures. Furthermore, we use classical photogrammetry, within the context of current target detection and classification techniques, as a means of approximating 3D target position within the scene based on this vehicle type classification. Based on photogrammetric estimation of target position, we then illustrate the use of regular Kalman filter based tracking operating on actual 3D vehicle trajectories. Results are presented using a conventional thermal-band infra-red (IR) sensor arrangement where targets are tracked over a range of evaluation scenarios.

Microsoft kinect-based artificial perception system for control of functional electrical stimulation assisted grasping.

PubMed

Strbac, Matija; Kočović, Slobodan; Marković, Marko; Popović, Dejan B

2014-01-01

We present a computer vision algorithm that incorporates a heuristic model which mimics a biological control system for the estimation of control signals used in functional electrical stimulation (FES) assisted grasping. The developed processing software acquires the data from Microsoft Kinect camera and implements real-time hand tracking and object analysis. This information can be used to identify temporal synchrony and spatial synergies modalities for FES control. Therefore, the algorithm acts as artificial perception which mimics human visual perception by identifying the position and shape of the object with respect to the position of the hand in real time during the planning phase of the grasp. This artificial perception used within the heuristically developed model allows selection of the appropriate grasp and prehension. The experiments demonstrate that correct grasp modality was selected in more than 90% of tested scenarios/objects. The system is portable, and the components are low in cost and robust; hence, it can be used for the FES in clinical or even home environment. The main application of the system is envisioned for functional electrical therapy, that is, intensive exercise assisted with FES.

Microsoft Kinect-Based Artificial Perception System for Control of Functional Electrical Stimulation Assisted Grasping

PubMed Central

Kočović, Slobodan; Popović, Dejan B.

2014-01-01

We present a computer vision algorithm that incorporates a heuristic model which mimics a biological control system for the estimation of control signals used in functional electrical stimulation (FES) assisted grasping. The developed processing software acquires the data from Microsoft Kinect camera and implements real-time hand tracking and object analysis. This information can be used to identify temporal synchrony and spatial synergies modalities for FES control. Therefore, the algorithm acts as artificial perception which mimics human visual perception by identifying the position and shape of the object with respect to the position of the hand in real time during the planning phase of the grasp. This artificial perception used within the heuristically developed model allows selection of the appropriate grasp and prehension. The experiments demonstrate that correct grasp modality was selected in more than 90% of tested scenarios/objects. The system is portable, and the components are low in cost and robust; hence, it can be used for the FES in clinical or even home environment. The main application of the system is envisioned for functional electrical therapy, that is, intensive exercise assisted with FES. PMID:25202707

An analysis of the 2016 Hitomi breakup event

NASA Astrophysics Data System (ADS)

Flegel, Sven; Bennett, James; Lachut, Michael; Möckel, Marek; Smith, Craig

2017-04-01

The breakup of Hitomi (ASTRO-H) on 26 March 2016 is analysed. Debris from the fragmentation is used to estimate the time of the event by propagating backwards and estimating the close approach with the parent object. Based on this method, the breakup event is predicted to have occurred at approximately 01:42 UTC on 26 March 2016. The Gaussian variation of parameters equations based on the instantaneous orbits at the predicted time of the event are solved to gain additional insight into the on-orbit position of Hitomi at the time of the event and to test an alternate approach of determining the event epoch and location. A conjunction analysis is carried out between Hitomi and all catalogued objects which were in orbit around the estimated time of the anomaly. Several debris objects have close approaches with Hitomi; however, there is no evidence to support the breakup was caused by a catalogued object. Debris from both of the largest fragmentation events—the Iridium 33-Cosmos 2251 conjunction in 2009 and the intentional destruction of Fengyun 1C in 2007—is involved in close approaches with Hitomi indicating the persistent threat these events have caused in subsequent space missions. To quantify the magnitude of a potential conjunction, the fragmentation resulting from a collision with the debris is modelled using the EVOLVE-4 breakup model. The debris characteristics are estimated from two-line element data. This analysis is indicative of the threat to space assets that mission planners face due to the growing debris population. The impact of the actual event to the environment is investigated based on the debris associated with Hitomi which is currently contained in the United States Strategic Command's catalogue. A look at the active missions in the orbital vicinity of Hitomi reveals that the Hubble Space Telescope is among the spacecraft which may be immediately affected by the new debris.[Figure not available: see fulltext.

Prevalence of tuberculous infection and incidence of tuberculosis; a re-assessment of the Styblo rule

PubMed Central

van der Werf, MJ; Borgdorff, MW

2008-01-01

Abstract Objective To evaluate the validity of the fixed mathematical relationship between the annual risk of tuberculous infection (ARTI), the prevalence of smear-positive tuberculosis (TB) and the incidence of smear-positive TB specified as the Styblo rule, which TB control programmes use to estimate the incidence of TB disease at a population level and the case detection rate. Methods Population-based tuberculin surveys and surveys on prevalence of smear-positive TB since 1975 were identified through a literature search. For these surveys, the ratio between the number of tuberculous infections (based on ARTI estimates) and the number of smear-positive TB cases was calculated and compared to the ratio of 8 to 12 tuberculous infections per prevalent smear-positive TB case as part of the Styblo rule. Findings Three countries had national population-based data on both ARTI and prevalence of smear-positive TB for more than one point in time. In China the ratio ranged from 3.4 to 5.8, in the Philippines from 2.6 to 4.4, and in the Republic of Korea, from 3.2 to 4.7. All ratios were markedly lower than the ratio that is part of the Styblo rule. Conclusion According to recent country data, there are typically fewer than 8 to 12 tuberculous infections per prevalent smear-positive TB case, and it remains unclear whether this ratio varies significantly among countries. The decrease in the ratio compared to the Styblo rule probably relates to improvements in the prompt treatment of TB disease (by national TB programmes). A change in the number of tuberculous infections per prevalent smear-positive TB case in population-based surveys makes the assumed fixed mathematical relationship between ARTI and incidence of smear-positive TB no longer valid. PMID:18235886

Multi-object tracking of human spermatozoa

NASA Astrophysics Data System (ADS)

Sørensen, Lauge; Østergaard, Jakob; Johansen, Peter; de Bruijne, Marleen

2008-03-01

We propose a system for tracking of human spermatozoa in phase-contrast microscopy image sequences. One of the main aims of a computer-aided sperm analysis (CASA) system is to automatically assess sperm quality based on spermatozoa motility variables. In our case, the problem of assessing sperm quality is cast as a multi-object tracking problem, where the objects being tracked are the spermatozoa. The system combines a particle filter and Kalman filters for robust motion estimation of the spermatozoa tracks. Further, the combinatorial aspect of assigning observations to labels in the particle filter is formulated as a linear assignment problem solved using the Hungarian algorithm on a rectangular cost matrix, making the algorithm capable of handling missing or spurious observations. The costs are calculated using hidden Markov models that express the plausibility of an observation being the next position in the track history of the particle labels. Observations are extracted using a scale-space blob detector utilizing the fact that the spermatozoa appear as bright blobs in a phase-contrast microscope. The output of the system is the complete motion track of each of the spermatozoa. Based on these tracks, different CASA motility variables can be computed, for example curvilinear velocity or straight-line velocity. The performance of the system is tested on three different phase-contrast image sequences of varying complexity, both by visual inspection of the estimated spermatozoa tracks and by measuring the mean squared error (MSE) between the estimated spermatozoa tracks and manually annotated tracks, showing good agreement.

Depth-estimation-enabled compound eyes

NASA Astrophysics Data System (ADS)

Lee, Woong-Bi; Lee, Heung-No

2018-04-01

Most animals that have compound eyes determine object distances by using monocular cues, especially motion parallax. In artificial compound eye imaging systems inspired by natural compound eyes, object depths are typically estimated by measuring optic flow; however, this requires mechanical movement of the compound eyes or additional acquisition time. In this paper, we propose a method for estimating object depths in a monocular compound eye imaging system based on the computational compound eye (COMPU-EYE) framework. In the COMPU-EYE system, acceptance angles are considerably larger than interommatidial angles, causing overlap between the ommatidial receptive fields. In the proposed depth estimation technique, the disparities between these receptive fields are used to determine object distances. We demonstrate that the proposed depth estimation technique can estimate the distances of multiple objects.

Auditory risk estimates for youth target shooting

PubMed Central

Meinke, Deanna K.; Murphy, William J.; Finan, Donald S.; Lankford, James E.; Flamme, Gregory A.; Stewart, Michael; Soendergaard, Jacob; Jerome, Trevor W.

2015-01-01

Objective To characterize the impulse noise exposure and auditory risk for youth recreational firearm users engaged in outdoor target shooting events. The youth shooting positions are typically standing or sitting at a table, which places the firearm closer to the ground or reflective surface when compared to adult shooters. Design Acoustic characteristics were examined and the auditory risk estimates were evaluated using contemporary damage-risk criteria for unprotected adult listeners and the 120-dB peak limit suggested by the World Health Organization (1999) for children. Study sample Impulses were generated by 26 firearm/ammunition configurations representing rifles, shotguns, and pistols used by youth. Measurements were obtained relative to a youth shooter’s left ear. Results All firearms generated peak levels that exceeded the 120 dB peak limit suggested by the WHO for children. In general, shooting from the seated position over a tabletop increases the peak levels, LAeq8 and reduces the unprotected maximum permissible exposures (MPEs) for both rifles and pistols. Pistols pose the greatest auditory risk when fired over a tabletop. Conclusion Youth should utilize smaller caliber weapons, preferably from the standing position, and always wear hearing protection whenever engaging in shooting activities to reduce the risk for auditory damage. PMID:24564688

Post-Flight Estimation of Motion of Space Structures: Part 1

NASA Technical Reports Server (NTRS)

Brugarolas, Paul; Breckenridge, William

2008-01-01

A computer program estimates the relative positions and orientations of two space structures from data on the angular positions and distances of fiducial objects on one structure as measured by a target tracking electronic camera and laser range finders on another structure. The program is written specifically for determining the relative alignments of two antennas, connected by a long truss, deployed in outer space from a space shuttle. The program is based partly on transformations among the various coordinate systems involved in the measurements and on a nonlinear mathematical model of vibrations of the truss. The program implements a Kalman filter that blends the measurement data with data from the model. Using time series of measurement data from the tracking camera and range finders, the program generates time series of data on the relative position and orientation of the antennas. A similar program described in a prior NASA Tech Briefs article was used onboard for monitoring the structures during flight. The present program is more precise and designed for use on Earth in post-flight processing of the measurement data to enable correction, for antenna motions, of scientific data acquired by use of the antennas.

Use of the Magnetic Field for Improving Gyroscopes’ Biases Estimation

PubMed Central

Munoz Diaz, Estefania; de Ponte Müller, Fabian; García Domínguez, Juan Jesús

2017-01-01

An accurate orientation is crucial to a satisfactory position in pedestrian navigation. The orientation estimation, however, is greatly affected by errors like the biases of gyroscopes. In order to minimize the error in the orientation, the biases of gyroscopes must be estimated and subtracted. In the state of the art it has been proposed, but not proved, that the estimation of the biases can be accomplished using magnetic field measurements. The objective of this work is to evaluate the effectiveness of using magnetic field measurements to estimate the biases of medium-cost micro-electromechanical sensors (MEMS) gyroscopes. We carry out the evaluation with experiments that cover both, quasi-error-free turn rate and magnetic measurements and medium-cost MEMS turn rate and magnetic measurements. The impact of different homogeneous magnetic field distributions and magnetically perturbed environments is analyzed. Additionally, the effect of the successful biases subtraction on the orientation and the estimated trajectory is detailed. Our results show that the use of magnetic field measurements is beneficial to the correct biases estimation. Further, we show that different magnetic field distributions affect differently the biases estimation process. Moreover, the biases are likewise correctly estimated under perturbed magnetic fields. However, for indoor and urban scenarios the biases estimation process is very slow. PMID:28398232

Northern Hemisphere observations of ICRF sources on the USNO stellar catalogue frame

NASA Astrophysics Data System (ADS)

Fienga, A.; Andrei, A. H.

2004-06-01

The most recent USNO stellar catalogue, the USNO B1.0 (Monet et al. \\cite{Monet03}), provides positions for 1 042 618 261 objects, with a published astrometric accuracy of 200 mas and five-band magnitudes with a 0.3 mag accuracy. Its completeness is believed to be up to magnitude 21th in V-band. Such a catalogue would be a very good tool for astrometric reduction. This work investigates the accuracy of the USNO B1.0 link to ICRF and give an estimation of its internal and external accuracies by comparison with different catalogues, and by computation of ICRF sources using USNO B1.0 star positions.

It's positive to be negative: Achilles tendon work loops during human locomotion.

PubMed

Zelik, Karl E; Franz, Jason R

2017-01-01

Ultrasound imaging is increasingly used with motion and force data to quantify tendon dynamics during human movement. Frequently, tendon dynamics are estimated indirectly from muscle fascicle kinematics (by subtracting muscle from muscle-tendon unit length), but there is mounting evidence that this Indirect approach yields implausible tendon work loops. Since tendons are passive viscoelastic structures, when they undergo a loading-unloading cycle they must exhibit a negative work loop (i.e., perform net negative work). However, prior studies using this Indirect approach report large positive work loops, often estimating that tendons return 2-5 J of elastic energy for every 1 J of energy stored. More direct ultrasound estimates of tendon kinematics have emerged that quantify tendon elongations by tracking either the muscle-tendon junction or localized tendon tissue. However, it is unclear if these yield more plausible estimates of tendon dynamics. Our objective was to compute tendon work loops and hysteresis losses using these two Direct tendon kinematics estimates during human walking. We found that Direct estimates generally resulted in negative work loops, with average tendon hysteresis losses of 2-11% at 1.25 m/s and 33-49% at 0.75 m/s (N = 8), alluding to 0.51-0.98 J of tendon energy returned for every 1 J stored. We interpret this finding to suggest that Direct approaches provide more plausible estimates than the Indirect approach, and may be preferable for understanding tendon energy storage and return. However, the Direct approaches did exhibit speed-dependent trends that are not consistent with isolated, in vitro tendon hysteresis losses of about 5-10%. These trends suggest that Direct estimates also contain some level of error, albeit much smaller than Indirect estimates. Overall, this study serves to highlight the complexity and difficulty of estimating tendon dynamics non-invasively, and the care that must be taken to interpret biological function from current ultrasound-based estimates.

Weed Mapping in Early-Season Maize Fields Using Object-Based Analysis of Unmanned Aerial Vehicle (UAV) Images

PubMed Central

Peña, José Manuel; Torres-Sánchez, Jorge; de Castro, Ana Isabel; Kelly, Maggi; López-Granados, Francisca

2013-01-01

The use of remote imagery captured by unmanned aerial vehicles (UAV) has tremendous potential for designing detailed site-specific weed control treatments in early post-emergence, which have not possible previously with conventional airborne or satellite images. A robust and entirely automatic object-based image analysis (OBIA) procedure was developed on a series of UAV images using a six-band multispectral camera (visible and near-infrared range) with the ultimate objective of generating a weed map in an experimental maize field in Spain. The OBIA procedure combines several contextual, hierarchical and object-based features and consists of three consecutive phases: 1) classification of crop rows by application of a dynamic and auto-adaptive classification approach, 2) discrimination of crops and weeds on the basis of their relative positions with reference to the crop rows, and 3) generation of a weed infestation map in a grid structure. The estimation of weed coverage from the image analysis yielded satisfactory results. The relationship of estimated versus observed weed densities had a coefficient of determination of r2=0.89 and a root mean square error of 0.02. A map of three categories of weed coverage was produced with 86% of overall accuracy. In the experimental field, the area free of weeds was 23%, and the area with low weed coverage (<5% weeds) was 47%, which indicated a high potential for reducing herbicide application or other weed operations. The OBIA procedure computes multiple data and statistics derived from the classification outputs, which permits calculation of herbicide requirements and estimation of the overall cost of weed management operations in advance. PMID:24146963

Weed mapping in early-season maize fields using object-based analysis of unmanned aerial vehicle (UAV) images.

PubMed

Peña, José Manuel; Torres-Sánchez, Jorge; de Castro, Ana Isabel; Kelly, Maggi; López-Granados, Francisca

2013-01-01

The use of remote imagery captured by unmanned aerial vehicles (UAV) has tremendous potential for designing detailed site-specific weed control treatments in early post-emergence, which have not possible previously with conventional airborne or satellite images. A robust and entirely automatic object-based image analysis (OBIA) procedure was developed on a series of UAV images using a six-band multispectral camera (visible and near-infrared range) with the ultimate objective of generating a weed map in an experimental maize field in Spain. The OBIA procedure combines several contextual, hierarchical and object-based features and consists of three consecutive phases: 1) classification of crop rows by application of a dynamic and auto-adaptive classification approach, 2) discrimination of crops and weeds on the basis of their relative positions with reference to the crop rows, and 3) generation of a weed infestation map in a grid structure. The estimation of weed coverage from the image analysis yielded satisfactory results. The relationship of estimated versus observed weed densities had a coefficient of determination of r(2)=0.89 and a root mean square error of 0.02. A map of three categories of weed coverage was produced with 86% of overall accuracy. In the experimental field, the area free of weeds was 23%, and the area with low weed coverage (<5% weeds) was 47%, which indicated a high potential for reducing herbicide application or other weed operations. The OBIA procedure computes multiple data and statistics derived from the classification outputs, which permits calculation of herbicide requirements and estimation of the overall cost of weed management operations in advance.

Optimal design of monitoring networks for multiple groundwater quality parameters using a Kalman filter: application to the Irapuato-Valle aquifer.

PubMed

Júnez-Ferreira, H E; Herrera, G S; González-Hita, L; Cardona, A; Mora-Rodríguez, J

2016-01-01

A new method for the optimal design of groundwater quality monitoring networks is introduced in this paper. Various indicator parameters were considered simultaneously and tested for the Irapuato-Valle aquifer in Mexico. The steps followed in the design were (1) establishment of the monitoring network objectives, (2) definition of a groundwater quality conceptual model for the study area, (3) selection of the parameters to be sampled, and (4) selection of a monitoring network by choosing the well positions that minimize the estimate error variance of the selected indicator parameters. Equal weight for each parameter was given to most of the aquifer positions and a higher weight to priority zones. The objective for the monitoring network in the specific application was to obtain a general reconnaissance of the water quality, including water types, water origin, and first indications of contamination. Water quality indicator parameters were chosen in accordance with this objective, and for the selection of the optimal monitoring sites, it was sought to obtain a low-uncertainty estimate of these parameters for the entire aquifer and with more certainty in priority zones. The optimal monitoring network was selected using a combination of geostatistical methods, a Kalman filter and a heuristic optimization method. Results show that when monitoring the 69 locations with higher priority order (the optimal monitoring network), the joint average standard error in the study area for all the groundwater quality parameters was approximately 90 % of the obtained with the 140 available sampling locations (the set of pilot wells). This demonstrates that an optimal design can help to reduce monitoring costs, by avoiding redundancy in data acquisition.

Principal axes estimation using the vibration modes of physics-based deformable models.

PubMed

Krinidis, Stelios; Chatzis, Vassilios

2008-06-01

This paper addresses the issue of accurate, effective, computationally efficient, fast, and fully automated 2-D object orientation and scaling factor estimation. The object orientation is calculated using object principal axes estimation. The approach relies on the object's frequency-based features. The frequency-based features used by the proposed technique are extracted by a 2-D physics-based deformable model that parameterizes the objects shape. The method was evaluated on synthetic and real images. The experimental results demonstrate the accuracy of the method, both in orientation and the scaling estimations.

[The value of glucose-positive coliform bacteria and potentially pathogenic bacteria as indicators of epidemiological safety of tap water].

PubMed

Zhuravlev, P V; Aleshnia, V V; Panasovets, O P; Morozova, A A; Artemova, T Z; Talaeva, Iu G; Zagaĭnova, A V; Gipp, E K

2012-01-01

Due to intensive anthropogenic pollution of water environment generally accepted indicators of epidemic security of water bodies - common bacteria and thermotolerant coliform bacteria do not always permit to obtain an objective characterization of bacterial contamination of tap water. From the point of view of authors the integral index - glucose positive coliform bacteria most adequately reflect the sanitary-hygienic and epidemiological situation of water bodies. In monitoring for bacterial quality of tap water it is advisable to determine glucose positive coliform bacteria, that will provide the relevance of estimation of the epidemiological safety of water use. According to the method developed by the authors the calculation of the index of population risk of acute intestinal infections occurrence in dependence on the quality of tap water in Azov and Tsimlyansk towns.

Performance study of a PET scanner based on monolithic scintillators for different DoI-dependent methods

NASA Astrophysics Data System (ADS)

Preziosi, E.; Sánchez, S.; González, A. J.; Pani, R.; Borrazzo, C.; Bettiol, M.; Rodriguez-Alvarez, M. J.; González-Montoro, A.; Moliner, L.; Benlloch, J. M.

2016-12-01

One of the technical objectives of the MindView project is developing a brain-dedicated PET insert based on monolithic scintillation crystals. It will be inserted in MRI systems with the purpose to obtain simultaneous PET and MRI brain images. High sensitivity, high image quality performance and accurate detection of the Depth-of-Interaction (DoI) of the 511keV photons are required. We have developed a DoI estimation method, dedicated to monolithic scintillators, allowing continuous DoI estimation and a DoI-dependent algorithm for the estimation of the photon planar impact position, able to improve the single module imaging capabilities. In this work, through experimental measurements, the proposed methods have been used for the estimation of the impact positions within the monolithic crystal block. We have evaluated the PET system performance following the NEMA NU 4-2008 protocol by reconstructing the images using the STIR 3D platform. The results obtained with two different methods, providing discrete and continuous DoI information, are compared with those obtained from an algorithm without DoI capabilities and with the ideal response of the detector. The proposed DoI-dependent imaging methods show clear improvements in the spatial resolution (FWHM) of reconstructed images, allowing to obtain values from 2mm (at the center FoV) to 3mm (at the FoV edges).

Genetic parameters for uniformity of harvest weight and body size traits in the GIFT strain of Nile tilapia.

PubMed

Marjanovic, Jovana; Mulder, Han A; Khaw, Hooi L; Bijma, Piter

2016-06-10

Animal breeding programs have been very successful in improving the mean levels of traits through selection. However, in recent decades, reducing the variability of trait levels between individuals has become a highly desirable objective. Reaching this objective through genetic selection requires that there is genetic variation in the variability of trait levels, a phenomenon known as genetic heterogeneity of environmental (residual) variance. The aim of our study was to investigate the potential for genetic improvement of uniformity of harvest weight and body size traits (length, depth, and width) in the genetically improved farmed tilapia (GIFT) strain. In order to quantify the genetic variation in uniformity of traits and estimate the genetic correlations between level and variance of the traits, double hierarchical generalized linear models were applied to individual trait values. Our results showed substantial genetic variation in uniformity of all analyzed traits, with genetic coefficients of variation for residual variance ranging from 39 to 58 %. Genetic correlation between trait level and variance was strongly positive for harvest weight (0.60 ± 0.09), moderate and positive for body depth (0.37 ± 0.13), but not significantly different from 0 for body length and width. Our results on the genetic variation in uniformity of harvest weight and body size traits show good prospects for the genetic improvement of uniformity in the GIFT strain. A high and positive genetic correlation was estimated between level and variance of harvest weight, which suggests that selection for heavier fish will also result in more variation in harvest weight. Simultaneous improvement of harvest weight and its uniformity will thus require index selection.

Perceived object stability depends on multisensory estimates of gravity.

PubMed

Barnett-Cowan, Michael; Fleming, Roland W; Singh, Manish; Bülthoff, Heinrich H

2011-04-27

How does the brain estimate object stability? Objects fall over when the gravity-projected centre-of-mass lies outside the point or area of support. To estimate an object's stability visually, the brain must integrate information across the shape and compare its orientation to gravity. When observers lie on their sides, gravity is perceived as tilted toward body orientation, consistent with a representation of gravity derived from multisensory information. We exploited this to test whether vestibular and kinesthetic information affect this visual task or whether the brain estimates object stability solely from visual information. In three body orientations, participants viewed images of objects close to a table edge. We measured the critical angle at which each object appeared equally likely to fall over or right itself. Perceived gravity was measured using the subjective visual vertical. The results show that the perceived critical angle was significantly biased in the same direction as the subjective visual vertical (i.e., towards the multisensory estimate of gravity). Our results rule out a general explanation that the brain depends solely on visual heuristics and assumptions about object stability. Instead, they suggest that multisensory estimates of gravity govern the perceived stability of objects, resulting in objects appearing more stable than they are when the head is tilted in the same direction in which they fall.

Detecting abandoned objects using interacting multiple models

NASA Astrophysics Data System (ADS)

Becker, Stefan; Münch, David; Kieritz, Hilke; Hübner, Wolfgang; Arens, Michael

2015-10-01

In recent years, the wide use of video surveillance systems has caused an enormous increase in the amount of data that has to be stored, monitored, and processed. As a consequence, it is crucial to support human operators with automated surveillance applications. Towards this end an intelligent video analysis module for real-time alerting in case of abandoned objects in public spaces is proposed. The overall processing pipeline consists of two major parts. First, person motion is modeled using an Interacting Multiple Model (IMM) filter. The IMM filter estimates the state of a person according to a finite-state, discrete-time Markov chain. Second, the location of persons that stay at a fixed position defines a region of interest, in which a nonparametric background model with dynamic per-pixel state variables identifies abandoned objects. In case of a detected abandoned object, an alarm event is triggered. The effectiveness of the proposed system is evaluated on the PETS 2006 dataset and the i-Lids dataset, both reflecting prototypical surveillance scenarios.

The Gaia On-Board Scientific Data Handling

NASA Astrophysics Data System (ADS)

Arenou, F.; Babusiaux, C.; Chéreau, F.; Mignot, S.

2005-01-01

Because Gaia will perform a continuous all-sky survey at a medium (Spectro) or very high (Astro) angular resolution, the on-board processing needs to cope with a high variety of objects and densities which calls for generic and adaptive algorithms at the detection level, but not only. Consequently, the Pyxis scientific algorithms developed for the on-board data handling cover a large range of application: detection and confirmation of astronomical objects, background sky estimation, classification of detected objects, Near-Earth Objects onboard detection, and window selection and positioning. Very dense fields, where the real-time computing requirements should remain within fixed bounds, are particularly challenging. Another constraint stems from the limited telemetry bandwidth and an additional compromise has to be found between scientific requirements and constraints in terms of the mass, volume and power budgets of the satellite. The rationale for the on-board data handling procedure is described here, together with the developed algorithms, the main issues and the expected scientific performances in the Astro and Spectro instruments.

UXO Detection and Characterization using new Berkeley UXO Discriminator (BUD)

NASA Astrophysics Data System (ADS)

Gasperikova, E.; Morrison, H. F.; Smith, J. T.; Becker, A.

2006-05-01

An optimally designed active electromagnetic system (AEM), Berkeley UXO Discriminator, BUD, has been developed for detection and characterization of UXO in the 20 mm to 150 mm size range. The system incorporates three orthogonal transmitters, and eight pairs of differenced receivers. The transmitter-receiver assembly together with the acquisition box, as well as the battery power and GPS receiver, is mounted on a small cart to assure system mobility. BUD not only detects the object itself but also quantitatively determines its size, shape, orientation, and metal content (ferrous or non-ferrous, mixed metals). Moreover, the principal polarizabilities and size of a metallic target can be determined from a single position of the BUD platform. The search for UXO is a two-step process. The object must first be detected and its location determined then the parameters of the object must be defined. A satisfactory classification scheme is one that determines the principal dipole polarizabilities of a target. While UXO objects have a single major polarizability (principal moment) coincident with the long axis of the object and two equal transverse polarizabilities, the scrap metal has all three principal moments entirely different. This description of the inherent polarizabilities of a target is a major advance in discriminating UXO from irregular scrap metal. Our results clearly show that BUD can resolve the intrinsic polarizabilities of a target and that there are very clear distinctions between symmetric intact UXO and irregular scrap metal. Target properties are determined by an inversion algorithm, which at any given time inverts the response to yield the location (x, y, z) of the target, its attitude and its principal polarizabilities (yielding an apparent aspect ratio). Signal-to-noise estimates (or measurements) are interpreted in this inversion to yield error estimates on the location, attitude and polarizabilities. This inversion at a succession of times provides the polarizabilities as a function of time, which can in turn yield the size, true aspect ratio and estimates of the conductivity and permeability of the target. The accuracy of these property estimates depends on the time window over which the polarizability measurements, and their accuracies, are known. Initial tests at a local site over a variety of test objects and inert UXOs showed excellent detection and characterization results within the predicted size-depth range. This research was funded by the U.S. Department of Defense under ESTCP Project # UX-0437.

Vision based object pose estimation for mobile robots

NASA Technical Reports Server (NTRS)

Wu, Annie; Bidlack, Clint; Katkere, Arun; Feague, Roy; Weymouth, Terry

1994-01-01

Mobile robot navigation using visual sensors requires that a robot be able to detect landmarks and obtain pose information from a camera image. This paper presents a vision system for finding man-made markers of known size and calculating the pose of these markers. The algorithm detects and identifies the markers using a weighted pattern matching template. Geometric constraints are then used to calculate the position of the markers relative to the robot. The selection of geometric constraints comes from the typical pose of most man-made signs, such as the sign standing vertical and the dimensions of known size. This system has been tested successfully on a wide range of real images. Marker detection is reliable, even in cluttered environments, and under certain marker orientations, estimation of the orientation has proven accurate to within 2 degrees, and distance estimation to within 0.3 meters.

TLE uncertainty estimation using robust weighted differencing

NASA Astrophysics Data System (ADS)

Geul, Jacco; Mooij, Erwin; Noomen, Ron

2017-05-01

Accurate knowledge of satellite orbit errors is essential for many types of analyses. Unfortunately, for two-line elements (TLEs) this is not available. This paper presents a weighted differencing method using robust least-squares regression for estimating many important error characteristics. The method is applied to both classic and enhanced TLEs, compared to previous implementations, and validated using Global Positioning System (GPS) solutions for the GOCE satellite in Low-Earth Orbit (LEO), prior to its re-entry. The method is found to be more accurate than previous TLE differencing efforts in estimating initial uncertainty, as well as error growth. The method also proves more reliable and requires no data filtering (such as outlier removal). Sensitivity analysis shows a strong relationship between argument of latitude and covariance (standard deviations and correlations), which the method is able to approximate. Overall, the method proves accurate, computationally fast, and robust, and is applicable to any object in the satellite catalogue (SATCAT).

Error analysis of speed of sound reconstruction in ultrasound limited angle transmission tomography.

PubMed

Jintamethasawat, Rungroj; Lee, Won-Mean; Carson, Paul L; Hooi, Fong Ming; Fowlkes, J Brian; Goodsitt, Mitchell M; Sampson, Richard; Wenisch, Thomas F; Wei, Siyuan; Zhou, Jian; Chakrabarti, Chaitali; Kripfgans, Oliver D

2018-04-07

We have investigated limited angle transmission tomography to estimate speed of sound (SOS) distributions for breast cancer detection. That requires both accurate delineations of major tissues, in this case by segmentation of prior B-mode images, and calibration of the relative positions of the opposed transducers. Experimental sensitivity evaluation of the reconstructions with respect to segmentation and calibration errors is difficult with our current system. Therefore, parametric studies of SOS errors in our bent-ray reconstructions were simulated. They included mis-segmentation of an object of interest or a nearby object, and miscalibration of relative transducer positions in 3D. Close correspondence of reconstruction accuracy was verified in the simplest case, a cylindrical object in homogeneous background with induced segmentation and calibration inaccuracies. Simulated mis-segmentation in object size and lateral location produced maximum SOS errors of 6.3% within 10 mm diameter change and 9.1% within 5 mm shift, respectively. Modest errors in assumed transducer separation produced the maximum SOS error from miscalibrations (57.3% within 5 mm shift), still, correction of this type of error can easily be achieved in the clinic. This study should aid in designing adequate transducer mounts and calibration procedures, and in specification of B-mode image quality and segmentation algorithms for limited angle transmission tomography relying on ray tracing algorithms. Copyright © 2018 Elsevier B.V. All rights reserved.

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.

Dual linear structured support vector machine tracking method via scale correlation filter

NASA Astrophysics Data System (ADS)

Li, Weisheng; Chen, Yanquan; Xiao, Bin; Feng, Chen

2018-01-01

Adaptive tracking-by-detection methods based on structured support vector machine (SVM) performed well on recent visual tracking benchmarks. However, these methods did not adopt an effective strategy of object scale estimation, which limits the overall tracking performance. We present a tracking method based on a dual linear structured support vector machine (DLSSVM) with a discriminative scale correlation filter. The collaborative tracker comprised of a DLSSVM model and a scale correlation filter obtains good results in tracking target position and scale estimation. The fast Fourier transform is applied for detection. Extensive experiments show that our tracking approach outperforms many popular top-ranking trackers. On a benchmark including 100 challenging video sequences, the average precision of the proposed method is 82.8%.

A New Approach to Space Situational Awareness using Small Ground-Based Telescopes

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

Anheier, Norman C.; Chen, Cliff S.

This report discusses a new SSA approach evaluated by Pacific Northwest National Laboratory (PNNL) that may lead to highly scalable, small telescope observing stations designed to help manage the growing space surveillance burden. Using the methods and observing tools described in this report, the team was able to acquire and track very faint satellites (near Pluto’s apparent brightness). Photometric data was collected and used to correlate object orbital position as a function of atomic clock-derived time. Object apparent brightness was estimated by image analysis and nearby star calibration. The measurement performance was only limited by weather conditions, object brightness, andmore » the sky glow at the observation site. In the future, these new SSA technologies and techniques may be utilized to protect satellite assets, detect and monitor orbiting debris fields, and support Outer Space Treaty monitoring and transparency.« less

Does exercise motivation predict engagement in objectively assessed bouts of moderate-intensity exercise? A self-determination theory perspective.

PubMed

Standage, Martyn; Sebire, Simon J; Loney, Tom

2008-08-01

This study examined the utility of motivation as advanced by self-determination theory (Deci & Ryan, 2000) in predicting objectively assessed bouts of moderate intensity exercise behavior. Participants provided data pertaining to their exercise motivation. One week later, participants wore a combined accelerometer and heart rate monitor (Actiheart; Cambridge Neurotechnology Ltd) and 24-hr energy expenditure was estimated for 7 days. After controlling for gender and a combined marker of BMI and waist circumference, results showed autonomous motivation to positively predict moderate-intensity exercise bouts of >or=10 min, or=20 min, and an accumulation needed to meet public health recommendations for moderate intensity activity (i.e., ACSM/AHA guidelines). The present findings add bouts of objectively assessed exercise behavior to the growing body of literature that documents the adaptive consequences of engaging in exercise for autonomous reasons. Implications for practice and future work are discussed.

Does Commuting Affect Health?

PubMed

Künn-Nelen, Annemarie

2016-08-01

This paper analyzes the relation between commuting time and health in the UK. I focus on four different types of health outcomes: subjective health measures, objective health measures, health behavior, and healthcare utilization. Fixed effect models are estimated with British Household Panel Survey data. I find that whereas objective health and health behavior are barely affected by commuting time, subjective health measures are clearly lower for people who commute longer. A longer commuting time is, moreover, related to more visits to the general practitioner. Effects turn out to be more pronounced for women and for commuters driving a car. For women, commuting time is also negatively related to regular exercise and positively to calling in sick. Copyright © 2015 John Wiley & Sons, Ltd. Copyright © 2015 John Wiley & Sons, Ltd.

Harnessing Orbital Debris to Sense the Space Environment

NASA Astrophysics Data System (ADS)

Mutschler, S.; Axelrad, P.; Matsuo, T.

A key requirement for accurate space situational awareness (SSA) is knowledge of the non-conservative forces that act on space objects. These effects vary temporally and spatially, driven by the dynamical behavior of space weather. Existing SSA algorithms adjust space weather models based on observations of calibration satellites. However, lack of sufficient data and mismodeling of non-conservative forces cause inaccuracies in space object motion prediction. The uncontrolled nature of debris makes it particularly sensitive to the variations in space weather. Our research takes advantage of this behavior by inverting observations of debris objects to infer the space environment parameters causing their motion. In addition, this research will produce more accurate predictions of the motion of debris objects. The hypothesis of this research is that it is possible to utilize a "cluster" of debris objects, objects within relatively close proximity of each other, to sense their local environment. We focus on deriving parameters of an atmospheric density model to more precisely predict the drag force on LEO objects. An Ensemble Kalman Filter (EnKF) is used for assimilation; the prior ensemble to the posterior ensemble is transformed during the measurement update in a manner that does not require inversion of large matrices. A prior ensemble is utilized to empirically determine the nonlinear relationship between measurements and density parameters. The filter estimates an extended state that includes position and velocity of the debris object, and atmospheric density parameters. The density is parameterized as a grid of values, distributed by latitude and local sidereal time over a spherical shell encompassing Earth. This research focuses on LEO object motion, but it can also be extended to additional orbital regimes for observation and refinement of magnetic field and solar radiation models. An observability analysis of the proposed approach is presented in terms of the measurement cadence necessary to estimate the local space environment.

Kepler False Positive Rate & Occurrence of Earth-size and Larger Planets

NASA Astrophysics Data System (ADS)

Fressin, Francois; Torres, G.; Charbonneau, D.; Kepler Team

2013-01-01

We model the Kepler exoplanet survey targets and their background stars to estimate the occurrence of astrophysical configurations which could mimic an exoplanetary transit. Using real noise level estimates, we compute the number and the characteristics of detectable eclipsing pairs involving stars or planets. We select the fraction of those that would pass the Kepler candidate vetting procedure, including the modeling of the centroid shift of their position on the Kepler camera. By comparing their distribution with that of the Kepler Object Interests from the first 6 quarters of Kepler data, we quantify the false positive rate of Kepler, as a function of candidate planet size and period. Most importantly, this approach allows quantifying and characterizing the distribution of planets, with no assumption of any prior, as the remaining population of the Kepler candidate list minus the simulated population of alternate astrophysical causes. We study the actual detection recovery rate for Kepler that allows reproducing both the KOI size and period distribution as well as their SNR distribution. We estimate the occurrence of planets down to Earth-size, and study if their frequency is correlated with their host star spectral type. This work is supported by the Spitzer General Observer Proposal #80117 - Validating the First Habitable-Zone Planet Candidates Identified by the NASA Kepler Mission, and by the Kepler Participating Scientist Contract led by David Charbonneau, to confirm the planetary nature of candidates identified by the Kepler mission

MODOPTIM: A general optimization program for ground-water flow model calibration and ground-water management with MODFLOW

USGS Publications Warehouse

Halford, Keith J.

2006-01-01

MODOPTIM is a non-linear ground-water model calibration and management tool that simulates flow with MODFLOW-96 as a subroutine. A weighted sum-of-squares objective function defines optimal solutions for calibration and management problems. Water levels, discharges, water quality, subsidence, and pumping-lift costs are the five direct observation types that can be compared in MODOPTIM. Differences between direct observations of the same type can be compared to fit temporal changes and spatial gradients. Water levels in pumping wells, wellbore storage in the observation wells, and rotational translation of observation wells also can be compared. Negative and positive residuals can be weighted unequally so inequality constraints such as maximum chloride concentrations or minimum water levels can be incorporated in the objective function. Optimization parameters are defined with zones and parameter-weight matrices. Parameter change is estimated iteratively with a quasi-Newton algorithm and is constrained to a user-defined maximum parameter change per iteration. Parameters that are less sensitive than a user-defined threshold are not estimated. MODOPTIM facilitates testing more conceptual models by expediting calibration of each conceptual model. Examples of applying MODOPTIM to aquifer-test analysis, ground-water management, and parameter estimation problems are presented.

The implementation of contour-based object orientation estimation algorithm in FPGA-based on-board vision system

NASA Astrophysics Data System (ADS)

Alpatov, Boris; Babayan, Pavel; Ershov, Maksim; Strotov, Valery

2016-10-01

This paper describes the implementation of the orientation estimation algorithm in FPGA-based vision system. An approach to estimate an orientation of objects lacking axial symmetry is proposed. Suggested algorithm is intended to estimate orientation of a specific known 3D object based on object 3D model. The proposed orientation estimation algorithm consists of two stages: learning and estimation. Learning stage is devoted to the exploring of studied object. Using 3D model we can gather set of training images by capturing 3D model from viewpoints evenly distributed on a sphere. Sphere points distribution is made by the geosphere principle. Gathered training image set is used for calculating descriptors, which will be used in the estimation stage of the algorithm. The estimation stage is focusing on matching process between an observed image descriptor and the training image descriptors. The experimental research was performed using a set of images of Airbus A380. The proposed orientation estimation algorithm showed good accuracy in all case studies. The real-time performance of the algorithm in FPGA-based vision system was demonstrated.

Contour-based object orientation estimation

NASA Astrophysics Data System (ADS)

Alpatov, Boris; Babayan, Pavel

2016-04-01

Real-time object orientation estimation is an actual problem of computer vision nowadays. In this paper we propose an approach to estimate an orientation of objects lacking axial symmetry. Proposed algorithm is intended to estimate orientation of a specific known 3D object, so 3D model is required for learning. The proposed orientation estimation algorithm consists of 2 stages: learning and estimation. Learning stage is devoted to the exploring of studied object. Using 3D model we can gather set of training images by capturing 3D model from viewpoints evenly distributed on a sphere. Sphere points distribution is made by the geosphere principle. It minimizes the training image set. Gathered training image set is used for calculating descriptors, which will be used in the estimation stage of the algorithm. The estimation stage is focusing on matching process between an observed image descriptor and the training image descriptors. The experimental research was performed using a set of images of Airbus A380. The proposed orientation estimation algorithm showed good accuracy (mean error value less than 6°) in all case studies. The real-time performance of the algorithm was also demonstrated.

Prototyping sensor network system for automatic vital signs collection. Evaluation of a location based automated assignment of measured vital signs to patients.

PubMed

Kuroda, T; Noma, H; Naito, C; Tada, M; Yamanaka, H; Takemura, T; Nin, K; Yoshihara, H

2013-01-01

Development of a clinical sensor network system that automatically collects vital sign and its supplemental data, and evaluation the effect of automatic vital sensor value assignment to patients based on locations of sensors. The sensor network estimates the data-source, a target patient, from the position of a vital sign sensor obtained from a newly developed proximity sensing system. The proximity sensing system estimates the positions of the devices using a Bluetooth inquiry process. Using Bluetooth access points and the positioning system newly developed in this project, the sensor network collects vital sign and its 4W (who, where, what, and when) supplemental data from any Bluetooth ready vital sign sensors such as Continua-ready devices. The prototype was evaluated in a pseudo clinical setting at Kyoto University Hospital using a cyclic paired comparison and statistical analysis. The result of the cyclic paired analysis shows the subjects evaluated the proposed system is more effective and safer than POCS as well as paper-based operation. It halves the times for vital signs input and eliminates input errors. On the other hand, the prototype failed in its position estimation for 12.6% of all attempts, and the nurses overlooked half of the errors. A detailed investigation clears that an advanced interface to show the system's "confidence", i.e. the probability of estimation error, must be effective to reduce the oversights. This paper proposed a clinical sensor network system that relieves nurses from vital signs input tasks. The result clearly shows that the proposed system increases the efficiency and safety of the nursing process both subjectively and objectively. It is a step toward new generation of point of nursing care systems where sensors take over the tasks of data input from the nurses.

Measurements Conducted on an Unknown Object Labeled Pu-239

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

Hoteling, Nathan

Measurements were carried out on 12 November 2013 to determine whether Pu-239 was present on an object discovered in a plastic bag with label “Pu-­239 6 uCi.” Following initial survey measurements to verify that the object was not leaking or contaminated, spectra were collected with a High Purity Germanium (HPGe) detector with object positioned in two different configurations. Analysis of the spectra did not yield any direct evidence of Pu-­239. From the measured spectra, minimum detectable activity (MDA) was determined to be approximately 2 uCi for the gamma-­ray measurements. Although there was no direct evidence of Pu-239, a peak atmore » 60 keV characteristic of Am-­241 decay was observed. Since it is very likely that Am-­241 would be present in aged plutonium samples, this was interpreted as indirect evidence for the presence of plutonium on the object. Analysis of this peak led to an estimated Pu-­239 activity of 0.02–0.04 uCi, or <1x10 -6 grams.« less

Context-sensitive extraction of tree crown objects in urban areas using VHR satellite images

NASA Astrophysics Data System (ADS)

Ardila, Juan P.; Bijker, Wietske; Tolpekin, Valentyn A.; Stein, Alfred

2012-04-01

Municipalities need accurate and updated inventories of urban vegetation in order to manage green resources and estimate their return on investment in urban forestry activities. Earlier studies have shown that semi-automatic tree detection using remote sensing is a challenging task. This study aims to develop a reproducible geographic object-based image analysis (GEOBIA) methodology to locate and delineate tree crowns in urban areas using high resolution imagery. We propose a GEOBIA approach that considers the spectral, spatial and contextual characteristics of tree objects in the urban space. The study presents classification rules that exploit object features at multiple segmentation scales modifying the labeling and shape of image-objects. The GEOBIA methodology was implemented on QuickBird images acquired over the cities of Enschede and Delft (The Netherlands), resulting in an identification rate of 70% and 82% respectively. False negative errors concentrated on small trees and false positive errors in private gardens. The quality of crown boundaries was acceptable, with an overall delineation error <0.24 outside of gardens and backyards.

Low-Cost MEMS Sensors and Vision System for Motion and Position Estimation of a Scooter

PubMed Central

Guarnieri, Alberto; Pirotti, Francesco; Vettore, Antonio

2013-01-01

The possibility to identify with significant accuracy the position of a vehicle in a mapping reference frame for driving directions and best-route analysis is a topic which is attracting a lot of interest from the research and development sector. To reach the objective of accurate vehicle positioning and integrate response events, it is necessary to estimate position, orientation and velocity of the system with high measurement rates. In this work we test a system which uses low-cost sensors, based on Micro Electro-Mechanical Systems (MEMS) technology, coupled with information derived from a video camera placed on a two-wheel motor vehicle (scooter). In comparison to a four-wheel vehicle; the dynamics of a two-wheel vehicle feature a higher level of complexity given that more degrees of freedom must be taken into account. For example a motorcycle can twist sideways; thus generating a roll angle. A slight pitch angle has to be considered as well; since wheel suspensions have a higher degree of motion compared to four-wheel motor vehicles. In this paper we present a method for the accurate reconstruction of the trajectory of a “Vespa” scooter; which can be used as alternative to the “classical” approach based on GPS/INS sensor integration. Position and orientation of the scooter are obtained by integrating MEMS-based orientation sensor data with digital images through a cascade of a Kalman filter and a Bayesian particle filter. PMID:23348036

Low-Cost MEMS sensors and vision system for motion and position estimation of a scooter.

PubMed

Guarnieri, Alberto; Pirotti, Francesco; Vettore, Antonio

2013-01-24

The possibility to identify with significant accuracy the position of a vehicle in a mapping reference frame for driving directions and best-route analysis is a topic which is attracting a lot of interest from the research and development sector. To reach the objective of accurate vehicle positioning and integrate response events, it is necessary to estimate position, orientation and velocity of the system with high measurement rates. In this work we test a system which uses low-cost sensors, based on Micro Electro-Mechanical Systems (MEMS) technology, coupled with information derived from a video camera placed on a two-wheel motor vehicle (scooter). In comparison to a four-wheel vehicle; the dynamics of a two-wheel vehicle feature a higher level of complexity given that more degrees of freedom must be taken into account. For example a motorcycle can twist sideways; thus generating a roll angle. A slight pitch angle has to be considered as well; since wheel suspensions have a higher degree of motion compared to four-wheel motor vehicles. In this paper we present a method for the accurate reconstruction of the trajectory of a "Vespa" scooter; which can be used as alternative to the "classical" approach based on GPS/INS sensor integration. Position and orientation of the scooter are obtained by integrating MEMS-based orientation sensor data with digital images through a cascade of a Kalman filter and a Bayesian particle filter.

An update to the analysis of the Canadian Spatial Reference System

NASA Astrophysics Data System (ADS)

Ferland, R.; Piraszewski, M.; Craymer, M.

2015-12-01

The primary objective of the Canadian Spatial Reference System (CSRS) is to provide users access to a consistent geo-referencing infrastructure over the Canadian landmass. Global Navigation Satellite System (GNSS) positioning accuracy requirements ranges from meter level to mm level (e.g.: crustal deformation). The highest level of the Canadian infrastructure consist of a network of continually operating GPS and GNSS receivers, referred to as active control stations. The network includes all Canadian public active control stations, some bordering US CORS and Alaska stations, Greenland active control stations, as well as a selection of IGS reference frame stations. The Bernese analysis software is used for the daily processing and the combination into weekly solutions which form the basis for this analysis. IGS weekly final orbit, Earth Rotation parameters (ERP's) and coordinates products are used in the processing. For the more demanding users, the time dependant changes of station coordinates is often more important.All station coordinate estimates and related covariance information is used in this analysis. For each input solution, variance factor, translation, rotation and scale (and if needed their rates) or subsets of these are estimated. In the combination of these weekly solutions, station positions and velocities are estimated. Since the time series from the stations in these networks often experience changes in behavior, new (or reuse of) parameters are generally used in these situations. As is often the case with real data, unrealistic coordinates may occur. Automatic detection and removal of outliers is used in these cases. For the transformation, position and velocity parameters loose apriori estimates and uncertainties are provided. Alignment using the usual Helmert transformation to the latest IGb08 realization of ITRF is also performed during the adjustment.

On the use of INS to improve Feature Matching

NASA Astrophysics Data System (ADS)

Masiero, A.; Guarnieri, A.; Vettore, A.; Pirotti, F.

2014-11-01

The continuous technological improvement of mobile devices opens the frontiers of Mobile Mapping systems to very compact systems, i.e. a smartphone or a tablet. This motivates the development of efficient 3D reconstruction techniques based on the sensors typically embedded in such devices, i.e. imaging sensors, GPS and Inertial Navigation System (INS). Such methods usually exploits photogrammetry techniques (structure from motion) to provide an estimation of the geometry of the scene. Actually, 3D reconstruction techniques (e.g. structure from motion) rely on use of features properly matched in different images to compute the 3D positions of objects by means of triangulation. Hence, correct feature matching is of fundamental importance to ensure good quality 3D reconstructions. Matching methods are based on the appearance of features, that can change as a consequence of variations of camera position and orientation, and environment illumination. For this reason, several methods have been developed in recent years in order to provide feature descriptors robust (ideally invariant) to such variations, e.g. Scale-Invariant Feature Transform (SIFT), Affine SIFT, Hessian affine and Harris affine detectors, Maximally Stable Extremal Regions (MSER). This work deals with the integration of information provided by the INS in the feature matching procedure: a previously developed navigation algorithm is used to constantly estimate the device position and orientation. Then, such information is exploited to estimate the transformation of feature regions between two camera views. This allows to compare regions from different images but associated to the same feature as seen by the same point of view, hence significantly easing the comparison of feature characteristics and, consequently, improving matching. SIFT-like descriptors are used in order to ensure good matching results in presence of illumination variations and to compensate the approximations related to the estimation process.

The Effect of Microgravity on the Growth of Lead Tin Telluride

NASA Technical Reports Server (NTRS)

Narayanan, R.

2000-01-01

The main objective of this research was to present a model for the prediction of the effect of the microgravity environment on the growth of Lead Tin Telluride. The attitude change and its relation to the experimental objectives: The main objective for the AADSF experiment on USMP 3 involving LTT growth was to estimate the effect of ampoule orientation on the axial and radial segregation of tin telluride. As the furnace was not situated on a gimbal there was no possibility to reorient the ampoule during the flight. Instead the only way to change the growth orientation was to change the attitude of the orbiter. This was accomplished by vernier rocket firings. In what follows it must be noted that the orbiter body coordinates are such that the positive z axis points outward from the 'belly', the positive 'x' axis points outwards from the nose and the positive 'y' axis points outwards from the starboard side. The furnace which was in the pay load had its axis aligned with the orbiter's 'z' axis with the hot end closest to the shuttle body. There were basically three orientations that were desired. These corresponded to the ampoule being seen as a heated from above (thermally stable-solutally unstable) configuration, the heated from below (where the instabilities were reversed from the first orientation) configuration and an 'in between' case where the ampoule axis was misaligned with respect to the orbiters 'g(sub z)' axis.

Estimation of 3D reconstruction errors in a stereo-vision system

NASA Astrophysics Data System (ADS)

Belhaoua, A.; Kohler, S.; Hirsch, E.

2009-06-01

The paper presents an approach for error estimation for the various steps of an automated 3D vision-based reconstruction procedure of manufactured workpieces. The process is based on a priori planning of the task and built around a cognitive intelligent sensory system using so-called Situation Graph Trees (SGT) as a planning tool. Such an automated quality control system requires the coordination of a set of complex processes performing sequentially data acquisition, its quantitative evaluation and the comparison with a reference model (e.g., CAD object model) in order to evaluate quantitatively the object. To ensure efficient quality control, the aim is to be able to state if reconstruction results fulfill tolerance rules or not. Thus, the goal is to evaluate independently the error for each step of the stereo-vision based 3D reconstruction (e.g., for calibration, contour segmentation, matching and reconstruction) and then to estimate the error for the whole system. In this contribution, we analyze particularly the segmentation error due to localization errors for extracted edge points supposed to belong to lines and curves composing the outline of the workpiece under evaluation. The fitting parameters describing these geometric features are used as quality measure to determine confidence intervals and finally to estimate the segmentation errors. These errors are then propagated through the whole reconstruction procedure, enabling to evaluate their effect on the final 3D reconstruction result, specifically on position uncertainties. Lastly, analysis of these error estimates enables to evaluate the quality of the 3D reconstruction, as illustrated by the shown experimental results.

HIV Prevalence and Awareness of Positive Serostatus Among Men Who Have Sex With Men and Transgender Women in Bogotá, Colombia

PubMed Central

Reisen, Carol A.; María del Río-González, Ana; Bianchi, Fernanda T.; Ramirez-Valles, Jesus; Poppen, Paul J.

2015-01-01

Objectives. We estimated HIV prevalence among men who have sex with men (MSM) and transgender women in Bogotá, Colombia, and explored differences between HIV-positive individuals who are aware and unaware of their serostatus. Methods. In this cross-sectional 2011 study, we used respondent-driven sampling (RDS) to recruit 1000 MSM and transgender women, who completed a computerized questionnaire and received an HIV test. Results. The RDS-adjusted prevalence was 12.1% (95% confidence interval [CI] = 8.7, 15.8), comparable to a previous RDS-derived estimate. Among HIV-positive participants, 39.7% (95% CI = 25.0, 54.8) were aware of their serostatus and 60.3% (95% CI = 45.2, 75.5) were unaware before this study. HIV-positive–unaware individuals were more likely to report inadequate insurance coverage, exchange sex (i.e., sexual intercourse in exchange for money, goods, or services), and substance use than other participants. HIV-positive–aware participants were least likely to have had condomless anal intercourse in the previous 3 months. Regardless of awareness, HIV-positive participants reported more violence and forced relocation experiences than HIV-negative participants. Conclusions. There is an urgent need to increase HIV detection among MSM and transgender women in Bogotá. HIV-positive–unaware group characteristics suggest an important role for structural, social, and individual interventions. PMID:25602899

Changes of Space Debris Orbits After LDR Operation

NASA Astrophysics Data System (ADS)

Wnuk, E.; Golebiewska, J.; Jacquelard, C.; Haag, H.

2013-09-01

A lot of technical studies are currently developing concepts of active removal of space debris to protect space assets from on orbit collision. For small objects, such concepts include the use of ground-based lasers to remove or reduce the momentum of the objects thereby lowering their orbit in order to facilitate their decay by re-entry into the Earth's atmosphere. The concept of the Laser Debris Removal (LDR) system is the main subject of the CLEANSPACE project. One of the CLEANSPACE objectives is to define a global architecture (including surveillance, identification and tracking) for an innovative ground-based laser solution, which can remove hazardous medium debris around selected space assets. The CLEANSPACE project is realized by a European consortium in the frame of the European Commission Seventh Framework Programme (FP7), Space topic. The use of sequence of laser operations to remove space debris, needs very precise predictions of future space debris orbital positions, on a level even better than 1 meter. Orbit determination, tracking (radar, optical and laser) and orbit prediction have to be performed with accuracy much better than so far. For that, the applied prediction tools have to take into account all perturbation factors that influence object orbit. The expected object's trajectory after the LDR operation is a lowering of its perigee. To prevent the debris with this new trajectory to collide with another object, a precise trajectory prediction after the LDR sequence is therefore the main task allowing also to estimate re-entry parameters. The LDR laser pulses change the debris object velocity v. The future orbit and re-entry parameters of the space debris after the LDR engagement can be calculated if the resulting ?v vector is known with the sufficient accuracy. The value of the ?v may be estimated from the parameters of the LDR station and from the characteristics of the orbital debris. However, usually due to the poor knowledge of the debris object's size, mass, spin and chemical composition the value and the direction of the vector ?v cannot be estimated with the high accuracy. Therefore, a high precise tracking of the debris will be necessary immediately before the engagement of the LDR and also during this engagement. By extending this tracking and ranging for a few seconds after engagement, the necessary data to evaluate the orbital modification can be produced in the same way as it is done for the catalogue generation. In our paper we discuss the object's orbit changes due to LDR operation for different locations of LDR station and different parameters of the laser energy and telescope diameter. We estimate the future orbit and re-entry parameters taking into account the influence of all important perturbation factors on the space debris orbital motion after LDR.

Object Occlusion Detection Using Automatic Camera Calibration for a Wide-Area Video Surveillance System

PubMed Central

Jung, Jaehoon; Yoon, Inhye; Paik, Joonki

2016-01-01

This paper presents an object occlusion detection algorithm using object depth information that is estimated by automatic camera calibration. The object occlusion problem is a major factor to degrade the performance of object tracking and recognition. To detect an object occlusion, the proposed algorithm consists of three steps: (i) automatic camera calibration using both moving objects and a background structure; (ii) object depth estimation; and (iii) detection of occluded regions. The proposed algorithm estimates the depth of the object without extra sensors but with a generic red, green and blue (RGB) camera. As a result, the proposed algorithm can be applied to improve the performance of object tracking and object recognition algorithms for video surveillance systems. PMID:27347978

Robust visual object tracking with interleaved segmentation

NASA Astrophysics Data System (ADS)

Abel, Peter; Kieritz, Hilke; Becker, Stefan; Arens, Michael

2017-10-01

In this paper we present a new approach for tracking non-rigid, deformable objects by means of merging an on-line boosting-based tracker and a fast foreground background segmentation. We extend an on-line boosting- based tracker, which uses axes-aligned bounding boxes with fixed aspect-ratio as tracking states. By constructing a confidence map from the on-line boosting-based tracker and unifying this map with a confidence map, which is obtained from a foreground background segmentation algorithm, we build a superior confidence map. For constructing a rough confidence map of a new frame based on on-line boosting, we employ the responses of the strong classifier as well as the single weak classifier responses that were built before during the updating step. This confidence map provides a rough estimation of the object's position and dimension. In order to refine this confidence map, we build a fine, pixel-wisely segmented confidence map and merge both maps together. Our segmentation method is color-histogram-based and provides a fine and fast image segmentation. By means of back-projection and the Bayes' rule, we obtain a confidence value for every pixel. The rough and the fine confidence maps are merged together by building an adaptively weighted sum of both maps. The weights are obtained by utilizing the variances of both confidence maps. Further, we apply morphological operators in the merged confidence map in order to reduce the noise. In the resulting map we estimate the object localization and dimension via continuous adaptive mean shift. Our approach provides a rotated rectangle as tracking states, which enables a more precise description of non-rigid, deformable objects than axes-aligned bounding boxes. We evaluate our tracker on the visual object tracking (VOT) benchmark dataset 2016.

Representational change and strategy use in children's number line estimation during the first years of primary school.

PubMed

White, Sonia L J; Szűcs, Dénes

2012-01-04

The objective of this study was to scrutinize number line estimation behaviors displayed by children in mathematics classrooms during the first three years of schooling. We extend existing research by not only mapping potential logarithmic-linear shifts but also provide a new perspective by studying in detail the estimation strategies of individual target digits within a number range familiar to children. Typically developing children (n = 67) from Years 1-3 completed a number-to-position numerical estimation task (0-20 number line). Estimation behaviors were first analyzed via logarithmic and linear regression modeling. Subsequently, using an analysis of variance we compared the estimation accuracy of each digit, thus identifying target digits that were estimated with the assistance of arithmetic strategy. Our results further confirm a developmental logarithmic-linear shift when utilizing regression modeling; however, uniquely we have identified that children employ variable strategies when completing numerical estimation, with levels of strategy advancing with development. In terms of the existing cognitive research, this strategy factor highlights the limitations of any regression modeling approach, or alternatively, it could underpin the developmental time course of the logarithmic-linear shift. Future studies need to systematically investigate this relationship and also consider the implications for educational practice.

Representational change and strategy use in children's number line estimation during the first years of primary school

PubMed Central

2012-01-01

Background The objective of this study was to scrutinize number line estimation behaviors displayed by children in mathematics classrooms during the first three years of schooling. We extend existing research by not only mapping potential logarithmic-linear shifts but also provide a new perspective by studying in detail the estimation strategies of individual target digits within a number range familiar to children. Methods Typically developing children (n = 67) from Years 1-3 completed a number-to-position numerical estimation task (0-20 number line). Estimation behaviors were first analyzed via logarithmic and linear regression modeling. Subsequently, using an analysis of variance we compared the estimation accuracy of each digit, thus identifying target digits that were estimated with the assistance of arithmetic strategy. Results Our results further confirm a developmental logarithmic-linear shift when utilizing regression modeling; however, uniquely we have identified that children employ variable strategies when completing numerical estimation, with levels of strategy advancing with development. Conclusion In terms of the existing cognitive research, this strategy factor highlights the limitations of any regression modeling approach, or alternatively, it could underpin the developmental time course of the logarithmic-linear shift. Future studies need to systematically investigate this relationship and also consider the implications for educational practice. PMID:22217191

Subjective social status and mortality: the English Longitudinal Study of Ageing.

PubMed

Demakakos, Panayotes; Biddulph, Jane P; de Oliveira, Cesar; Tsakos, Georgios; Marmot, Michael G

2018-05-19

Self-perceptions of own social position are potentially a key aspect of socioeconomic inequalities in health, but their association with mortality remains poorly understood. We examined whether subjective social status (SSS), a measure of the self-perceived element of social position, was associated with mortality and its role in the associations between objective socioeconomic position (SEP) measures and mortality. We used Cox regression to model the associations between SSS, objective SEP measures and mortality in a sample of 9972 people aged ≥ 50 years from the English Longitudinal Study of Ageing over a 10-year follow-up (2002-2013). Our findings indicate that SSS was associated with all-cause, cardiovascular, cancer and other mortality. A unit decrease in the 10-point continuous SSS measure increased by 24 and 8% the mortality risk of people aged 50-64 and ≥ 65 years, respectively, after adjustment for age, sex and marital status. The respective estimates for cardiovascular mortality were 36 and 11%. Adjustment for all covariates fully explained the association between SSS and cancer mortality, and partially the remaining associations. In people aged 50-64 years, SSS mediated to a varying extent the associations between objective SEP measures and all-cause mortality. In people aged ≥ 65 years, SSS mediated to a lesser extent these associations, and to some extent was associated with mortality independent of objective SEP measures. Nevertheless, in both age groups, wealth partially explained the association between SSS and mortality. In conclusion, SSS is a strong predictor of mortality at older ages, but its role in socioeconomic inequalities in mortality appears to be complex.

Multi-Touch Tabletop System Using Infrared Image Recognition for User Position Identification.

PubMed

Suto, Shota; Watanabe, Toshiya; Shibusawa, Susumu; Kamada, Masaru

2018-05-14

A tabletop system can facilitate multi-user collaboration in a variety of settings, including small meetings, group work, and education and training exercises. The ability to identify the users touching the table and their positions can promote collaborative work among participants, so methods have been studied that involve attaching sensors to the table, chairs, or to the users themselves. An effective method of recognizing user actions without placing a burden on the user would be some type of visual process, so the development of a method that processes multi-touch gestures by visual means is desired. This paper describes the development of a multi-touch tabletop system using infrared image recognition for user position identification and presents the results of touch-gesture recognition experiments and a system-usability evaluation. Using an inexpensive FTIR touch panel and infrared light, this system picks up the touch areas and the shadow area of the user's hand by an infrared camera to establish an association between the hand and table touch points and estimate the position of the user touching the table. The multi-touch gestures prepared for this system include an operation to change the direction of an object to face the user and a copy operation in which two users generate duplicates of an object. The system-usability evaluation revealed that prior learning was easy and that system operations could be easily performed.

Multi-Touch Tabletop System Using Infrared Image Recognition for User Position Identification

PubMed Central

Suto, Shota; Watanabe, Toshiya; Shibusawa, Susumu; Kamada, Masaru

2018-01-01

A tabletop system can facilitate multi-user collaboration in a variety of settings, including small meetings, group work, and education and training exercises. The ability to identify the users touching the table and their positions can promote collaborative work among participants, so methods have been studied that involve attaching sensors to the table, chairs, or to the users themselves. An effective method of recognizing user actions without placing a burden on the user would be some type of visual process, so the development of a method that processes multi-touch gestures by visual means is desired. This paper describes the development of a multi-touch tabletop system using infrared image recognition for user position identification and presents the results of touch-gesture recognition experiments and a system-usability evaluation. Using an inexpensive FTIR touch panel and infrared light, this system picks up the touch areas and the shadow area of the user’s hand by an infrared camera to establish an association between the hand and table touch points and estimate the position of the user touching the table. The multi-touch gestures prepared for this system include an operation to change the direction of an object to face the user and a copy operation in which two users generate duplicates of an object. The system-usability evaluation revealed that prior learning was easy and that system operations could be easily performed. PMID:29758006

Genetic and phenotypic parameters for carcass and meat quality traits in commercial crossbred pigs.

PubMed

Miar, Y; Plastow, G S; Moore, S S; Manafiazar, G; Charagu, P; Kemp, R A; Van Haandel, B; Huisman, A E; Zhang, C Y; McKay, R M; Bruce, H L; Wang, Z

2014-07-01

Pork quality and carcass characteristics are now being integrated into swine breeding objectives because of their economic value. Understanding the genetic basis for these traits is necessary for this to be accomplished. The objective of this study was to estimate phenotypic and genetic parameters for carcass and meat quality traits in 2 Canadian swine populations. Data from a genomic selection study aimed at improving meat quality with a mating system involving hybrid Landrace × Large White and Duroc pigs were used to estimate heritabilities and phenotypic and genetic correlations among them. Data on 2,100 commercial crossbred pigs for meat quality and carcass traits were recorded with pedigrees compromising 9,439 animals over 15 generations. Significant fixed effects (company, sex, and slaughter batch), covariates (cold carcass weight and slaughter age), and random additive and common litter effects were fitted in the models. A series of pairwise bivariate analyses were implemented in ASReml to estimate phenotypic and genetic parameters. Heritability estimates (±SE) for carcass traits were moderate to high and ranged from 0.22 ± 0.08 for longissimus dorsi muscle area to 0.63 ± 0.04 for trimmed ham weight, except for firmness, which was low. Heritability estimates (±SE) for meat quality traits varied from 0.10 ± 0.04 to 0.39 ± 0.06 for the Minolta b* of ham quadriceps femoris muscle and shear force, respectively. Generally, most of the genetic correlations were significant (P < 0.05) and ranged from low (0.18 ± 0.07) to high (-0.97 ± 0.35). There were high negative genetic correlations between drip loss with pH and shear force and a positive correlation with cooking loss. Genetic correlations between carcass weight (both hot and cold) with carcass marbling were highly positive. It was concluded that selection for increasing primal and subprimal cut weights with better pork quality may be possible. Furthermore, the use of pH is confirmed as an indicator for pork water-holding capacity and cooking loss. The heritabilities of carcass and pork quality traits indicated that they can be improved using traditional breeding methods and genomic selection, respectively. The estimated genetic parameters for carcass and meat quality traits can be incorporated into the breeding programs that emphasize product quality in these Canadian swine populations.

Informing Investment to Reduce Inequalities: A Modelling Approach.

PubMed

McAuley, Andrew; Denny, Cheryl; Taulbut, Martin; Mitchell, Rory; Fischbacher, Colin; Graham, Barbara; Grant, Ian; O'Hagan, Paul; McAllister, David; McCartney, Gerry

2016-01-01

Reducing health inequalities is an important policy objective but there is limited quantitative information about the impact of specific interventions. To provide estimates of the impact of a range of interventions on health and health inequalities. Literature reviews were conducted to identify the best evidence linking interventions to mortality and hospital admissions. We examined interventions across the determinants of health: a 'living wage'; changes to benefits, taxation and employment; active travel; tobacco taxation; smoking cessation, alcohol brief interventions, and weight management services. A model was developed to estimate mortality and years of life lost (YLL) in intervention and comparison populations over a 20-year time period following interventions delivered only in the first year. We estimated changes in inequalities using the relative index of inequality (RII). Introduction of a 'living wage' generated the largest beneficial health impact, with modest reductions in health inequalities. Benefits increases had modest positive impacts on health and health inequalities. Income tax increases had negative impacts on population health but reduced inequalities, while council tax increases worsened both health and health inequalities. Active travel increases had minimally positive effects on population health but widened health inequalities. Increases in employment reduced inequalities only when targeted to the most deprived groups. Tobacco taxation had modestly positive impacts on health but little impact on health inequalities. Alcohol brief interventions had modestly positive impacts on health and health inequalities only when strongly socially targeted, while smoking cessation and weight-reduction programmes had minimal impacts on health and health inequalities even when socially targeted. Interventions have markedly different effects on mortality, hospitalisations and inequalities. The most effective (and likely cost-effective) interventions for reducing inequalities were regulatory and tax options. Interventions focused on individual agency were much less likely to impact on inequalities, even when targeted at the most deprived communities.

Hepatitis C Testing Practices and Prevalence in a High-risk Urban Ambulatory Care Setting

PubMed Central

Southern, William N.; Drainoni, Mari-Lynn; Smith, Bryce D.; Christiansen, Cindy L.; McKee, Diane; Gifford, Allen L.; Weinbaum, Cindy M.; Thompson, Devin; Koppelman, Elisa; Maher, Stacia; Litwin, Alain H.

2010-01-01

Approximately 3.2 million persons are chronically infected with the hepatitis C virus (HCV) in the U.S; most are not aware of their infection. Our objectives were to examine HCV testing practices to determine which patient characteristics are associated with HCV testing and positivity, and to estimate the prevalence of HCV infection in a high-risk urban population. The study subjects were all patients included in the baseline phase of the Hepatitis C Assessment and Testing Project (HepCAT), a serial cross-sectional study of HCV screening strategies. We examined all patients with a clinic visit to Montefiore Medical Center from 1/1/08 to 2/29/08. Demographic information, laboratory data and ICD-9 diagnostic codes from 3/1/97 – 2/29/08 were extracted from the electronic medical record. Risk factors for HCV were defined based on birth date, ICD-9 codes and laboratory data. The prevalence of HCV infection was estimated assuming that untested subjects would test positive at the same rate as tested subjects, based on risk-factors. Of 9579 subjects examined, 3803 (39.7%) had been tested for HCV and 438 (11.5%) were positive. The overall prevalence of HCV infection was estimated to be 7.7%. Risk factors associated with being tested and anti-HCV positivity included: born in the high-prevalence birth-cohort (1945-64), substance abuse, HIV infection, alcohol abuse, diagnosis of cirrhosis, end-stage renal disease, and ALT elevation. In a high-risk urban population, a significant proportion of patients were tested for HCV and the prevalence of HCV infection was high. Physicians appear to use a risk-based screening strategy to identify HCV infection. PMID:20497311

Increased brain-predicted aging in treated HIV disease

PubMed Central

Underwood, Jonathan; Caan, Matthan W.A.; De Francesco, Davide; van Zoest, Rosan A.; Leech, Robert; Wit, Ferdinand W.N.M.; Portegies, Peter; Geurtsen, Gert J.; Schmand, Ben A.; Schim van der Loeff, Maarten F.; Franceschi, Claudio; Sabin, Caroline A.; Majoie, Charles B.L.M.; Winston, Alan; Reiss, Peter; Sharp, David J.

2017-01-01

Objective: To establish whether HIV disease is associated with abnormal levels of age-related brain atrophy, by estimating apparent brain age using neuroimaging and exploring whether these estimates related to HIV status, age, cognitive performance, and HIV-related clinical parameters. Methods: A large sample of virologically suppressed HIV-positive adults (n = 162, age 45–82 years) and highly comparable HIV-negative controls (n = 105) were recruited as part of the Comorbidity in Relation to AIDS (COBRA) collaboration. Using T1-weighted MRI scans, a machine-learning model of healthy brain aging was defined in an independent cohort (n = 2,001, aged 18–90 years). Neuroimaging data from HIV-positive and HIV-negative individuals were then used to estimate brain-predicted age; then brain-predicted age difference (brain-PAD = brain-predicted brain age − chronological age) scores were calculated. Neuropsychological and clinical assessments were also carried out. Results: HIV-positive individuals had greater brain-PAD score (mean ± SD 2.15 ± 7.79 years) compared to HIV-negative individuals (−0.87 ± 8.40 years; b = 3.48, p < 0.01). Increased brain-PAD score was associated with decreased performance in multiple cognitive domains (information processing speed, executive function, memory) and general cognitive performance across all participants. Brain-PAD score was not associated with age, duration of HIV infection, or other HIV-related measures. Conclusion: Increased apparent brain aging, predicted using neuroimaging, was observed in HIV-positive adults, despite effective viral suppression. Furthermore, the magnitude of increased apparent brain aging related to cognitive deficits. However, predicted brain age difference did not correlate with chronological age or duration of HIV infection, suggesting that HIV disease may accentuate rather than accelerate brain aging. PMID:28258081

Comparison of techniques for correction of magnification of pelvic X-rays for hip surgery planning.

PubMed

The, Bertram; Kootstra, Johan W J; Hosman, Anton H; Verdonschot, Nico; Gerritsma, Carina L E; Diercks, Ron L

2007-12-01

The aim of this study was to develop an accurate method for correction of magnification of pelvic x-rays to enhance accuracy of hip surgery planning. All investigated methods aim at estimating the anteroposterior location of the hip joint in supine position to correctly position a reference object for correction of magnification. An existing method-which is currently being used in clinical practice in our clinics-is based on estimating the position of the hip joint by palpation of the greater trochanter. It is only moderately accurate and difficult to execute reliably in clinical practice. To develop a new method, 99 patients who already had a hip implant in situ were included; this enabled determining the true location of the hip joint deducted from the magnification of the prosthesis. Physical examination was used to obtain predictor variables possibly associated with the height of the hip joint. This included a simple dynamic hip joint examination to estimate the position of the center of rotation. Prediction equations were then constructed using regression analysis. The performance of these prediction equations was compared with the performance of the existing protocol. The mean absolute error in predicting the height of the hip joint center using the old method was 20 mm (range -79 mm to +46 mm). This was 11 mm for the new method (-32 mm to +39 mm). The prediction equation is: height (mm) = 34 + 1/2 abdominal circumference (cm). The newly developed prediction equation is a superior method for predicting the height of the hip joint center for correction of magnification of pelvic x-rays. We recommend its implementation in the departments of radiology and orthopedic surgery.

Integration of forward-looking infrared (FLIR) and traffic information for moving obstacle detection with integrity

NASA Astrophysics Data System (ADS)

Zhu, Zhen; Vana, Sudha; Bhattacharya, Sumit; Uijt de Haag, Maarten

2009-05-01

This paper discusses the integration of Forward-looking Infrared (FLIR) and traffic information from, for example, the Automatic Dependent Surveillance - Broadcast (ADS-B) or the Traffic Information Service-Broadcast (TIS-B). The goal of this integration method is to obtain an improved state estimate of a moving obstacle within the Field-of-View of the FLIR with added integrity. The focus of the paper will be on the approach phase of the flight. The paper will address methods to extract moving objects from the FLIR imagery and geo-reference these objects using outputs of both the onboard Global Positioning System (GPS) and the Inertial Navigation System (INS). The proposed extraction method uses a priori airport information and terrain databases. Furthermore, state information from the traffic information sources will be extracted and integrated with the state estimates from the FLIR. Finally, a method will be addressed that performs a consistency check between both sources of traffic information. The methods discussed in this paper will be evaluated using flight test data collected with a Gulfstream V in Reno, NV (GVSITE) and simulated ADS-B.

Using multicriteria decision analysis during drug development to predict reimbursement decisions

PubMed Central

Williams, Paul; Mauskopf, Josephine; Lebiecki, Jake; Kilburg, Anne

2014-01-01

Background Pharmaceutical companies design clinical development programs to generate the data that they believe will support reimbursement for the experimental compound. Objective The objective of the study was to present a process for using multicriteria decision analysis (MCDA) by a pharmaceutical company to estimate the probability of a positive recommendation for reimbursement for a new drug given drug and environmental attributes. Methods The MCDA process included 1) selection of decisions makers who were representative of those making reimbursement decisions in a specific country; 2) two pre-workshop questionnaires to identify the most important attributes and their relative importance for a positive recommendation for a new drug; 3) a 1-day workshop during which participants undertook three tasks: i) they agreed on a final list of decision attributes and their importance weights, ii) they developed level descriptions for these attributes and mapped each attribute level to a value function, and iii) they developed profiles for hypothetical products ‘just likely to be reimbursed’; and 4) use of the data from the workshop to develop a prediction algorithm based on a logistic regression analysis. The MCDA process is illustrated using case studies for three countries, the United Kingdom, Germany, and Spain. The extent to which the prediction algorithms for each country captured the decision processes for the workshop participants in our case studies was tested using a post-meeting questionnaire that asked the participants to make recommendations for a set of hypothetical products. Results The data collected in the case study workshops resulted in a prediction algorithm: 1) for the United Kingdom, the probability of a positive recommendation for different ranges of cost-effectiveness ratios; 2) for Spain, the probability of a positive recommendation at the national and regional levels; and 3) for Germany, the probability of a determination of clinical benefit. The results from the post-meeting questionnaire revealed a high predictive value for the algorithm developed using MCDA. Conclusions Prediction algorithms developed using MCDA could be used by pharmaceutical companies when designing their clinical development programs to estimate the likelihood of a favourable reimbursement recommendation for different product profiles and for different positions in the treatment pathway.

Accelerating rates of cognitive decline and imaging markers associated with β-amyloid pathology

PubMed Central

Mattsson, Niklas; Mackin, R. Scott; Schöll, Michael; Nosheny, Rachel L.; Tosun, Duygu; Donohue, Michael C.; Aisen, Paul S.; Jagust, William J.; Weiner, Michael W.

2016-01-01

Objective: To estimate points along the spectrum of β-amyloid pathology at which rates of change of several measures of neuronal injury and cognitive decline begin to accelerate. Methods: In 460 patients with mild cognitive impairment (MCI), we estimated the points at which rates of florbetapir PET, fluorodeoxyglucose (FDG) PET, MRI, and cognitive and functional decline begin to accelerate with respect to baseline CSF Aβ42. Points of initial acceleration in rates of decline were estimated using mixed-effects regression. Results: Rates of neuronal injury and cognitive and even functional decline accelerate substantially before the conventional threshold for amyloid positivity, with rates of florbetapir PET and FDG PET accelerating early. Temporal lobe atrophy rates also accelerate prior to the threshold, but not before the acceleration of cognitive and functional decline. Conclusions: A considerable proportion of patients with MCI would not meet inclusion criteria for a trial using the current threshold for amyloid positivity, even though on average, they are experiencing cognitive/functional decline associated with prethreshold levels of CSF Aβ42. Future trials in early Alzheimer disease might consider revising the criteria regarding β-amyloid thresholds to include the range of amyloid associated with the first signs of accelerating rates of decline. PMID:27164667

Is there information contained within the sentence-writing component of the mini mental state examination? A retrospective study of community dwelling older people.

PubMed

Shenkin, Susan D; Starr, John M; Dunn, Joanne M; Carter, Samantha; Deary, Ian J

2008-12-01

To investigate the relationship between features of the MMSE written sentence and cognitive function, depression and disability. MMSE sentences from 191 community dwelling individuals without dementia from the Lothian Birth Cohort 1921 (LBC1921) study were: (a) photocopied and (b) typed as written. Sentences were rated for objective criteria: word number and frequency, first person usage, time orientation, and letter case. Twenty healthy raters (50% male, age 20-26 years), blind to all other data, rated each handwritten and typed sentence for subjective criteria: legibility, 'emotional' tone (positive to negative), estimated age, health, and intelligence. As part of the LBC1921 volunteers had results available for cognitive ability tests (from which we extracted a general cognitive ability factor, g), Hospital Anxiety and Depression Score (HADS), and Townsend disability scores. 43.5% of subjects were male, mean age 78.6, SD 0.43 years. There was no significant association between the objective sentence criteria, legibility or tone and measured cognitive ability or physical disability. However, estimates of intelligence from the MMSE written sentence correlated significantly with current cognitive ability (r = 0.29, p < 0.001). There was a trend towards sentences with a negative tone being associated with a higher HADS-depression score (rho = -0.12, p = 0.09). In community dwelling people aged around 80 years, despite no association between objectively rated features of the MMSE sentence and intelligence or disability, raters were able to make better-than-chance estimates of subjects' intelligence test scores. (c) 2008 John Wiley & Sons, Ltd.

Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments.

PubMed

Ramon Soria, Pablo; Arrue, Begoña C; Ollero, Anibal

2017-01-07

The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors.

A Robust Method for Ego-Motion Estimation in Urban Environment Using Stereo Camera.

PubMed

Ci, Wenyan; Huang, Yingping

2016-10-17

Visual odometry estimates the ego-motion of an agent (e.g., vehicle and robot) using image information and is a key component for autonomous vehicles and robotics. This paper proposes a robust and precise method for estimating the 6-DoF ego-motion, using a stereo rig with optical flow analysis. An objective function fitted with a set of feature points is created by establishing the mathematical relationship between optical flow, depth and camera ego-motion parameters through the camera's 3-dimensional motion and planar imaging model. Accordingly, the six motion parameters are computed by minimizing the objective function, using the iterative Levenberg-Marquard method. One of key points for visual odometry is that the feature points selected for the computation should contain inliers as much as possible. In this work, the feature points and their optical flows are initially detected by using the Kanade-Lucas-Tomasi (KLT) algorithm. A circle matching is followed to remove the outliers caused by the mismatching of the KLT algorithm. A space position constraint is imposed to filter out the moving points from the point set detected by the KLT algorithm. The Random Sample Consensus (RANSAC) algorithm is employed to further refine the feature point set, i.e., to eliminate the effects of outliers. The remaining points are tracked to estimate the ego-motion parameters in the subsequent frames. The approach presented here is tested on real traffic videos and the results prove the robustness and precision of the method.

A Robust Method for Ego-Motion Estimation in Urban Environment Using Stereo Camera

PubMed Central

Ci, Wenyan; Huang, Yingping

2016-01-01

Visual odometry estimates the ego-motion of an agent (e.g., vehicle and robot) using image information and is a key component for autonomous vehicles and robotics. This paper proposes a robust and precise method for estimating the 6-DoF ego-motion, using a stereo rig with optical flow analysis. An objective function fitted with a set of feature points is created by establishing the mathematical relationship between optical flow, depth and camera ego-motion parameters through the camera’s 3-dimensional motion and planar imaging model. Accordingly, the six motion parameters are computed by minimizing the objective function, using the iterative Levenberg–Marquard method. One of key points for visual odometry is that the feature points selected for the computation should contain inliers as much as possible. In this work, the feature points and their optical flows are initially detected by using the Kanade–Lucas–Tomasi (KLT) algorithm. A circle matching is followed to remove the outliers caused by the mismatching of the KLT algorithm. A space position constraint is imposed to filter out the moving points from the point set detected by the KLT algorithm. The Random Sample Consensus (RANSAC) algorithm is employed to further refine the feature point set, i.e., to eliminate the effects of outliers. The remaining points are tracked to estimate the ego-motion parameters in the subsequent frames. The approach presented here is tested on real traffic videos and the results prove the robustness and precision of the method. PMID:27763508

Impact on life expectancy of HIV-1 positive individuals of CD4+ cell count and viral load response to antiretroviral therapy

PubMed Central

May, Margaret T.; Gompels, Mark; Delpech, Valerie; Porter, Kholoud; Orkin, Chloe; Kegg, Stephen; Hay, Phillip; Johnson, Margaret; Palfreeman, Adrian; Gilson, Richard; Chadwick, David; Martin, Fabiola; Hill, Teresa; Walsh, John; Post, Frank; Fisher, Martin; Ainsworth, Jonathan; Jose, Sophie; Leen, Clifford; Nelson, Mark; Anderson, Jane; Sabin, Caroline

2014-01-01

Objective: The objective of this study is to estimate life expectancies of HIV-positive patients conditional on response to antiretroviral therapy (ART). Methods: Patients aged more than 20 years who started ART during 2000–2010 (excluding IDU) in HIV clinics contributing to the UK CHIC Study were followed for mortality until 2012. We determined the latest CD4+ cell count and viral load before ART and in each of years 1–5 of ART. For each duration of ART, life tables based on estimated mortality rates by sex, age, latest CD4+ cell count and viral suppression (HIV-1 RNA <400 copies/ml), were used to estimate expected age at death for ages 20–85 years. Results: Of 21 388 patients who started ART, 961 (4.5%) died during 110 697 person-years. At start of ART, expected age at death [95% confidence interval (CI)] of 35-year-old men with CD4+ cell count less than 200, 200–349, at least 350 cells/μl was 71 (68–73), 78 (74–82) and 77 (72–81) years, respectively, compared with 78 years for men in the general UK population. Thirty-five-year-old men who increased their CD4+ cell count in the first year of ART from less than 200 to 200–349 or at least 350 cells/μl and achieved viral suppression gained 7 and 10 years, respectively. After 5 years on ART, expected age at death of 35-year-old men varied from 54 (48–61) (CD4+ cell count <200 cells/μl and no viral suppression) to 80 (76–83) years (CD4+ cell count ≥350 cells/μl and viral suppression). Conclusion: Successfully treated HIV-positive individuals have a normal life expectancy. Patients who started ART with a low CD4+ cell count significantly improve their life expectancy if they have a good CD4+ cell count response and undetectable viral load. PMID:24556869

Prevalence and factors associated with HSV-2 and hepatitis B infections among truck drivers crossing the southern Brazilian border

PubMed Central

Pinho, Adriana A; Chinaglia, Magda; Lippman, Sheri A; Reingold, Arthur; Diaz, Ricardo Sobhie; Sucupira, Maria Cecilia; Page, Kimberly; Díaz, Juan

2015-01-01

Objectives The authors estimate the prevalence of HIV, syphilis, hepatitis B virus (HBV) and herpes simplex virus type-2 (HSV-2) infection and correlates of HBV and HSV-2 infection among truck drivers crossing the southern Brazilian border at Foz do Iguaçu. Methods Between October 2003 and March 2005, 1945 truck drivers were sampled while accessing voluntary counselling and testing services; 1833 (94.2%) were tested for HIV (ELISA and confirmatory immunofluorescence assay) and syphilis (non-treponemal (VDRL) and treponemal tests (FTA-ABS)). From these, 799 stored sera were tested for HSV-2 (type-specific ELISA test for detection of IgG) and HBV (core antibodies (anti-HBc) with positives tested for surface antigen (HBsAg)). The authors estimate HIV, syphilis, HSV-2 and HBV prevalence and determine socio-demographic and behavioural correlates of HSV-2 infection and HBV exposure. Results HIV prevalence was 0.3% (95% CI 0.1 to 0.6) and syphilis 4.5% (95% CI 3.6 to 5.4). Among those tested for HBV and HSV-2, 32.3% (95% CI 28.9 to 35.6) had serological evidence of exposure to HBV and 26.6% (95% CI 23.5 to 29.7) tested positive for HSV-2. Factors independently associated with HBV exposure included increasing age, Brazilian nationality and unprotected anal sex. Increasing age and reporting an unknown number of lifetime partners were associated with HSV-2 infection. Conclusions In this sample of truck drivers in southern Brazil, HIV prevalence was lower than national population estimates; exposure to HBV was higher than population estimates, while per cent positive for HSV-2 was similar to population estimates. The low prevalence of HIV in truck drivers indicates prevention successes; however, future HIV prevention programming should incorporate HBV vaccination and sexually transmitted infection prevention. PMID:21968460

[Pressure ulcers in surgery patients: incidence and associated factors].

PubMed

Scarlatti, Kelly Cristina; Michel, Jeanne Liliane Marlene; Gamba, Mônica Antar; de Gutiérrez, Maria Gaby Rivero

2011-12-01

Pressure ulcers are an important perioperatory care quality indicator This is a longitudinal case series study, performed with the following objectives: to estimate the incidence of pressure ulcers in patients submitted to medium and large surgeries; rate them according to the stage and location; verify the association with the variables: gender, age, body mass index (BMI), co-morbidities, surgical position, duration of surgery, anesthesia type and use of positioning devices, with presence or absence of pressure ulcers. Data collection took place in 2007 in São Paulo, with 199 patients, 20.6% of which presented pressure ulcers, and most (98.6%) in stages I and II, and the main location was the trunk (35.1%). The variables: position, surgery time, general anesthesia, and device use had a statistically significant association. In conclusion, there is a high incidence of pressure ulcers among surgical patients, requiring actions aimed at reducing this type of injury.

[The significance of glucose positive coliform bacteria and potentially pathogenic bacteria as an indicator of epidemiological safety of tap water].

PubMed

Zhuravlev, P V; Aleshnya, V V; Panasovets, O P; Morozova, A A; Artemova, T Z; Talaeva, Yu G; Zagaynova, A V

2013-01-01

Due to intensive anthropogenic pollution of water environment generally accepted indicators of epidemic security of water bodies--common bacteria (CB) and thermotolerant coliform bacteria (TCB) do not always permit to obtain an objective characterization of bacterial contamination of tap water. From the point of view of authors the integral index--glucose positive coliform bacteria most adequately reflect the sanitary-hygienic and epidemiological situation of water bodies. In monitoring for bacterial quality of tap water it is advisable to determine glucose positive coliform bacteria, that will provide the relevance of estimation of the epidemiological safety of water use. According to the method developed by the authors the calculation of the index of population risk of acute intestinal infections (AHI) occurrence in dependence on the quality of tap water in Azov and Tsimlyansk towns.

Overt and Subtle Racial Discrimination and Mental Health: Preliminary Findings for Korean Immigrants

PubMed Central

Noh, Samuel; Kaspar, Violet; Wickrama, K.A.S.

2007-01-01

Objectives. We examined differential effects of overt and subtle forms of racial discrimination on 2 dimensions of mental health—positive affect and depressive symptoms, and explored the mediating roles of emotional arousal and cognitive appraisal. Methods. Cross-sectional survey data were collected through face-to-face interviews with a sample (N=180) of adult Korean immigrants living in Toronto, Ontario. Maximum likelihood estimates of path coefficients were obtained using structural equation models. Results. Perceived racial discrimination was associated with both the erosion of positive affect and depressive symptoms. Overt discrimination was associated with the erosion of positive affect, and subtle discrimination was associated with depressive symptoms. Effects of subtle discrimination on depressive symptoms were mediated through cognitive appraisal. Conclusions. The results emphasize the salience of subtle discrimination for the mental health of Asian immigrants. Experiences of overt racial bias seemed to be of little importance for the levels of depressive symptoms among those in our sample, although the experience of blatant discrimination tended to reduce positive mood. PMID:17538066

CCD Centroiding Experiment for Correcting a Distorted Image on the Focal Plane

NASA Astrophysics Data System (ADS)

Yano, Taihei; Araki, Hiroshi; Gouda, Naoteru; Kobayashi, Yukiyasu; Tsujimoto, Takuji; Nakajima, Tadashi; Kawano, Nobuyuki; Tazawa, Seiichi; Yamada, Yoshiyuki; Hanada, Hideo; Asari, Kazuyoshi; Tsuruta, Seiitsu

2006-10-01

JASMINE (Japan Astrometry Satellite Mission for Infrared Exploration) and ILOM (In situ Lunar Orientation Measurement) are space missions that are in progress at the National Astronomical Observatory of Japan. These two projects require a common astrometric technique to obtain precise positions of star images on solid-state detectors in order to accomplish their objectives. In the laboratory, we have carried out measurements of the centroid of artificial star images on a CCD array in order to investigate the precision of the positions of the stars, using an algorithm for estimating them from photon-weighted means of the stars. In the calibration of the position of a star image at the focal plane, we have also taken into account the lowest order distortion due to optical aberrations, which is proportional to the cube of the distance from the optical axis. Accordingly, we find that the precision of the measurement for the positions of the stars reaches below 1/100 pixel for one measurement.

An RFID Indoor Positioning Algorithm Based on Bayesian Probability and K-Nearest Neighbor.

PubMed

Xu, He; Ding, Ye; Li, Peng; Wang, Ruchuan; Li, Yizhu

2017-08-05

The Global Positioning System (GPS) is widely used in outdoor environmental positioning. However, GPS cannot support indoor positioning because there is no signal for positioning in an indoor environment. Nowadays, there are many situations which require indoor positioning, such as searching for a book in a library, looking for luggage in an airport, emergence navigation for fire alarms, robot location, etc. Many technologies, such as ultrasonic, sensors, Bluetooth, WiFi, magnetic field, Radio Frequency Identification (RFID), etc., are used to perform indoor positioning. Compared with other technologies, RFID used in indoor positioning is more cost and energy efficient. The Traditional RFID indoor positioning algorithm LANDMARC utilizes a Received Signal Strength (RSS) indicator to track objects. However, the RSS value is easily affected by environmental noise and other interference. In this paper, our purpose is to reduce the location fluctuation and error caused by multipath and environmental interference in LANDMARC. We propose a novel indoor positioning algorithm based on Bayesian probability and K -Nearest Neighbor (BKNN). The experimental results show that the Gaussian filter can filter some abnormal RSS values. The proposed BKNN algorithm has the smallest location error compared with the Gaussian-based algorithm, LANDMARC and an improved KNN algorithm. The average error in location estimation is about 15 cm using our method.

LIFECOURSE SOCIOECONOMIC POSITION AND 16 YEAR BODY MASS INDEX TRAJECTORIES : DIFFERENCES BY RACE AND SEX

PubMed Central

Insaf, Tabassum Z; Shaw, Benjamin A; Yucel, Recai M; Chasan-Taber, Lisa; Strogatz, David S

2014-01-01

Objective To evaluate the association between lifecourse socioeconomic position (SEP) and changes in body mass index (BMI), and assess disparities in these associations across racial/ethnic groups. Methods With longitudinal data from 4 waves of the Americans Changing Lives Study (1986–2002), we employed mixed-effects modeling to estimate BMI trajectories for 1,174 Blacks and 2,323 White adults. We also estimated associations between these trajectories and lifecourse SEP variables, including father’s education, perceived childhood SEP, own education, income, wealth, and financial security. Results Blacks had higher baseline BMI’s, and steeper increases in BMI, compared to Whites. Childhood SEP, as measured by high father’s education, was associated with lower baseline BMI among Whites. High education was associated with a lower baseline BMI within both race and sex categories. Income had contrasting effects among men and women. Higher income, was associated with higher BMI only among males Associations between indicators of SEP and BMI trajectories were only found for Whites. Conclusions Our study demonstrates that lifecourse SEP may influence adult BMI differently within different racial and sex groups. PMID:24967954

Prevalence and concentration of Salmonella on raw shelled peanuts in the United States.

PubMed

Calhoun, Stephen; Post, Laurie; Warren, Benjamin; Thompson, Sterling; Bontempo, Ann Rogers

2013-04-01

Recalls and/or outbreaks associated with Salmonella contamination in peanut-containing products were reported over the past several years. There are very limited data available on the prevalence and concentration of Salmonella on raw shelled peanuts in the United States. The objectives of this study were to estimate the prevalence of Salmonella on raw shelled peanuts in the United States and to estimate that concentration of Salmonella. Samples of Runner- and Virginia-type raw shelled peanuts from the 2008, 2009, and 2010 crop years were proportionately sampled from each growing region, based on 2007 production volume. Of 944 raw shelled peanut samples (375 g each), 22 (2.33%) were positive for Salmonella by the VIDAS Salmonella assay. Salmonella serovars identified in this study included Agona, Anatum, Braenderup, Dessau, Hartford, Meleagridis, Muenchen, Rodepoort, Tennessee, and Tornow. The concentration levels of Salmonella in positive samples, as determined by a most-probable-number assay, were <0.03 to 2.4 MPN/g. These data will be useful when designing and validating processes for the reduction or elimination of Salmonella in peanuts and/or peanut-containing products.

Scout: orbit analysis and hazard assessment for NEOCP objects

NASA Astrophysics Data System (ADS)

Farnocchia, Davide; Chesley, Steven R.; Chamberlin, Alan B.

2016-10-01

It typically takes a few days for a newly discovered asteroid to be officially recognized as a real object. During this time, the tentative discovery is published on the Minor Planet Center's Near-Earth Object Confirmation Page (NEOCP) until additional observations confirm that the object is a real asteroid rather than an observational artifact or an artificial object. Also, NEOCP objects could have a limited observability window and yet be scientifically interesting, e.g., radar and lightcurve targets, mini-moons (temporary Earth captures), mission accessible targets, close approachers or even impactors. For instance, the only two asteroids discovered before an impact, 2008 TC3 and 2014 AA, both reached the Earth less than a day after discovery. For these reasons we developed Scout, an automated system that provides an orbital and hazard assessment for NEOCP objects within minutes after the observations are available. Scout's rapid analysis increases the chances of securing the trajectory of interesting NEOCP objects before the ephemeris uncertainty grows too large or the observing geometry becomes unfavorable. The generally short observation arcs, perhaps only a few hours or even less, lead severe degeneracies in the orbit estimation process. To overcome these degeneracies Scout relies on systematic ranging, a technique that derives possible orbits by scanning a grid in the poorly constrained space of topocentric range and range rate, while the plane-of-sky position and motion are directly tied to the recorded observations. This scan allows us to derive a distribution of the possible orbits and in turn identify the NEOCP objects of most interest to prioritize followup efforts. In particular, Scout ranks objects according to the likelihood of an impact, estimates the close approach distance, the Earth-relative minimum orbit intersection distance and v-infinity, and computes scores to identify objects more likely to be an NEO, a km-sized NEO, a Potentially Hazardous Asteroid, and those on a geocentric orbit. Moreover, Scout provides an ephemeris service that makes use of the statistical information to support observers in their followup efforts.

Self-calibration method without joint iteration for distributed small satellite SAR systems

NASA Astrophysics Data System (ADS)

Xu, Qing; Liao, Guisheng; Liu, Aifei; Zhang, Juan

2013-12-01

The performance of distributed small satellite synthetic aperture radar systems degrades significantly due to the unavoidable array errors, including gain, phase, and position errors, in real operating scenarios. In the conventional method proposed in (IEEE T Aero. Elec. Sys. 42:436-451, 2006), the spectrum components within one Doppler bin are considered as calibration sources. However, it is found in this article that the gain error estimation and the position error estimation in the conventional method can interact with each other. The conventional method may converge to suboptimal solutions in large position errors since it requires the joint iteration between gain-phase error estimation and position error estimation. In addition, it is also found that phase errors can be estimated well regardless of position errors when the zero Doppler bin is chosen. In this article, we propose a method obtained by modifying the conventional one, based on these two observations. In this modified method, gain errors are firstly estimated and compensated, which eliminates the interaction between gain error estimation and position error estimation. Then, by using the zero Doppler bin data, the phase error estimation can be performed well independent of position errors. Finally, position errors are estimated based on the Taylor-series expansion. Meanwhile, the joint iteration between gain-phase error estimation and position error estimation is not required. Therefore, the problem of suboptimal convergence, which occurs in the conventional method, can be avoided with low computational method. The modified method has merits of faster convergence and lower estimation error compared to the conventional one. Theoretical analysis and computer simulation results verified the effectiveness of the modified method.

Development of an optical three-dimensional laser tracker using dual modulated laser diodes and a signal detector

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

Lee, Hau-Wei; Chen, Chieh-Li; Liu, Chien-Hung

Laser trackers are widely used in industry for tasks such as the assembly of airplanes and automobiles, contour measurement, and robot calibration. However, laser trackers are expensive, and the corresponding solution procedure is very complex. The influence of measurement uncertainties is also significant. This study proposes a three-dimensional space position measurement system which consists of two tracking modules, a zero tracking angle return subsystem, and a target quadrant photodiode (QPD). The target QPD is placed on the object being tracked. The origin locking method is used to keep the rays on the origin of the target QPD. The position ofmore » the target QPD is determined using triangulation since the two laser rays are projected onto one QPD. Modulation and demodulation are utilized to separate the coupled positional values. The experiment results show that measurement errors in the X, Y, and Z directions are less than {+-}0.05% when the measured object was moved by 300, 300, and 200 mm in the X, Y, and Z axes, respectively. The theoretical measurement error estimated from the measurement model is between {+-}0.02% and {+-}0.07% within the defined measurable range. The proposed system can be applied to the measurements of machine tools and robot arms.« less

Development of an optical three-dimensional laser tracker using dual modulated laser diodes and a signal detector.

PubMed

Lee, Hau-Wei; Chen, Chieh-Li; Liu, Chien-Hung

2011-03-01

Laser trackers are widely used in industry for tasks such as the assembly of airplanes and automobiles, contour measurement, and robot calibration. However, laser trackers are expensive, and the corresponding solution procedure is very complex. The influence of measurement uncertainties is also significant. This study proposes a three-dimensional space position measurement system which consists of two tracking modules, a zero tracking angle return subsystem, and a target quadrant photodiode (QPD). The target QPD is placed on the object being tracked. The origin locking method is used to keep the rays on the origin of the target QPD. The position of the target QPD is determined using triangulation since the two laser rays are projected onto one QPD. Modulation and demodulation are utilized to separate the coupled positional values. The experiment results show that measurement errors in the X, Y, and Z directions are less than ±0.05% when the measured object was moved by 300, 300, and 200 mm in the X, Y, and Z axes, respectively. The theoretical measurement error estimated from the measurement model is between ±0.02% and ±0.07% within the defined measurable range. The proposed system can be applied to the measurements of machine tools and robot arms.

Development of an optical three-dimensional laser tracker using dual modulated laser diodes and a signal detector

NASA Astrophysics Data System (ADS)

Lee, Hau-Wei; Chen, Chieh-Li; Liu, Chien-Hung

2011-03-01

Laser trackers are widely used in industry for tasks such as the assembly of airplanes and automobiles, contour measurement, and robot calibration. However, laser trackers are expensive, and the corresponding solution procedure is very complex. The influence of measurement uncertainties is also significant. This study proposes a three-dimensional space position measurement system which consists of two tracking modules, a zero tracking angle return subsystem, and a target quadrant photodiode (QPD). The target QPD is placed on the object being tracked. The origin locking method is used to keep the rays on the origin of the target QPD. The position of the target QPD is determined using triangulation since the two laser rays are projected onto one QPD. Modulation and demodulation are utilized to separate the coupled positional values. The experiment results show that measurement errors in the X, Y, and Z directions are less than ±0.05% when the measured object was moved by 300, 300, and 200 mm in the X, Y, and Z axes, respectively. The theoretical measurement error estimated from the measurement model is between ±0.02% and ±0.07% within the defined measurable range. The proposed system can be applied to the measurements of machine tools and robot arms.

Estimating sugarcane yield potential using an in-season determination of normalized difference vegetative index.

PubMed

Lofton, Josh; Tubana, Brenda S; Kanke, Yumiko; Teboh, Jasper; Viator, Howard; Dalen, Marilyn

2012-01-01

Estimating crop yield using remote sensing techniques has proven to be successful. However, sugarcane possesses unique characteristics; such as, a multi-year cropping cycle and plant height-limiting for midseason fertilizer application timing. Our study objective was to determine if sugarcane yield potential could be estimated using an in-season estimation of normalized difference vegetative index (NDVI). Sensor readings were taken using the GreenSeeker® handheld sensor from 2008 to 2011 in St. Gabriel and Jeanerette, LA, USA. In-season estimates of yield (INSEY) values were calculated by dividing NDVI by thermal variables. Optimum timing for estimating sugarcane yield was between 601-750 GDD. In-season estimated yield values improved the yield potential (YP) model compared to using NDVI. Generally, INSEY value showed a positive exponential relationship with yield (r(2) values 0.48 and 0.42 for cane tonnage and sugar yield, respectively). When models were separated based on canopy structure there was an increase the strength of the relationship for the erectophile varieties (r(2) 0.53 and 0.47 for cane tonnage and sugar yield, respectively); however, the model for planophile varieties weakened slightly. Results of this study indicate using an INSEY value for predicting sugarcane yield shows potential of being a valuable management tool for sugarcane producers in Louisiana.

Does self-perceived sleep reflect sleep estimated via activity monitors in professional rugby league athletes?

PubMed

Caia, Johnpaul; Thornton, Heidi R; Kelly, Vincent G; Scott, Tannath J; Halson, Shona L; Cupples, Balin; Driller, Matthew W

2018-07-01

This study examined agreement between self-perceived sleep and sleep estimated via activity monitors in professional rugby league athletes. 63 athletes, from three separate teams wore actigraphy monitors for 10.3 ± 3.9 days. During the monitoring period, ratings of perceived sleep quality (on a 1-5 and 1-10 Likert scale), and an estimate of sleep duration were recorded daily. Agreement between sleep estimated via activity monitors and self-perceived sleep was examined using mean bias, Pearson correlation (r) and typical error of the estimate (TEE). 641 nights of sleep were recorded, with a very large, positive correlation observed between sleep duration estimated via activity monitors and subjective sleep duration (r = 0.85), and a TEE of 48 minutes. Mean bias revealed subjective sleep duration overestimated sleep by an average of 19.8 minutes. The relationship between sleep efficiency estimated via activity monitors and self-perceived sleep quality on a 1-5 (r = 0.22) and 1-10 Likert scale (r = 0.28) was limited. The outcomes of this investigation support the use of subjective measures to monitor sleep duration in rugby league athletes when objective means are unavailable. However, practitioners should be aware of the tendency of athletes to overestimate sleep duration.

Long-term monitoring of endangered Laysan ducks: Index validation and population estimates 1998–2012

USGS Publications Warehouse

Reynolds, Michelle H.; Courtot, Karen; Brinck, Kevin W.; Rehkemper, Cynthia; Hatfield, Jeffrey

2015-01-01

Monitoring endangered wildlife is essential to assessing management or recovery objectives and learning about population status. We tested assumptions of a population index for endangered Laysan duck (or teal; Anas laysanensis) monitored using mark–resight methods on Laysan Island, Hawai’i. We marked 723 Laysan ducks between 1998 and 2009 and identified seasonal surveys through 2012 that met accuracy and precision criteria for estimating population abundance. Our results provide a 15-y time series of seasonal population estimates at Laysan Island. We found differences in detection among seasons and how observed counts related to population estimates. The highest counts and the strongest relationship between count and population estimates occurred in autumn (September–November). The best autumn surveys yielded population abundance estimates that ranged from 674 (95% CI = 619–730) in 2003 to 339 (95% CI = 265–413) in 2012. A population decline of 42% was observed between 2010 and 2012 after consecutive storms and Japan’s To¯hoku earthquake-generated tsunami in 2011. Our results show positive correlations between the seasonal maximum counts and population estimates from the same date, and support the use of standardized bimonthly counts of unmarked birds as a valid index to monitor trends among years within a season at Laysan Island.

Method and apparatus for releasably connecting first and second objects

NASA Technical Reports Server (NTRS)

Monford, Leo G., Jr. (Inventor)

1991-01-01

The apparatus and method are disclosed for releasably connecting first and second objects, where a magnetic end effector may include at least one elongated pin number, a proximal end of which is connected to the first object and the distal end of which may be inserted into a receiving portion in the second object. Latch members are carried by the pin member for radial movement between retracted and expanded positions for releasing and locking, respectively, first and second objects. A plunger member carried by the pin member is axially moveable between first and second positions. In the first plunger position, the latch members are located in the expanded (locked) position and in the second plunger position the latch members are released for movement to retracted or unlocked position. The magnetic end effector is provided for releasable attachment to the first object and for moving the plunger member to the second position, releasing the first object.

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

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2016-06-01

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

Volume estimation of small phantoms and rat kidneys using three-dimensional ultrasonography and a position sensor.

PubMed

Strømmen, Kenneth; Stormark, Tor André; Iversen, Bjarne M; Matre, Knut

2004-09-01

To evaluate the accuracy of small volume estimation, both in vivo and in vitro, measurements with a three-dimensional (3D) ultrasound (US) system were carried out. A position sensor was used and the transmitting frequency was 10 MHz. Balloons with known volumes were scanned while rat kidneys were scanned in vivo and in vitro. The Archimedes' principle was used to estimate the true volume. For balloons, the 3D US system gave very good agreement with true volumes in the volume range 0.1 to 10.0 mL (r = 0.999, n = 45, mean difference +/- 2SD = 0.245 +/- 0.370 mL). For rat kidneys in vivo (volume range 0.6 to 2.7 mL) the method was less accurate (r = 0.800, n = 10, mean difference +/- 2SD = -0.288 +/- 0.676 mL). For rat kidneys in vitro (volume range 0.3 to 2.7 mL) the results showed good agreement (r = 0.981, n = 23, mean difference +/- 2SD = 0.039 +/- 0.254 mL). For balloons, kidneys in vivo and in vitro, the mean percentage error was 9.3 +/- 4.8%, -17.1 +/- 17.4%, and 4.6 +/- 11.5%, respectively. This method can estimate the volume of small phantoms and rat kidneys and opens new possibilities for volume measurements of small objects and the study of organ function in small animals. (E-mail ).

A Neural-Dynamic Architecture for Concurrent Estimation of Object Pose and Identity

PubMed Central

Lomp, Oliver; Faubel, Christian; Schöner, Gregor

2017-01-01

Handling objects or interacting with a human user about objects on a shared tabletop requires that objects be identified after learning from a small number of views and that object pose be estimated. We present a neurally inspired architecture that learns object instances by storing features extracted from a single view of each object. Input features are color and edge histograms from a localized area that is updated during processing. The system finds the best-matching view for the object in a novel input image while concurrently estimating the object’s pose, aligning the learned view with current input. The system is based on neural dynamics, computationally operating in real time, and can handle dynamic scenes directly off live video input. In a scenario with 30 everyday objects, the system achieves recognition rates of 87.2% from a single training view for each object, while also estimating pose quite precisely. We further demonstrate that the system can track moving objects, and that it can segment the visual array, selecting and recognizing one object while suppressing input from another known object in the immediate vicinity. Evaluation on the COIL-100 dataset, in which objects are depicted from different viewing angles, revealed recognition rates of 91.1% on the first 30 objects, each learned from four training views. PMID:28503145

A Real-Time Method to Estimate Speed of Object Based on Object Detection and Optical Flow Calculation

NASA Astrophysics Data System (ADS)

Liu, Kaizhan; Ye, Yunming; Li, Xutao; Li, Yan

2018-04-01

In recent years Convolutional Neural Network (CNN) has been widely used in computer vision field and makes great progress in lots of contents like object detection and classification. Even so, combining Convolutional Neural Network, which means making multiple CNN frameworks working synchronously and sharing their output information, could figure out useful message that each of them cannot provide singly. Here we introduce a method to real-time estimate speed of object by combining two CNN: YOLOv2 and FlowNet. In every frame, YOLOv2 provides object size; object location and object type while FlowNet providing the optical flow of whole image. On one hand, object size and object location help to select out the object part of optical flow image thus calculating out the average optical flow of every object. On the other hand, object type and object size help to figure out the relationship between optical flow and true speed by means of optics theory and priori knowledge. Therefore, with these two key information, speed of object can be estimated. This method manages to estimate multiple objects at real-time speed by only using a normal camera even in moving status, whose error is acceptable in most application fields like manless driving or robot vision.

Development of an Object-Oriented Turbomachinery Analysis Code within the NPSS Framework

NASA Technical Reports Server (NTRS)

Jones, Scott M.

2014-01-01

During the preliminary or conceptual design phase of an aircraft engine, the turbomachinery designer has a need to estimate the effects of a large number of design parameters such as flow size, stage count, blade count, radial position, etc. on the weight and efficiency of a turbomachine. Computer codes are invariably used to perform this task however, such codes are often very old, written in outdated languages with arcane input files, and rarely adaptable to new architectures or unconventional layouts. Given the need to perform these kinds of preliminary design trades, a modern 2-D turbomachinery design and analysis code has been written using the Numerical Propulsion System Simulation (NPSS) framework. This paper discusses the development of the governing equations and the structure of the primary objects used in OTAC.

[The effectiveness of endonasal electrophoresis of neuroprotective agents used in the rehabilitative treatment of the patients presenting with primary open angle glaucoma].

PubMed

Nazarova, G A; Konchugova, T V; Iurova, O V; Sichinava, N V; Turova, E A; Rassulova, M A; Morozova, N E

2013-01-01

The objective of the present study was to estimate the effectiveness of the peptide drug cortexin used to treat primary open angle glaucoma. It was shown that endonasal electrophoresis of cortexin resulted in more pronounced positive changes in the dynamics of clinical, functional, perimetric, and electrophysiological characteristics compared with intramuscular administration of the same drug to the patients of the control group. This difference was apparent both immediately after the termination of the treatment and during the long-term follow-up.

Mastracchio during SPHERES Vertigo Experiment

NASA Image and Video Library

2014-01-24

ISS038-E-035434 (23 Jan. 2014) --- NASA astronaut Rick Mastracchio, Expedition 38 flight engineer, works with a pair of basketball-sized, free-flying satellites known Synchronized Position Hold, Engage, Reorient, Experimental Satellites, or SPHERES, in the Kibo laboratory of the International Space Station. For this experiment session, the crew members equipped one of the two SPHERES with a pair of stereoscopic goggles dubbed the Visual Estimation and Relative Tracking for Inspection of Generic Objects, or VERTIGO. As the second SPHERES tumbled and spun, the VERTIGO-equipped robot attempted to map it and perform relative navigation around it.

Mastracchio during SPHERES Vertigo Experiment

NASA Image and Video Library

2014-01-23

ISS038-E-035432 (23 Jan. 2014) --- NASA astronaut Rick Mastracchio, Expedition 38 flight engineer, works with a pair of basketball-sized, free-flying satellites known Synchronized Position Hold, Engage, Reorient, Experimental Satellites, or SPHERES, in the Kibo laboratory of the International Space Station. For this experiment session, the crew members equipped one of the two SPHERES with a pair of stereoscopic goggles dubbed the Visual Estimation and Relative Tracking for Inspection of Generic Objects, or VERTIGO. As the second SPHERES tumbled and spun, the VERTIGO-equipped robot attempted to map it and perform relative navigation around it.

Synchromodal optical in vivo imaging employing microlens array optics: a complete framework

NASA Astrophysics Data System (ADS)

Peter, Joerg

2013-03-01

A complete mathematical framework for preclinical optical imaging (OI) support comprising bioluminescence imaging (BLI), fluorescence surface imaging (FSI) and fluorescence optical tomography (FOT) is presented in which optical data is acquired by means of a microlens array (MLA) based light detector (MLA-D). The MLA-D has been developed to enable unique OI, especially in synchromodal operation with secondary imaging modalities (SIM) such as positron emission tomography (PET) or magnetic resonance imaging (MRI). An MLA-D consists of a (large-area) photon sensor array, a matched MLA for field-of-view definition, and a septum mask of specific geometry made of anodized aluminum that is positioned between the sensor and the MLA to suppresses light cross-talk and to shield the sensor's radiofrequency interference signal (essential when used inside an MRI system). The software framework, while freely parameterizable for any MLA-D, is tailored towards an OI prototype system for preclinical SIM application comprising a multitude of cylindrically assembled, gantry-mounted, simultaneously operating MLA-D's. Besides the MLA-D specificity, the framework incorporates excitation and illumination light-source declarations of large-field and point geometry to facilitate multispectral FSI and FOT as well as three-dimensional object recognition. When used in synchromodal operation, reconstructed tomographic SIM volume data can be used for co-modal image fusion and also as a prior for estimating the imaged object's 3D surface by means of gradient vector flow. Superimposed planar (without object prior) or surface-aligned inverse mapping can be performed to estimate and to fuse the emission light map with the boundary of the imaged object. Triangulation and subsequent optical reconstruction (FOT) or constrained flow estimation (BLI), both including the possibility of SIM priors, can be performed to estimate the internal three-dimensional emission light distribution. The framework is susceptible to a number of variables controlling convergence and computational speed. Utilization and performance is illustrated on experimentally acquired data employing the OI prototype system in stand-alone operation, and when integrated into an unmodified preclinical PET system performing synchromodal BLI-PET in vivo imaging.

Acoustic positioning and orientation prediction

NASA Technical Reports Server (NTRS)

Barmatz, Martin B. (Inventor); Aveni, Glenn (Inventor); Putterman, Seth (Inventor); Rudnick, Joseph (Inventor)

1990-01-01

A method is described for use with an acoustic positioner, which enables a determination of the equilibrium position and orientation which an object assumes in a zero gravity environment, as well as restoring forces and torques of an object in an acoustic standing wave field. An acoustic standing wave field is established in the chamber, and the object is held at several different positions near the expected equilibrium position. While the object is held at each position, the center resonant frequency of the chamber is determined, by noting which frequency results in the greatest pressure of the acoustic field. The object position which results in the lowest center resonant frequency is the equilibrium position. The orientation of a nonspherical object is similarly determined, by holding the object in a plurality of different orientations at its equilibrium position, and noting the center resonant frequency for each orientation. The orientation which results in the lowest center resonant frequency is the equilibrium orientation. Where the acoustic frequency is constant, but the chamber length is variable, the equilibrium position or orientation is that which results in the greatest chamber length at the center resonant frequency.

Development of a new calibration procedure and its experimental validation applied to a human motion capture system.

PubMed

Royo Sánchez, Ana Cristina; Aguilar Martín, Juan José; Santolaria Mazo, Jorge

2014-12-01

Motion capture systems are often used for checking and analyzing human motion in biomechanical applications. It is important, in this context, that the systems provide the best possible accuracy. Among existing capture systems, optical systems are those with the highest accuracy. In this paper, the development of a new calibration procedure for optical human motion capture systems is presented. The performance and effectiveness of that new calibration procedure are also checked by experimental validation. The new calibration procedure consists of two stages. In the first stage, initial estimators of intrinsic and extrinsic parameters are sought. The camera calibration method used in this stage is the one proposed by Tsai. These parameters are determined from the camera characteristics, the spatial position of the camera, and the center of the capture volume. In the second stage, a simultaneous nonlinear optimization of all parameters is performed to identify the optimal values, which minimize the objective function. The objective function, in this case, minimizes two errors. The first error is the distance error between two markers placed in a wand. The second error is the error of position and orientation of the retroreflective markers of a static calibration object. The real co-ordinates of the two objects are calibrated in a co-ordinate measuring machine (CMM). The OrthoBio system is used to validate the new calibration procedure. Results are 90% lower than those from the previous calibration software and broadly comparable with results from a similarly configured Vicon system.

Hundred lightcurves of sub-km main-belt asteroids

NASA Astrophysics Data System (ADS)

Yoshida, F.; Souami, D.; Bouquillon, S.; Nakamura, T.; Dermawan, B.; Yagi, M.; Souchay, J.

2014-07-01

We observed a single sky field near opposition and near the ecliptic plane using the Subaru telescope equipped with the Suprime-Cam. Taking advantage of the wide field of view (FOV) for the Suprime-Cam, the plan was to obtain 100 lightcurves of asteroids at the same time. The total observing time interval was about 8 hours on September 2, 2002, with 2-min exposures. We detected 147 moving objects in the single FOV (34'×27') on the Suprime-Cam (see Figure). Of those, 112 detections corresponded to different objects. We used the R filter during almost the entire observing run, but we took a few images with the B filter at the beginning, the middle, and the end of the run. We classified main-belt asteroids into S- and C-complexes with the B-R color of the object (Yoshida & Nakamura 2007). Although we carefully avoided regions of bright stars, the sky in the images taken by Suprime-Cam were actually crowded with faint objects. Therefore, the asteroids overlapped with background stars very often. Thus, it was very difficult to get lightcurves with high accuracy. We modified the GAIA-GBOT (Ground Based Optical Tracking) PIPELINE to measure the position and brightness of each object (Bouquillon et al. 2012). Once the objects were identified and their positions measured in pixel coordinates, the pipeline proceeded to the astrometric calibration and then to the photometric calibrations with the Guide Star Catalog II (Lasker et al. 2008). The pipeline produced time series of photometry for each object. The average brightness of each lightcurve ranged between 19--24 mag. We then estimated the rotational period from the lightcurve of each object. In our presentation, we will show the spin-period distribution of sub- km main-belt asteroids and compare it with that of large main-belt asteroids obtained from the lightcurve catalogue.

Quantitative endoscopy: initial accuracy measurements.

PubMed

Truitt, T O; Adelman, R A; Kelly, D H; Willging, J P

2000-02-01

The geometric optics of an endoscope can be used to determine the absolute size of an object in an endoscopic field without knowing the actual distance from the object. This study explores the accuracy of a technique that estimates absolute object size from endoscopic images. Quantitative endoscopy involves calibrating a rigid endoscope to produce size estimates from 2 images taken with a known traveled distance between the images. The heights of 12 samples, ranging in size from 0.78 to 11.80 mm, were estimated with this calibrated endoscope. Backup distances of 5 mm and 10 mm were used for comparison. The mean percent error for all estimated measurements when compared with the actual object sizes was 1.12%. The mean errors for 5-mm and 10-mm backup distances were 0.76% and 1.65%, respectively. The mean errors for objects <2 mm and > or =2 mm were 0.94% and 1.18%, respectively. Quantitative endoscopy estimates endoscopic image size to within 5% of the actual object size. This method remains promising for quantitatively evaluating object size from endoscopic images. It does not require knowledge of the absolute distance of the endoscope from the object, rather, only the distance traveled by the endoscope between images.

Globulettes as Seeds of Brown Dwarfs and Free-Floating Planetary-Mass Objects

NASA Astrophysics Data System (ADS)

Gahm, G. F.; Grenman, T.; Fredriksson, S.; Kristen, H.

2007-04-01

Some H II regions surrounding young stellar clusters contain tiny dusty clouds, which on photos look like dark spots or teardrops against a background of nebular emission. From our collection of Hα images of 10 H II regions gathered at the Nordic Optical Telescope, we found 173 such clouds, which we call "globulettes," since they are much smaller than normal globules and form a distinct class of objects. Many globulettes are quite isolated and located far from the molecular shells and elephant trunks associated with the regions. Others are attached to the trunks (or shells), suggesting that globulettes may form as a consequence of erosion of these larger structures. None of our objects appear to contain stellar objects. The globulettes were measured for position, dimension, and orientation, and we find that most objects are smaller than 10 kAU. The Rosette Nebula and IC 1805 are particularly rich in globulettes, for which the size distributions peak at mean radii of ~2.5 kAU, similar to what was found by Reipurth and coworkers and De Marco and coworkers for similar objects in other regions. We estimate total mass and density distributions for each object from extinction measures and conclude that a majority contain <13 MJ, corresponding to planetary-mass objects. We then estimate the internal thermal and potential energies and find, when also including the effects from the outer pressure, that a large fraction of the globulettes could be unstable and would contract on short timescales, <10 6 yr. In addition, the radiation pressure and ram pressure exerted on the side facing the clusters would stimulate contraction. Since the globulettes are not screened from stellar light by dust clouds farther in, one would expect photoevaporation to dissolve the objects. However, surprisingly few objects show bright rims or teardrop forms. We calculate the expected lifetimes against photoevaporation. These lifetimes scatter around 4 × 106 yr, much longer than estimated in previous studies and also much longer than the free-fall time. We conclude that a large number of our globulettes have time to form central low-mass objects long before the ionization front, driven by the impinging Lyman photons, has penetrated far into the globulette. Hence, the globulettes may be one source in the formation of brown dwarfs and free-floating planetary-mass objects in the galaxy. Based on observations made with the Nordic Optical Telescope, operated on the island of La Palma jointly by Denmark, Finland, Iceland, Norway, and Sweden in the Spanish Observatorio del Roque de los Muchachos of the Instituto de Astrofísica de Canarias.

Indirect rotor position sensing in real time for brushless permanent magnet motor drives

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

Ertugrul, N.; Acarnley, P.P.

1998-07-01

This paper describes a modern solution to real-time rotor position estimation of brushless permanent magnet (PM) motor drives. The position estimation scheme, based on flux linkage and line-current estimation, is implemented in real time by using the abc reference frame, and it is tested dynamically. The position estimation model of the test motor, development of hardware, and basic operation of the digital signal processor (DSP) are discussed. The overall position estimation strategy is accomplished with a fast DSP (TMS320C30). The method is a shaft position sensorless method that is applicable to a wide range of excitation types in brushless PMmore » motors without any restriction on the motor model and the current excitation. Both rectangular and sinewave-excited brushless PM motor drives are examined, and the results are given to demonstrate the effectiveness of the method with dynamic loads in closed estimated position loop.« less

Linear and Nonlinear Time-Frequency Analysis for Parameter Estimation of Resident Space Objects

DTIC Science & Technology

2017-02-22

AFRL-AFOSR-UK-TR-2017-0023 Linear and Nonlinear Time -Frequency Analysis for Parameter Estimation of Resident Space Objects Marco Martorella...estimated to average 1 hour per response, including the time for reviewing instructions, searching existing   data sources, gathering and maintaining the...Nonlinear Time -Frequency Analysis for Parameter Estimation of Resident Space Objects 5a.  CONTRACT NUMBER 5b.  GRANT NUMBER FA9550-14-1-0183 5c.  PROGRAM

Improvements in estimating proportions of objects from multispectral data

NASA Technical Reports Server (NTRS)

Horwitz, H. M.; Hyde, P. D.; Richardson, W.

1974-01-01

Methods for estimating proportions of objects and materials imaged within the instantaneous field of view of a multispectral sensor were developed further. Improvements in the basic proportion estimation algorithm were devised as well as improved alien object detection procedures. Also, a simplified signature set analysis scheme was introduced for determining the adequacy of signature set geometry for satisfactory proportion estimation. Averaging procedures used in conjunction with the mixtures algorithm were examined theoretically and applied to artificially generated multispectral data. A computationally simpler estimator was considered and found unsatisfactory. Experiments conducted to find a suitable procedure for setting the alien object threshold yielded little definitive result. Mixtures procedures were used on a limited amount of ERTS data to estimate wheat proportion in selected areas. Results were unsatisfactory, partly because of the ill-conditioned nature of the pure signature set.

State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system.

PubMed

Brizuela Mendoza, Jorge Aurelio; Astorga Zaragoza, Carlos Manuel; Zavala Río, Arturo; Pattalochi, Leo; Canales Abarca, Francisco

2016-03-01

This paper deals with an observer design for Linear Parameter Varying (LPV) systems with high-order time-varying parameter dependency. The proposed design, considered as the main contribution of this paper, corresponds to an observer for the estimation of the actuator fault and the system state, considering measurement noise at the system outputs. The observer gains are computed by considering the extension of linear systems theory to polynomial LPV systems, in such a way that the observer reaches the characteristics of LPV systems. As a result, the actuator fault estimation is ready to be used in a Fault Tolerant Control scheme, where the estimated state with reduced noise should be used to generate the control law. The effectiveness of the proposed methodology has been tested using a riderless bicycle model with dependency on the translational velocity v, where the control objective corresponds to the system stabilization towards the upright position despite the variation of v along the closed-loop system trajectories. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Color constancy in 3D-2D face recognition

NASA Astrophysics Data System (ADS)

Meyer, Manuel; Riess, Christian; Angelopoulou, Elli; Evangelopoulos, Georgios; Kakadiaris, Ioannis A.

2013-05-01

Face is one of the most popular biometric modalities. However, up to now, color is rarely actively used in face recognition. Yet, it is well-known that when a person recognizes a face, color cues can become as important as shape, especially when combined with the ability of people to identify the color of objects independent of illuminant color variations. In this paper, we examine the feasibility and effect of explicitly embedding illuminant color information in face recognition systems. We empirically examine the theoretical maximum gain of including known illuminant color to a 3D-2D face recognition system. We also investigate the impact of using computational color constancy methods for estimating the illuminant color, which is then incorporated into the face recognition framework. Our experiments show that under close-to-ideal illumination estimates, one can improve face recognition rates by 16%. When the illuminant color is algorithmically estimated, the improvement is approximately 5%. These results suggest that color constancy has a positive impact on face recognition, but the accuracy of the illuminant color estimate has a considerable effect on its benefits.

Motion estimation by integrated low cost system (vision and MEMS) for positioning of a scooter "Vespa"

NASA Astrophysics Data System (ADS)

Guarnieri, A.; Milan, N.; Pirotti, F.; Vettore, A.

2011-12-01

In the automotive sector, especially in these last decade, a growing number of investigations have taken into account electronic systems to check and correct the behavior of drivers, increasing road safety. The possibility to identify with high accuracy the vehicle position in a mapping reference frame for driving directions and best-route analysis is also another topic which attracts lot of interest from the research and development sector. To reach the objective of accurate vehicle positioning and integrate response events, it is necessary to estimate time by time the position, orientation and velocity of the system. To this aim low cost GPS and MEMS (sensors can be used. In comparison to a four wheel vehicle, the dynamics of a two wheel vehicle (e.g. a scooter) feature a higher level of complexity. Indeed more degrees of freedom must be taken into account to describe the motion of the latter. For example a scooter can twist sideways, thus generating a roll angle. A slight pitch angle has to be considered as well, since wheel suspensions have a higher degree of motion with respect to four wheel vehicles. In this paper we present a method for the accurate reconstruction of the trajectory of a motorcycle ("Vespa" scooter), which can be used as alternative to the "classical" approach based on the integration of GPS and INS sensors. Position and orientation of the scooter are derived from MEMS data and images acquired by on-board digital camera. A Bayesian filter provides the means for integrating the data from MEMS-based orientation sensor and the GPS receiver.

Pregnancy outcomes in HIV-positive women: a retrospective cohort study.

PubMed

Arab, Kholoud; Spence, Andrea R; Czuzoj-Shulman, Nicholas; Abenhaim, Haim A

2017-03-01

In the United States, an estimated 8500 HIV (human immunodeficiency virus) positive women gave birth in 2014. This rate appears to be increasing annually. Our objective is to examine obstetrical outcomes of pregnancy among HIV-positive women. A population-based cohort study was conducted using the Nationwide Inpatient Sample database (2003-2011) from the United States. Pregnant HIV-positive women were identified and compared to pregnant women without HIV. Multivariate logistic regression was used to estimate the adjusted effect of HIV status on obstetrical and neonatal outcomes. Among 7,772,999 births over the study period, 1997 were in HIV-positive women (an incidence of 25.7/100,000 births). HIV-infected patients had greater frequency of pre-existing diabetes and chronic hypertension, and use of cigarettes, drugs, and alcohol during pregnancy (p < 0.001). Upon adjustment for baseline characteristics, HIV-infected women had greater likelihood of antenatal complications: preterm premature rupture of membranes (OR 1.35, 95% CI 1.14-1.60) and urinary tract infections (OR 3.02, 95% CI 2.40-3.81). Delivery and postpartum complications were also increased among HIV-infected women: cesarean delivery (OR 3.06, 95% CI 2.79-3.36), postpartum sepsis (OR 8.05, 95% CI 5.44-11.90), venous thromboembolism (OR 2.21, 95% CI 1.46-3.33), blood transfusions (OR 3.67, 95% CI 3.01-4.49), postpartum infection (OR 3.00, 95% CI 2.37-3.80), and maternal mortality (OR 21.52, 95% CI 12.96-35.72). Neonates born to these mothers were at higher risk of prematurity and intrauterine growth restriction. Pregnancy in HIV-infected women is associated with adverse maternal and newborn complications. Pregnant HIV-positive women should be followed in high-risk healthcare centers.

Filter parameter tuning analysis for operational orbit determination support

NASA Technical Reports Server (NTRS)

Dunham, J.; Cox, C.; Niklewski, D.; Mistretta, G.; Hart, R.

1994-01-01

The use of an extended Kalman filter (EKF) for operational orbit determination support is being considered by the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD). To support that investigation, analysis was performed to determine how an EKF can be tuned for operational support of a set of earth-orbiting spacecraft. The objectives of this analysis were to design and test a general purpose scheme for filter tuning, evaluate the solution accuracies, and develop practical methods to test the consistency of the EKF solutions in an operational environment. The filter was found to be easily tuned to produce estimates that were consistent, agreed with results from batch estimation, and compared well among the common parameters estimated for several spacecraft. The analysis indicates that there is not a sharply defined 'best' tunable parameter set, especially when considering only the position estimates over the data arc. The comparison of the EKF estimates for the user spacecraft showed that the filter is capable of high-accuracy results and can easily meet the current accuracy requirements for the spacecraft included in the investigation. The conclusion is that the EKF is a viable option for FDD operational support.

A comparison of visuomotor cue integration strategies for object placement and prehension.

PubMed

Greenwald, Hal S; Knill, David C

2009-01-01

Visual cue integration strategies are known to depend on cue reliability and how rapidly the visual system processes incoming information. We investigated whether these strategies also depend on differences in the information demands for different natural tasks. Using two common goal-oriented tasks, prehension and object placement, we determined whether monocular and binocular information influence estimates of three-dimensional (3D) orientation differently depending on task demands. Both tasks rely on accurate 3D orientation estimates, but 3D position is potentially more important for grasping. Subjects placed an object on or picked up a disc in a virtual environment. On some trials, the monocular cues (aspect ratio and texture compression) and binocular cues (e.g., binocular disparity) suggested slightly different 3D orientations for the disc; these conflicts either were present upon initial stimulus presentation or were introduced after movement initiation, which allowed us to quantify how information from the cues accumulated over time. We analyzed the time-varying orientations of subjects' fingers in the grasping task and those of the object in the object placement task to quantify how different visual cues influenced motor control. In the first experiment, different subjects performed each task, and those performing the grasping task relied on binocular information more when orienting their hands than those performing the object placement task. When subjects in the second experiment performed both tasks in interleaved sessions, binocular cues were still more influential during grasping than object placement, and the different cue integration strategies observed for each task in isolation were maintained. In both experiments, the temporal analyses showed that subjects processed binocular information faster than monocular information, but task demands did not affect the time course of cue processing. How one uses visual cues for motor control depends on the task being performed, although how quickly the information is processed appears to be task invariant.

Is Objectively Measured Sitting Time Associated with Low Back Pain? A Cross-Sectional Investigation in the NOMAD study

PubMed Central

Gupta, Nidhi; Christiansen, Caroline Stordal; Hallman, David M.; Korshøj, Mette; Carneiro, Isabella Gomes; Holtermann, Andreas

2015-01-01

Background Studies on the association between sitting time and low back pain (LBP) have found contrasting results. This may be due to the lack of objectively measured sitting time or because socioeconomic confounders were not considered in the analysis. Objectives To investigate the association between objectively measured sitting time (daily total, and occupational and leisure-time periods) and LBP among blue-collar workers. Methods Two-hundred-and-one blue-collar workers wore two accelerometers (GT3X+ Actigraph) for up to four consecutive working days to obtain objective measures of sitting time, estimated via Acti4 software. Workers reported their LBP intensity the past month on a scale from 0 (no pain) to 9 (worst imaginable pain) and were categorized into either low (≤5) or high (>5) LBP intensity groups. In the multivariate-adjusted binary logistic regression analysis, total sitting time, and occupational and leisure-time sitting were both modeled as continuous (hours/day) and categorical variables (i.e. low, moderate and high sitting time). Results The multivariate logistic regression analysis showed a significant positive association between total sitting time (per hour) and high LBP intensity (odds ratio; OR=1.43, 95%CI=1.15-1.77, P=0.01). Similar results were obtained for leisure-time sitting (OR=1.45, 95%CI=1.10-1.91, P=0.01), and a similar but non-significant trend was obtained for occupational sitting time (OR=1.34, 95%CI 0.99-1.82, P=0.06). In the analysis on categorized sitting time, high sitting time was positively associated with high LBP for total (OR=3.31, 95%CI=1.18-9.28, P=0.03), leisure (OR=5.31, 95%CI=1.57-17.90, P=0.01), and occupational (OR=3.26, 95%CI=0.89-11.98, P=0.08) periods, referencing those with low sitting time. Conclusion Sitting time is positively associated with LBP intensity among blue-collar workers. Future studies using a prospective design with objective measures of sitting time are recommended. PMID:25806808

Estimation of object motion parameters from noisy images.

PubMed

Broida, T J; Chellappa, R

1986-01-01

An approach is presented for the estimation of object motion parameters based on a sequence of noisy images. The problem considered is that of a rigid body undergoing unknown rotational and translational motion. The measurement data consists of a sequence of noisy image coordinates of two or more object correspondence points. By modeling the object dynamics as a function of time, estimates of the model parameters (including motion parameters) can be extracted from the data using recursive and/or batch techniques. This permits a desired degree of smoothing to be achieved through the use of an arbitrarily large number of images. Some assumptions regarding object structure are presently made. Results are presented for a recursive estimation procedure: the case considered here is that of a sequence of one dimensional images of a two dimensional object. Thus, the object moves in one transverse dimension, and in depth, preserving the fundamental ambiguity of the central projection image model (loss of depth information). An iterated extended Kalman filter is used for the recursive solution. Noise levels of 5-10 percent of the object image size are used. Approximate Cramer-Rao lower bounds are derived for the model parameter estimates as a function of object trajectory and noise level. This approach may be of use in situations where it is difficult to resolve large numbers of object match points, but relatively long sequences of images (10 to 20 or more) are available.

Fault-tolerant feature-based estimation of space debris rotational motion during active removal missions

NASA Astrophysics Data System (ADS)

Biondi, Gabriele; Mauro, Stefano; Pastorelli, Stefano; Sorli, Massimo

2018-05-01

One of the key functionalities required by an Active Debris Removal mission is the assessment of the target kinematics and inertial properties. Passive sensors, such as stereo cameras, are often included in the onboard instrumentation of a chaser spacecraft for capturing sequential photographs and for tracking features of the target surface. A plenty of methods, based on Kalman filtering, are available for the estimation of the target's state from feature positions; however, to guarantee the filter convergence, they typically require continuity of measurements and the capability of tracking a fixed set of pre-defined features of the object. These requirements clash with the actual tracking conditions: failures in feature detection often occur and the assumption of having some a-priori knowledge about the shape of the target could be restrictive in certain cases. The aim of the presented work is to propose a fault-tolerant alternative method for estimating the angular velocity and the relative magnitudes of the principal moments of inertia of the target. Raw data regarding the positions of the tracked features are processed to evaluate corrupted values of a 3-dimentional parameter which entirely describes the finite screw motion of the debris and which primarily is invariant on the particular set of considered features of the object. Missing values of the parameter are completely restored exploiting the typical periodicity of the rotational motion of an uncontrolled satellite: compressed sensing techniques, typically adopted for recovering images or for prognostic applications, are herein used in a completely original fashion for retrieving a kinematic signal that appears sparse in the frequency domain. Due to its invariance about the features, no assumptions are needed about the target's shape and continuity of the tracking. The obtained signal is useful for the indirect evaluation of an attitude signal that feeds an unscented Kalman filter for the estimation of the global rotational state of the target. The results of the computer simulations showed a good robustness of the method and its potential applicability for general motion conditions of the target.

[Determination of cost-effective strategies in colorectal cancer screening].

PubMed

Dervaux, B; Eeckhoudt, L; Lebrun, T; Sailly, J C

1992-01-01

The object of the article is to implement particular methodologies in order to determine which strategies are cost-effective in the mass screening of colorectal cancer after a positive Hemoccult test. The first approach to be presented consists in proposing a method which enables all the admissible diagnostic strategies to be determined. The second approach enables a minimal cost function to be estimated using an adaptation of "Data Envelopment Analysis". This method proves to be particularly successful in cost-efficiency analysis, when the performance indicators are numerous and hard to aggregate. The results show that there are two cost-effective strategies after a positive Hemoccult test: coloscopy and sigmoidoscopy; they put into question the relevance of double contrast barium enema in the diagnosis of colo-rectal lesions.

Do Zero-Cost Workers’ Compensation Medical Claims Really Have Zero Costs?

PubMed Central

Asfaw, Abay; Rosa, Roger; Mao, Rebecca

2015-01-01

Objective Previous research suggests that non–workers’ compensation (WC) insurance systems, such as group health insurance (GHI), Medicare, or Medicaid, at least partially cover work-related injury and illness costs. This study further examined GHI utilization and costs. Methods Using two-part model, we compared those outcomes immediately after injuries for which accepted WC medical claims made zero or positive medical payments. Results Controlling for pre-injury GHI utilization and costs and other covariates, our results indicated that post-injury GHI utilization and costs increased regardless of whether a WC medical claim was zero or positive. The increases were highest for zero-cost WC medical claims. Conclusion Our national estimates showed that zero-cost WC medical claims alone could cost the GHI $212 million per year. PMID:24316724

Association Between Masticatory Function and Oral Health-Related Quality of Life in Partial Maxillectomy Patients.

PubMed

Said, Mohamed Moustafa; Otomaru, Takafumi; Aimaijiang, Yiliyaer; Li, Na; Taniguchi, Hisashi

The aim of this study was to investigate associations between objectively and subjectively measured masticatory function and oral health-related quality of life (OHRQoL) in partial maxillectomy patients wearing dentomaxillary prostheses. A sample of 32 consecutively treated patients who had undergone a partial maxillectomy were enrolled. Masticatory function was assessed using two objective measures and one subjective measure. The objective measures were masticatory performance (MP), which was estimated by measuring the glucose extracted from gummy jelly, and food mixing ability (a*), which was assessed using color-changeable chewing gum. The subjective measure was perceived chewing ability, rated as masticatory score (MS) based on the patient's responses to a food intake questionnaire. OHRQoL was assessed using the Geriatric Oral Health Assessment Index (GOHAI). Relationships between the masticatory function measures and OHRQoL were analyzed using Spearman rank correlation coefficient. The correlation coefficients (r) obtained were 0.57 (P = .001) for MS and GOHAI, 0.247 (P = .173) for MP and GOHAI, -0.173 (P = .343) for a* and GOHAI, 0.517 (P = .002) for MP and a*, 0.199 (P = .257) for MP and MS, and 0.019 (P = .919) for a* and MS. Subjective MS showed a significant positive correlation with GOHAI score, suggesting that perceived chewing ability could be an important factor in the estimation of OHRQoL in partial maxillectomy patients.

Real-time people counting system using a single video camera

NASA Astrophysics Data System (ADS)

Lefloch, Damien; Cheikh, Faouzi A.; Hardeberg, Jon Y.; Gouton, Pierre; Picot-Clemente, Romain

2008-02-01

There is growing interest in video-based solutions for people monitoring and counting in business and security applications. Compared to classic sensor-based solutions the video-based ones allow for more versatile functionalities, improved performance with lower costs. In this paper, we propose a real-time system for people counting based on single low-end non-calibrated video camera. The two main challenges addressed in this paper are: robust estimation of the scene background and the number of real persons in merge-split scenarios. The latter is likely to occur whenever multiple persons move closely, e.g. in shopping centers. Several persons may be considered to be a single person by automatic segmentation algorithms, due to occlusions or shadows, leading to under-counting. Therefore, to account for noises, illumination and static objects changes, a background substraction is performed using an adaptive background model (updated over time based on motion information) and automatic thresholding. Furthermore, post-processing of the segmentation results is performed, in the HSV color space, to remove shadows. Moving objects are tracked using an adaptive Kalman filter, allowing a robust estimation of the objects future positions even under heavy occlusion. The system is implemented in Matlab, and gives encouraging results even at high frame rates. Experimental results obtained based on the PETS2006 datasets are presented at the end of the paper.

Prevalence of asymptomatic Zika virus infection: a systematic review

PubMed Central

Pinart, Mariona; Elias, Vanessa; Reveiz, Ludovic

2018-01-01

Abstract Objective To conduct a systematic review to estimate the prevalence of asymptomatic Zika virus infection in the general population and in specific population groups. Methods We searched PubMed®, Embase® and LILACS online databases from inception to 26 January 2018. We included observational epidemiological studies where laboratory testing was used to confirm positive exposure of participants to Zika virus and in which Zika virus symptom status was also recorded. We excluded studies in which having symptoms of Zika virus was a criterion for inclusion. The main outcome assessed was percentage of all Zika virus-positive participants who were asymptomatic. We used a quality-effects approach and the double arcsine transformation for the meta-analysis. Findings We assessed 753 studies for inclusion, of which 23 were included in the meta-analysis, totalling 11 305 Zika virus-positive participants. The high degree of heterogeneity in the studies (I2 = 99%) suggests that the pooled prevalence of asymptomatic Zika virus-positive participants was probably not a robust estimate. Analysis based on subgroups of the population (general population, returned travellers, blood donors, adults with Guillain–Barré syndrome, pregnant women and babies with microcephaly) was not able to explain the heterogeneity. Funnel and Doi plots showed major asymmetry, suggesting selection bias or true heterogeneity. Conclusion Better-quality research is needed, using standardized methods, to determine the true prevalence of asymptomatic Zika virus and whether it varies between populations or over time. PMID:29904223

Effects of visual cues of object density on perception and anticipatory control of dexterous manipulation.

PubMed

Crajé, Céline; Santello, Marco; Gordon, Andrew M

2013-01-01

Anticipatory force planning during grasping is based on visual cues about the object's physical properties and sensorimotor memories of previous actions with grasped objects. Vision can be used to estimate object mass based on the object size to identify and recall sensorimotor memories of previously manipulated objects. It is not known whether subjects can use density cues to identify the object's center of mass (CM) and create compensatory moments in an anticipatory fashion during initial object lifts to prevent tilt. We asked subjects (n = 8) to estimate CM location of visually symmetric objects of uniform densities (plastic or brass, symmetric CM) and non-uniform densities (mixture of plastic and brass, asymmetric CM). We then asked whether subjects can use density cues to scale fingertip forces when lifting the visually symmetric objects of uniform and non-uniform densities. Subjects were able to accurately estimate an object's center of mass based on visual density cues. When the mass distribution was uniform, subjects could scale their fingertip forces in an anticipatory fashion based on the estimation. However, despite their ability to explicitly estimate CM location when object density was non-uniform, subjects were unable to scale their fingertip forces to create a compensatory moment and prevent tilt on initial lifts. Hefting object parts in the hand before the experiment did not affect this ability. This suggests a dichotomy between the ability to accurately identify the object's CM location for objects with non-uniform density cues and the ability to utilize this information to correctly scale their fingertip forces. These results are discussed in the context of possible neural mechanisms underlying sensorimotor integration linking visual cues and anticipatory control of grasping.

Correlations of recognition memory performance with expression and methylation of brain-derived neurotrophic factor in rats.

PubMed

Muñoz, Pablo C; Aspé, Mauricio A; Contreras, Luis S; Palacios, Adrián G

2010-01-01

Object recognition memory allows discrimination between novel and familiar objects. This kind of memory consists of two components: recollection, which depends on the hippocampus, and familiarity, which depends on the perirhinal cortex (Pcx). The importance of brain-derived neurotrophic factor (BDNF) for recognition memory has already been recognized. Recent evidence suggests that DNA methylation regulates the expression of BDNF and memory. Behavioral and molecular approaches were used to understand the potential contribution of DNA methylation to recognition memory. To that end, rats were tested for their ability to distinguish novel from familiar objects by using a spontaneous object recognition task. Furthermore, the level of DNA methylation was estimated after trials with a methyl-sensitive PCR. We found a significant correlation between performance on the novel object task and the expression of BDNF, negatively in hippocampal slices and positively in perirhinal cortical slices. By contrast, methylation of DNA in CpG island 1 in the promoter of exon 1 in BDNF only correlated in hippocampal slices, but not in the Pxc cortical slices from trained animals. These results suggest that DNA methylation may be involved in the regulation of the BDNF gene during recognition memory, at least in the hippocampus.

Assessing the predictive value of the American Board of Family Practice In-training Examination.

PubMed

Replogle, William H; Johnson, William D

2004-03-01

The American Board of Family Practice In-training Examination (ABFP ITE) is a cognitive examination similar in content to the ABFP Certification Examination (CE). The ABFP ITE is widely used in family medicine residency programs. It was originally developed and intended to be used for assessment of groups of residents. Despite lack of empirical support, however, some residency programs are using ABFP ITE scores as individual resident performance indicators. This study's objective was to estimate the positive predictive value of the ABFP ITE for identifying residents at risk for poor performance on the ABFP CE or a subsequent ABFP ITE. We used a normal distribution model for correlated test scores and Monte Carlo simulation to investigate the effect of test reliability (measurement errors) on the positive predictive value of the ABFP ITE. The positive predictive value of the composite score was .72. The positive predictive value of the eight specialty subscales ranged from .26 to .57. Only the composite score of the ABFP ITE has acceptable positive predictive value to be used as part of a comprehension resident evaluation system. The ABFP ITE specialty subscales do not have sufficient positive predictive value or reliability to warrant use as performance indicators.

Avelumab, an Anti–Programmed Death-Ligand 1 Antibody, In Patients With Refractory Metastatic Urothelial Carcinoma: Results From a Multicenter, Phase Ib Study

PubMed Central

Apolo, Andrea B.; Infante, Jeffrey R.; Balmanoukian, Ani; Patel, Manish R.; Wang, Ding; Kelly, Karen; Mega, Anthony E.; Britten, Carolyn D.; Ravaud, Alain; Mita, Alain C.; Safran, Howard; Stinchcombe, Thomas E.; Srdanov, Marko; Gelb, Arnold B.; Schlichting, Michael; Chin, Kevin; Gulley, James L.

2017-01-01

Purpose We assessed the safety and antitumor activity of avelumab, a fully human anti–programmed death-ligand 1 (PD-L1) IgG1 antibody, in patients with refractory metastatic urothelial carcinoma. Methods In this phase Ib, multicenter, expansion cohort, patients with urothelial carcinoma progressing after platinum-based chemotherapy and unselected for PD-L1 expression received avelumab 10 mg/kg intravenously every 2 weeks. The primary objectives were safety and tolerability. Secondary objectives included confirmed objective response rate (Response Evaluation Criteria in Solid Tumors [RECIST] version 1.1), progression-free survival, overall survival (OS), and PD-L1–associated clinical activity. PD-L1 positivity was defined as expression by immunohistochemistry on ≥ 5% of tumor cells. Results Forty-four patients were treated with avelumab and followed for a median of 16.5 months (interquartile range, 15.8 to 16.7 months). The data cutoff was March 19, 2016. The most frequent treatment-related adverse events of any grade were fatigue/asthenia (31.8%), infusion-related reaction (20.5%), and nausea (11.4%). Grades 3 to 4 treatment-related adverse events occurred in three patients (6.8%) and included asthenia, AST elevation, creatine phosphokinase elevation, and decreased appetite. The confirmed objective response rate by independent central review was 18.2% (95% CI, 8.2% to 32.7%; five complete responses and three partial responses). The median duration of response was not reached (95% CI, 12.1 weeks to not estimable), and responses were ongoing in six patients (75.0%), including four of five complete responses. Seven of eight responding patients had PD-L1–positive tumors. The median progression-free survival was 11.6 weeks (95% CI, 6.1 to 17.4 weeks); the median OS was 13.7 months (95% CI, 8.5 months to not estimable), with a 12-month OS rate of 54.3% (95% CI, 37.9% to 68.1%). Conclusion Avelumab was well tolerated and associated with durable responses and prolonged survival in patients with refractory metastatic UC. PMID:28375787

Avelumab, an Anti-Programmed Death-Ligand 1 Antibody, In Patients With Refractory Metastatic Urothelial Carcinoma: Results From a Multicenter, Phase Ib Study.

PubMed

Apolo, Andrea B; Infante, Jeffrey R; Balmanoukian, Ani; Patel, Manish R; Wang, Ding; Kelly, Karen; Mega, Anthony E; Britten, Carolyn D; Ravaud, Alain; Mita, Alain C; Safran, Howard; Stinchcombe, Thomas E; Srdanov, Marko; Gelb, Arnold B; Schlichting, Michael; Chin, Kevin; Gulley, James L

2017-07-01

Purpose We assessed the safety and antitumor activity of avelumab, a fully human anti-programmed death-ligand 1 (PD-L1) IgG1 antibody, in patients with refractory metastatic urothelial carcinoma. Methods In this phase Ib, multicenter, expansion cohort, patients with urothelial carcinoma progressing after platinum-based chemotherapy and unselected for PD-L1 expression received avelumab 10 mg/kg intravenously every 2 weeks. The primary objectives were safety and tolerability. Secondary objectives included confirmed objective response rate (Response Evaluation Criteria in Solid Tumors [RECIST] version 1.1), progression-free survival, overall survival (OS), and PD-L1-associated clinical activity. PD-L1 positivity was defined as expression by immunohistochemistry on ≥ 5% of tumor cells. Results Forty-four patients were treated with avelumab and followed for a median of 16.5 months (interquartile range, 15.8 to 16.7 months). The data cutoff was March 19, 2016. The most frequent treatment-related adverse events of any grade were fatigue/asthenia (31.8%), infusion-related reaction (20.5%), and nausea (11.4%). Grades 3 to 4 treatment-related adverse events occurred in three patients (6.8%) and included asthenia, AST elevation, creatine phosphokinase elevation, and decreased appetite. The confirmed objective response rate by independent central review was 18.2% (95% CI, 8.2% to 32.7%; five complete responses and three partial responses). The median duration of response was not reached (95% CI, 12.1 weeks to not estimable), and responses were ongoing in six patients (75.0%), including four of five complete responses. Seven of eight responding patients had PD-L1-positive tumors. The median progression-free survival was 11.6 weeks (95% CI, 6.1 to 17.4 weeks); the median OS was 13.7 months (95% CI, 8.5 months to not estimable), with a 12-month OS rate of 54.3% (95% CI, 37.9% to 68.1%). Conclusion Avelumab was well tolerated and associated with durable responses and prolonged survival in patients with refractory metastatic UC.

IMU: inertial sensing of vertical CoM movement.

PubMed

Esser, Patrick; Dawes, Helen; Collett, Johnny; Howells, Ken

2009-07-22

The purpose of this study was to use a quaternion rotation matrix in combination with an integration approach to transform translatory accelerations of the centre of mass (CoM) from an inertial measurement unit (IMU) during walking, from the object system onto the global frame. Second, this paper utilises double integration to determine the relative change in position of the CoM from the vertical acceleration data. Five participants were tested in which an IMU, consisting of accelerometers, gyroscopes and magnetometers was attached on the lower spine estimated centre of mass. Participants were asked to walk three times through a calibrated volume at their self-selected walking speed. Synchronized data were collected by an IMU and an optical motion capture system (OMCS); both measured at 100 Hz. Accelerations of the IMU were transposed onto the global frame using a quaternion rotation matrix. Translatory acceleration, speed and relative change in position from the IMU were compared with the derived data from the OMCS. Peak acceleration in vertical axis showed no significant difference (p> or =0.05). Difference between peak and trough speed showed significant difference (p<0.05) but relative peak-trough position between the IMU and OMCS did not show any significant difference (p> or =0.05). These results indicate that quaternions, in combination with Simpsons rule integration, can be used in transforming translatory acceleration from the object frame to the global frame and therefore obtain relative change in position, thus offering a solution for using accelerometers in accurate global frame kinematic gait analyses.

Person-centred positive emotions, object-centred negative emotions: 2-year-olds generalize negative but not positive emotions across individuals.

PubMed

Vaish, Amrisha; Grossmann, Tobias; Woodward, Amanda

2015-09-01

Prior work suggests that young children do not generalize others' preferences to new individuals. We hypothesized (following Vaish et al., 2008, Psychol. Bull., 134, 383-403) that this may only hold for positive emotions, which inform the child about the person's attitude towards the object but not about the positivity of the object itself. It may not hold for negative emotions, which additionally inform the child about the negativity of the object itself. Two-year-old children saw one individual (the emoter) emoting positively or negatively towards one and neutrally towards a second novel object. When a second individual then requested an object, children generalized the emoter's negative but not her positive emotion to the second individual. Children thus draw different inferences from others' positive versus negative emotions: Whereas they view others' positive emotions as person centred, they may view others' negative emotions as object centred and thus generalizable across people. The results are discussed with relation to the functions and implications of the negativity bias. © 2015 The British Psychological Society.

The influence of object shape and center of mass on grasp and gaze

PubMed Central

Desanghere, Loni; Marotta, Jonathan J.

2015-01-01

Recent experiments examining where participants look when grasping an object found that fixations favor the eventual index finger landing position on the object. Even though the act of picking up an object must involve complex high-level computations such as the visual analysis of object contours, surface properties, knowledge of an object’s function and center of mass (COM) location, these investigations have generally used simple symmetrical objects – where COM and horizontal midline overlap. Less research has been aimed at looking at how variations in object properties, such as differences in curvature and changes in COM location, affect visual and motor control. The purpose of this study was to examine grasp and fixation locations when grasping objects whose COM was positioned to the left or right of the objects horizontal midline (Experiment 1) and objects whose COM was moved progressively further from the midline of the objects based on the alteration of the object’s shape (Experiment 2). Results from Experiment 1 showed that object COM position influenced fixation locations and grasp locations differently, with fixations not as tightly linked to index finger grasp locations as was previously reported with symmetrical objects. Fixation positions were also found to be more central on the non-symmetrical objects. This difference in gaze position may provide a more holistic view, which would allow both index finger and thumb positions to be monitored while grasping. Finally, manipulations of COM distance (Experiment 2) exerted marked effects on the visual analysis of the objects when compared to its influence on grasp locations, with fixation locations more sensitive to these manipulations. Together, these findings demonstrate how object features differentially influence gaze vs. grasp positions during object interaction. PMID:26528207

Everolimus Plus Exemestane vs Everolimus or Capecitabine Monotherapy for Estrogen Receptor-Positive, HER2-Negative Advanced Breast Cancer: The BOLERO-6 Randomized Clinical Trial.

PubMed

Jerusalem, Guy; de Boer, Richard H; Hurvitz, Sara; Yardley, Denise A; Kovalenko, Elena; Ejlertsen, Bent; Blau, Sibel; Özgüroglu, Mustafa; Landherr, László; Ewertz, Marianne; Taran, Tetiana; Fan, Jenna; Noel-Baron, Florence; Louveau, Anne-Laure; Burris, Howard

2018-06-03

Everolimus plus exemestane and capecitabine are approved second-line therapies for advanced breast cancer. A postapproval commitment to health authorities to estimate the clinical benefit of everolimus plus exemestane vs everolimus or capecitabine monotherapy for estrogen receptor-positive, human epidermal growth factor receptor 2-negative advanced breast cancer. Open-label, randomized, phase 2 trial of treatment effects in postmenopausal women with advanced breast cancer that had progressed during treatment with nonsteroidal aromatase inhibitors. Patients were randomized to 3 treatment regimens: (1) everolimus (10 mg/d) plus exemestane (25 mg/d); (2) everolimus alone (10 mg/d); and (3) capecitabine alone (1250 mg/m2 twice daily). Estimated hazard ratios (HRs) of progression-free survival (PFS) for everolimus plus exemestane vs everolimus alone (primary objective) or capecitabine alone (key secondary objective). Safety was a secondary objective. No formal statistical comparisons were planned. A total of 309 postmenopausal women were enrolled, median age, 61 years (range, 32-88 years). Of these, 104 received everolimus plus exemestane; 103, everolimus alone; and 102, capecitabine alone. Median follow-up from randomization to the analysis cutoff (June 1, 2017) was 37.6 months. Estimated HR of PFS was 0.74 (90% CI, 0.57-0.97) for the primary objective of everolimus plus exemestane vs everolimus alone and 1.26 (90% CI, 0.96-1.66) for everolimus plus exemestane vs capecitabine alone. Between treatment arms, potential informative censoring was noted, and a stratified multivariate Cox regression model was used to account for imbalances in baseline characteristics; a consistent HR was observed for everolimus plus exemestane vs everolimus (0.73; 90% CI, 0.56-0.97), but the HR was closer to 1 for everolimus plus exemestane vs capecitabine (1.15; 90% CI, 0.86-1.52). Grade 3 to 4 adverse events were more frequent with capecitabine (74%; n = 75) vs everolimus plus exemestane (70%; n = 73) or everolimus alone (59%; n = 61). Serious adverse events were more frequent with everolimus plus exemestane (36%; n = 37) vs everolimus alone (29%; n = 30) or capecitabine (29%; n = 30). These findings suggest that everolimus plus exemestane combination therapy offers a PFS benefit vs everolimus alone, and they support continued use of this therapy in this setting. A numerical PFS difference with capecitabine vs everolimus plus exemestane should be interpreted cautiously owing to imbalances among baseline characteristics and potential informative censoring. ClinicalTrials.gov identifier: NCT01783444.

Orion Exploration Flight Test 1 (EFT-1) Best Estimated Trajectory Development

NASA Technical Reports Server (NTRS)

Holt, Greg N.; Brown, Aaron

2016-01-01

The Orion Exploration Flight Test 1 (EFT-1) mission successfully flew on Dec 5, 2014 atop a Delta IV Heavy launch vehicle. The goal of Orions maiden flight was to stress the system by placing an uncrewed vehicle on a high-energy trajectory replicating conditions similar to those that would be experienced when returning from an asteroid or a lunar mission. The Orion navigation team combined all trajectory data from the mission into a Best Estimated Trajectory (BET) product. There were significant challenges in data reconstruction and many lessons were learned for future missions. The team used an estimation filter incorporating radar tracking, onboard sensors (Global Positioning System and Inertial Measurement Unit), and day-of-flight weather balloons to evaluate the true trajectory flown by Orion. Data was published for the entire Orion EFT-1 flight, plus objects jettisoned during entry such as the Forward Bay Cover. The BET customers include approximately 20 disciplines within Orion who will use the information for evaluating vehicle performance and influencing future design decisions.

Comparison of prevalence estimation of Mycobacterium avium subsp. paratuberculosis infection by sampling slaughtered cattle with macroscopic lesions vs. systematic sampling.

PubMed

Elze, J; Liebler-Tenorio, E; Ziller, M; Köhler, H

2013-07-01

The objective of this study was to identify the most reliable approach for prevalence estimation of Mycobacterium avium ssp. paratuberculosis (MAP) infection in clinically healthy slaughtered cattle. Sampling of macroscopically suspect tissue was compared to systematic sampling. Specimens of ileum, jejunum, mesenteric and caecal lymph nodes were examined for MAP infection using bacterial microscopy, culture, histopathology and immunohistochemistry. MAP was found most frequently in caecal lymph nodes, but sampling more tissues optimized the detection rate. Examination by culture was most efficient while combination with histopathology increased the detection rate slightly. MAP was detected in 49/50 animals with macroscopic lesions representing 1.35% of the slaughtered cattle examined. Of 150 systematically sampled macroscopically non-suspect cows, 28.7% were infected with MAP. This indicates that the majority of MAP-positive cattle are slaughtered without evidence of macroscopic lesions and before clinical signs occur. For reliable prevalence estimation of MAP infection in slaughtered cattle, systematic random sampling is essential.

Light field geometry of a Standard Plenoptic Camera.

PubMed

Hahne, Christopher; Aggoun, Amar; Haxha, Shyqyri; Velisavljevic, Vladan; Fernández, Juan Carlos Jácome

2014-11-03

The Standard Plenoptic Camera (SPC) is an innovation in photography, allowing for acquiring two-dimensional images focused at different depths, from a single exposure. Contrary to conventional cameras, the SPC consists of a micro lens array and a main lens projecting virtual lenses into object space. For the first time, the present research provides an approach to estimate the distance and depth of refocused images extracted from captures obtained by an SPC. Furthermore, estimates for the position and baseline of virtual lenses which correspond to an equivalent camera array are derived. On the basis of paraxial approximation, a ray tracing model employing linear equations has been developed and implemented using Matlab. The optics simulation tool Zemax is utilized for validation purposes. By designing a realistic SPC, experiments demonstrate that a predicted image refocusing distance at 3.5 m deviates by less than 11% from the simulation in Zemax, whereas baseline estimations indicate no significant difference. Applying the proposed methodology will enable an alternative to the traditional depth map acquisition by disparity analysis.

Positive Attributes Buffer the Negative Associations Between Low Intelligence and High Psychopathology With Educational Outcomes

PubMed Central

Hoffmann, Mauricio Scopel; Leibenluft, Ellen; Stringaris, Argyris; Laporte, Paola Paganella; Pan, Pedro Mario; Gadelha, Ary; Manfro, Gisele Gus; Miguel, Eurípedes Constantino; Rohde, Luis Augusto; Salum, Giovanni Abrahão

2016-01-01

Objective This study examines the extent to which children’s positive attributes are distinct from psychopathology. We also investigate whether positive attributes change or “buffer” the impact of low intelligence and high psychopathology on negative educational outcomes. Method In a community sample of 2,240 children (6–14 years of age), we investigated associations among positive attributes, psychopathology, intelligence, and negative educational outcomes. Negative educational outcomes were operationalized as learning problems and poor academic performance. We tested the discriminant validity of psychopathology versus positive attributes using confirmatory factor analysis (CFA) and propensity score matching analysis (PSM), and used generalized estimating equations (GEE) models to test main effects and interactions among predictors of educational outcomes. Results According to both CFA and PSM, positive attributes and psychiatric symptoms were distinct constructs. Positive attributes were associated with lower levels of negative educational outcomes, independent of intelligence and psychopathology. Positive attributes buffer the negative effects of lower intelligence on learning problems, and higher psychopathology on poor academic performance. Conclusion Children’s positive attributes are associated with lower levels of negative school outcomes. Positive attributes act both independently and by modifying the negative effects of low intelligence and high psychiatric symptoms on educational outcomes. Subsequent research should test interventions designed to foster the development of positive attributes in children at high risk for educational problems. PMID:26703909

Constrained optimization for position calibration of an NMR field camera.

PubMed

Chang, Paul; Nassirpour, Sahar; Eschelbach, Martin; Scheffler, Klaus; Henning, Anke

2018-07-01

Knowledge of the positions of field probes in an NMR field camera is necessary for monitoring the B 0 field. The typical method of estimating these positions is by switching the gradients with known strengths and calculating the positions using the phases of the FIDs. We investigated improving the accuracy of estimating the probe positions and analyzed the effect of inaccurate estimations on field monitoring. The field probe positions were estimated by 1) assuming ideal gradient fields, 2) using measured gradient fields (including nonlinearities), and 3) using measured gradient fields with relative position constraints. The fields measured with the NMR field camera were compared to fields acquired using a dual-echo gradient recalled echo B 0 mapping sequence. Comparisons were done for shim fields from second- to fourth-order shim terms. The position estimation was the most accurate when relative position constraints were used in conjunction with measured (nonlinear) gradient fields. The effect of more accurate position estimates was seen when compared to fields measured using a B 0 mapping sequence (up to 10%-15% more accurate for some shim fields). The models acquired from the field camera are sensitive to noise due to the low number of spatial sample points. Position estimation of field probes in an NMR camera can be improved using relative position constraints and nonlinear gradient fields. Magn Reson Med 80:380-390, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

Physical activity measured by accelerometry and its associations with cardiac structure and vascular function in young and middle-aged adults.

PubMed

Andersson, Charlotte; Lyass, Asya; Larson, Martin G; Spartano, Nicole L; Vita, Joseph A; Benjamin, Emelia J; Murabito, Joanne M; Esliger, Dale W; Blease, Susan J; Hamburg, Naomi M; Mitchell, Gary F; Vasan, Ramachandran S

2015-03-19

Physical activity is associated with several health benefits, including lower cardiovascular disease risk. The independent influence of physical activity on cardiac and vascular function in the community, however, has been sparsely investigated. We related objective measures of moderate- to vigorous-intensity physical activity (MVPA, assessed by accelerometry) to cardiac and vascular indices in 2376 participants of the Framingham Heart Study third generation cohort (54% women, mean age 47 years). Using multivariable regression models, we related MVPA to the following echocardiographic and vascular measures: left ventricular mass, left atrial and aortic root sizes, carotid-femoral pulse wave velocity, augmentation index, and forward pressure wave. Men and women engaged in MVPA 29.9±21.4 and 25.5±19.4 min/day, respectively. Higher values of MVPA (per 10-minute increment) were associated with lower carotid-femoral pulse wave velocity (estimate -0.53 ms/m; P=0.006) and lower forward pressure wave (estimate -0.23 mm Hg; P=0.03) but were not associated with augmentation index (estimate 0.13%; P=0.25). MVPA was associated positively with log(e) left ventricular mass (estimate 0.006 log(e) [g/m(2)]; P=0.0003), left ventricular wall thickness (estimate 0.07 mm; P=0.0001), and left atrial dimension (estimate 0.10 mm; P=0.01). MVPA also tended to be positively associated with aortic root dimension (estimate 0.05 mm; P=0.052). Associations of MVPA with cardiovascular measures were similar, in general, for bouts lasting <10 versus ≥10 minutes. In our community-based sample, greater physical activity was associated with lower vascular stiffness but with higher echocardiographic left ventricular mass and left atrial size. These findings suggest complex relations of usual levels of physical activity and cardiovascular remodeling. © 2015 The Authors. Published on behalf of the American Heart Association, Inc., by Wiley Blackwell.

Identification of Buried Objects in GPR Using Amplitude Modulated Signals Extracted from Multiresolution Monogenic Signal Analysis

PubMed Central

Qiao, Lihong; Qin, Yao; Ren, Xiaozhen; Wang, Qifu

2015-01-01

It is necessary to detect the target reflections in ground penetrating radar (GPR) images, so that surface metal targets can be identified successfully. In order to accurately locate buried metal objects, a novel method called the Multiresolution Monogenic Signal Analysis (MMSA) system is applied in ground penetrating radar (GPR) images. This process includes four steps. First the image is decomposed by the MMSA to extract the amplitude component of the B-scan image. The amplitude component enhances the target reflection and suppresses the direct wave and reflective wave to a large extent. Then we use the region of interest extraction method to locate the genuine target reflections from spurious reflections by calculating the normalized variance of the amplitude component. To find the apexes of the targets, a Hough transform is used in the restricted area. Finally, we estimate the horizontal and vertical position of the target. In terms of buried object detection, the proposed system exhibits promising performance, as shown in the experimental results. PMID:26690146

Application of image processing to calculate the number of fish seeds using raspberry-pi

NASA Astrophysics Data System (ADS)

Rahmadiansah, A.; Kusumawardhani, A.; Duanto, F. N.; Qoonita, F.

2018-03-01

Many fish cultivator in Indonesia who suffered losses due to the sale and purchase of fish seeds did not match the agreed amount. The loss is due to the calculation of fish seed still using manual method. To overcome these problems, then in this study designed fish counting system automatically and real-time fish using the image processing based on Raspberry Pi. Used image processing because it can calculate moving objects and eliminate noise. Image processing method used to calculate moving object is virtual loop detector or virtual detector method and the approach used is “double difference image”. The “double difference” approach uses information from the previous frame and the next frame to estimate the shape and position of the object. Using these methods and approaches, the results obtained were quite good with an average error of 1.0% for 300 individuals in a test with a virtual detector width of 96 pixels and a slope of 1 degree test plane.

Segmentation, classification, and pose estimation of military vehicles in low resolution laser radar images

NASA Astrophysics Data System (ADS)

Neulist, Joerg; Armbruster, Walter

2005-05-01

Model-based object recognition in range imagery typically involves matching the image data to the expected model data for each feasible model and pose hypothesis. Since the matching procedure is computationally expensive, the key to efficient object recognition is the reduction of the set of feasible hypotheses. This is particularly important for military vehicles, which may consist of several large moving parts such as the hull, turret, and gun of a tank, and hence require an eight or higher dimensional pose space to be searched. The presented paper outlines techniques for reducing the set of feasible hypotheses based on an estimation of target dimensions and orientation. Furthermore, the presence of a turret and a main gun and their orientations are determined. The vehicle parts dimensions as well as their error estimates restrict the number of model hypotheses whereas the position and orientation estimates and their error bounds reduce the number of pose hypotheses needing to be verified. The techniques are applied to several hundred laser radar images of eight different military vehicles with various part classifications and orientations. On-target resolution in azimuth, elevation and range is about 30 cm. The range images contain up to 20% dropouts due to atmospheric absorption. Additionally some target retro-reflectors produce outliers due to signal crosstalk. The presented algorithms are extremely robust with respect to these and other error sources. The hypothesis space for hull orientation is reduced to about 5 degrees as is the error for turret rotation and gun elevation, provided the main gun is visible.

A hidden Markov model for reconstructing animal paths from solar geolocation loggers using templates for light intensity.

PubMed

Rakhimberdiev, Eldar; Winkler, David W; Bridge, Eli; Seavy, Nathaniel E; Sheldon, Daniel; Piersma, Theunis; Saveliev, Anatoly

2015-01-01

Solar archival tags (henceforth called geolocators) are tracking devices deployed on animals to reconstruct their long-distance movements on the basis of locations inferred post hoc with reference to the geographical and seasonal variations in the timing and speeds of sunrise and sunset. The increased use of geolocators has created a need for analytical tools to produce accurate and objective estimates of migration routes that are explicit in their uncertainty about the position estimates. We developed a hidden Markov chain model for the analysis of geolocator data. This model estimates tracks for animals with complex migratory behaviour by combining: (1) a shading-insensitive, template-fit physical model, (2) an uncorrelated random walk movement model that includes migratory and sedentary behavioural states, and (3) spatially explicit behavioural masks. The model is implemented in a specially developed open source R package FLightR. We used the particle filter (PF) algorithm to provide relatively fast model posterior computation. We illustrate our modelling approach with analysis of simulated data for stationary tags and of real tracks of both a tree swallow Tachycineta bicolor migrating along the east and a golden-crowned sparrow Zonotrichia atricapilla migrating along the west coast of North America. We provide a model that increases accuracy in analyses of noisy data and movements of animals with complicated migration behaviour. It provides posterior distributions for the positions of animals, their behavioural states (e.g., migrating or sedentary), and distance and direction of movement. Our approach allows biologists to estimate locations of animals with complex migratory behaviour based on raw light data. This model advances the current methods for estimating migration tracks from solar geolocation, and will benefit a fast-growing number of tracking studies with this technology.

A combined use of multispectral and SAR images for ship detection and characterization through object based image analysis

NASA Astrophysics Data System (ADS)

Aiello, Martina; Gianinetto, Marco

2017-10-01

Marine routes represent a huge portion of commercial and human trades, therefore surveillance, security and environmental protection themes are gaining increasing importance. Being able to overcome the limits imposed by terrestrial means of monitoring, ship detection from satellite has recently prompted a renewed interest for a continuous monitoring of illegal activities. This paper describes an automatic Object Based Image Analysis (OBIA) approach to detect vessels made of different materials in various sea environments. The combined use of multispectral and SAR images allows for a regular observation unrestricted by lighting and atmospheric conditions and complementarity in terms of geographic coverage and geometric detail. The method developed adopts a region growing algorithm to segment the image in homogeneous objects, which are then classified through a decision tree algorithm based on spectral and geometrical properties. Then, a spatial analysis retrieves the vessels' position, length and heading parameters and a speed range is associated. Optimization of the image processing chain is performed by selecting image tiles through a statistical index. Vessel candidates are detected over amplitude SAR images using an adaptive threshold Constant False Alarm Rate (CFAR) algorithm prior the object based analysis. Validation is carried out by comparing the retrieved parameters with the information provided by the Automatic Identification System (AIS), when available, or with manual measurement when AIS data are not available. The estimation of length shows R2=0.85 and estimation of heading R2=0.92, computed as the average of R2 values obtained for both optical and radar images.

Vision for action and perception elicit dissociable adherence to Weber's law across a range of 'graspable' target objects.

PubMed

Heath, Matthew; Manzone, Joseph; Khan, Michaela; Davarpanah Jazi, Shirin

2017-10-01

A number of studies have reported that grasps and manual estimations of differently sized target objects (e.g., 20 through 70 mm) violate and adhere to Weber's law, respectively (e.g., Ganel et al. 2008a, Curr Biol 18:R599-R601)-a result interpreted as evidence that separate visual codes support actions (i.e., absolute) and perceptions (i.e., relative). More recent work employing a broader range of target objects (i.e., 5 through 120 mm) has laid question to this claim and proposed that grasps for 'larger' target objects (i.e., >20 mm) elicit an inverse relationship to Weber's law and that manual estimations for target objects greater than 40 mm violate the law (Bruno et al. 2016, Neuropsychologia 91:327-334). In accounting for this finding, it was proposed that biomechanical limits in aperture shaping preclude the application of Weber's law for larger target objects. It is, however, important to note that the work supporting a biomechanical account may have employed target objects that approached -or were beyond-some participants' maximal aperture separation. The present investigation examined whether grasps and manual estimations differentially adhere to Weber's law across a continuous range of functionally 'graspable' target objects (i.e., 10,…,80% of participant-specific maximal aperture separation). In addition, we employed a method of adjustment task to examine whether manual estimation provides a valid proxy for a traditional measure of perceptual judgment. Manual estimation and method of adjustment tasks demonstrated adherence to Weber's law across the continuous range of target objects used here, whereas grasps violated the law. Thus, results evince that grasps and manual estimations of graspable target objects are, respectively, mediated via absolute and relative visual information.

Rhesus factor modulation of effects of smoking and age on psychomotor performance, intelligence, personality profile, and health in Czech soldiers.

PubMed

Flegr, Jaroslav; Geryk, Jan; Volný, Jindra; Klose, Jiří; Cernochová, Dana

2012-01-01

Rhesus-positive and rhesus-negative persons differ in the presence-absence of highly immunogenic RhD protein on the erythrocyte membrane. This protein is a component of NH(3) or CO(2) pump whose physiological role is unknown. Several recent studies have shown that RhD positivity protects against effects of latent toxoplasmosis on motor performance and personality. It is not known, however, whether the RhD phenotype modifies exclusively the response of the body to toxoplasmosis or whether it also influences effects of other factors. In the present cohort study, we searched for the effects of age and smoking on performance, intelligence, personality and self-estimated health and wellness in about 3800 draftees. We found that the positive effect of age on performance and intelligence was stronger in RhD-positive soldiers, while the negative effect of smoking on performance and intelligence was of similar size regardless of the RhD phenotype. The effect of age on four Cattell's personality factors, i.e., dominance (E), radicalism (Q(1)), self-sentiment integration (Q(3)), and ergic tension (Q(4)), and on Cloninger's factor reward dependency (RD) was stronger for RhD-negative than RhD-positive subjects, while the effect of smoking on the number of viral and bacterial diseases was about three times stronger for RhD-negative than RhD-positive subjects. RhD phenotype modulates the influence not only of latent toxoplasmosis, but also of at least two other potentially detrimental factors, age and smoking, on human behavior and physiology. The negative effect of smoking on health (estimated on the basis of the self-rated number of common viral and bacterial diseases in the past year) was much stronger in RhD-negative than RhD-positive subjects. It is critically needed to confirm the differences in health response to smoking between RhD-positive and RhD-negative subjects by objective medical examination in future studies.

Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments

PubMed Central

Ramon Soria, Pablo; Arrue, Begoña C.; Ollero, Anibal

2017-01-01

The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors. PMID:28067851

Virtual-reality techniques resolve the visual cues used by fruit flies to evaluate object distances.

PubMed

Schuster, Stefan; Strauss, Roland; Götz, Karl G

2002-09-17

Insects can estimate distance or time-to-contact of surrounding objects from locomotion-induced changes in their retinal position and/or size. Freely walking fruit flies (Drosophila melanogaster) use the received mixture of different distance cues to select the nearest objects for subsequent visits. Conventional methods of behavioral analysis fail to elucidate the underlying data extraction. Here we demonstrate first comprehensive solutions of this problem by substituting virtual for real objects; a tracker-controlled 360 degrees panorama converts a fruit fly's changing coordinates into object illusions that require the perception of specific cues to appear at preselected distances up to infinity. An application reveals the following: (1) en-route sampling of retinal-image changes accounts for distance discrimination within a surprising range of at least 8-80 body lengths (20-200 mm). Stereopsis and peering are not involved. (2) Distance from image translation in the expected direction (motion parallax) outweighs distance from image expansion, which accounts for impact-avoiding flight reactions to looming objects. (3) The ability to discriminate distances is robust to artificially delayed updating of image translation. Fruit flies appear to interrelate self-motion and its visual feedback within a surprisingly long time window of about 2 s. The comparative distance inspection practiced in the small fruit fly deserves utilization in self-moving robots.

Localization and tracking of moving objects in two-dimensional space by echolocation.

PubMed

Matsuo, Ikuo

2013-02-01

Bats use frequency-modulated echolocation to identify and capture moving objects in real three-dimensional space. Experimental evidence indicates that bats are capable of locating static objects with a range accuracy of less than 1 μs. A previously introduced model estimates ranges of multiple, static objects using linear frequency modulation (LFM) sound and Gaussian chirplets with a carrier frequency compatible with bat emission sweep rates. The delay time for a single object was estimated with an accuracy of about 1.3 μs by measuring the echo at a low signal-to-noise ratio (SNR). The range accuracy was dependent not only on the SNR but also the Doppler shift, which was dependent on the movements. However, it was unclear whether this model could estimate the moving object range at each timepoint. In this study, echoes were measured from the rotating pole at two receiving points by intermittently emitting LFM sounds. The model was shown to localize moving objects in two-dimensional space by accurately estimating the object's range at each timepoint.

Different techniques of multispectral data analysis for vegetation fraction retrieval

NASA Astrophysics Data System (ADS)

Kancheva, Rumiana; Georgiev, Georgi

2012-07-01

Vegetation monitoring is one of the most important applications of remote sensing technologies. In respect to farmlands, the assessment of crop condition constitutes the basis of growth, development, and yield processes monitoring. Plant condition is defined by a set of biometric variables, such as density, height, biomass amount, leaf area index, and etc. The canopy cover fraction is closely related to these variables, and is state-indicative of the growth process. At the same time it is a defining factor of the soil-vegetation system spectral signatures. That is why spectral mixtures decomposition is a primary objective in remotely sensed data processing and interpretation, specifically in agricultural applications. The actual usefulness of the applied methods depends on their prediction reliability. The goal of this paper is to present and compare different techniques for quantitative endmember extraction from soil-crop patterns reflectance. These techniques include: linear spectral unmixing, two-dimensional spectra analysis, spectral ratio analysis (vegetation indices), spectral derivative analysis (red edge position), colorimetric analysis (tristimulus values sum, chromaticity coordinates and dominant wavelength). The objective is to reveal their potential, accuracy and robustness for plant fraction estimation from multispectral data. Regression relationships have been established between crop canopy cover and various spectral estimators.

A Short Tutorial on Inertial Navigation System and Global Positioning System Integration

NASA Technical Reports Server (NTRS)

Smalling, Kyle M.; Eure, Kenneth W.

2015-01-01

The purpose of this document is to describe a simple method of integrating Inertial Navigation System (INS) information with Global Positioning System (GPS) information for an improved estimate of vehicle attitude and position. A simple two dimensional (2D) case is considered. The attitude estimates are derived from sensor data and used in the estimation of vehicle position and velocity through dead reckoning within the INS. The INS estimates are updated with GPS estimates using a Kalman filter. This tutorial is intended for the novice user with a focus on bringing the reader from raw sensor measurements to an integrated position and attitude estimate. An application is given using a remotely controlled ground vehicle operating in assumed 2D environment. The theory is developed first followed by an illustrative example.

A hybrid localization technique for patient tracking.

PubMed

Rodionov, Denis; Kolev, George; Bushminkin, Kirill

2013-01-01

Nowadays numerous technologies are employed for tracking patients and assets in hospitals or nursing homes. Each of them has advantages and drawbacks. For example, WiFi localization has relatively good accuracy but cannot be used in case of power outage or in the areas with poor WiFi coverage. Magnetometer positioning or cellular network does not have such problems but they are not as accurate as localization with WiFi. This paper describes technique that simultaneously employs different localization technologies for enhancing stability and average accuracy of localization. The proposed algorithm is based on fingerprinting method paired with data fusion and prediction algorithms for estimating the object location. The core idea of the algorithm is technology fusion using error estimation methods. For testing accuracy and performance of the algorithm testing simulation environment has been implemented. Significant accuracy improvement was showed in practical scenarios.

Analysis of generic reentry vehicle flight dynamics

NASA Astrophysics Data System (ADS)

Metsker, Yu.; Weinand, K.; Geulen, G.; Haidn, O. J.

2018-06-01

The knowledge of reentry vehicles (RV) flight characteristics regarding geometrical shape, dimensions, and mechanical properties is essential for precise prediction of their flight trajectory, impact point, and possible deviations according to simulation uncertainties. The flight characteristic estimations of existing RV require both body dimensions and mechanical properties of the objects. Due to comparatively simple and reliable methods of specifying the vehicle outer dimensions, e. g., photos and videomaterials, the estimation of mechanical properties is a subject of higher uncertainties. Within this study, a generic medium range ballistic missile (MRBM) RV was examined for several modifications such as center of gravity (CoG) position, weight moment of inertia, and initial reentry flight states. Combinations of these variables with constant aerodynamic properties for maximal lateral accelerations will be determined. Basing on these, potential evasion maneuver capabilities of the RV will be described.

School- and Individual-level Predictors of Weight Status Misperception among Korean Adolescents: A National Online Survey

PubMed Central

2016-01-01

Background Growing body of literature has reported that weight status estimation pattern, including accurate-, under-, and overestimation, was associated with weight related behaviors and weight change among adolescents and young adults. However, there have been a few studies investigating the potential role of school contexts in shaping adolescents’ weight status estimation pattern among Korea adolescents. Objective The aim of the present study was to investigate the association between weight status misperception patterns and factors at individual-, family-, and school-level, simultaneously, and whether there was significant between schools variation in the distribution of each weight status misperception pattern, underestimation and overestimation respectively, among Korean adolescents aged 12–18 years. Method Data from the Eighth Korea Youth Risk Behavior Web-based Survey (KYRBS), 2012, a nationally representative online survey of 72,228 students (boys = 37,229, girls = 34,999) from a total of 797 middle and high schools were used. Sex stratified multilevel random intercept multinomial logistic models where adolescents (level 1) were nested within schools (level 2) were performed. Results At the school level, attending a school with higher average BMI (kg/m2) was positively associated with weight status underestimation, and inversely associated with weight status overestimation among boys and girls. Single-sex schooling was positively associated with weight status underestimation among girls. At the family level, higher household income (high/middle versus low) was inversely associated with both weight status under- and overestimation among boys and girls. Higher maternal education (equal to or more than college graduate versus equal to or less than high school graduate) was positively associated with weight status overestimation among boys, and living with both parents (compared to not living with both parents) was inversely associated with weight status underestimation among girls. At the individual level, high academic achievement (compared to low) was positively associated with weight status underestimation among boys and girls. Conclusions While further research with prospective designs and objectively measured anthropometric information is needed, school environmental factors such as sex composition and school average BMI, as well as, family contexts such as socioeconomic status need to be considered when developing and implementing obesity prevention programs. PMID:27144319

An automated calibration method for non-see-through head mounted displays.

PubMed

Gilson, Stuart J; Fitzgibbon, Andrew W; Glennerster, Andrew

2011-08-15

Accurate calibration of a head mounted display (HMD) is essential both for research on the visual system and for realistic interaction with virtual objects. Yet, existing calibration methods are time consuming and depend on human judgements, making them error prone, and are often limited to optical see-through HMDs. Building on our existing approach to HMD calibration Gilson et al. (2008), we show here how it is possible to calibrate a non-see-through HMD. A camera is placed inside a HMD displaying an image of a regular grid, which is captured by the camera. The HMD is then removed and the camera, which remains fixed in position, is used to capture images of a tracked calibration object in multiple positions. The centroids of the markers on the calibration object are recovered and their locations re-expressed in relation to the HMD grid. This allows established camera calibration techniques to be used to recover estimates of the HMD display's intrinsic parameters (width, height, focal length) and extrinsic parameters (optic centre and orientation of the principal ray). We calibrated a HMD in this manner and report the magnitude of the errors between real image features and reprojected features. Our calibration method produces low reprojection errors without the need for error-prone human judgements. Copyright © 2011 Elsevier B.V. All rights reserved.

Health economics in radiation oncology: introducing the ESTRO HERO project.

PubMed

Lievens, Yolande; Grau, Cai

2012-04-01

New evidence based regimens and novel high precision technology have reinforced the important role of radiotherapy in the management of cancer. Current data estimate that more than 50% of all cancer patients would benefit from radiotherapy during the course of their disease. Within recent years, the radiotherapy community has become more than conscious of the ever-increasing necessity to come up with objective data to endorse the crucial role and position of radiation therapy within the rapidly changing global oncology landscape. In an era of ever expanding health care costs, proven safety and effectiveness is not sufficient anymore to obtain funding, objective data about cost and cost-effectiveness are nowadays additionally requested. It is in this context that ESTRO is launching the HERO-project (Health Economics in Radiation Oncology), with the overall aim to develop a knowledge base and a model for health economic evaluation of radiation treatments at the European level. To accomplish these objectives, the HERO project will address needs, accessibility, cost and cost-effectiveness of radiotherapy. The results will raise the profile of radiotherapy in the European cancer management context and help countries prioritizing radiotherapy as a highly cost-effective treatment strategy. This article describes the different steps and aims within the HERO-project, starting from evidence on the role of radiotherapy within the global oncology landscape and highlighting weaknesses that may undermine this position. Copyright © 2012 Elsevier Ireland Ltd. All rights reserved.

The role of visual context in manual target localization

NASA Technical Reports Server (NTRS)

Barry, Susan R.

1993-01-01

During space flight and immediately after return to the 1-g environment of earth, astronauts experience perceptual and sensory-motor disturbances. These changes result from adaptation of the astronaut to the microgravity environment of space. During space flight, sensory information from the eyes, limbs, and vestibular organs is reinterpreted by the central nervous system in order to produce appropriate body movements in the microgravity. This adaptation takes several days to develop. Upon return to earth, the changes in the sensory-motor system are no longer appropriate to a 1-g environment. Over several days, the astronaut must re-adapt to the terrestrial environment. Alterations in sensory-motor function may affect eye-head-hand coordination and, thus, the crewmember's ability to manually locate objects in extrapersonal space. Previous reports have demonstrated that crewmembers have difficulty in estimating joint and limb position and in pointing to memorized target positions on orbit and immediately postflight. The ability to point at or reach toward an object or perform other manual tasks is essential for safe Shuttle operation and may be compromised particularly during re-entry and landing sequences and during possible emergency egress from the Shuttle. An understanding of eye-head-hand coordination and the changes produced during space flight is necessary to develop effective countermeasures. This summer's project formed part of the study of the sensory cues use in the manual localization of objects.

Effect of fixation positions on perception of lightness

NASA Astrophysics Data System (ADS)

Toscani, Matteo; Valsecchi, Matteo; Gegenfurtner, Karl R.

2015-03-01

Visual acuity, luminance sensitivity, contrast sensitivity, and color sensitivity are maximal in the fovea and decrease with retinal eccentricity. Therefore every scene is perceived by integrating the small, high resolution samples collected by moving the eyes around. Moreover, when viewing ambiguous figures the fixated position influences the dominance of the possible percepts. Therefore fixations could serve as a selection mechanism whose function is not confined to finely resolve the selected detail of the scene. Here this hypothesis is tested in the lightness perception domain. In a first series of experiments we demonstrated that when observers matched the color of natural objects they based their lightness judgments on objects' brightest parts. During this task the observers tended to fixate points with above average luminance, suggesting a relationship between perception and fixations that we causally proved using a gaze contingent display in a subsequent experiment. Simulations with rendered physical lighting show that higher values in an object's luminance distribution are particularly informative about reflectance. In a second series of experiments we considered a high level strategy that the visual system uses to segment the visual scene in a layered representation. We demonstrated that eye movement sampling mediates between the layer segregation and its effects on lightness perception. Together these studies show that eye fixations are partially responsible for the selection of information from a scene that allows the visual system to estimate the reflectance of a surface.

Prevalence of Cerebral Amyloid Pathology in Persons Without Dementia

PubMed Central

Jansen, Willemijn J.; Ossenkoppele, Rik; Knol, Dirk L.; Tijms, Betty M.; Scheltens, Philip; Verhey, Frans R. J.; Visser, Pieter Jelle

2015-01-01

IMPORTANCE Cerebral amyloid-β aggregation is an early pathological event in Alzheimer disease (AD), starting decades before dementia onset. Estimates of the prevalence of amyloid pathology in persons without dementia are needed to understand the development of AD and to design prevention studies. OBJECTIVE To use individual participant data meta-analysis to estimate the prevalence of amyloid pathology as measured with biomarkers in participants with normal cognition, subjective cognitive impairment (SCI), or mild cognitive impairment (MCI). DATA SOURCES Relevant biomarker studies identified by searching studies published before April 2015 using the MEDLINE and Web of Science databases and through personal communication with investigators. STUDY SELECTION Studies were included if they provided individual participant data for participants without dementia and used an a priori defined cutoff for amyloid positivity. DATA EXTRACTION AND SYNTHESIS Individual records were provided for 2914 participants with normal cognition, 697 with SCI, and 3972 with MCI aged 18 to 100 years from 55 studies. MAIN OUTCOMES AND MEASURES Prevalence of amyloid pathology on positron emission tomography or in cerebrospinal fluid according to AD risk factors (age, apolipoprotein E [APOE] genotype, sex, and education) estimated by generalized estimating equations. RESULTS The prevalence of amyloid pathology increased from age 50 to 90 years from 10% (95% CI, 8%-13%) to 44% (95% CI, 37%-51%) among participants with normal cognition; from 12% (95% CI, 8%-18%) to 43% (95% CI, 32%-55%) among patients with SCI; and from 27% (95% CI, 23%-32%) to 71% (95% CI, 66%-76%) among patients with MCI. APOE-ε4 carriers had 2 to 3 times higher prevalence estimates than noncarriers. The age at which 15% of the participants with normal cognition were amyloid positive was approximately 40 years for APOEε4ε4 carriers, 50 years for ε2ε4 carriers, 55 years for ε3ε4 carriers, 65 years for ε3ε3 carriers, and 95 years for ε2ε3 carriers. Amyloid positivity was more common in highly educated participants but not associated with sex or biomarker modality. CONCLUSIONS AND RELEVANCE Among persons without dementia, the prevalence of cerebral amyloid pathology as determined by positron emission tomography or cerebrospinal fluid findings was associated with age, APOEgenotype, and presence of cognitive impairment. These findings suggest a 20- to 30-year interval between first development of amyloid positivity and onset of dementia. PMID:25988462

Anti-Brownian ELectrokinetic (ABEL) Trapping of Single High Density Lipoprotein (HDL) Particles

NASA Astrophysics Data System (ADS)

Bockenhauer, Samuel; Furstenberg, Alexandre; Wang, Quan; Devree, Brian; Jie Yao, Xiao; Bokoch, Michael; Kobilka, Brian; Sunahara, Roger; Moerner, W. E.

2010-03-01

The ABEL trap is a novel device for trapping single biomolecules in solution for extended observation. The trap estimates the position of a fluorescently-labeled object as small as ˜10 nm in solution and then applies a feedback electrokinetic drift every 20 us to trap the object by canceling its Brownian motion. We use the ABEL trap to study HDL particles at the single-copy level. HDL particles, essential in regulation of ``good'' cholesterol in humans, comprise a small (˜10 nm) lipid bilayer disc bounded by a belt of apolipoproteins. By engineering HDL particles with single fluorescent donor/acceptor probes and varying lipid compositions, we are working to study lipid diffusion on small length scales. We also use HDL particles as hosts for single transmembrane receptors, which should enable study of receptor conformational dynamics on long timescales.

Multi-objective optimization in quantum parameter estimation

NASA Astrophysics Data System (ADS)

Gong, BeiLi; Cui, Wei

2018-04-01

We investigate quantum parameter estimation based on linear and Kerr-type nonlinear controls in an open quantum system, and consider the dissipation rate as an unknown parameter. We show that while the precision of parameter estimation is improved, it usually introduces a significant deformation to the system state. Moreover, we propose a multi-objective model to optimize the two conflicting objectives: (1) maximizing the Fisher information, improving the parameter estimation precision, and (2) minimizing the deformation of the system state, which maintains its fidelity. Finally, simulations of a simplified ɛ-constrained model demonstrate the feasibility of the Hamiltonian control in improving the precision of the quantum parameter estimation.

Adherence to and effectiveness of highly active antiretroviral treatment for HIV infection: assessing the bidirectional relationship.

PubMed

Lamiraud, Karine; Moatti, Jean-Paul; Raffi, François; Carrieri, Maria-Patrizia; Protopopescu, Camelia; Michelet, Christian; Schneider, Luminita; Collin, Fideline; Leport, Catherine; Spire, Bruno

2012-05-01

It is well established that high adherence to HIV-infected patients on highly active antiretroviral treatment (HAART) is a major determinant of virological and immunologic success. Furthermore, psychosocial research has identified a wide range of adherence factors including patients' subjective beliefs about the effectiveness of HAART. Current statistical approaches, mainly based on the separate identification either of factors associated with treatment effectiveness or of those associated with adherence, fail to properly explore the true relationship between adherence and treatment effectiveness. Adherence behavior may be influenced not only by perceived benefits-which are usually the focus of related studies-but also by objective treatment benefits reflected in biological outcomes. Our objective was to assess the bidirectional relationship between adherence and response to treatment among patients enrolled in the ANRS CO8 APROCO-COPILOTE study. We compared a conventional statistical approach based on the separate estimations of an adherence and an effectiveness equation to an econometric approach using a 2-equation simultaneous system based on the same 2 equations. Our results highlight a reciprocal relationship between adherence and treatment effectiveness. After controlling for endogeneity, adherence was positively associated with treatment effectiveness. Furthermore, CD4 count gain after baseline was found to have a positive significant effect on adherence at each observation period. This immunologic parameter was not significant when the adherence equation was estimated separately. In the 2-equation model, the covariances between disturbances of both equations were found to be significant, thus confirming the statistical appropriacy of studying adherence and treatment effectiveness jointly. Our results, which suggest that positive biological results arising as a result of high adherence levels, in turn reinforce continued adherence and strengthen the argument that patients who do not experience rapid improvement in their immunologic and clinical statuses after HAART initiation should be prioritized when developing adherence support interventions. Furthermore, they invalidate the hypothesis that HAART leads to "false reassurance" among HIV-infected patients.

The spatiotemporal association of non-prescription retail sales with cases during the 2009 influenza pandemic in Great Britain

PubMed Central

Todd, Stacy; Diggle, Peter J; White, Peter J; Fearne, Andrew; Read, Jonathan M

2014-01-01

Objective To assess whether retail sales of non-prescription products can be used for syndromic surveillance and whether it can detect influenza activity at different spatial scales. A secondary objective was to assess whether changes in purchasing behaviour were related to public health advice or levels of media or public interest. Setting The UK. Participants National and regional influenza case estimates and retail sales from a major British supermarket. Outcome measures Weekly, seasonally adjusted sales of over-the-counter symptom remedies and non-pharmaceutical products; recommended as part of the advice offered by public health agencies; were compared with weekly influenza case estimates. Comparisons were made at national and regional spatial resolutions. We also compared sales to national measures of contemporaneous media output and public interest (Internet search volume) related to the pandemic. Results At a national scale there was no significant correlation between retail sales of symptom remedies and cases for the whole pandemic period in 2009. At the regional scale, a minority of regions showed statistically significant positive correlations between cases and sales of adult ‘cold and flu’ remedies and cough remedies (3.2%, 5/156, 3.8%, 6/156), but a greater number of regions showed a significant positive correlation between cases and symptomatic remedies for children (35.6%, 55/156). Significant positive correlations between cases and sales of thermometers and antiviral hand gels/wash were seen at both spatial scales (Cor 0.477 (95% CI 0.171 to 0.699); 0.711 (95% CI 0.495 to 0.844)). We found no significant association between retail sales and media reporting or Internet search volume. Conclusions This study provides evidence that the British public responded appropriately to health messaging about hygiene. Non-prescription retail sales at a national level are not useful for the detection of cases. However, at finer spatial scales, in particular age-groups, retail sales may help augment existing surveillance and merit further study. PMID:24780494

Structured pedigree information for distributed fusion systems

NASA Astrophysics Data System (ADS)

Arambel, Pablo O.

2008-04-01

One of the most critical challenges in distributed data fusion is the avoidance of information double counting (also called "data incest" or "rumor propagation"). This occurs when a node in a network incorporates information into an estimate - e.g. the position of an object - and the estimate is injected into the network. Other nodes fuse this estimate with their own estimates, and continue to propagate estimates through the network. When the first node receives a fused estimate from the network, it does not know if it already contains its own contributions or not. Since the correlation between its own estimate and the estimate received from the network is not known, the node can not fuse the estimates in an optimal way. If it assumes that both estimates are independent from each other, it unknowingly double counts the information that has already being used to obtain the two estimates. This leads to overoptimistic error covariance matrices. If the double-counting is not kept under control, it may lead to serious performance degradation. Double counting can be avoided by propagating uniquely tagged raw measurements; however, that forces each node to process all the measurements and precludes the propagation of derived information. Another approach is to fuse the information using the Covariance Intersection (CI) equations, which maintain consistent estimates irrespective of the cross-correlation among estimates. However, CI does not exploit pedigree information of any kind. In this paper we present an approach that propagates multiple covariance matrices, one for each uncorrelated source in the network. This is a way to compress the pedigree information and avoids the need to propagate raw measurements. The approach uses a generalized version of the Split CI to fuse different estimates with appropriate weights to guarantee the consistency of the estimates.

Evaluation of ADCP apparent bed load velocity in a large sand-bed river: Moving versus stationary boat conditions

USGS Publications Warehouse

Jamieson, E.C.; Rennie, C.D.; Jacobson, R.B.; Townsend, R.D.

2011-01-01

Detailed mapping of bathymetry and apparent bed load velocity using a boat-mounted acoustic Doppler current profiler (ADCP) was carried out along a 388-m section of the lower Missouri River near Columbia, Missouri. Sampling transects (moving boat) were completed at 5- and 20-m spacing along the study section. Stationary (fixed-boat) measurements were made by maintaining constant boat position over a target point where the position of the boat did not deviate more than 3 m in any direction. For each transect and stationary measurement, apparent bed load velocity (vb) was estimated using ADCP bottom tracking data and high precision real-time kinematic (RTK) global positioning system (GPS). The principal objectives of this research are to (1) determine whether boat motion introduces a bias in apparent bed load velocity measurements; and (2) evaluate the reliability of ADCP bed velocity measurements for a range of sediment transport environments. Results indicate that both high transport (vb>0.6 m/s) and moving-boat conditions (for both high and low transport environments) increase the relative variability in estimates of mean bed velocity. Despite this, the spatially dense single-transect measurements were capable of producing detailed bed velocity maps that correspond closely with the expected pattern of sediment transport over large dunes. ?? 2011 American Society of Civil Engineers.

Cost of Tuberculosis Treatment: Evidence from Iran’s Health System

PubMed Central

Bay, Vahid; Tabarsi, Payam; Rezapour, Aziz; Marzban, Sima; Zarei, Ehsan

2017-01-01

Objectives This study aimed to estimate the cost of smear-positive drug-susceptible pulmonary tuberculosis (TB) treatment of the patients in the Azadshahr district, Golestan Province, Iran. Methods In this retrospective study, all new smear positive pulmonary TB patients who had been registered at the district’s health network between April, 2013 and December, 2015 and had successfully completed their treatment were entered into the study (45 patients). Treatment costs were estimated from the provider’s perspective using an activity-based costing (ABC) method. Results The cost of treating a new smear-positive pulmonary TB patient was US dollar (USD) 1,409.00 (Iranian Rial, 39,438,260), which can be divided into direct and indirect costs (USD 1,226.00 [87%] and USD 183.00 [13%], respectively). The highest cost (58.1%) was related to care and management of TB patients (including 46.1% human resources costs and 12% directly-observed treatment, short course implementation) and then respectively related to hospitalization (12.1%), supportive activity centers (11.4%), transportation (6.5%), medicines (5.3%), and laboratory tests and radiography (3.2%). Conclusion Using disease-specific cost studies can help the healthcare system management to have correct insight into the financial burden created by the disease. This can subsequently be used in prioritization, planning, operational budgeting, economic evaluation of programs, interventions, and ultimately in disease management. PMID:29164047

On the relationship between land surface infrared emissivity and soil moisture

NASA Astrophysics Data System (ADS)

Zhou, Daniel K.; Larar, Allen M.; Liu, Xu

2018-01-01

The relationship between surface infrared (IR) emissivity and soil moisture content has been investigated based on satellite measurements. Surface soil moisture content can be estimated by IR remote sensing, namely using the surface parameters of IR emissivity, temperature, vegetation coverage, and soil texture. It is possible to separate IR emissivity from other parameters affecting surface soil moisture estimation. The main objective of this paper is to examine the correlation between land surface IR emissivity and soil moisture. To this end, we have developed a simple yet effective scheme to estimate volumetric soil moisture (VSM) using IR land surface emissivity retrieved from satellite IR spectral radiance measurements, assuming those other parameters impacting the radiative transfer (e.g., temperature, vegetation coverage, and surface roughness) are known for an acceptable time and space reference location. This scheme is applied to a decade of global IR emissivity data retrieved from MetOp-A infrared atmospheric sounding interferometer measurements. The VSM estimated from these IR emissivity data (denoted as IR-VSM) is used to demonstrate its measurement-to-measurement variations. Representative 0.25-deg spatially-gridded monthly-mean IR-VSM global datasets are then assembled to compare with those routinely provided from satellite microwave (MW) multisensor measurements (denoted as MW-VSM), demonstrating VSM spatial variations as well as seasonal-cycles and interannual variability. Initial positive agreement is shown to exist between IR- and MW-VSM (i.e., R2 = 0.85). IR land surface emissivity contains surface water content information. So, when IR measurements are used to estimate soil moisture, this correlation produces results that correspond with those customarily achievable from MW measurements. A decade-long monthly-gridded emissivity atlas is used to estimate IR-VSM, to demonstrate its seasonal-cycle and interannual variation, which is spatially coherent and consistent with that from MW measurements, and, moreover, to achieve our objective of investigating the relationship between land surface IR emissivity and soil moisture.

Distance biases in the estimation of the physical properties of Hi-GAL compact sources - I. Clump properties and the identification of high-mass star-forming candidates

NASA Astrophysics Data System (ADS)

Baldeschi, Adriano; Elia, D.; Molinari, S.; Pezzuto, S.; Schisano, E.; Gatti, M.; Serra, A.; Merello, M.; Benedettini, M.; Di Giorgio, A. M.; Liu, J. S.

2017-04-01

The degradation of spatial resolution in star-forming regions, observed at large distances (d ≳ 1 kpc) with Herschel, can lead to estimates of the physical parameters of the detected compact sources (clumps), which do not necessarily mirror the properties of the original population of cores. This paper aims at quantifying the bias introduced in the estimation of these parameters by the distance effect. To do so, we consider Herschel maps of nearby star-forming regions taken from the Herschel Gould Belt survey, and simulate the effect of increased distance to understand what amount of information is lost when a distant star-forming region is observed with Herschel resolution. In the maps displaced to different distances we extract compact sources, and we derive their physical parameters as if they were original Herschel infrared Galactic Plane Survey maps of the extracted source samples. In this way, we are able to discuss how the main physical properties change with distance. In particular, we discuss the ability of clumps to form massive stars: we estimate the fraction of distant sources that are classified as high-mass stars-forming objects due to their position in the mass versus radius diagram, that are only 'false positives'. We also give a threshold for high-mass star formation M>1282 (r/ [pc])^{1.42} M_{⊙}. In conclusion, this paper provides the astronomer dealing with Herschel maps of distant star-forming regions with a set of prescriptions to partially recover the character of the core population in unresolved clumps.

Enhanced Positioning Algorithm of ARPS for Improving Accuracy and Expanding Service Coverage

PubMed Central

Lee, Kyuman; Baek, Hoki; Lim, Jaesung

2016-01-01

The airborne relay-based positioning system (ARPS), which employs the relaying of navigation signals, was proposed as an alternative positioning system. However, the ARPS has limitations, such as relatively large vertical error and service restrictions, because firstly, the user position is estimated based on airborne relays that are located in one direction, and secondly, the positioning is processed using only relayed navigation signals. In this paper, we propose an enhanced positioning algorithm to improve the performance of the ARPS. The main idea of the enhanced algorithm is the adaptable use of either virtual or direct measurements of reference stations in the calculation process based on the structural features of the ARPS. Unlike the existing two-step algorithm for airborne relay and user positioning, the enhanced algorithm is divided into two cases based on whether the required number of navigation signals for user positioning is met. In the first case, where the number of signals is greater than four, the user first estimates the positions of the airborne relays and its own initial position. Then, the user position is re-estimated by integrating a virtual measurement of a reference station that is calculated using the initial estimated user position and known reference positions. To prevent performance degradation, the re-estimation is performed after determining its requirement through comparing the expected position errors. If the navigation signals are insufficient, such as when the user is outside of airborne relay coverage, the user position is estimated by additionally using direct signal measurements of the reference stations in place of absent relayed signals. The simulation results demonstrate that a higher accuracy level can be achieved because the user position is estimated based on the measurements of airborne relays and a ground station. Furthermore, the service coverage is expanded by using direct measurements of reference stations for user positioning. PMID:27529252

Enhanced Positioning Algorithm of ARPS for Improving Accuracy and Expanding Service Coverage.

PubMed

Lee, Kyuman; Baek, Hoki; Lim, Jaesung

2016-08-12

The airborne relay-based positioning system (ARPS), which employs the relaying of navigation signals, was proposed as an alternative positioning system. However, the ARPS has limitations, such as relatively large vertical error and service restrictions, because firstly, the user position is estimated based on airborne relays that are located in one direction, and secondly, the positioning is processed using only relayed navigation signals. In this paper, we propose an enhanced positioning algorithm to improve the performance of the ARPS. The main idea of the enhanced algorithm is the adaptable use of either virtual or direct measurements of reference stations in the calculation process based on the structural features of the ARPS. Unlike the existing two-step algorithm for airborne relay and user positioning, the enhanced algorithm is divided into two cases based on whether the required number of navigation signals for user positioning is met. In the first case, where the number of signals is greater than four, the user first estimates the positions of the airborne relays and its own initial position. Then, the user position is re-estimated by integrating a virtual measurement of a reference station that is calculated using the initial estimated user position and known reference positions. To prevent performance degradation, the re-estimation is performed after determining its requirement through comparing the expected position errors. If the navigation signals are insufficient, such as when the user is outside of airborne relay coverage, the user position is estimated by additionally using direct signal measurements of the reference stations in place of absent relayed signals. The simulation results demonstrate that a higher accuracy level can be achieved because the user position is estimated based on the measurements of airborne relays and a ground station. Furthermore, the service coverage is expanded by using direct measurements of reference stations for user positioning.

A Methodology for Using Workforce Data to Decide Which Specialties and States to Target for Graduate Medical Education Expansion.

PubMed

Fraher, Erin P; Knapton, Andy; Holmes, George M

2017-02-01

To outline a methodology for allocating graduate medical education (GME) training positions based on data from a workforce projection model. Demand for visits is derived from the Medical Expenditure Panel Survey and Census data. Physician supply, retirements, and geographic mobility are estimated using concatenated AMA Masterfiles and ABMS certification data. The number and specialization behaviors of residents are derived from the AAMC's GMETrack survey. We show how the methodology could be used to allocate 3,000 new GME slots over 5 years-15,000 total positions-by state and specialty to address workforce shortages in 2026. We use the model to identify shortages for 19 types of health care services provided by 35 specialties in 50 states. The new GME slots are allocated to nearly all specialties, but nine states and the District of Columbia do not receive any new positions. This analysis illustrates an objective, evidence-based methodology for allocating GME positions that could be used as the starting point for discussions about GME expansion or redistribution. © Health Research and Educational Trust.

Predicting students' physical activity and health-related well-being: a prospective cross-domain investigation of motivation across school physical education and exercise settings.

PubMed

Standage, Martyn; Gillison, Fiona B; Ntoumanis, Nikos; Treasure, Darren C

2012-02-01

A three-wave prospective design was used to assess a model of motivation guided by self-determination theory (Ryan & Deci, 2008) spanning the contexts of school physical education (PE) and exercise. The outcome variables examined were health-related quality of life (HRQoL), physical self-concept (PSC), and 4 days of objectively assessed estimates of activity. Secondary school students (n = 494) completed questionnaires at three separate time points and were familiarized with how to use a sealed pedometer. Results of structural equation modeling supported a model in which perceptions of autonomy support from a PE teacher positively predicted PE-related need satisfaction (autonomy, competence, and relatedness). Competence predicted PSC, whereas relatedness predicted HRQoL. Autonomy and competence positively predicted autonomous motivation toward PE, which in turn positively predicted autonomous motivation toward exercise (i.e., 4-day pedometer step count). Autonomous motivation toward exercise positively predicted step count, HRQoL, and PSC. Results of multisample structural equation modeling supported gender invariance. Suggestions for future work are discussed.

Development of an inverse distance weighted active infrared stealth scheme using the repulsive particle swarm optimization algorithm.

PubMed

Han, Kuk-Il; Kim, Do-Hwi; Choi, Jun-Hyuk; Kim, Tae-Kuk

2018-04-20

Treatments for detection by infrared (IR) signals are higher than for other signals such as radar or sonar because an object detected by the IR sensor cannot easily recognize its detection status. Recently, research for actively reducing IR signal has been conducted to control the IR signal by adjusting the surface temperature of the object. In this paper, we propose an active IR stealth algorithm to synchronize IR signals from the object and the background around the object. The proposed method includes the repulsive particle swarm optimization statistical optimization algorithm to estimate the IR stealth surface temperature, which will result in a synchronization between the IR signals from the object and the surrounding background by setting the inverse distance weighted contrast radiant intensity (CRI) equal to zero. We tested the IR stealth performance in mid wavelength infrared (MWIR) and long wavelength infrared (LWIR) bands for a test plate located at three different positions on a forest scene to verify the proposed method. Our results show that the inverse distance weighted active IR stealth technique proposed in this study is proved to be an effective method for reducing the contrast radiant intensity between the object and background up to 32% as compared to the previous method using the CRI determined as the simple signal difference between the object and the background.

[Determine the patient's position towards psychiatric care: a simple tool to estimate the alliance and the motivation].

PubMed

Versaevel, C; Samama, D; Jeanson, R; Lajugie, C; Dufeutrel, L; Defromont, L; Lebouteiller, V; Danel, T; Duhamel, A; Genin, M; Salleron, J; Cottencin, O

2013-09-01

For the brief systemic therapy (BST), the evaluation of the patient's position towards the care is a prerequisite to psychotherapy. Three positions of the patient are described. The "tourist's" position: the patient claims to have no problem and doesn't suffer. Someone asks him to make an appointment, sometimes with threats. The "complaint's" position: the patient claims to suffer, but attributes the responsibility of this suffering to others. These two positions are not good for beginning a therapy. The "customer's" position differs from both previous positions. The "customer" considers that he has a psychological problem which depends on him and he is motivated in the resolution of it. In theory, the "customer" is more motivated and the therapeutic alliance is better. It is for this reason that the BST estimates the position of the patient at first, to bring the patient to the "customer's" position. The objective of this study is to assess an interview which identifies the patient's position towards the care, and to validate the theoretical elaborations of the brief systemic therapy. The study concerns the follow-up of outpatients who consult a psychiatrist for the first time. The evaluation of the patients checks their position towards care using the Tourist-Complaint-Customer (TCC) inventory, how they suffer, the therapeutic alliance (scale Haq-2) and the compliance during care. The evaluation by the psychiatrists checks the suffering perceived, the motivation perceived and the diagnoses according to the DSM. The typology of these patients is made up of one half "complaint", a quarter of "tourist" and a quarter of "customer". The "customer's" position is correlated with the therapeutic alliance and the motivation perceived by the psychiatrist. The motivation perceived by the psychiatrist is correlated with the therapeutic alliance. These results correspond to the theoretical elaborations of the BST. the TCC inventory provides information on the motivation and the therapeutic alliance. If the patient is in "tourist" or "complaint" position, we recommend that the psychiatrist "work" to bring the patient to "customer" position. The evaluation of the position of the patient is simple and rich in information. We recommend that it be given a place in the daily practice of psychiatry. Copyright © 2013 L’Encéphale, Paris. Published by Elsevier Masson SAS. All rights reserved.

Kepler Certified False Positive Table

NASA Technical Reports Server (NTRS)

Bryson, Stephen T.; Batalha, Natalie Marie; Colon, Knicole Dawn; Coughlin, Jeffrey Langer; Haas, Michael R.; Henze, Chris; Huber, Daniel; Morton, Tim; Rowe, Jason Frank; Mullally, Susan Elizabeth;

Method and apparatus for hybrid position/force control of multi-arm cooperating robots

NASA Technical Reports Server (NTRS)

Hayati, Samad A. (Inventor)

1989-01-01

Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object to be moved plus the mass of the moveable arms that are rigidly attached to the moveable object. The arms are driven in a positive way by the hybrid control system to assure that each arm shares in the position/force applied to the object. The burden of actuation is shared by each arm in a non-conflicting way as the arm independently control the position of, and force upon, a designated point on the object.

Endoscopic feature tracking for augmented-reality assisted prosthesis selection in mitral valve repair

NASA Astrophysics Data System (ADS)

Engelhardt, Sandy; Kolb, Silvio; De Simone, Raffaele; Karck, Matthias; Meinzer, Hans-Peter; Wolf, Ivo

2016-03-01

Mitral valve annuloplasty describes a surgical procedure where an artificial prosthesis is sutured onto the anatomical structure of the mitral annulus to re-establish the valve's functionality. Choosing an appropriate commercially available ring size and shape is a difficult decision the surgeon has to make intraoperatively according to his experience. In our augmented-reality framework, digitalized ring models are superimposed onto endoscopic image streams without using any additional hardware. To place the ring model on the proper position within the endoscopic image plane, a pose estimation is performed that depends on the localization of sutures placed by the surgeon around the leaflet origins and punctured through the stiffer structure of the annulus. In this work, the tissue penetration points are tracked by the real-time capable Lucas Kanade optical flow algorithm. The accuracy and robustness of this tracking algorithm is investigated with respect to the question whether outliers influence the subsequent pose estimation. Our results suggest that optical flow is very stable for a variety of different endoscopic scenes and tracking errors do not affect the position of the superimposed virtual objects in the scene, making this approach a viable candidate for annuloplasty augmented reality-enhanced decision support.

School Start Time and Adolescent Sleep Patterns: Results From the US National Comorbidity Survey—Adolescent Supplement

PubMed Central

Paksarian, Diana; Rudolph, Kara E.

2015-01-01

Objectives. We estimated associations between school start time and adolescent weeknight bedtime, weeknight sleep duration, and weekend compensatory sleep and assessed whether associations differ by age, sex, or urbanicity. Methods. We used a subsample of a nationally representative, cross-sectional survey of 7308 students aged 13 to 18 years attending 245 schools to estimate associations of school start time, reported by school principals, with weeknight bedtime and sleep duration and weekend compensatory sleep, reported during adolescent face-to-face interviews. Results. Start time was positively associated with weeknight bedtime. Associations between start time and weeknight sleep duration were nonlinear and were strongest for start times of 8:00 am and earlier. Associations differed by sex and urbanicity, with the strongest association among boys in major metropolitan counties. Start time was negatively associated with sleep duration among boys in nonurban counties. Start time was not associated with weekend compensatory sleep. Conclusions. Positive overall associations between school start time and adolescent sleep duration at the national level support recent policy recommendations for delaying school start times. However, the impact of start time delays may differ by sex and urbanicity. PMID:25973803

Vision-based localization of the center of mass of large space debris via statistical shape analysis

NASA Astrophysics Data System (ADS)

Biondi, G.; Mauro, S.; Pastorelli, S.

2017-08-01

The current overpopulation of artificial objects orbiting the Earth has increased the interest of the space agencies on planning missions for de-orbiting the largest inoperative satellites. Since this kind of operations involves the capture of the debris, the accurate knowledge of the position of their center of mass is a fundamental safety requirement. As ground observations are not sufficient to reach the required accuracy level, this information should be acquired in situ just before any contact between the chaser and the target. Some estimation methods in the literature rely on the usage of stereo cameras for tracking several features of the target surface. The actual positions of these features are estimated together with the location of the center of mass by state observers. The principal drawback of these methods is related to possible sudden disappearances of one or more features from the field of view of the cameras. An alternative method based on 3D Kinematic registration is presented in this paper. The method, which does not suffer of the mentioned drawback, considers a preliminary reduction of the inaccuracies in detecting features by the usage of statistical shape analysis.

Tracking Objects with Networked Scattered Directional Sensors

NASA Astrophysics Data System (ADS)

Plarre, Kurt; Kumar, P. R.

2007-12-01

We study the problem of object tracking using highly directional sensors—sensors whose field of vision is a line or a line segment. A network of such sensors monitors a certain region of the plane. Sporadically, objects moving in straight lines and at a constant speed cross the region. A sensor detects an object when it crosses its line of sight, and records the time of the detection. No distance or angle measurements are available. The task of the sensors is to estimate the directions and speeds of the objects, and the sensor lines, which are unknown a priori. This estimation problem involves the minimization of a highly nonconvex cost function. To overcome this difficulty, we introduce an algorithm, which we call "adaptive basis algorithm." This algorithm is divided into three phases: in the first phase, the algorithm is initialized using data from six sensors and four objects; in the second phase, the estimates are updated as data from more sensors and objects are incorporated. The third phase is an optional coordinated transformation. The estimation is done in an "ad-hoc" coordinate system, which we call "adaptive coordinate system." When more information is available, for example, the location of six sensors, the estimates can be transformed to the "real-world" coordinate system. This constitutes the third phase.

National Athletic Trainers' Association Position Statement: Management of Sport Concussion

PubMed Central

Broglio, Steven P.; Cantu, Robert C.; Gioia, Gerard A.; Guskiewicz, Kevin M.; Kutcher, Jeffrey; Palm, Michael; McLeod, Tamara C. Valovich

2014-01-01

Objective: To provide athletic trainers, physicians, and other health care professionals with best-practice guidelines for the management of sport-related concussions. Background: An estimated 3.8 million concussions occur each year in the United States as a result of sport and physical activity. Athletic trainers are commonly the first medical providers available onsite to identify and evaluate these injuries. Recommendations: The recommendations for concussion management provided here are based on the most current research and divided into sections on education and prevention, documentation and legal aspects, evaluation and return to play, and other considerations. PMID:24601910

Determination of development factors of the construction market

NASA Astrophysics Data System (ADS)

Kozlova, Olga

2017-10-01

Field of housing construction constantly needs measures of business climate improvement. Provision of housing for citizens remains relatively low. Recently, state has been developing a new set of measures for shared-equity construction improvement. This area has a particular significance and scales for our country. Number of defrauded shareholders in the past allows estimate scales of losses both in the form of unfinished objects in the past and reputation losses of this direction of construction. This article proposes measures which are designed to form an informational base for forecasts of the development of construction and provide a positive result from the applied measures.

iss034e067585

NASA Image and Video Library

2013-03-12

ISS034-E-067585 (12 March 2013) --- Inside the Japan Aerospace Exploration Agency's (JAXA) Kibo lab on the Earth-orbiting International Space Station, NASA astronaut Kevin Ford, Expedition 34 commander, conducts a session of the ongoing SPHERES-VERTIGO investigation. SPHERES stands for Synchronized Position Hold, Engage, Reorient Experimental Satellites. Each satellite is an 18-sided polyhedron that is 0.2 meter in diameter and weighs 3.5 kilograms. The prism-shaped device (called Goggles) which is easily seen hooked up to the polyhedron on the right in this picture is called Visual Estimation and Relative Tracking for Inspection of Generic Objects (VERTIGO).

Marshburn conducts the SPHERES VERTIGO Experiment in the JPM

NASA Image and Video Library

2013-02-26

ISS034-E-056096 (26 Feb. 2013) --- Inside the Japan Aerospace Exploration Agency's (JAXA) Kibo lab on the Earth-orbiting International Space Station, NASA astronaut Tom Marshburn conducts a session of the ongoing SPHERES-VERTIGO investigation. SPHERES stands for Synchronized Position Hold, Engage, Reorient Experimental Satellites. Each satellite is an 18-sided polyhedron that is 0.2 meter in diameter and weighs 3.5 kilograms. The prism-shaped device (called Goggles) which is hooked up to the red or forward-most polyhedron in the picture is called Visual Estimation and Relative Tracking for Inspection of Generic Objects (VERTIGO).

Marshburn conducts the SPHERES VERTIGO Experiment in the JPM

NASA Image and Video Library

2013-02-26

ISS034-E-056100 (26 Feb. 2013) --- Inside the Japan Aerospace Exploration Agency's (JAXA) Kibo lab on the Earth-orbiting International Space Station, NASA astronaut Tom Marshburn conducts a session of the ongoing SPHERES-VERTIGO investigation. SPHERES stands for Synchronized Position Hold, Engage, Reorient Experimental Satellites. Each satellite is an 18-sided polyhedron that is 0.2 meter in diameter and weighs 3.5 kilograms. The prism-shaped device (called Goggles) which is hooked up to the red or forward-most polyhedron in the picture is called Visual Estimation and Relative Tracking for Inspection of Generic Objects (VERTIGO).

Advanced LIGO low-latency searches

NASA Astrophysics Data System (ADS)

Kanner, Jonah; LIGO Scientific Collaboration, Virgo Collaboration

2016-06-01

Advanced LIGO recently made the first detection of gravitational waves from merging binary black holes. The signal was first identified by a low-latency analysis, which identifies gravitational-wave transients within a few minutes of data collection. More generally, Advanced LIGO transients are sought with a suite of automated tools, which collectively identify events, evaluate statistical significance, estimate source position, and attempt to characterize source properties. This low-latency effort is enabling a broad multi-messenger approach to the science of compact object mergers and other transients. This talk will give an overview of the low-latency methodology and recent results.

2D and 3D Terahertz Imaging and X-Rays CT for Sigillography Study

NASA Astrophysics Data System (ADS)

Fabre, M.; Durand, R.; Bassel, L.; Recur, B.; Balacey, H.; Bou Sleiman, J.; Perraud, J.-B.; Mounaix, P.

2017-04-01

Seals are part of our cultural heritage but the study of these objects is limited because of their fragility. Terahertz and X-Ray imaging are used to analyze a collection of wax seals from the fourteenth to eighteenth centuries. In this work, both techniques are compared in order to discuss their advantages and limits and their complementarity for conservation state study of the samples. Thanks to 3D analysis and reconstructions, defects and fractures are detected with an estimation of their depth position. The path from the parchment tongue inside the seals is also detected.

Dietary, anthropometric, and biochemical factors influencing plasma choline, carnitine, trimethylamine, and trimethylamine-N-oxide concentrations.

PubMed

Malinowska, Anna M; Szwengiel, Artur; Chmurzynska, Agata

2017-06-01

The objective of the study was to evaluate the nutritional, anthropometric, and biochemical factors that influence choline, l-carnitine, trimethylamine (TMA), and trimethylamine-N-oxide (TMAO) metabolism in elderly women. The volunteers' diet was assessed using a food frequency questionnaire. Dietary patterns were estimated using a self-established score method. Body mass index (BMI), serum glucose, total, HDL, LDL cholesterol, triacylglycerol, homocysteine (tHcy), free choline (fchol), L-carnitine, TMA, and TMAO were assessed. Higher concentrations of l-carnitine, fchol, and TMAO were found in those women who had more western-style dietary patterns. Nor choline or betaine intake affected plasma fchol, TMA, or TMAO. BMI was positively correlated with fchol and TMA. tHcy was positively correlated with fchol, TMA, and TMAO, while fchol was also positively correlated with TMA and TMAO. Dietary patterns and plasma tHcy concentration influence fchol, TMA, and TMAO plasma concentration. Plasma TMA and fchol may be associated with BMI.

Measurement of hemodynamics during postural changes using a new wearable cephalic laser blood flowmeter.

PubMed

Fujikawa, Tetsuya; Tochikubo, Osamu; Kura, Naoki; Kiyokura, Takanori; Shimada, Junichi; Umemura, Satoshi

2009-10-01

Patients with orthostatic hypotension have pathologic hemodynamics related to changes in body posture. A new cephalic laser blood flowmeter that can be worn on the tragus to investigate the hemodynamics upon rising from a sitting or squatting posture was developed. The relationship between cephalic hemodynamics and cerebral ischemic symptoms in 63 subjects in a sitting, squatting, and standing positions using the new device was evaluated. Transient decrease in blood pressure within 15 s after rising to an erect position possibly causes dizziness, syncope, and fall. Subjects exhibiting dizziness upon standing showed a significant decrease in the cephalic blood flow (CBF) and indirect beat-to-beat systolic blood pressure, as monitored by the Finometer, and a significant correlation was observed between the drop ratio (drop value on rising/mean value in the squatting position) of CBF and that of systolic blood pressure. This new wearable CBF-meter is potentially useful for estimating cephalic hemodynamics and objectively diagnosing cerebral ischemic symptoms of subjects in a standing posture.

Comparison of Oculus Rift and HTC Vive: Feasibility for Virtual Reality-Based Exploration, Navigation, Exergaming, and Rehabilitation.

PubMed

Borrego, Adrián; Latorre, Jorge; Alcañiz, Mariano; Llorens, Roberto

2018-06-01

The latest generation of head-mounted displays (HMDs) provides built-in head tracking, which enables estimating position in a room-size setting. This feature allows users to explore, navigate, and move within real-size virtual environments, such as kitchens, supermarket aisles, or streets. Previously, these actions were commonly facilitated by external peripherals and interaction metaphors. The objective of this study was to compare the Oculus Rift and the HTC Vive in terms of the working range of the head tracking and the working area, accuracy, and jitter in a room-size environment, and to determine their feasibility for serious games, rehabilitation, and health-related applications. The position of the HMDs was registered in a 10 × 10 grid covering an area of 25 m 2 at sitting (1.3 m) and standing (1.7 m) heights. Accuracy and jitter were estimated from positional data. The working range was estimated by moving the HMDs away from the cameras until no data were obtained. The HTC Vive provided a working area (24.87 m 2 ) twice as large as that of the Oculus Rift. Both devices showed excellent and comparable performance at sitting height (accuracy up to 1 cm and jitter <0.35 mm), and the HTC Vive presented worse but still excellent accuracy and jitter at standing height (accuracy up to 1.5 cm and jitter <0.5 mm). The HTC Vive presented a larger working range (7 m) than did the Oculus Rift (4.25 m). Our results support the use of these devices for real navigation, exploration, exergaming, and motor rehabilitation in virtual reality environments.

A preliminary study for determination of three-dimensional root apex position of the maxillary teeth using camera calibration technology

PubMed Central

Oh, Hyun Jun; Yang, Il-Hyung

2016-01-01

Objectives: To propose a novel method for determining the three-dimensional (3D) root apex position of maxillary teeth using a two-dimensional (2D) panoramic radiograph image and a 3D virtual maxillary cast model. Methods: The subjects were 10 adult orthodontic patients treated with non-extraction. The multiple camera matrices were used to define transformative relationships between tooth images of the 2D panoramic radiographs and the 3D virtual maxillary cast models. After construction of the root apex-specific projective (RASP) models, overdetermined equations were used to calculate the 3D root apex position with a direct linear transformation algorithm and the known 2D co-ordinates of the root apex in the panoramic radiograph. For verification of the estimated 3D root apex position, the RASP and 3D-CT models were superimposed using a best-fit method. Then, the values of estimation error (EE; mean, standard deviation, minimum error and maximum error) between the two models were calculated. Results: The intraclass correlation coefficient values exhibited good reliability for the landmark identification. The mean EE of all root apices of maxillary teeth was 1.88 mm. The EE values, in descending order, were as follows: canine, 2.30 mm; first premolar, 1.93 mm; second premolar, 1.91 mm; first molar, 1.83 mm; second molar, 1.82 mm; lateral incisor, 1.80 mm; and central incisor, 1.53 mm. Conclusions: Camera calibration technology allows reliable determination of the 3D root apex position of maxillary teeth without the need for 3D-CT scan or tooth templates. PMID:26317151

Assessing environmental DNA detection in controlled lentic systems.

PubMed

Moyer, Gregory R; Díaz-Ferguson, Edgardo; Hill, Jeffrey E; Shea, Colin

2014-01-01

Little consideration has been given to environmental DNA (eDNA) sampling strategies for rare species. The certainty of species detection relies on understanding false positive and false negative error rates. We used artificial ponds together with logistic regression models to assess the detection of African jewelfish eDNA at varying fish densities (0, 0.32, 1.75, and 5.25 fish/m3). Our objectives were to determine the most effective water stratum for eDNA detection, estimate true and false positive eDNA detection rates, and assess the number of water samples necessary to minimize the risk of false negatives. There were 28 eDNA detections in 324, 1-L, water samples collected from four experimental ponds. The best-approximating model indicated that the per-L-sample probability of eDNA detection was 4.86 times more likely for every 2.53 fish/m3 (1 SD) increase in fish density and 1.67 times less likely for every 1.02 C (1 SD) increase in water temperature. The best section of the water column to detect eDNA was the surface and to a lesser extent the bottom. Although no false positives were detected, the estimated likely number of false positives in samples from ponds that contained fish averaged 3.62. At high densities of African jewelfish, 3-5 L of water provided a >95% probability for the presence/absence of its eDNA. Conversely, at moderate and low densities, the number of water samples necessary to achieve a >95% probability of eDNA detection approximated 42-73 and >100 L, respectively. Potential biases associated with incomplete detection of eDNA could be alleviated via formal estimation of eDNA detection probabilities under an occupancy modeling framework; alternatively, the filtration of hundreds of liters of water may be required to achieve a high (e.g., 95%) level of certainty that African jewelfish eDNA will be detected at low densities (i.e., <0.32 fish/m3 or 1.75 g/m3).

Passive RFID Rotation Dimension Reduction via Aggregation

NASA Astrophysics Data System (ADS)

Matthews, Eric

Radio Frequency IDentification (RFID) has applications in object identification, position, and orientation tracking. RFID technology can be applied in hospitals for patient and equipment tracking, stores and warehouses for product tracking, robots for self-localisation, tracking hazardous materials, or locating any other desired object. Efficient and accurate algorithms that perform localisation are required to extract meaningful data beyond simple identification. A Received Signal Strength Indicator (RSSI) is the strength of a received radio frequency signal used to localise passive and active RFID tags. Many factors affect RSSI such as reflections, tag rotation in 3D space, and obstacles blocking line-of-sight. LANDMARC is a statistical method for estimating tag location based on a target tag's similarity to surrounding reference tags. LANDMARC does not take into account the rotation of the target tag. By either aggregating multiple reference tag positions at various rotations, or by determining a rotation value for a newly read tag, we can perform an expected value calculation based on a comparison to the k-most similar training samples via an algorithm called K-Nearest Neighbours (KNN) more accurately. By choosing the average as the aggregation function, we improve the relative accuracy of single-rotation LANDMARC localisation by 10%, and any-rotation localisation by 20%.

Accuracy of Satellite Optical Observations and Precise Orbit Determination

NASA Astrophysics Data System (ADS)

Shakun, L.; Koshkin, N.; Korobeynikova, E.; Strakhova, S.; Dragomiretsky, V.; Ryabov, A.; Melikyants, S.; Golubovskaya, T.; Terpan, S.

The monitoring of low-orbit space objects (LEO-objects) is performed in the Astronomical Observatory of Odessa I.I. Mechnikov National University (Ukraine) for many years. Decades-long archives of these observations are accessible within Ukrainian network of optical observers (UMOS). In this work, we give an example of orbit determination for the satellite with the 1500-km height of orbit based on angular observations in our observatory (Int. No. 086). For estimation of the measurement accuracy and accuracy of determination and propagation of satellite position, we analyze the observations of Ajisai satellite with the well-determined orbit. This allows making justified conclusions not only about random errors of separate measurements, but also to analyze the presence of systematic errors, including external ones to the measurement process. We have shown that the accuracy of one measurement has the standard deviation about 1 arcsec across the track and 1.4 arcsec along the track and systematical shifts in measurements of one track do not exceed 0.45 arcsec. Ajisai position in the interval of the orbit fitting is predicted with accuracy better than 30 m along the orbit and better than 10 m across the orbit for any its point.

Improvement of Vehicle Positioning Using Car-to-Car Communications in Consideration of Communication Delay

NASA Astrophysics Data System (ADS)

Hontani, Hidekata; Higuchi, Yuya

In this article, we propose a vehicle positioning method that can estimate positions of cars even in areas where the GPS is not available. For the estimation, each car measures the relative distance to a car running in front, communicates the measurements with other cars, and uses the received measurements for estimating its position. In order to estimate the position even if the measurements are received with time-delay, we employed the time-delay tolerant Kalman filtering. For sharing the measurements, it is assumed that a car-to-car communication system is used. Then, the measurements sent from farther cars are received with larger time-delay. It follows that the accuracy of the estimates of farther cars become worse. Hence, the proposed method manages only the states of nearby cars to reduce computing effort. The authors simulated the proposed filtering method and found that the proposed method estimates the positions of nearby cars as accurate as the distributed Kalman filtering.

Not Saying I Am Happy Does Not Mean I Am Not: Cultural Influences on Responses to Positive Affect Items in the CES-D

PubMed Central

Kwag, Kyung Hwa; Chiriboga, David A.

2010-01-01

Objectives. Given the emphasis on modesty and self-effacement in Asian societies, the present study explored differential item responses for 2 positive affect items (5 = Hopeful and 8 = Happy) on a short form of the Center for Epidemiologic Studies-Depression scale. The samples consisted of elderly non-Hispanic Whites (n = 450), Korean Americans (n = 519), and Koreans (n = 2,030). Method. Multiple Indicator Multiple Cause models were estimated to identify the impact of group membership on responses to the positive affect items while controlling for the latent trait of depressive symptoms. Results. The data revealed that Koreans and Korean Americans were less likely than non-Hispanic Whites to endorse the positive affect items. Compared with Korean Americans who were more acculturated to mainstream American culture, those who were less acculturated were less likely to endorse the positive affect items. Discussion. Our findings support the notion that the way in which people endorse depressive symptoms is substantially influenced by cultural orientation. These findings call into question the common use of simple mean comparisons and a universal cutoff point across diverse cultural groups. PMID:20660026

Towards Robust Self-Calibration for Handheld 3d Line Laser Scanning

NASA Astrophysics Data System (ADS)

Bleier, M.; Nüchter, A.

2017-11-01

This paper studies self-calibration of a structured light system, which reconstructs 3D information using video from a static consumer camera and a handheld cross line laser projector. Intersections between the individual laser curves and geometric constraints on the relative position of the laser planes are exploited to achieve dense 3D reconstruction. This is possible without any prior knowledge of the movement of the projector. However, inaccurrately extracted laser lines introduce noise in the detected intersection positions and therefore distort the reconstruction result. Furthermore, when scanning objects with specular reflections, such as glossy painted or metalic surfaces, the reflections are often extracted from the camera image as erroneous laser curves. In this paper we investiagte how robust estimates of the parameters of the laser planes can be obtained despite of noisy detections.

VizieR Online Data Catalog: 1876 open clusters multimembership catalog (Sampedro+, 2017)

NASA Astrophysics Data System (ADS)

Sampedro, L.; Dias, W. S.; Alfaro, E. J.; Monteiro, H.; Molino, A.

2017-10-01

We use version 3.5 of the New Optically Visible Open Clusters and Candidates catalogue (hereafter DAML02; Dias et al., 2002, Cat. B/ocl), to select a sample of 2167 open clusters to be analysed. The stellar positions and the proper motions are taken from the UCAC4 (Zacharias et al., 2013, Cat. I/322). The catalogue contains data for over 113 million stars (105 million of them with proper-motion data), and is complete down to magnitude R=16. The positional accuracy of the listed objects is about 15-100mas per coordinate, depending on the magnitude. Formal errors in proper motions range from about 1 to 10mas/yr, depending on the magnitude and the observational history. Systematic errors in the proper motions are estimated to be about 1-4mas/yr. (2 data files).

On-Line Use of Three-Dimensional Marker Trajectory Estimation From Cone-Beam Computed Tomography Projections for Precise Setup in Radiotherapy for Targets With Respiratory Motion

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

Worm, Esben S., E-mail: esbeworm@rm.dk; Department of Medical Physics, Aarhus University Hospital, Aarhus; Hoyer, Morten

2012-05-01

Purpose: To develop and evaluate accurate and objective on-line patient setup based on a novel semiautomatic technique in which three-dimensional marker trajectories were estimated from two-dimensional cone-beam computed tomography (CBCT) projections. Methods and Materials: Seven treatment courses of stereotactic body radiotherapy for liver tumors were delivered in 21 fractions in total to 6 patients by a linear accelerator. Each patient had two to three gold markers implanted close to the tumors. Before treatment, a CBCT scan with approximately 675 two-dimensional projections was acquired during a full gantry rotation. The marker positions were segmented in each projection. From this, the three-dimensionalmore » marker trajectories were estimated using a probability based method. The required couch shifts for patient setup were calculated from the mean marker positions along the trajectories. A motion phantom moving with known tumor trajectories was used to examine the accuracy of the method. Trajectory-based setup was retrospectively used off-line for the first five treatment courses (15 fractions) and on-line for the last two treatment courses (6 fractions). Automatic marker segmentation was compared with manual segmentation. The trajectory-based setup was compared with setup based on conventional CBCT guidance on the markers (first 15 fractions). Results: Phantom measurements showed that trajectory-based estimation of the mean marker position was accurate within 0.3 mm. The on-line trajectory-based patient setup was performed within approximately 5 minutes. The automatic marker segmentation agreed with manual segmentation within 0.36 {+-} 0.50 pixels (mean {+-} SD; pixel size, 0.26 mm in isocenter). The accuracy of conventional volumetric CBCT guidance was compromised by motion smearing ({<=}21 mm) that induced an absolute three-dimensional setup error of 1.6 {+-} 0.9 mm (maximum, 3.2) relative to trajectory-based setup. Conclusions: The first on-line clinical use of trajectory estimation from CBCT projections for precise setup in stereotactic body radiotherapy was demonstrated. Uncertainty in the conventional CBCT-based setup procedure was eliminated with the new method.« less

Are cannabis prevalence estimates comparable across countries and regions? A cross-cultural validation using search engine query data.

PubMed

Steppan, Martin; Kraus, Ludwig; Piontek, Daniela; Siciliano, Valeria

2013-01-01

Prevalence estimation of cannabis use is usually based on self-report data. Although there is evidence on the reliability of this data source, its cross-cultural validity is still a major concern. External objective criteria are needed for this purpose. In this study, cannabis-related search engine query data are used as an external criterion. Data on cannabis use were taken from the 2007 European School Survey Project on Alcohol and Other Drugs (ESPAD). Provincial data came from three Italian nation-wide studies using the same methodology (2006-2008; ESPAD-Italia). Information on cannabis-related search engine query data was based on Google search volume indices (GSI). (1) Reliability analysis was conducted for GSI. (2) Latent measurement models of "true" cannabis prevalence were tested using perceived availability, web-based cannabis searches and self-reported prevalence as indicators. (3) Structure models were set up to test the influences of response tendencies and geographical position (latitude, longitude). In order to test the stability of the models, analyses were conducted on country level (Europe, US) and on provincial level in Italy. Cannabis-related GSI were found to be highly reliable and constant over time. The overall measurement model was highly significant in both data sets. On country level, no significant effects of response bias indicators and geographical position on perceived availability, web-based cannabis searches and self-reported prevalence were found. On provincial level, latitude had a significant positive effect on availability indicating that perceived availability of cannabis in northern Italy was higher than expected from the other indicators. Although GSI showed weaker associations with cannabis use than perceived availability, the findings underline the external validity and usefulness of search engine query data as external criteria. The findings suggest an acceptable relative comparability of national (provincial) prevalence estimates of cannabis use that are based on a common survey methodology. Search engine query data are a too weak indicator to base prevalence estimations on this source only, but in combination with other sources (waste water analysis, sales of cigarette paper) they may provide satisfactory estimates. Copyright © 2012. Published by Elsevier B.V.

Latent class analysis of real time qPCR and bacteriological culturing for the diagnosis of Streptococcus agalactiae in cow composite milk samples.

PubMed

Holmøy, Ingrid H; Toft, Nils; Jørgensen, Hannah J; Mørk, Tormod; Sølverød, Liv; Nødtvedt, Ane

2018-06-01

Streptococcus agalactiae (S. agalactiae) has re-emerged as a mastitis pathogen among Norwegian dairy cows. The Norwegian cattle health services recommend that infected herds implement measures to eradicate S. agalactiae, this includes a screening of milk samples from all lactating cows. The performance of the qPCR-test currently in use for this purpose has not been evaluated under field conditions. The objective of this study was to estimate the sensitivity and specificity of the real-time qPCR assay in use in Norway (Mastitis 4 qPCR, DNA Diagnostics A/S, Risskov, Denmark) and compare it to conventional bacteriological culturing for detection of S. agalactiae in milk samples. Because none of these tests are considered a perfect reference test, the evaluation was performed using latent class models in a Bayesian analysis. Aseptically collected cow-composite milk samples from 578 cows belonging to 6 herds were cultured and tested by qPCR. While 37 (6.4%) samples were positive for S. agalactiae by bacteriological culture, 66 (11.4%) samples were positive by qPCR. The within-herd prevalence in the six herds, as estimated by the latent class models ranged from 7.7 to 50.8%. At the recommended cut-off (cycle threshold 37), the sensitivity of the qPCR was significantly higher at 95.3 (95% posterior probability interval [PPI] [84.2; 99.6]) than that of bacteriological culture at 58.2 (95% PPI [43.8; 74.4]). However, bacterial culture had a higher specificity of 99.7 (95% PPI [98.5; 100.0]) compared to the qPCR at 98.5 (95% PPI [94.6; 99.9]). The median estimated negative predictive values of qPCR was consistently higher than those of the BC at all estimated prevalences, and the superiority of the qPCR increased with increasing within-herd prevalence. The median positive predictive values of BC was in general higher than the estimates for the qPCR, however, at the highest prevalence the predictive ability of both tests were similar. Copyright © 2018 Elsevier B.V. All rights reserved.

An Unscented Kalman-Particle Hybrid Filter for Space Object Tracking

NASA Astrophysics Data System (ADS)

Raihan A. V, Dilshad; Chakravorty, Suman

2018-03-01

Optimal and consistent estimation of the state of space objects is pivotal to surveillance and tracking applications. However, probabilistic estimation of space objects is made difficult by the non-Gaussianity and nonlinearity associated with orbital mechanics. In this paper, we present an unscented Kalman-particle hybrid filtering framework for recursive Bayesian estimation of space objects. The hybrid filtering scheme is designed to provide accurate and consistent estimates when measurements are sparse without incurring a large computational cost. It employs an unscented Kalman filter (UKF) for estimation when measurements are available. When the target is outside the field of view (FOV) of the sensor, it updates the state probability density function (PDF) via a sequential Monte Carlo method. The hybrid filter addresses the problem of particle depletion through a suitably designed filter transition scheme. To assess the performance of the hybrid filtering approach, we consider two test cases of space objects that are assumed to undergo full three dimensional orbital motion under the effects of J 2 and atmospheric drag perturbations. It is demonstrated that the hybrid filters can furnish fast, accurate and consistent estimates outperforming standard UKF and particle filter (PF) implementations.

Hand-Eye Calibration of Robonaut

NASA Technical Reports Server (NTRS)

Nickels, Kevin; Huber, Eric

2004-01-01

NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates.

Perceived shifts of flashed stimuli by visible and invisible object motion.

PubMed

Watanabe, Katsumi; Sato, Takashi R; Shimojo, Shinsuke

2003-01-01

Perceived positions of flashed stimuli can be altered by motion signals in the visual field-position capture (Whitney and Cavanagh, 2000 Nature Neuroscience 3 954-959). We examined whether position capture of flashed stimuli depends on the spatial relationship between moving and flashed stimuli, and whether the phenomenal permanence of a moving object behind an occluding surface (tunnel effect; Michotte 1950 Acta Psychologica 7 293-322) can produce position capture. Observers saw two objects (circles) moving vertically in opposite directions, one in each visual hemifield. Two horizontal bars were simultaneously flashed at horizontally collinear positions with the fixation point at various timings. When the movement of the object was fully visible, the flashed bar appeared shifted in the motion direction of the circle. But this position-capture effect occurred only when the bar was presented ahead of or on the moving circle. Even when the motion trajectory was covered by an opaque surface and the bar was flashed after complete occlusion of the circle, the position-capture effect was still observed, though the positional asymmetry was less clear. These results show that movements of both visible and 'hidden' objects can modulate the perception of positions of flashed stimuli and suggest that a high-level representation of 'objects in motion' plays an important role in the position-capture effect.

An eigenfunction method for reconstruction of large-scale and high-contrast objects.

PubMed

Waag, Robert C; Lin, Feng; Varslot, Trond K; Astheimer, Jeffrey P

2007-07-01

A multiple-frequency inverse scattering method that uses eigenfunctions of a scattering operator is extended to image large-scale and high-contrast objects. The extension uses an estimate of the scattering object to form the difference between the scattering by the object and the scattering by the estimate of the object. The scattering potential defined by this difference is expanded in a basis of products of acoustic fields. These fields are defined by eigenfunctions of the scattering operator associated with the estimate. In the case of scattering objects for which the estimate is radial, symmetries in the expressions used to reconstruct the scattering potential greatly reduce the amount of computation. The range of parameters over which the reconstruction method works well is illustrated using calculated scattering by different objects. The method is applied to experimental data from a 48-mm diameter scattering object with tissue-like properties. The image reconstructed from measurements has, relative to a conventional B-scan formed using a low f-number at the same center frequency, significantly higher resolution and less speckle, implying that small, high-contrast structures can be demonstrated clearly using the extended method.

Foreign object detection and removal to improve automated analysis of chest radiographs

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

Hogeweg, Laurens; Sanchez, Clara I.; Melendez, Jaime

2013-07-15

Purpose: Chest radiographs commonly contain projections of foreign objects, such as buttons, brassier clips, jewellery, or pacemakers and wires. The presence of these structures can substantially affect the output of computer analysis of these images. An automated method is presented to detect, segment, and remove foreign objects from chest radiographs.Methods: Detection is performed using supervised pixel classification with a kNN classifier, resulting in a probability estimate per pixel to belong to a projected foreign object. Segmentation is performed by grouping and post-processing pixels with a probability above a certain threshold. Next, the objects are replaced by texture inpainting.Results: The methodmore » is evaluated in experiments on 257 chest radiographs. The detection at pixel level is evaluated with receiver operating characteristic analysis on pixels within the unobscured lung fields and an A{sub z} value of 0.949 is achieved. Free response operator characteristic analysis is performed at the object level, and 95.6% of objects are detected with on average 0.25 false positive detections per image. To investigate the effect of removing the detected objects through inpainting, a texture analysis system for tuberculosis detection is applied to images with and without pathology and with and without foreign object removal. Unprocessed, the texture analysis abnormality score of normal images with foreign objects is comparable to those with pathology. After removing foreign objects, the texture score of normal images with and without foreign objects is similar, while abnormal images, whether they contain foreign objects or not, achieve on average higher scores.Conclusions: The authors conclude that removal of foreign objects from chest radiographs is feasible and beneficial for automated image analysis.« less

Impedance-estimation methods, modeling methods, articles of manufacture, impedance-modeling devices, and estimated-impedance monitoring systems

DOEpatents

Richardson, John G [Idaho Falls, ID

2009-11-17

An impedance estimation method includes measuring three or more impedances of an object having a periphery using three or more probes coupled to the periphery. The three or more impedance measurements are made at a first frequency. Three or more additional impedance measurements of the object are made using the three or more probes. The three or more additional impedance measurements are made at a second frequency different from the first frequency. An impedance of the object at a point within the periphery is estimated based on the impedance measurements and the additional impedance measurements.

Estimation of Untracked Geosynchronous Population from Short-Arc Angles-Only Observations

NASA Technical Reports Server (NTRS)

Healy, Liam; Matney, Mark

2017-01-01

Telescope observations of the geosynchronous regime will observe two basic types of objects --- objects related to geosynchronous earth orbit (GEO) satellites, and objects in highly elliptical geosynchronous transfer orbits (GTO). Because telescopes only measure angular rates, the GTO can occasionally mimic the motion of GEO objects over short arcs. A GEO census based solely on short arc telescope observations may be affected by these ``interlopers''. A census that includes multiple angular rates can get an accurate statistical estimate of the GTO population, and that then can be used to correct the estimate of the geosynchronous earth orbit population.

Marginal estimator for the aberrations of a space telescope by phase diversity

NASA Astrophysics Data System (ADS)

Blanc, Amandine; Mugnier, Laurent; Idier, Jérôme

2017-11-01

In this communication, we propose a novel method for estimating the aberrations of a space telescope from phase diversity data. The images recorded by such a telescope can be degraded by optical aberrations due to design, fabrication or misalignments. Phase diversity is a technique that allows the estimation of aberrations. The only estimator found in the relevant literature is based on a joint estimation of the aberrated phase and the observed object. We recall this approach and study the behavior of this joint estimator by means of simulations. We propose a novel marginal estimator of the sole phase. it is obtained by integrating the observed object out of the problem; indeed, this object is a nuisance parameter in our problem. This reduces drastically the number of unknown and provides better asymptotic properties. This estimator is implemented and its properties are validated by simulation. its performance is equal or even better than that of the joint estimator for the same computing cost.

Is objectively measured sitting time associated with low back pain? A cross-sectional investigation in the NOMAD study.

PubMed

Gupta, Nidhi; Christiansen, Caroline Stordal; Hallman, David M; Korshøj, Mette; Carneiro, Isabella Gomes; Holtermann, Andreas

2015-01-01

Studies on the association between sitting time and low back pain (LBP) have found contrasting results. This may be due to the lack of objectively measured sitting time or because socioeconomic confounders were not considered in the analysis. To investigate the association between objectively measured sitting time (daily total, and occupational and leisure-time periods) and LBP among blue-collar workers. Two-hundred-and-one blue-collar workers wore two accelerometers (GT3X+ Actigraph) for up to four consecutive working days to obtain objective measures of sitting time, estimated via Acti4 software. Workers reported their LBP intensity the past month on a scale from 0 (no pain) to 9 (worst imaginable pain) and were categorized into either low (≤ 5) or high (> 5) LBP intensity groups. In the multivariate-adjusted binary logistic regression analysis, total sitting time, and occupational and leisure-time sitting were both modeled as continuous (hours/day) and categorical variables (i.e. low, moderate and high sitting time). The multivariate logistic regression analysis showed a significant positive association between total sitting time (per hour) and high LBP intensity (odds ratio; OR = 1.43, 95%CI = 1.15-1.77, P = 0.01). Similar results were obtained for leisure-time sitting (OR = 1.45, 95%CI = 1.10-1.91, P = 0.01), and a similar but non-significant trend was obtained for occupational sitting time (OR = 1.34, 95%CI 0.99-1.82, P = 0.06). In the analysis on categorized sitting time, high sitting time was positively associated with high LBP for total (OR = 3.31, 95%CI = 1.18-9.28, P = 0.03), leisure (OR = 5.31, 95%CI = 1.57-17.90, P = 0.01), and occupational (OR = 3.26, 95%CI = 0.89-11.98, P = 0.08) periods, referencing those with low sitting time. Sitting time is positively associated with LBP intensity among blue-collar workers. Future studies using a prospective design with objective measures of sitting time are recommended.

Support system, excavation arrangement, and process of supporting an object

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

Arnold, Bill W.

2017-08-01

A support system, an excavation arrangement, and a process of supporting an object are disclosed. The support system includes a weight-bearing device and a camming mechanism positioned below the weight-bearing device. A downward force on the weight-bearing device at least partially secures the camming mechanism to opposing surfaces. The excavation arrangement includes a borehole, a support system positioned within and secured to the borehole, and an object positioned on and supported by the support system. The process includes positioning and securing the support system and positioning the object on the weight-bearing device.

Detection and Localization of Subsurface Two-Dimensional Metallic Objects

NASA Astrophysics Data System (ADS)

Meschino, S.; Pajewski, L.; Schettini, G.

2009-04-01

"Roma Tre" University, Applied Electronics Dept.v. Vasca Navale 84, 00146 Rome, Italy Non-invasive identification of buried objects in the near-field of a receiver array is a subject of great interest, due to its application to the remote sensing of the earth's subsurface, to the detection of landmines, pipes, conduits, to the archaeological site characterization, and more. In this work, we present a Sub-Array Processing (SAP) approach for the detection and localization of subsurface perfectly-conducting circular cylinders. We consider a plane wave illuminating the region of interest, which is assumed to be a homogeneous, unlossy medium of unknown permittivity containing one or more targets. In a first step, we partition the receiver array so that the field scattered from the targets result to be locally plane at each sub-array. Then, we apply a Direction of Arrival (DOA) technique to obtain a set of angles for each locally plane wave, and triangulate these directions obtaining a collection of crossing crowding in the expected object locations [1]. We compare several DOA algorithms such as the traditional Bartlett and Capon Beamforming, the Pisarenko Harmonic Decomposition (PHD), the Minimum-Norm method, the Multiple Signal Classification (MUSIC) and the Estimation of Signal Parameters via Rotational Techinque (ESPRIT) [2]. In a second stage, we develop a statistical Poisson based model to manage the crossing pattern in order to extract the probable target's centre position. In particular, if the crossings are Poisson distributed, it is possible to feature two different distribution parameters [3]. These two parameters perform two density rate for the crossings, so that we can previously divide the crossing pattern in a certain number of equal-size windows and we can collect the windows of the crossing pattern with low rate parameters (that probably are background windows) and remove them. In this way we can consider only the high rate parameter windows (that most probably locate the target) and extract the center position of the object. We also consider some other localization-connected aspects. For example how to obtain a likely estimation of the soil permittivity and of the cylinders radius. Finally, when multiple objects are present, we refine our localization procedure by performing a Clustering Analysis of the crossing pattern. In particular, we apply the K-means algorithm to extract the coordinates of the objects centroids and the clusters extension. References [1] Şahin A., Miller L., "Object Detection Using High Resolution Near-Field Array Processing", IEEE Trans. on Geoscience and Remote Sensing, vol.39, no.1, Jan. 2001, pp. 136-141. [2] Gross F.B., "Smart Antennas for Wireless Communications", Mc.Graw-Hill 2005. [3] Hoaglin D.C., "A Poisonnes Plot", The American Statistician, vol.34, no.3 August 1980, pp.146-149.

Assessing the Electrode-Neuron Interface with the Electrically Evoked Compound Action Potential, Electrode Position, and Behavioral Thresholds.

PubMed

DeVries, Lindsay; Scheperle, Rachel; Bierer, Julie Arenberg

2016-06-01

Variability in speech perception scores among cochlear implant listeners may largely reflect the variable efficacy of implant electrodes to convey stimulus information to the auditory nerve. In the present study, three metrics were applied to assess the quality of the electrode-neuron interface of individual cochlear implant channels: the electrically evoked compound action potential (ECAP), the estimation of electrode position using computerized tomography (CT), and behavioral thresholds using focused stimulation. The primary motivation of this approach is to evaluate the ECAP as a site-specific measure of the electrode-neuron interface in the context of two peripheral factors that likely contribute to degraded perception: large electrode-to-modiolus distance and reduced neural density. Ten unilaterally implanted adults with Advanced Bionics HiRes90k devices participated. ECAPs were elicited with monopolar stimulation within a forward-masking paradigm to construct channel interaction functions (CIF), behavioral thresholds were obtained with quadrupolar (sQP) stimulation, and data from imaging provided estimates of electrode-to-modiolus distance and scalar location (scala tympani (ST), intermediate, or scala vestibuli (SV)) for each electrode. The width of the ECAP CIF was positively correlated with electrode-to-modiolus distance; both of these measures were also influenced by scalar position. The ECAP peak amplitude was negatively correlated with behavioral thresholds. Moreover, subjects with low behavioral thresholds and large ECAP amplitudes, averaged across electrodes, tended to have higher speech perception scores. These results suggest a potential clinical role for the ECAP in the objective assessment of individual cochlear implant channels, with the potential to improve speech perception outcomes.

The Impact of Estimating High-Resolution Tropospheric Gradients on Multi-GNSS Precise Positioning

PubMed Central

Zhou, Feng; Li, Xingxing; Li, Weiwei; Chen, Wen; Dong, Danan; Wickert, Jens; Schuh, Harald

2017-01-01

Benefits from the modernized US Global Positioning System (GPS), the revitalized Russian GLObal NAvigation Satellite System (GLONASS), and the newly-developed Chinese BeiDou Navigation Satellite System (BDS) and European Galileo, multi-constellation Global Navigation Satellite System (GNSS) has emerged as a powerful tool not only in positioning, navigation, and timing (PNT), but also in remote sensing of the atmosphere and ionosphere. Both precise positioning and the derivation of atmospheric parameters can benefit from multi-GNSS observations. In this contribution, extensive evaluations are conducted with multi-GNSS datasets collected from 134 globally-distributed ground stations of the International GNSS Service (IGS) Multi-GNSS Experiment (MGEX) network in July 2016. The datasets are processed in six different constellation combinations, i.e., GPS-, GLONASS-, BDS-only, GPS + GLONASS, GPS + BDS, and GPS + GLONASS + BDS + Galileo precise point positioning (PPP). Tropospheric gradients are estimated with eight different temporal resolutions, from 1 h to 24 h, to investigate the impact of estimating high-resolution gradients on position estimates. The standard deviation (STD) is used as an indicator of positioning repeatability. The results show that estimating tropospheric gradients with high temporal resolution can achieve better positioning performance than the traditional strategy in which tropospheric gradients are estimated on a daily basis. Moreover, the impact of estimating tropospheric gradients with different temporal resolutions at various elevation cutoff angles (from 3° to 20°) is investigated. It can be observed that with increasing elevation cutoff angles, the improvement in positioning repeatability is decreased. PMID:28368346

The Impact of Estimating High-Resolution Tropospheric Gradients on Multi-GNSS Precise Positioning.

PubMed

Zhou, Feng; Li, Xingxing; Li, Weiwei; Chen, Wen; Dong, Danan; Wickert, Jens; Schuh, Harald

2017-04-03

Benefits from the modernized US Global Positioning System (GPS), the revitalized Russian GLObal NAvigation Satellite System (GLONASS), and the newly-developed Chinese BeiDou Navigation Satellite System (BDS) and European Galileo, multi-constellation Global Navigation Satellite System (GNSS) has emerged as a powerful tool not only in positioning, navigation, and timing (PNT), but also in remote sensing of the atmosphere and ionosphere. Both precise positioning and the derivation of atmospheric parameters can benefit from multi-GNSS observations. In this contribution, extensive evaluations are conducted with multi-GNSS datasets collected from 134 globally-distributed ground stations of the International GNSS Service (IGS) Multi-GNSS Experiment (MGEX) network in July 2016. The datasets are processed in six different constellation combinations, i.e., GPS-, GLONASS-, BDS-only, GPS + GLONASS, GPS + BDS, and GPS + GLONASS + BDS + Galileo precise point positioning (PPP). Tropospheric gradients are estimated with eight different temporal resolutions, from 1 h to 24 h, to investigate the impact of estimating high-resolution gradients on position estimates. The standard deviation (STD) is used as an indicator of positioning repeatability. The results show that estimating tropospheric gradients with high temporal resolution can achieve better positioning performance than the traditional strategy in which tropospheric gradients are estimated on a daily basis. Moreover, the impact of estimating tropospheric gradients with different temporal resolutions at various elevation cutoff angles (from 3° to 20°) is investigated. It can be observed that with increasing elevation cutoff angles, the improvement in positioning repeatability is decreased.

Estimation of the biphasic property in a female's menstrual cycle from cutaneous temperature measured during sleep.

PubMed

Chen, Wenxi; Kitazawa, Masumi; Togawa, Tatsuo

2009-09-01

This paper proposes a method to estimate a woman's menstrual cycle based on the hidden Markov model (HMM). A tiny device was developed that attaches around the abdominal region to measure cutaneous temperature at 10-min intervals during sleep. The measured temperature data were encoded as a two-dimensional image (QR code, i.e., quick response code) and displayed in the LCD window of the device. A mobile phone captured the QR code image, decoded the information and transmitted the data to a database server. The collected data were analyzed by three steps to estimate the biphasic temperature property in a menstrual cycle. The key step was an HMM-based step between preprocessing and postprocessing. A discrete Markov model, with two hidden phases, was assumed to represent higher- and lower-temperature phases during a menstrual cycle. The proposed method was verified by the data collected from 30 female participants, aged from 14 to 46, over six consecutive months. By comparing the estimated results with individual records from the participants, 71.6% of 190 menstrual cycles were correctly estimated. The sensitivity and positive predictability were 91.8 and 96.6%, respectively. This objective evaluation provides a promising approach for managing premenstrual syndrome and birth control.

Density estimation in a wolverine population using spatial capture-recapture models

USGS Publications Warehouse

Royle, J. Andrew; Magoun, Audrey J.; Gardner, Beth; Valkenbury, Patrick; Lowell, Richard E.; McKelvey, Kevin

2011-01-01

Classical closed-population capture-recapture models do not accommodate the spatial information inherent in encounter history data obtained from camera-trapping studies. As a result, individual heterogeneity in encounter probability is induced, and it is not possible to estimate density objectively because trap arrays do not have a well-defined sample area. We applied newly-developed, capture-recapture models that accommodate the spatial attribute inherent in capture-recapture data to a population of wolverines (Gulo gulo) in Southeast Alaska in 2008. We used camera-trapping data collected from 37 cameras in a 2,140-km2 area of forested and open habitats largely enclosed by ocean and glacial icefields. We detected 21 unique individuals 115 times. Wolverines exhibited a strong positive trap response, with an increased tendency to revisit previously visited traps. Under the trap-response model, we estimated wolverine density at 9.7 individuals/1,000-km2(95% Bayesian CI: 5.9-15.0). Our model provides a formal statistical framework for estimating density from wolverine camera-trapping studies that accounts for a behavioral response due to baited traps. Further, our model-based estimator does not have strict requirements about the spatial configuration of traps or length of trapping sessions, providing considerable operational flexibility in the development of field studies.

sUAS Position Estimation and Fusion in GPS-Degraded and GPS-Denied Environments using an ADS-B Transponder and Local Area Multilateration

NASA Astrophysics Data System (ADS)

Larson, Robert Sherman

An Unmanned Aerial Vehicle (UAV) and a manned aircraft are tracked using ADS-B transponders and the Local Area Multilateration System (LAMS) in simulated GPS-degraded and GPS-denied environments. Several position estimation and fusion algorithms are developed for use with the Autonomous Flight Systems Laboratory (AFSL) TRansponder based Position Information System (TRAPIS) software. At the lowest level, these estimation and fusion algorithms use raw information from ADS-B and LAMS data streams to provide aircraft position estimates to the ground station user. At the highest level, aircraft position is estimated using a discrete time Kalman filter with real-time covariance updates and fusion involving weighted averaging of ADS-B and LAMS positions. Simulation and flight test results are provided, demonstrating the feasibility of incorporating an ADS-B transponder on a commercially-available UAS and maintaining situational awareness of aircraft positions in GPS-degraded and GPS-denied environments.

Ash reduction system using electrically heated particulate matter filter

DOEpatents

Gonze, Eugene V [Pinckney, MI; Paratore, Jr., Michael J; He, Yongsheng [Sterling Heights, MI

2011-08-16

A control system for reducing ash comprises a temperature estimator module that estimates a temperature of an electrically heated particulate matter (PM) filter. A temperature and position estimator module estimates a position and temperature of an oxidation wave within the electrically heated PM filter. An ash reduction control module adjusts at least one of exhaust flow, fuel and oxygen levels in the electrically heated PM filter to adjust a position of the oxidation wave within the electrically heated PM filter based on the oxidation wave temperature and position.

In-flight estimation of center of gravity position using all-accelerometers.

PubMed

Al-Rawashdeh, Yazan Mohammad; Elshafei, Moustafa; Al-Malki, Mohammad Fahad

2014-09-19

Changing the position of the Center of Gravity (CoG) for an aerial vehicle is a challenging part in navigation, and control of such vehicles. In this paper, an all-accelerometers-based inertial measurement unit is presented, with a proposed method for on-line estimation of the position of the CoG. The accelerometers' readings are used to find and correct the vehicle's angular velocity and acceleration using an Extended Kalman Filter. Next, the accelerometers' readings along with the estimated angular velocity and acceleration are used in an identification scheme to estimate the position of the CoG and the vehicle's linear acceleration. The estimated position of the CoG and motion measurements can then be used to update the control rules to achieve better trim conditions for the air vehicle.

Discovery of extreme [O III] λ5007 Å outflows in high-redshift red quasars

NASA Astrophysics Data System (ADS)

Zakamska, Nadia L.; Hamann, Fred; Pâris, Isabelle; Brandt, W. N.; Greene, Jenny E.; Strauss, Michael A.; Villforth, Carolin; Wylezalek, Dominika; Alexandroff, Rachael M.; Ross, Nicholas P.

2016-07-01

Black hole feedback is now a standard component of galaxy formation models. These models predict that the impact of black hole activity on its host galaxy likely peaked at z = 2-3, the epoch of strongest star formation activity and black hole accretion activity in the Universe. We used XSHOOTER on the Very Large Telescope to measure rest-frame optical spectra of four z ˜ 2.5 extremely red quasars with infrared luminosities ˜1047 erg s-1. We present the discovery of very broad (full width at half max = 2600-5000 km s-1), strongly blueshifted (by up to 1500 km s-1) [O III] λ5007 Å emission lines in these objects. In a large sample of type 2 and red quasars, [O III] kinematics are positively correlated with infrared luminosity, and the four objects in our sample are on the extreme end in both [O III] kinematics and infrared luminosity. We estimate that at least 3 per cent of the bolometric luminosity in these objects is being converted into the kinetic power of the observed wind. Photo-ionization estimates suggest that the [O III] emission might be extended on a few kpc scales, which would suggest that the extreme outflow is affecting the entire host galaxy of the quasar. These sources may be the signposts of the most extreme form of quasar feedback at the peak epoch of galaxy formation, and may represent an active `blow-out' phase of quasar evolution.

Imaging through atmospheric turbulence for laser based C-RAM systems: an analytical approach

NASA Astrophysics Data System (ADS)

Buske, Ivo; Riede, Wolfgang; Zoz, Jürgen

2013-10-01

High Energy Laser weapons (HEL) have unique attributes which distinguish them from limitations of kinetic energy weapons. HEL weapons engagement process typical starts with identifying the target and selecting the aim point on the target through a high magnification telescope. One scenario for such a HEL system is the countermeasure against rockets, artillery or mortar (RAM) objects to protect ships, camps or other infrastructure from terrorist attacks. For target identification and especially to resolve the aim point it is significant to ensure high resolution imaging of RAM objects. During the whole ballistic flight phase the knowledge about the expectable imaging quality is important to estimate and evaluate the countermeasure system performance. Hereby image quality is mainly influenced by unavoidable atmospheric turbulence. Analytical calculations have been taken to analyze and evaluate image quality parameters during an approaching RAM object. In general, Kolmogorov turbulence theory was implemented to determine atmospheric coherence length and isoplanatic angle. The image acquisition is distinguishing between long and short exposure times to characterize tip/tilt image shift and the impact of high order turbulence fluctuations. Two different observer positions are considered to show the influence of the selected sensor site. Furthermore two different turbulence strengths are investigated to point out the effect of climate or weather condition. It is well known that atmospheric turbulence degenerates image sharpness and creates blurred images. Investigations are done to estimate the effectiveness of simple tip/tilt systems or low order adaptive optics for laser based C-RAM systems.

Object recognition and pose estimation of planar objects from range data

NASA Technical Reports Server (NTRS)

Pendleton, Thomas W.; Chien, Chiun Hong; Littlefield, Mark L.; Magee, Michael

1994-01-01

The Extravehicular Activity Helper/Retriever (EVAHR) is a robotic device currently under development at the NASA Johnson Space Center that is designed to fetch objects or to assist in retrieving an astronaut who may have become inadvertently de-tethered. The EVAHR will be required to exhibit a high degree of intelligent autonomous operation and will base much of its reasoning upon information obtained from one or more three-dimensional sensors that it will carry and control. At the highest level of visual cognition and reasoning, the EVAHR will be required to detect objects, recognize them, and estimate their spatial orientation and location. The recognition phase and estimation of spatial pose will depend on the ability of the vision system to reliably extract geometric features of the objects such as whether the surface topologies observed are planar or curved and the spatial relationships between the component surfaces. In order to achieve these tasks, three-dimensional sensing of the operational environment and objects in the environment will therefore be essential. One of the sensors being considered to provide image data for object recognition and pose estimation is a phase-shift laser scanner. The characteristics of the data provided by this scanner have been studied and algorithms have been developed for segmenting range images into planar surfaces, extracting basic features such as surface area, and recognizing the object based on the characteristics of extracted features. Also, an approach has been developed for estimating the spatial orientation and location of the recognized object based on orientations of extracted planes and their intersection points. This paper presents some of the algorithms that have been developed for the purpose of recognizing and estimating the pose of objects as viewed by the laser scanner, and characterizes the desirability and utility of these algorithms within the context of the scanner itself, considering data quality and noise.

Mycobacterium avium subsp. paratuberculosis from free-ranging deer and rabbits surrounding Minnesota dairy herds

PubMed Central

2005-01-01

Abstract The objectives of this study were to estimate the prevalence of Mycobacterium avium subsp. paratuberculosis (MAP) among deer and rabbits surrounding infected and noninfected Minnesota dairy farms using fecal culture, and to describe the frequency that farm management practices were used that could potentially lead to transmission of infection between these species. Fecal samples from cows and the cow environment were collected from 108 Minnesota dairy herds, and fecal pellets from free-ranging white-tailed deer and eastern cottontail rabbits were collected from locations surrounding 114 farms; all samples were tested using bacterial culture. In addition, a questionnaire was administered to 114 herd owners. Sixty-two percent of the dairy herds had at least 1 positive fecal pool or environmental sample. A total of 218 rabbit samples were collected from 90% of the herds, and 309 deer samples were collected from 47% of the herds. On 2 (4%) of the farms sampled, 1 deer fecal sample was MAP positive. Both farms had samples from the cow fecal pool and cow environment that were positive by culture. On 2 (2%) other farms, 1 rabbit fecal sample was positive by culture to MAP, with one of these farms having positive cow fecal pools and cow environmental samples. Pasture was used on 79% of the study farms as a grazing area for cattle, mainly for dry cows (75%) and bred or prebred heifers (87%). Of the 114 farms, 88 (77%) provided access to drylot for their cattle, mainly for milking cows (77/88; 88%) and bred heifers (87%). Of all study farms, 90 (79%) used some solid manure broadcasting on their crop fields. Of all 114 farms, the estimated probability of daily physical contact between cattle manure and deer or rabbits was 20% and 25%, respectively. Possible contact between cattle manure and deer or rabbits was estimated to occur primarily from March through December. The frequency of pasture or drylot use and manure spreading on crop fields may be important risk factors for transmission of MAP among dairy cattle, deer, and rabbits. Although the MAP prevalence among rabbits and deer is low, their role as MAP reservoirs should be considered. PMID:15745220

Terminal homing position estimation forAutonomous underwater vehicle docking

DTIC Science & Technology

2017-06-01

used by the AUV to improve its position estimate. Due to the nonlinearity of the D-USBL measurements, the Extended Kalman Filter (EKF), Unscented...Kalman Filter (UKF) and forward and backward smoothing (FBS) filter were utilized to estimate the position of the AUV. After performance of these... filters was deemed unsatisfactory, a new smoothing technique called the Moving Horizon Estimation (MHE) with epi-splines was introduced. The MHE

Classification and pose estimation of objects using nonlinear features

NASA Astrophysics Data System (ADS)

Talukder, Ashit; Casasent, David P.

1998-03-01

A new nonlinear feature extraction method called the maximum representation and discrimination feature (MRDF) method is presented for extraction of features from input image data. It implements transformations similar to the Sigma-Pi neural network. However, the weights of the MRDF are obtained in closed form, and offer advantages compared to nonlinear neural network implementations. The features extracted are useful for both object discrimination (classification) and object representation (pose estimation). We show its use in estimating the class and pose of images of real objects and rendered solid CAD models of machine parts from single views using a feature-space trajectory (FST) neural network classifier. We show more accurate classification and pose estimation results than are achieved by standard principal component analysis (PCA) and Fukunaga-Koontz (FK) feature extraction methods.

Contributed Review: Source-localization algorithms and applications using time of arrival and time difference of arrival measurements

NASA Astrophysics Data System (ADS)

Li, Xinya; Deng, Zhiqun Daniel; Rauchenstein, Lynn T.; Carlson, Thomas J.

2016-04-01

Locating the position of fixed or mobile sources (i.e., transmitters) based on measurements obtained from sensors (i.e., receivers) is an important research area that is attracting much interest. In this paper, we review several representative localization algorithms that use time of arrivals (TOAs) and time difference of arrivals (TDOAs) to achieve high signal source position estimation accuracy when a transmitter is in the line-of-sight of a receiver. Circular (TOA) and hyperbolic (TDOA) position estimation approaches both use nonlinear equations that relate the known locations of receivers and unknown locations of transmitters. Estimation of the location of transmitters using the standard nonlinear equations may not be very accurate because of receiver location errors, receiver measurement errors, and computational efficiency challenges that result in high computational burdens. Least squares and maximum likelihood based algorithms have become the most popular computational approaches to transmitter location estimation. In this paper, we summarize the computational characteristics and position estimation accuracies of various positioning algorithms. By improving methods for estimating the time-of-arrival of transmissions at receivers and transmitter location estimation algorithms, transmitter location estimation may be applied across a range of applications and technologies such as radar, sonar, the Global Positioning System, wireless sensor networks, underwater animal tracking, mobile communications, and multimedia.

Characteristics of HIV-Positive Transgender Men Receiving Medical Care: United States, 2009–2014

PubMed Central

Lemons, Ansley; Beer, Linda; Finlayson, Teresa; McCree, Donna Hubbard; Lentine, Daniel; Shouse, R. Luke

2017-01-01

Objectives To present the first national estimate of the sociodemographic, clinical, and behavioral characteristics of HIV-positive transgender men receiving medical care in the United States. Methods This analysis included pooled interview and medical record data from the 2009 to 2014 cycles of the Medical Monitoring Project, which used a 3-stage, probability-proportional-to-size sampling methodology. Results Transgender men accounted for 0.16% of all adults and 11% of all transgender adults receiving HIV medical care in the United States from 2009 to 2014. Of these HIV-positive transgender men receiving medical care, approximately 47% lived in poverty, 69% had at least 1 unmet ancillary service need, 23% met criteria for depression, 69% were virally suppressed at their last test, and 60% had sustained viral suppression over the previous 12 months. Conclusions Although they constitute a small proportion of all HIV-positive patients, more than 1 in 10 transgender HIV-positive patients were transgender men. Many experienced socioeconomic challenges, unmet needs for ancillary services, and suboptimal health outcomes. Attention to the challenges facing HIV-positive transgender men may be necessary to achieve the National HIV/AIDS Strategy goals of decreasing disparities and improving health outcomes among transgender persons. PMID:29161069

Algorithms for detection of objects in image sequences captured from an airborne imaging system

NASA Technical Reports Server (NTRS)

Kasturi, Rangachar; Camps, Octavia; Tang, Yuan-Liang; Devadiga, Sadashiva; Gandhi, Tarak

1995-01-01

This research was initiated as a part of the effort at the NASA Ames Research Center to design a computer vision based system that can enhance the safety of navigation by aiding the pilots in detecting various obstacles on the runway during critical section of the flight such as a landing maneuver. The primary goal is the development of algorithms for detection of moving objects from a sequence of images obtained from an on-board video camera. Image regions corresponding to the independently moving objects are segmented from the background by applying constraint filtering on the optical flow computed from the initial few frames of the sequence. These detected regions are tracked over subsequent frames using a model based tracking algorithm. Position and velocity of the moving objects in the world coordinate is estimated using an extended Kalman filter. The algorithms are tested using the NASA line image sequence with six static trucks and a simulated moving truck and experimental results are described. Various limitations of the currently implemented version of the above algorithm are identified and possible solutions to build a practical working system are investigated.

Varieties of virtualization

NASA Technical Reports Server (NTRS)

Ellis, Stephen R.

1991-01-01

Natural environments have a content, i.e., the objects in them; a geometry, i.e., a pattern of rules for positioning and displacing the objects; and a dynamics, i.e., a system of rules describing the effects of forces acting on the objects. Human interaction with most common natural environments has been optimized by centuries of evolution. Virtual environments created through the human-computer interface similarly have a content, geometry, and dynamics, but the arbitrary character of the computer simulation creating them does not insure that human interaction with these virtual environments will be natural. The interaction, indeed, could be supernatural but it also could be impossible. An important determinant of the comprehensibility of a virtual environment is the correspondence between the environmental frames of reference and those associated with the control of environmental objects. The effects of rotation and displacement of control frames of reference with respect to corresponding environmental references differ depending upon whether perceptual judgement or manual tracking performance is measured. The perceptual effects of frame of reference displacement may be analyzed in terms of distortions in the process of virtualizing the synthetic environment space. The effects of frame of reference displacement and rotation have been studied by asking subjects to estimate exocentric direction in a virtual space.

Pareto-Optimal Estimates of California Precipitation Change

NASA Astrophysics Data System (ADS)

Langenbrunner, Baird; Neelin, J. David

2017-12-01

In seeking constraints on global climate model projections under global warming, one commonly finds that different subsets of models perform well under different objective functions, and these trade-offs are difficult to weigh. Here a multiobjective approach is applied to a large set of subensembles generated from the Climate Model Intercomparison Project phase 5 ensemble. We use observations and reanalyses to constrain tropical Pacific sea surface temperatures, upper level zonal winds in the midlatitude Pacific, and California precipitation. An evolutionary algorithm identifies the set of Pareto-optimal subensembles across these three measures, and these subensembles are used to constrain end-of-century California wet season precipitation change. This methodology narrows the range of projections throughout California, increasing confidence in estimates of positive mean precipitation change. Finally, we show how this technique complements and generalizes emergent constraint approaches for restricting uncertainty in end-of-century projections within multimodel ensembles using multiple criteria for observational constraints.

Visual gravitational motion and the vestibular system in humans

PubMed Central

Lacquaniti, Francesco; Bosco, Gianfranco; Indovina, Iole; La Scaleia, Barbara; Maffei, Vincenzo; Moscatelli, Alessandro; Zago, Myrka

2013-01-01

The visual system is poorly sensitive to arbitrary accelerations, but accurately detects the effects of gravity on a target motion. Here we review behavioral and neuroimaging data about the neural mechanisms for dealing with object motion and egomotion under gravity. The results from several experiments show that the visual estimates of a target motion under gravity depend on the combination of a prior of gravity effects with on-line visual signals on target position and velocity. These estimates are affected by vestibular inputs, and are encoded in a visual-vestibular network whose core regions lie within or around the Sylvian fissure, and are represented by the posterior insula/retroinsula/temporo-parietal junction. This network responds both to target motions coherent with gravity and to vestibular caloric stimulation in human fMRI studies. Transient inactivation of the temporo-parietal junction selectively disrupts the interception of targets accelerated by gravity. PMID:24421761

Visual gravitational motion and the vestibular system in humans.

PubMed

Lacquaniti, Francesco; Bosco, Gianfranco; Indovina, Iole; La Scaleia, Barbara; Maffei, Vincenzo; Moscatelli, Alessandro; Zago, Myrka

2013-12-26

The visual system is poorly sensitive to arbitrary accelerations, but accurately detects the effects of gravity on a target motion. Here we review behavioral and neuroimaging data about the neural mechanisms for dealing with object motion and egomotion under gravity. The results from several experiments show that the visual estimates of a target motion under gravity depend on the combination of a prior of gravity effects with on-line visual signals on target position and velocity. These estimates are affected by vestibular inputs, and are encoded in a visual-vestibular network whose core regions lie within or around the Sylvian fissure, and are represented by the posterior insula/retroinsula/temporo-parietal junction. This network responds both to target motions coherent with gravity and to vestibular caloric stimulation in human fMRI studies. Transient inactivation of the temporo-parietal junction selectively disrupts the interception of targets accelerated by gravity.

Child-to-teacher ratio and day care teacher sickness absenteeism.

PubMed

Gørtz, Mette; Andersson, Elvira

2014-12-01

The literature on occupational health points to work pressure as a trigger of sickness absence. However, reliable, objective measures of work pressure are in short supply. This paper uses Danish day care teachers as an ideal case for analysing whether work pressure measured by the child-to-teacher ratio, that is, the number of children per teacher in an institution, affects teacher sickness absenteeism. We control for individual teacher characteristics, workplace characteristics, and family background characteristics of the children in the day care institutions. We perform estimations for two time periods, 2002-2003 and 2005-2006, by using generalized method of moments with lagged levels of the child-to-teacher ratio as instrument. Our estimation results are somewhat mixed. Generally, the results indicate that the child-to-teacher ratio is positively related to short-term sickness absence for nursery care teachers, but not for preschool teachers. Copyright © 2013 John Wiley & Sons, Ltd.

Estimation of mouth level exposure to smoke constituents of cigarettes with different tar levels using filter analysis.

PubMed

Hyodo, T; Minagawa, K; Inoue, T; Fujimoto, J; Minami, N; Bito, R; Mikita, A

2013-12-01

A nicotine part-filter method can be applied to estimate smokers' mouth level exposure (MLE) to smoke constituents. The objectives of this study were (1) to generate calibration curves for 47 smoke constituents, (2) to estimate MLE to selected smoke constituents using Japanese smokers of commercially available cigarettes covering a wide range of International Organization for Standardization tar yields (1-21mg/cigarette), and (3) to investigate relationships between MLE estimates and various machine-smoking yields. Five cigarette brands were machine-smoked under 7 different smoking regimes and smoke constituents and nicotine content in part-filters were measured. Calibration curves were then generated. Spent cigarette filters were collected from a target of 50 smokers for each of the 15 brands and a total of 780 filters were obtained. Nicotine content in part-filters was then measured and MLE to each smoke constituent was estimated. Strong correlations were identified between nicotine content in part-filters and 41 out of the 47 smoke constituent yields. Estimates of MLE to acetaldehyde, acrolein, 1,3-butadiene, benzene, benzo[a]pyrene, carbon monoxide, and tar showed significant negative correlations with corresponding constituent yields per mg nicotine under the Health Canada Intense smoking regime, whereas significant positive correlations were observed for N-nitrosonornicotine and (4-methylnitrosoamino)-1-(3-pyridyl)-1-butanone. Copyright © 2013 Elsevier Inc. All rights reserved.

Toward Microsatellite Based Space Situational Awareness

NASA Astrophysics Data System (ADS)

Scott, L.; Wallace, B.; Sale, M.; Thorsteinson, S.

2013-09-01

The NEOSSat microsatellite is a dual mission space telescope which will perform asteroid detection and Space Situational Awareness (SSA) observation experiments on deep space, earth orbiting objects. NEOSSat was launched on 25 February 2013 into a 800 dawn-dusk sun synchronous orbit and is currently undergoing satellite commissioning. The microsatellite consists of a small aperture optical telescope, GPS receiver, high performance attitude control system, and stray light rejection baffle designed to reject stray light from the Sun while searching for asteroids with elongations 45 degrees along the ecliptic. The SSA experimental mission, referred to as HEOSS (High Earth Orbit Space Surveillance), will focus on objects in deep space orbits. The HEOSS mission objective is to evaluate the utility of microsatellites to perform catalog maintenance observations of resident space objects in a manner consistent with the needs of the Canadian Forces. The advantages of placing a space surveillance sensor in low Earth orbit are that the observer can conduct observations without the day-night interruption cycle experienced by ground based telescopes, the telescope is insensitive to adverse weather and the system has visibility to deep space resident space objects which are not normally visible from ground based sensors. Also, from a photometric standpoint, the microsatellite is able to conduct observations on objects with a rapidly changing observer position. The possibility of spin axis estimation on geostationary satellites may be possible and an experiment characterize spin axis of distant resident space objects is being planned. Also, HEOSS offers the ability to conduct observations of satellites at high phase angles which can potentially extend the trackable portion of space in which deep space objects' orbits can be monitored. In this paper we describe the HEOSS SSA experimental data processing system and the preliminary findings of the catalog maintenance experiments. The placement of a space based space surveillance sensor in low Earth orbit introduces tasking and image processing complexities such as cosmic ray rejection, scattered light from Earth's limb and unique scheduling limitations due to the observer's rapid positional change and we describe first-look microsatellite space surveillance lessons from this unique orbital vantage point..

VizieR Online Data Catalog: Overlooked wide companions of nearby F stars (Scholz, 2016)

NASA Astrophysics Data System (ADS)

Scholz, R.-D.

2016-02-01

We checked a sample of 545 F stars within 50pc for wide companions using existing near-infrared and optical sky surveys. Applying the common proper motion (CPM) criterion, we detected wide companion candidates with 6-120arcsec angular separations by visual inspection of multi-epoch finder charts and by searching in proper motion catalogues. Final proper motions were measured by involving positional measurements from up to eleven surveys. Spectral types of red CPM companions were estimated from their absolute J-band magnitudes based on the Hipparcos distances of the primaries. In addition to about 100 known CPM objects, we found 19 new CPM companions and confirmed 31 previously known candidates. A few CPM objects are still considered as candidates according to their level of proper motion agreement. Among the new objects there are nine M0-M4, eight M5-M6, one ~L3.5 dwarf (HD 3861B), and one white dwarf (WD) (HD 2726B), whereas we confirmed two K, 19 M0-M4, six M5-M6, two early-L dwarfs, and two DA WDs as CPM companions. In a few cases, previous spectral types were available that all agree well with our estimates. Two companions (HD 22879B and HD 49933B) are associated with moderately metal-poor Gaia benchmark stars. One doubtful CPM companion, spectroscopically classified as WD but found to be very bright (J=11.1) by others, should either be a very nearby foreground WD or a different kind of object associated with HD 165670. The main results of this research note, data on new, confirmed, and rejected CPM pairs, are listed in tablea1.dat, tableb1.dat, and tablec1.dat, respectively. (4 data files).

Carrying Position Independent User Heading Estimation for Indoor Pedestrian Navigation with Smartphones

PubMed Central

Deng, Zhi-An; Wang, Guofeng; Hu, Ying; Cui, Yang

2016-01-01

This paper proposes a novel heading estimation approach for indoor pedestrian navigation using the built-in inertial sensors on a smartphone. Unlike previous approaches constraining the carrying position of a smartphone on the user’s body, our approach gives the user a larger freedom by implementing automatic recognition of the device carrying position and subsequent selection of an optimal strategy for heading estimation. We firstly predetermine the motion state by a decision tree using an accelerometer and a barometer. Then, to enable accurate and computational lightweight carrying position recognition, we combine a position classifier with a novel position transition detection algorithm, which may also be used to avoid the confusion between position transition and user turn during pedestrian walking. For a device placed in the trouser pockets or held in a swinging hand, the heading estimation is achieved by deploying a principal component analysis (PCA)-based approach. For a device held in the hand or against the ear during a phone call, user heading is directly estimated by adding the yaw angle of the device to the related heading offset. Experimental results show that our approach can automatically detect carrying positions with high accuracy, and outperforms previous heading estimation approaches in terms of accuracy and applicability. PMID:27187391

The costs of heparin-induced thrombocytopenia: a patient-based cost of illness analysis.

PubMed

Wilke, T; Tesch, S; Scholz, A; Kohlmann, T; Greinacher, A

2009-05-01

SUMMARY BACKGROUND AND OBJECTIVES: Due to the complexity of heparin-induced thrombocytopenia (HIT), currently available cost analyses are rough estimates. The objectives of this study were quantification of costs involved in HIT and identification of main cost drivers based on a patient-oriented approach. Patients diagnosed with HIT (1995-2004, University-hospital Greifswald, Germany) based on a positive functional assay (HIPA test) were retrieved from the laboratory records and scored (4T-score) by two medical experts using the patient file. For cost of illness analysis, predefined HIT-relevant cost parameters (medication costs, prolonged in-hospital stay, diagnostic and therapeutic interventions, laboratory tests, blood transfusions) were retrieved from the patient files. The data were analysed by linear regression estimates with the log of costs and a gamma regression model. Mean length of stay data of non-HIT patients were obtained from the German Federal Statistical Office, adjusted for patient characteristics, comorbidities and year of treatment. Hospital costs were provided by the controlling department. One hundred and thirty HIT cases with a 4T-score >or=4 and a positive HIPA test were analyzed. Mean additional costs of a HIT case were 9008 euro. The main cost drivers were prolonged in-hospital stay (70.3%) and costs of alternative anticoagulants (19.7%). HIT was more costly in surgical patients compared with medical patients and in patients with thrombosis. Early start of alternative anticoagulation did not increase HIT costs despite the high medication costs indicating prevention of costly complications. An HIT cost calculator is provided, allowing online calculation of HIT costs based on local cost structures and different currencies.

Object Locating System

NASA Technical Reports Server (NTRS)

Arndt, G. Dickey (Inventor); Carl, James R. (Inventor)

2000-01-01

A portable system is provided that is operational for determining, with three dimensional resolution, the position of a buried object or approximately positioned object that may move in space or air or gas. The system has a plurality of receivers for detecting the signal front a target antenna and measuring the phase thereof with respect to a reference signal. The relative permittivity and conductivity of the medium in which the object is located is used along with the measured phase signal to determine a distance between the object and each of the plurality of receivers. Knowing these distances. an iteration technique is provided for solving equations simultaneously to provide position coordinates. The system may also be used for tracking movement of an object within close range of the system by sampling and recording subsequent position of the object. A dipole target antenna. when positioned adjacent to a buried object, may be energized using a separate transmitter which couples energy to the target antenna through the medium. The target antenna then preferably resonates at a different frequency, such as a second harmonic of the transmitter frequency.

Polarimetric image reconstruction algorithms

NASA Astrophysics Data System (ADS)

Valenzuela, John R.

In the field of imaging polarimetry Stokes parameters are sought and must be inferred from noisy and blurred intensity measurements. Using a penalized-likelihood estimation framework we investigate reconstruction quality when estimating intensity images and then transforming to Stokes parameters (traditional estimator), and when estimating Stokes parameters directly (Stokes estimator). We define our cost function for reconstruction by a weighted least squares data fit term and a regularization penalty. It is shown that under quadratic regularization, the traditional and Stokes estimators can be made equal by appropriate choice of regularization parameters. It is empirically shown that, when using edge preserving regularization, estimating the Stokes parameters directly leads to lower RMS error in reconstruction. Also, the addition of a cross channel regularization term further lowers the RMS error for both methods especially in the case of low SNR. The technique of phase diversity has been used in traditional incoherent imaging systems to jointly estimate an object and optical system aberrations. We extend the technique of phase diversity to polarimetric imaging systems. Specifically, we describe penalized-likelihood methods for jointly estimating Stokes images and optical system aberrations from measurements that contain phase diversity. Jointly estimating Stokes images and optical system aberrations involves a large parameter space. A closed-form expression for the estimate of the Stokes images in terms of the aberration parameters is derived and used in a formulation that reduces the dimensionality of the search space to the number of aberration parameters only. We compare the performance of the joint estimator under both quadratic and edge-preserving regularization. The joint estimator with edge-preserving regularization yields higher fidelity polarization estimates than with quadratic regularization. Under quadratic regularization, using the reduced-parameter search strategy, accurate aberration estimates can be obtained without recourse to regularization "tuning". Phase-diverse wavefront sensing is emerging as a viable candidate wavefront sensor for adaptive-optics systems. In a quadratically penalized weighted least squares estimation framework a closed form expression for the object being imaged in terms of the aberrations in the system is available. This expression offers a dramatic reduction of the dimensionality of the estimation problem and thus is of great interest for practical applications. We have derived an expression for an approximate joint covariance matrix for object and aberrations in the phase diversity context. Our expression for the approximate joint covariance is compared with the "known-object" Cramer-Rao lower bound that is typically used for system parameter optimization. Estimates of the optimal amount of defocus in a phase-diverse wavefront sensor derived from the joint-covariance matrix, the known-object Cramer-Rao bound, and Monte Carlo simulations are compared for an extended scene and a point object. It is found that our variance approximation, that incorporates the uncertainty of the object, leads to an improvement in predicting the optimal amount of defocus to use in a phase-diverse wavefront sensor.

Quantifying Standing Dead Tree Volume and Structural Loss with Voxelized Terrestrial Lidar Data

NASA Astrophysics Data System (ADS)

Popescu, S. C.; Putman, E.

2017-12-01

Standing dead trees (SDTs) are an important forest component and impact a variety of ecosystem processes, yet the carbon pool dynamics of SDTs are poorly constrained in terrestrial carbon cycling models. The ability to model wood decay and carbon cycling in relation to detectable changes in tree structure and volume over time would greatly improve such models. The overall objective of this study was to provide automated aboveground volume estimates of SDTs and automated procedures to detect, quantify, and characterize structural losses over time with terrestrial lidar data. The specific objectives of this study were: 1) develop an automated SDT volume estimation algorithm providing accurate volume estimates for trees scanned in dense forests; 2) develop an automated change detection methodology to accurately detect and quantify SDT structural loss between subsequent terrestrial lidar observations; and 3) characterize the structural loss rates of pine and oak SDTs in southeastern Texas. A voxel-based volume estimation algorithm, "TreeVolX", was developed and incorporates several methods designed to robustly process point clouds of varying quality levels. The algorithm operates on horizontal voxel slices by segmenting the slice into distinct branch or stem sections then applying an adaptive contour interpolation and interior filling process to create solid reconstructed tree models (RTMs). TreeVolX estimated large and small branch volume with an RMSE of 7.3% and 13.8%, respectively. A voxel-based change detection methodology was developed to accurately detect and quantify structural losses and incorporated several methods to mitigate the challenges presented by shifting tree and branch positions as SDT decay progresses. The volume and structural loss of 29 SDTs, composed of Pinus taeda and Quercus stellata, were successfully estimated using multitemporal terrestrial lidar observations over elapsed times ranging from 71 - 753 days. Pine and oak structural loss rates were characterized by estimating the amount of volumetric loss occurring in 20 equal-interval height bins of each SDT. Results showed that large pine snags exhibited more rapid structural loss in comparison to medium-sized oak snags in this study.

A Graphical Proof of the Positive Entropy Change in Heat Transfer between Two Objects

ERIC Educational Resources Information Center

Kiatgamolchai, Somchai

2015-01-01

It is well known that heat transfer between two objects results in a positive change in the total entropy of the two-object system. The second law of thermodynamics states that the entropy change of a naturally irreversible process is positive. In other words, if the entropy change of any process is positive, it can be inferred that such a process…

Spatial resolution enhancement of satellite image data using fusion approach

NASA Astrophysics Data System (ADS)

Lestiana, H.; Sukristiyanti

2018-02-01

Object identification using remote sensing data has a problem when the spatial resolution is not in accordance with the object. The fusion approach is one of methods to solve the problem, to improve the object recognition and to increase the objects information by combining data from multiple sensors. The application of fusion image can be used to estimate the environmental component that is needed to monitor in multiple views, such as evapotranspiration estimation, 3D ground-based characterisation, smart city application, urban environments, terrestrial mapping, and water vegetation. Based on fusion application method, the visible object in land area has been easily recognized using the method. The variety of object information in land area has increased the variation of environmental component estimation. The difficulties in recognizing the invisible object like Submarine Groundwater Discharge (SGD), especially in tropical area, might be decreased by the fusion method. The less variation of the object in the sea surface temperature is a challenge to be solved.

In-Flight Estimation of Center of Gravity Position Using All-Accelerometers

PubMed Central

Al-Rawashdeh, Yazan Mohammad; Elshafei, Moustafa; Al-Malki, Mohammad Fahad

2014-01-01

Changing the position of the Center of Gravity (CoG) for an aerial vehicle is a challenging part in navigation, and control of such vehicles. In this paper, an all-accelerometers-based inertial measurement unit is presented, with a proposed method for on-line estimation of the position of the CoG. The accelerometers' readings are used to find and correct the vehicle's angular velocity and acceleration using an Extended Kalman Filter. Next, the accelerometers' readings along with the estimated angular velocity and acceleration are used in an identification scheme to estimate the position of the CoG and the vehicle's linear acceleration. The estimated position of the CoG and motion measurements can then be used to update the control rules to achieve better trim conditions for the air vehicle. PMID:25244585

Positional estimation techniques for an autonomous mobile robot

NASA Technical Reports Server (NTRS)

Nandhakumar, N.; Aggarwal, J. K.

1990-01-01

Techniques for positional estimation of a mobile robot navigation in an indoor environment are described. A comprehensive review of the various positional estimation techniques studied in the literature is first presented. The techniques are divided into four different types and each of them is discussed briefly. Two different kinds of environments are considered for positional estimation; mountainous natural terrain and an urban, man-made environment with polyhedral buildings. In both cases, the robot is assumed to be equipped with single visual camera that can be panned and tilted and also a 3-D description (world model) of the environment is given. Such a description could be obtained from a stereo pair of aerial images or from the architectural plans of the buildings. Techniques for positional estimation using the camera input and the world model are presented.

Neuromorphic Event-Based 3D Pose Estimation

PubMed Central

Reverter Valeiras, David; Orchard, Garrick; Ieng, Sio-Hoi; Benosman, Ryad B.

2016-01-01

Pose estimation is a fundamental step in many artificial vision tasks. It consists of estimating the 3D pose of an object with respect to a camera from the object's 2D projection. Current state of the art implementations operate on images. These implementations are computationally expensive, especially for real-time applications. Scenes with fast dynamics exceeding 30–60 Hz can rarely be processed in real-time using conventional hardware. This paper presents a new method for event-based 3D object pose estimation, making full use of the high temporal resolution (1 μs) of asynchronous visual events output from a single neuromorphic camera. Given an initial estimate of the pose, each incoming event is used to update the pose by combining both 3D and 2D criteria. We show that the asynchronous high temporal resolution of the neuromorphic camera allows us to solve the problem in an incremental manner, achieving real-time performance at an update rate of several hundreds kHz on a conventional laptop. We show that the high temporal resolution of neuromorphic cameras is a key feature for performing accurate pose estimation. Experiments are provided showing the performance of the algorithm on real data, including fast moving objects, occlusions, and cases where the neuromorphic camera and the object are both in motion. PMID:26834547

Anticipatory planning and control of grasp positions and forces for dexterous two-digit manipulation.

PubMed

Fu, Qiushi; Zhang, Wei; Santello, Marco

2010-07-07

Dexterous object manipulation requires anticipatory control of digit positions and forces. Despite extensive studies on sensorimotor learning of digit forces, how humans learn to coordinate digit positions and forces has never been addressed. Furthermore, the functional role of anticipatory modulation of digit placement to object properties remains to be investigated. We addressed these questions by asking human subjects (12 females, 12 males) to grasp and lift an inverted T-shaped object using precision grip at constrained or self-chosen locations. The task requirement was to minimize object roll during lift. When digit position was not constrained, subjects could have implemented many equally valid digit position-force coordination patterns. However, choice of digit placement might also have resulted in large trial-to-trial variability of digit position, hence challenging the extent to which the CNS could have relied on sensorimotor memories for anticipatory control of digit forces. We hypothesized that subjects would modulate digit placement for optimal force distribution and digit forces as a function of variable digit positions. All subjects learned to minimize object roll within the first three trials, and the unconstrained device was associated with significantly smaller grip forces but larger variability of digit positions. Importantly, however, digit load force modulation compensated for position variability, thus ensuring consistent object roll minimization on each trial. This indicates that subjects learned object manipulation by integrating sensorimotor memories with sensory feedback about digit positions. These results are discussed in the context of motor equivalence and sensorimotor integration of grasp kinematics and kinetics.

Concealed object segmentation and three-dimensional localization with passive millimeter-wave imaging

NASA Astrophysics Data System (ADS)

Yeom, Seokwon

2013-05-01

Millimeter waves imaging draws increasing attention in security applications for weapon detection under clothing. In this paper, concealed object segmentation and three-dimensional localization schemes are reviewed. A concealed object is segmented by the k-means algorithm. A feature-based stereo-matching method estimates the longitudinal distance of the concealed object. The distance is estimated by the discrepancy between the corresponding centers of the segmented objects. Experimental results are provided with the analysis of the depth resolution.